Observer-based compensation of additive periodic torque disturbances in permanent magnet motors

The impact of additive periodic torque disturbances on the controlled motion of permanent magnet motors can be significant. The paper shows how an observer-based drive control can efficiently reject the harmonic torque disturbances providing smooth angular velocity. The proposed control design is based on the state-space torque harmonics representation and Luenberger observer that proved to be adequate. The designed control algorithms are verified using an experimental setup with a permanent magnet synchronousmotor with well-detectable torque harmonics. The rejection of additive position periodic torque disturbances is experimentally demonstrated for two first harmonics and that for different angular velocities.