Real-time disturbance compensation algorithm for the current control of PMSM drives

Current and voltage shaping method via modified d – q transformation for the torque ripple compensation in PMSMs

“…Since the pulsating pattern of the power displayed in Fig. 3 is directly proportional to the one within the torque [9], if we achieve smooth power shaping opportunely the currents, we can compensate this effect also in the machine torque. In the ideal case with sinusoidal BEMF, from (14) can be deduced the following fact:…”

“…In [7], the authors propose an adaptive control algorithm for rejecting specific harmonics on the position of a servo motor. Again, in [8], a resonant controller is designed for mitigating speed oscillation and in [9] conditions for reducing torque harmonics are met combining estimation techniques and a feedback harmonic injection algorithm. Unfortunately, the majority of them rely on rather complex control structures which reduce the potential practical implementation in commercial drives [10, 11].…”

Generalised current and voltage shaping method via modified d – q transformation for the torque harmonics correction in PMSMs

“…The harmonic content of the power displayed in Fig. 3 is directly proportional to the one within the torque [9], therefore aiming to a smooth electromagnetic power waveform by shaping opportunely the currents leads to an elimination of these unwanted AC‐components in the machine torque. In the ideal case with the sinusoidal BEMF, from (17) can be deduced the following fact: …”

“…In [7], the authors propose an adaptive control algorithm for rejecting specific harmonics on the position of a servo motor. Again, in [8] a resonant controller is designed for mitigating speed oscillation and in [9] conditions for reducing torque harmonics are met combining estimation techniques and a feed‐back harmonic injection algorithm. Unfortunately, the majority of them are based on rather complex control structures which reduce the potential of practical implementation in commercial drives [10, 11].…”

Simple and robust model predictive control of PMSM with moving horizon estimator for disturbance compensation

“…In this case, since q 0 is not directly modelled, we assume that it is constant during the prediction horizon, in fact it is not known in advance. This might be a strong assumption, but since the disturbance component of a PMSM includes both slow varying, such as temperature effects and high‐frequency harmonic terms [18], the only effect of our assumption is to limit the correct high‐frequency disturbance rejection. Finally, defined the generalised predictive scheme in (6) and considering (2) the equality constrained problem can be written as where R = [ r 0 … r N ] is the d – q current reference vector over the horizon.…”