摘要：永磁同步电机由于具有高效率、高转矩密度等优点而被广泛应用于各种要求高性能伺服控制的场合，但是其转矩存在较大脉动，限制了永磁同步电机在高精度场合的应用。所以研究永磁同步电机的转矩脉动抑制策略有着重要意义。在分析永磁同步电机系统结构和工作原理的基础上，建立了永磁同步电机的基波与谐波的数学模型，进而推导出基波与谐波的共同作用下电磁转矩的表达式，说明转矩脉动主要由6次分量与12次分量组成。以此为基础提出了一种基于PI控制器的转矩脉动抑制方法，通过向q轴注入额外的谐波电流，以抑制电机的转矩脉动。最后通过Matlab/Simulink仿真验证了此算法的有效性。
关键词：永磁同步电机；谐波电流注入；转矩脉动
Abstract: The permanent magnet synchronous motors (PMSM) are widely used in many highquality servo control situations because of their advantages of high efficiency and torque density. But their high torque ripple sets limits to their application in high precision occasions. So the study of torque ripple suppression is of great significance. This paper built the mathematical model of fundamental and harmonic waves of PMSM based on its structure and operating principle. Then derived the formula of electromagnetic torque resulted from the fundamental and harmonic waves, illustrating that the sixth and twelfth torque ripple are the main component of torque ripple. Based on that, this paper came up with a torque ripple suppression using PI controller by injecting harmonic current to qaxis. In the end, Matlab/Simulink simulation results demonstrate that the proposed strategy is effective.
Key words: permanent magnet synchronous motor；harmonic current injection；torque ripple