Torque ripple reduction of brushless DC motor with harmonic current injection based on integral terminal sliding mode control

Abstract

Brushless Harmonic current injection to the stator windings is one of the most effective methods for torque ripple reduction of brushless DC motors. Because of multi harmonic contents of the stator currents, the conventional methods based on rotational reference frame cannot be used to calculate the voltage references for voltage source inverter. sliding mode control (SMC), which has high dynamic response to track a time varying command, can be used to force the arbitrary reference current to the stator windings without transfer the motor currents to the rotational reference frame. However, the main disadvantage of SMC is that the system states cannot reach the equilibrium point in infinite time as well as has a major chattering problem. In this paper, a new control method called integral terminal sliding mode control (ITSMC) is used to overcome these drawbacks. In order to show the robustness and performance of the proposed method, this method is compared with a SMC by some simulation and experimental tests. It is concluded that the dynamic response and robustness of the proposed ITSMC method is higher than SMC and ITSMC is an appropriate method to inject the arbitrary reference current to the motor windings.

Critical Review on Torque Ripple Sources and Mitigation Control Strategies of BLDC Motors in Electric Vehicle Applications

“…In addition, Hysteresis controller and SMC work together to improve motor current control, it can track the reference signal with a reasonable response time even when the motor's parameters are changed, and SMC does not need any additional sensors for current measurement [234]. To further protect the BLDC motor from torque ripples, an integral time SMC is used, allowing the system states to achieve the equilibrium point in finite time and eliminating chattering with its higher dynamic response and robustness operation [235]. likewise, using a SMO with RBFNN (Radial Basis Function Neural Network) increases the motor control system's transient specification, making it more responsive to changes in load conditions and improving the overall reliability of the control system [236].…”

Research on Harmonic Torque Reduction Strategy for Integrated Electric Drive System in Pure Electric Vehicle

“…In terms of motors for robots, the modified distributed control framework and on-line tuning fuzzy proportional-derivative (PD) controller of controlling of 5 degree-of-freedom (DOF) robot manipulators based on the equivalent errors method were used in [20,21] to improve the dynamic performance of robots under large disturbance and high frequency. In recent years, the harmonic injection method [22][23][24][25][26] has attracted the attention of many scholars. By adding a harmonic current feedback loop and harmonic voltage compensation loop to the traditional motor double closed-loop control system, and then using the method of injecting harmonic voltage [22] and harmonic current [23][24][25][26], the electromagnetic torque ripple of the motor was significantly reduced.…”

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

“…The turntable servo system often fails to achieve accurate tracking due to nonlinear disturbance factors such as friction [22][23][24][25][26], backlash [27], dead-zone [28], and motor torque fluctuation [29], etc. Friction is a common non-linear phenomenon, which exists in almost all electromechanical servo system between two contact surfaces with relative motion.…”