A Practical Approach to Compensation of Torque Ripple in High-Precision Permanent Magnet Motor Drives

Torque pulsation in permanent magnet synchronous motor impairs their performance in critical applications, particularly for direct-drive. A practical approach to compensation of selected torque harmonics is presented. The approach consist of two<br>steps: identification of dominant torque harmonics (the cogging harmonics and the flux linkage harmonics) and using simple iterative search algorithm to tune the compensation algorithm. The angular spectral analysis is used as a optimum criteria. The design of a ripple compensation scheme is based on the fast, robust 2DFC current controller. The overall control scheme and experimental results are also presented. Proposed approach can be used as an automated self-commissioning scheme