Cancelation of Torque Ripples in PMSM via a Novel Minimal Parameter Harmonic Flux Estimator

This paper presents a novel approach for treating the harmonic torque in permanent magnet motors at selected harmonic orders. The method is based on the online estimation of the motor harmonic flux. For this purpose, a novel minimal parameter harmonic flux estimator (MPHFE) is developed. The MPHFE is formulated such that the inductance, resistance, and stator current and its derivative are not necessary for the estimation of the harmonic flux. This was achieved by forcing the harmonic current to zero through the combined action of a field-oriented controller (FOC) and a feedforward controller. Subsequently, the harmonic flux can be obtained directly from the estimated harmonic back EMF without the involvement of other motor parameters. Finally, the estimated flux is used in conjunction with a comprehensive model of the motor harmonic torque to determine the stator current compensation for eliminating the torque harmonic. Experimental results presented from a permanent magnet motor confirm the theoretical claims in this paper as well as demonstrate the effectiveness of the proposed method to reduce the magnitude of the harmonic torque significantly.