Torque Ripple Compensation in PMSM Direct Drive with Position-based Iterative Learning Control

This paper discusses the problem of speed unevenness in direct drive with permanent magnets, caused by torque ripples. Sources of torque ripples are discussed. Compensation method based on iterative learning control have been presented. Modifications to the classical, time-based approach have been proposed. Simulation results of the quality of motor torque ripples compensation for the presented methods are presented.