An adaptive controller for minimization of torque ripple in PM synchronous motors

This paper addresses the problem of torque ripple minimization in permanent magnet synchronous motors (PMSMs), and proposes an adaptive feedback structure as a solution. A model of a PMSM that includes torque ripple phenomenon is first developed and tested. While being slightly different from the conventional one our model is still compact and suitable for control. All parameters of the model have physical interpretation, and can either be measured directly, or estimated in a numerically reliable procedure. An adaptive control algorithm is then described, enabling speed tracking while minimizing the torque ripple. The algorithm is verified in simulations and implemented in a hardware setup for a PMSM drive. Experimental results show significant reduction of torque ripple.