Research on Torque Ripple Control Methods for Permanent Magnet Synchronous Motors

Abstract Permanent magnet synchronous motors (PMSMs) experience torque ripple during operation, which is particularly evident in high-precision, ultra-low-speed servo control systems. The resulting ripple torque is one of the main factors affecting position control tracking accuracy. This paper conducts an in-depth analysis of the generation mechanism of ripple torque in PMSMs, obtains the characteristics of torque ripple signals at low speeds, establishes a multiple harmonic model of motor ripple torque, and verifies the correctness of the ripple torque model through experimental testing. Based on the characteristics of the ripple torque model and periodic error characteristics, a method of using torque current feedforward to suppress ripple torque is proposed from the perspective of drive control. The results show that this method effectively improves the control accuracy of the servo control system.