Design and implementation of an adaptive controller for torqueripple minimization in PM synchronous motors

摘要

This paper addresses the problem of torque ripple minimization innpermanent magnet synchronous motors (PMSMs) and proposes an adaptivenfeedback structure as a solution. A model of PMSM that includes a torquenripple phenomenon is first developed and tested. While slightlyndifferent from the conventional one, our model is still compact andnsuitable for control. All parameters of the model have physicalninterpretation, and can either be measured directly or estimated in annumerically reliable procedure. An adaptive control algorithm is thenndescribed, enabling speed tracking while minimizing the torque ripple.nFinally, the proposed algorithm is verified in simulations andnimplemented in a hardware setup. Experimental results show significantnreduction of torque ripple (by 27 dB). Extensive analysis andnsimulations of hardware imposed limitations were performed as well,nrevealing and quantifying the issues that might affect practical ripplenminimization performance