Motor control system to compensate for torque ripple

A motor control system, comprising:na motor having plurality of motor harmonics; anda torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to:ndetermine a harmonic ripple current for each of the plurality of motor harmonics based on a reference q-axis current and a reference d-axis current; andadd the plurality of harmonic ripple currents together to determine a ripple compensating current that is used to remove the plurality of harmonic ripple currents from the reference q-axis current and the reference d-axis current.

A motor control system, comprising:na motor having plurality of motor harmonics; anda torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to:ndetermine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference q-axis current and a reference d-axis current; andadd the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current,wherein the torque ripple compensation controller includes a plurality of look-up tables, wherein each of the plurality of look-up tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics,wherein values for the torque ripple magnitude and the torque ripple phase are based on cogging torque characteristics of the motor.

A motor control system, comprising:na motor having plurality of motor harmonics; anda torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to:ndetermine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference q-axis current and a reference d-axis current; andadd the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current,wherein the torque ripple compensation controller includes a plurality of look-up tables, wherein each of the plurality of look-up tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics,wherein the torque ripple compensation controller calculates a current q-axis phase output based on the torque ripple phase,wherein the current q-axis phase output is determined by:nMtrCurrQax—iPhase=sign(Iq_ref)t_MtrTrq_ripple—iPh(n)nwherein MtrCurrQax_iPhase is the current q-axis phase output, Iq_ref is the reference q-axis current, and t_MtrTrq_ripple_iPh(n) is the torque ripple phase found in one of the plurality of look-up tables for an ith harmonic.

A motor control system, comprising:na motor having plurality of motor harmonics; anda torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to:ndetermine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference q-axis current and a reference d-axis current; andadd the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current,wherein the ripple compensating current is a q-axis ripple compensating current, and determined by:

A motor control system, comprisingna motor having plurality of motor harmonics; anda torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to:ndetermine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference q-axis current and a reference d-axis current; andadd the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current,wherein the ripple compensating current is a d-axis ripple compensating current, and determined by:

A method of motor control for a motor having a plurality of motor harmonics, comprising:ndetermining a harmonic ripple current for each of the plurality of motor harmonics by a torque ripple compensation controller based on a reference q-axis current and a reference d-axis current; andadding the plurality of harmonic ripple currents together to determine a ripple compensating current that is used to remove the plurality of harmonic ripple currents from the reference q-axis current and the reference d-axis current.

A method of motor control for a motor having a plurality of motor harmonics, comprising:ndetermining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference q-axis current and a reference d-axis current;adding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current; andincluding a plurality of look-up tables with the torque ripple compensation controller, wherein each of the plurality of look-up tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics,wherein values for the torque ripple magnitude and the torque ripple phase are based on cogging torque characteristics of the motor.

A method of motor control for a motor having a plurality of motor harmonics, comprising:ndetermining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference q-axis current and a reference d-axis current;adding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current; andincluding a plurality of look-up tables with the torque ripple compensation controller, wherein each of the plurality of look-up tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics,wherein a harmonic ripple current is a harmonic q-axis ripple current, and determined by:nMtrCurrQax—iPhase=sign(Iq_ref)t_MtrTrq_ripple—iPh(n)nwherein MtrCurrQax_iPhase is the current q-axis phase output, Iq_ref is the reference q-axis current, and t_MtrTrqripple_iPh(n) is the torque ripple phase found in one of the plurality of look-up tables for an ith harmonic.

A method of motor control for a motor having a plurality of motor harmonics, comprising:ndetermining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference q-axis current and a reference d-axis current; andadding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current,wherein the ripple compensating current is a q-axis ripple compensating current, and determined by:

A method of motor control for a motor having a plurality of motor harmonics, comprising:ndetermining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference q-axis current and a reference d-axis current; andadding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current,wherein the ripple compensating current is a d-axis ripple compensating current, and determined by: