Cancellation of torque ripple due to nonidealities of permanent magnet synchronous machine drives

A method for calculating current waveforms to drive permanent-magnet synchronous machines for canceling torque ripple and minimizing stator ohmic losses is presented. The method is comparatively simple to those previously shown, and is more general. The method is valid for any shape of back EMF and can be used for unbalanced, asymmetrical operation. Simple equations result that can easily be applied in real time controls.