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

This paper addresses the problem of torque ripple minimization in Permanent Magnet Synchronous Motors (PMSMs) and proposes an adaptive feedback struct ure as a solution. A model of PMSM that Includes a torque ripple phenomenon is first developed and tested. While slightly different From the conventio nal one, our model Is still compact and suitable for control, All parameter s of the model have physical interpretation, and can either be measured dir ectly or estimated in a numerically reliable procedure. An adaptive control algorithm is then described, enabling speed tracking while minimizing the torque ripple, Finally, the proposed algorithm is verified in simulations a nd implemented in a hardware setup. Experimental results show significant r eduction of torque ripple (by 27 dB), Extensive analysis and simulations of hardware imposed limitations were performed as well, revealing and quantif ying the issues that might affect practical ripple minimization performance .