Inverse modelling and pulsating torque minimization of salient pole non-sinusoidal synchronous machines

Sinusoidal motor's mathematical models are usually obtained using classical d–q transformation in the case of salient pole synchronous motors having sinusoidal field distribution. In this paper, a new inverse modelling for synchronous motors is presented. This modelling is derived from the properties of constant torque curves in the Concordia's reference frame. It takes into account the non-sinusoidal field distribution; EMF, self and mutual inductances having non-sinusoidal variations with respect to the angular rotor position. Both copper losses and torque ripples are minimized by adapted currents waveforms calculated from this model. Experimental evaluation was carried out on a DSP-controlled PMSM drive platform. Test results obtained demonstrate the effectiveness of the proposed method in reducing torque ripple.