Harmonics in the electromagnetic torque are a source of concern in permanent magnet synchronous machine (PMSM) drives. The harmonics are created by non-idealities in the electromagnetic fields produced by the magnets and the stator excitation. They lead to vibration that can cause premature wear of the drivetrain components as well as acoustic noise that may be bothersome to users. In this research, current- and voltage-based control schemes have been developed to mitigate the harmonics in a class of PMSMs in which the magnets are placed interior to the rotor iron. Interior permanent magnet synchronous machines (IPMSMs) have recently gained popularity for applications including hybrid electric vehicles and robot joint control.;In the current-based control, a low-cost piezoelectric sensor is used to measure torque harmonics. A conjugate gradient algorithm is then applied to search for harmonics in the stator current that produce a commanded average torque while eliminating the measured torque harmonics. The algorithm is based upon analytical closed-form expressions for the average and harmonic components of torque that have been derived for IPMSMS with arbitrary back-emf waveforms. In the voltage-based control, a time-domain model of the machine is used to map the outputs of the conjugate gradient algorithm to commanded stator voltages. Since both utilize feedback, the controls are insensitive to changes in machine parameters that result from magnetic saturation, temperature, or parameter drift. In addition, the user has flexibility to select the harmonic(s) of torque to be eliminated.
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