Vibration suppression control method for PMSM utilizing repetitive control with auto-tuning function and Fourier transform

We propose a suppression control method of the motor frame vibration and the rotational speed vibration (ripple) of PMSM utilizing the feedforward compensation control, and a generation method of compensation signals for the feedforward control by the repetitive control and the Fourier transform using a vibration signal acquired by the acceleration sensor attached to the motor frame or the rotary encoder used for the field oriented control, considering periodicity of vibration. The sensor is used on-line or only for the acquisition of the feedforward compensation signal. In order to realize on-line generation of the feedforward compensation signals to reduce the vibration, an auto-tuning method of the repetitive control parameters is employed. Experiments are carried out to confirm the usefulness of the proposed methods and to compare the effectiveness of the two types of vibration sensing methods.