The open-loop torque control of synchronous motors with minimum torque ripple and minimum copper losses is presented. The control problem is viewed as an optimization problem for the nonlinear mapping from desired torque and position to the motor's phase currents. The performance of the controller to produce virtually ripple-free torque and to enhance the precision of position tracking is demonstrated experimentally.
['Farhad Aghili', 'Martin Buehler', 'John M. Hollerbach']
Torque ripple minimization in direct-drive systems