Simultaneous suppression of torque ripple and flexible load vibration for PMSM under stator current vector orientation

Abstract

Torque ripple of permanent magnet synchronous motor (PMSM) will result in the distortion of current waveform and the load flexibility of spiral torsion spring (STS) will affect the control performance of driving system. This study focuses on a new control problem of simultaneous suppression of PMSM's torque ripple and flexible load's vibration. First, the Lagrange equation is used to establish the dynamic model of STS to describe its vibration mode. The overall model of STS directly derived by PMSM under stator current vector orientation is built. Then, based on the magnetic co-energy model of electromagnetic torque of PMSM, the constraint relation of optimal stator harmonic current under the condition of torque ripple minimisation is derived, and the controller based on stator current oriented closed-loop I/f control to suppress load vibration and torque ripple simultaneously is presented through backstepping control. A wide speed range identification method based on the least-square algorithm with a forgetting factor is also designed. The simulation and experiment show that the speed identification algorithm can estimate the speed accurately in a wide range. The proposed control scenario improves control performance, smoothes current waveform and inhibits torque ripple and load vibration effectively.

System identification and mechanical resonance frequency suppression for servo control used in single gimbal control moment gyroscope

“…The peak frequency of the gain at the amplitude-frequency characteristic is called the resonant frequency (f R ). The expression of the resonant frequency is shown in Eq (4). At this resonant frequency, the motor and the load offer almost no obstacle to the movement.…”

“…Therefore, the control accuracy mainly depends on the accuracy of the gimbal servo control system. The need to improve the accuracy of servo control system has led to renewed interest in the development of servo control algorithms in recent studies, including the closed-loop I/f control scheme [ 4 ], the sliding mode control method using a new approach combined with an iterative learning controller and extended state observer [ 5 ], and torque ripple minimization by modulation of the phase current [ 6 ].…”

Stator Current Vector Orientation-Based Backstepping Predictive Control of Torque Ripple Minimization for PMSM with consideration of Electrical Loss

“…In terms of electromagnetic torque T e in equation (2), i wq can be acquired. By a partial derivative of P Loss in equation 2Mathematical Problems in Engineering…”

“…Permanent magnet synchronous motor (PMSM) is broadly used in various industrial fields for its advantages of simple structure, good dynamic response, and high-power factor [1]. However, for reasons like asymmetric winding structure and flux harmonics produced by the permanent magnet, torque ripple is a crucial problem of PMSM that would lead to speed fluctuation and weaken dynamic performance during operation [2]. Meanwhile, the operating efficiency of PMSM is another issue that deserves more and more attention to energy-saving [3,4].…”

Analysis of Air-Gap Magnetic Field and Structure Optimization Design of Hollow-Cup Motor

“…To solve the above problems, improving the sine wave characteristics of the air-gap magnetic field is an important way to reduce torque ripple [6,7]. Most permanent magnet synchronous motors use a uniform air-gap structure, which results in the air-gap magnetic field containing high-order harmonics.…”