Torque Ripple Reduction of Permanent Magnet Synchronous Motor Using Proportional-Integral-Resonant Controller with Delay of Control Response Compensation

Analysis of permanent magnet synchronous motor (PMSM) control method for high precision positioning and tracking systems for torque ripple reduction caused by flux harmonics and cogging torque, is presented in the paper. Compensation is carried out by using parallel connection of several resonant terms with classic proportional-integral (PI) controller in speed control loop. Besides proportional-integral resonant (PIR) structure the linear Smith predictor is used in control system to compensate delay of control response caused by signals discretization in the practical implementation of the described control system. Described approach allows increasing position tracking accuracy in low speed systems. In this case, the delay compensation is achieved without affecting the frequency properties of the entire system.