If the synchronous reference frame by the position information with

Reduction of PMSM torque ripple caused 0 0

error is the de –qe axis, the transformation of the rotating vector ~I s is
by resolver position error represented as
H.S. Mok, S.H. Kim and Y.H. Cho e0
~idqs ¼ j~I s j cosðy þ DyÞ þ j  j~I s j sinðy þ DyÞ ð3Þ
The resolver is mainly used to obtain position information when
driving the permanent magnet synchronous motor (PMSM). A resol-
ver generates periodic position errors owing to the transformer ratio
difference and excitation signal distortion. When the vector control is
done with the position information that includes position error, torque
ripple is periodically generated. An algorithm is proposed that reduces
torque ripple components by applying a simple torque ripple compen-
sation method to the current controller.

Introduction: Rotor position information is essential in vector control

for high performance PMSM drives. Although many sensorless vector
control schemes have been known, the electric power steering system
still requires a physical sensor such as a resolver owing to stringent
torque ripple, safety, and reliability etc. [1]. In an actual resolver-
based position sensing system, all amplitude imbalance, quadrature
error, inductive harmonics, reference phase shift, excitation signal Fig. 2 Relation of real position and distorted position
distortion, and disturbance signals exist owing to the finite precision ds–qs: stationary d–q reference frame, de–qe0 : synchronously rotating d–q
0
with which a resolver can be mechanically constructed and electri- reference frame (without position error), de –qe : synchronously rotating
cally excited. Amplitude imbalance, which is a common characteristic d–q reference frame (with position error)
in any resolver, refers to the amplitude difference between the two
resolver signals, as shown in Fig. 1, where a represents the amount of
amplitude imbalance. It results from either unequal transformation
Equation (3) can be expressed, through some trigonometric expansions,
ratio or unbalanced excitation of the resolver phases. Processing these
as
signals by a resolver-to-digital (R=D) converter leads to the following
approximate position error: e0
~idqs ¼ ðieds  cos Dy þ ieqs  sin DyÞ þ jðieds  sin Dy þ ieqs  cos DyÞ ð4Þ
a
e ’ sinð2yÞ ð1Þ
2 0
Controlling ~ieds ¼ 0 during vector control, the current vector with error is
given by:
e
~idqs ¼ ieqs0  sin Dy þ j  ieqs0  cos Dy ð5Þ

The torque of a PMSM with P poles, EMF constant lm and stator self
inductance Ls is
3P 3P 3P
Te ¼ l ie þ l ie ðcos Dy  1Þ þ L ðie Þ2 cosðDyÞ  sinðDyÞ
2 2 m qs 2 2 m qs 2 2 s qs
ð6Þ
0 0 0 0
When ieqs, ieds are controlled on the de –qe axis, torque ripple
occurs by position error components of the second and third terms
Fig. 1 Resolver schematics with amplitude imbalance in (6).

Depending on resolver type, the transformation ratio error range is

in general
5 to
20%, and the change of angle as (1) will
generate the position error of the sin(2y) component with a magni-
tude of
4.9 to
16.3 [2]. When position error is included by
using the resolver generated from the above causes, torque ripple
with twice the electrical frequency is periodically generated. The low
inertia motor has recently been used for fast response. In this case,
the effect of the torque ripple is strong. Without its compensation,
the motor driving performance is worsened. The position error can
be corrected by a higher accuracy sensor. However, this error
correction needs complex signal processing and has a high cost
[3, 4]. In this Letter, torque ripple generated by periodic position
error is identified by a speed or position sensor with other low
resolution. An algorithm for reducing torque ripple by applying it to
the current controller is proposed. The proposed algorithm is verified
through simulation and experiment on the automobile electric power
steering (EPS) system, in which the motor torque ripple must be
limited for smooth steering feel.
Torque ripple compensation: It is necessary to get the position signal
without distortion in order to obtain the error signal in (5).The method
of either a separate speed signal or a speed observer can be used. In
the EPS application shown in this Letter, a separate steering position
sensor such as an absolute encoder can be used. This sensor has a low
resolution around 100ppr, which is lower than 4.9 , i.e. the minimum
position error of the resolver. So, it is not adequate for use in vector
control, but it can be used as the compensation signal for the proposed
algorithm. The compensation method is as follows: using the sine
table with unity magnitude, the corrected sine and cosine values are
generated in the stationary reference frame from the position informa-
tion where there is no distortion by the steering position sensor as
follows:
~idqss;pu ¼ sin y  j  cos y ð7Þ

After stationary-to-synchronous transformation with position y þ Dy

Torque ripple from position sensor error: Fig. 2 shows that an (Dy is position error), (7) is transformed into
arbitrary synchronously rotating current vector ~I s can be expressed
as a complex vector ~I dqs on the de–qe axis. Here, subscripts dq and s e0
~idqs;pu ¼  sin Dy  j  cos Dy ð8Þ
represent reference frame and stator variable, respectively, and super-
script e stands for synchronous reference frame:
Converting the sign of (8) and multiplying it by ieqs, ieds gives (5). The
0 0
e
~idqs ¼ j~I s j cos y þ j  j~I s j sin y ð2Þ current control using (8) on the de –qe axis can eliminate the torque
ripple caused by position error, as shown in Fig. 3.

ELECTRONICS LETTERS 24th May 2007 Vol. 43 No. 11


Fig. 3 Torque ripple compensation scheme
Results: The performance of the proposed method has been tested
with a 1 kW, 8 V (line-to-line), 80 A (RMS) and four pole pairs
surface mount type PMSM drive system for EPS. Figs. 4a and b show
the simulation results and Fig. 4c shows the experimental results. The
error is added to the position signal at point (i) in Fig. 4a. The position
error added in Fig. 4 is given the same frequency of the rotor angle
and a magnitude of 15 , assuming the worst case. The proposed
torque ripple compensation algorithm is applied at (ii). The proposed
method eliminates almost the entire torque ripple generated from the
resolver position error and leads to improved torque performance.
Fig. 4 Results of torque ripple compensation
a Torque (simulation)
b Distorted position signal (simulation)
c Torque (experiment)
ELECTRONICS LETTERS 24th May 2007 Vol. 43 No. 11
Conclusions: A method for reducing torque ripple has been proposed,
which is generated by the periodical position error from the transfor-
mer ratio difference and excitation signal distortion of the resolver in
a PMSM drive system. The proposed method has been verified
through simulation and experiment on an automobile EPS system.
This can be applied in all cases where resolver position errors occur,
leading to benefits of reducing torque ripple.
# The Institution of Engineering and Technology 2007
29 January 2007
Electronics Letters online no: 20070296
doi: 10.1049/el:20070296
H.S. Mok (Department of Electrical Engineering, Konkuk University,
Hwayang 1 dong, Gwangingu, Seoul 143-701, Korea)
E-mail: hsmok@konkuk.ac.uk
S.H. Kim (Department of Electrical and Electronics Engineering,
Kangwon National University, Chunchon, Kangwondo 200-701,
Korea)
Y.H. Cho (Technical Research Institute, Hyundai MOBIS, Yongin,
Gyunggido 446-912, Korea)
References
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(6), pp. 556–561
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