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Speed Ripple Minimization for PMSM Based on Complex Vector Analysis and Iterative Learning Control

Inevitable speed and torque ripples caused by flux harmonics and current sampling errors affect the control performance of PMSM. In this paper, a closed-loop current ripple analysis method is first proposed with complex vector. Based on this, the transfer functions are derived. The results are analyzed under different conditions and compared with the traditional method. Then, a rotor position based P-type iterative learning control (ILC) with forgetting factor is utilized to minimize the ripples. Moreover, an online zero-phase-lag filter is designed to reduce the influence of high frequency harmonics and noise in the sampled signals. The experimental results validate the effectiveness of the proposed method.