Sensors 2013, 13, 3831-3847; doi:10.

3390/s130303831
OPEN ACCESS

sensors
ISSN 1424-8220
www.mdpi.com/journal/sensors
Article

A New Adaptive Self-Tuning Fourier Coefficients Algorithm

for Periodic Torque Ripple Minimization in Permanent
Magnet Synchronous Motors (PMSM)
Alfonso Gómez-Espinosa 1,*, Víctor M. Hernández-Guzmán 2, Manuel Bandala-Sánchez 1,
Hugo Jiménez-Hernández 1, Edgar A. Rivas-Araiza 2, Juvenal Rodríguez-Reséndiz 2 and
Gilberto Herrera-Ruíz 2
1
Centro de Ingeniería y Desarrollo Industrial, Dirección de Investigación y Posgrado. Av. Playa Pie
de la Cuesta No. 702, Desarrollo San Pablo, C.P. 76130 Santiago de Querétaro, Qro., Mexico;
E-Mails: [email protected] (M.B.-S.); [email protected] (H.J.-H.)
2
Universidad Autónoma de Querétaro, División de Estudios de Posgrado, Facultad de Ingeniería,
Cerro de las Campanas s/n, C.P. 76010, Santiago de Querétaro, Qro., Mexico;
E-Mails: [email protected] (V.M.H.-G.); [email protected] (E.A.R.-A.); [email protected] (J.R.-R.);
[email protected] (G.H.-R.)

* Author to whom correspondence should be addressed; E-Mail: [email protected];

Tel.: +52-442-211-9800 (ext. 1412).

Received: 25 February 2013; in revised form: 4 March 2013 / Accepted: 11 March 2013 /
Published: 19 March 2013

Abstract: Torque ripple occurs in Permanent Magnet Synchronous Motors (PMSMs) due
to the non-sinusoidal flux density distribution around the air-gap and variable magnetic
reluctance of the air-gap due to the stator slots distribution. These torque ripples change
periodically with rotor position and are apparent as speed variations, which degrade the
PMSM drive performance, particularly at low speeds, because of low inertial filtering.
In this paper, a new self-tuning algorithm is developed for determining the Fourier Series
Controller coefficients with the aim of reducing the torque ripple in a PMSM, thus
allowing for a smoother operation. This algorithm adjusts the controller parameters based
on the component’s harmonic distortion in time domain of the compensation signal.
Experimental evaluation is performed on a DSP-controlled PMSM evaluation platform.
Test results obtained validate the effectiveness of the proposed self-tuning algorithm, with
the Fourier series expansion scheme, in reducing the torque ripple.
Sensors 2013, 13 3832

Keywords: torque ripple; frequency domain; FOC; self-tuning algorithm; PMSM; DSP

1. Introduction

The Permanent Magnet Synchronous Motor (PMSM) market is growing more rapidly when compared
to traditional competitors because of lower cost, as well as higher efficiency and reliability. For the sake
of energy savings and environmental performance, PMSMs also feature one of the highest torque to loss
ratios. These motors are widely used in fast dynamic positioning systems and machine-tool
components [1,2]. The main disadvantage of PMSMs is the non-uniformity in the developed torque,
known as “torque ripple” [3]. Torque ripple generates speed oscillations which cause system
performance deterioration and in machine-tool applications, it can leave visible patterns on high precision
machined surfaces [4]. Under the assumption of pure sinusoidal back electromagnetic force (EMF), the
conventional Field Oriented Control (FOC) applies constant current references in the synchronous
reference frame to produce a constant torque. However, depending on the magnet shape and how well
the windings are manufactured, the back-EMF has in practice very different waveforms, which range
from almost sinusoidal to trapezoidal. Torque ripple occurs in PMSMs due to non-sinusoidal flux
density distribution around the air-gap and the variable magnetic reluctance of the air-gap due to stator
slots distribution. These torque ripples change periodically with rotor position and are apparent as
speed variations, which degrades the PMSM drive performance, particularly at low speeds because of
low inertial filtering [5].
In order to improve the performance of PMSMs and increase its market share, the suppression of
the pulsating torque has received much attention in recent years [6–17]. These torque ripple reduction
techniques can be divided into two groups: one focusing on the improvement of motor design and the
other emphasizing the use of active control of stator current excitation. From the motor design point of
view, skewing the stator lamination stacks or rotor magnets, arranging proper winding distributions
and incorporating other motor design features reduces cogging torque partially, but does not
completely eliminate it. Moreover, special machine design processes add addition complexity to the
production process, which results in higher machine cost [18].
The second approach, which is of our interest, concentrates on using an additional control effort to
compensate for the periodic torque pulsations. Some methods rely on pre-programed stator current
excitation to cancel torque harmonics. However, accurate information about the PMSM parameters is
required, and a small error or variation in these parameters can produce higher torque ripple due to
the open-loop control. As an alternative, closed-loop control algorithms with online estimation of
parameters and adaptive control algorithms have been proposed to reduce torque ripple. One possible
approach relies on a closed-loop speed regulator to attenuate indirectly torque pulsations since all
possible sources of torque ripple are observable from rotor speed, and hence this method has potential
for complete torque ripple minimization. Repetitive Control techniques incorporate a sinusoidal
control component to deal with periodic torque pulsations [19–23] while Iterative Learning
Control (ILC) is implemented in the frequency domain to reduce torque ripple, by means of Fourier
series expansion [24–29]. Some recent papers deal with learning control algorithms for Permanent
Sensors 2013, 13 3833

Magnet Step Motors [30–32], by identifying the Fourier coefficients of any truncated approximation
and implementing Iterative Learning techniques, providing an experimental comparison for both
methods. Adaptive techniques have been proposed based on the spectrum of the torque perturbation
using some theoretical developments.
In this paper, a new self-tuning algorithm is developed for determining the Fourier Series Controller
coefficients with the aim of reducing the torque ripple in a PMSM, thus allowing for a smoother
operation. This algorithm adjusts the controller parameters based on the component’s harmonic
distortion in the time domain of the compensation signal. The estimated Fourier coefficients are used
by a nonlinear controller which achieves accurate and ripple-reduced torque control. Experimental
evaluation was performed on a DSP-controlled PMSM evaluation platform and test results obtained
verify the effectiveness of proposed self-tuning algorithm, with the Fourier series expansion scheme,
in reducing the torque ripple.
This paper is organized as follows: A model of the Permanent Magnet Synchronous Motor is
presented in Section 2. The new self-tuning Fourier Coefficient Algorithm is introduced in Section 3.
Section 4 describes the experimental setup, and the experimental results are presented in Section 5.
Finally, in Section 6 concluding remarks are provided.

2. Model of PMSM

In this section, a standard PMSM model [33] is revised and additional considerations are explained
so torque ripple sources are clarified. For a three-phase PMSM, the flux linkages Ψ related to the
mutual and self-inductances and currents i are given as:
Ψ Ψ (1)

In matrix form:
Ψ Ψ
Ψ Ψ (2)
Ψ Ψ
The stator windings voltages depend on the winding resistance and flux linkages :
(3)

Rewriting this expression in matrix form:

Ψ
u 0 0 (4)
u Ψ
0 0
u 0 0
Ψ

The stator windings are displaced by 120°, and the flux linkages Ψ , Ψ , Ψ established by
the permanent magnet, which are periodic functions of , are assumed to be sinusoidal with
magnitude Ψ :
Sensors 2013, 13 3834

Ψ Ψ sin
Ψ Ψ sin (5)

Ψ Ψ sin

From Equation (3), assuming is constant:

(6)

Defining , we have:
cos
Ψ cos (7)
cos

Hence, in Cauchy form, by using :

(8)

Incorporating the transient behavior of the mechanical system, where electric torque , load torque
, viscous friction coefficient and inertia moment are used:
(9)

1 (10)

where mechanical position and velocity are related by .

To find the electromagnetic torque developed , where is the permanent magnet energy, the
co-energy is used:
Ψ sin
Ψ sin (11)
Ψ sin

Therefore, we have the following formula to calculate the electromagnetic torque for the
three-phase -pole permanent-magnet synchronous motors:
Ψ (12)
cos cos cos
2 2
Hence:
Ψ 1 (13)
cos cos cos
2
Using the electrical angular velocity and displacement “ ”, related to mechanical angular
velocity and displacement as and , results in the following equation:
Sensors 2013, 13 3835

Ψ
cos cos cos
4 2 (14)

Regarding the implicit time reparameterization to express the time functions acceleration and the
speed in Equation (14) as functions of the rotor position, the relation rotor position-time is guaranteed
to be invertible for the total rotor position (not only for one revolution range), if rotor position is a
monotonic function of time like happen for a non-cero angular speed of constant sign.
To control the angular velocity, one regulates the currents fed or voltages applied to the stator
windings. To maximize the electromagnetic torque developed, the motor should be fed by a balanced
three-phase current set:
√2 cos √2 cos √
(15)
√2 cos √2 cos √

√2 cos √2 cos √

Generating an electromagnetic torque:

Ψ (16)
√2 cos cos cos =
√

To produce the specified current, the balanced three-phase voltages are given as:
√2 cos
(17)
√2 cos

√2 cos

To simplify the control of PMSM, it is a common practice to transform the equations from
three-phase voltages to the 0 variables for the rotor reference frame [34].
In matrix form, the mathematical model of the PMSM in the rotor reference frame is given as:
Ψ
0 0 0 0 0 0
0 0 0 0 0 0 0 (18)
0 0 0 0 0 0
0 0
Ψ 0
0 0 0 0 0 0 0 0
0 0 0 1 0 0 0 0

The required currents to regulate the angular velocity of PMSM and guarantee balanced operating
conditions are given as:
√2 , 0, 0 (19)

And assuming that inductances are negligible, the applied voltages should be:
√2 , 0, 0 (20)
Sensors 2013, 13 3836

2.1. Additional Considerations

In order to understand torque ripple in PMSM we have to reconsider some assumptions from the
previous model.

2.1.1. Non-Sinusoidal Flux Linkages

Flux linkages are not perfectly sinusoidal so the electromotive force differs from cosine function
and applying cosine currents to the stator windings produces torque ripples. The induced non-cosine
electromotive forces are all assumed to be periodic functions with a peak value [35]:

E (21)

where the functions , , and have the same shape as , , and with a
maximum magnitude of ±1.
Since electromagnetic torque is given by:
1 (22)

Using Equation (21), we finally have:

(23)

where is still independent of frequency, but in this case current waveforms should be calculated to
produce constant torque.

2.1.2. Non-Constant Inductances

From Equation (1), electromotive force can be calculated by:

(24)

Without assuming constant :

(25)

The second term from Equation (25) produces torque ripple due to inductance angular variations,
and it is associated to differences in winding inductances of the stator.

2.1.3. Stator Yoke Reluctance Variations

From a macroscopic viewpoint, the torque produced in a PMSM is given by [35]:

Ψ (26)
Ψ
Sensors 2013, 13 3837

As mentioned before, the first term appears when motor construction causes the winding inductance
to vary as a function of position, and third term describes the mutual torque that is used to make the
motor shaft turn. Additionally the second term describes cogging torque that appears whenever rotor
magnetic flux travels through the varying reluctance of stator yokes, attempting to align with the stator
teeth or poles independent of any current. When motor shaft is rotated by hand, the pulsations felt are
caused by cogging torque.

3. Self-Tuning Fourier Coefficient Algorithm

As stated in the previous section, torque ripples arise from non-sinusoidal flux density distribution
around the air-gap and variable magnetic reluctance due to stator slots distribution. These torque ripples
change periodically with rotor position and are apparent as speed variations particularly at low speeds.
These periodic torque ripples θ , with period 2π can be represented in the form of a
Fourier series:

θ cos θ sin θ (27)

where , , and are unknown constant vectors.

Since cogging torque and harmonic components of the non-sinusoidal electromotive force depend
on the slot distribution, torque ripple is a periodic function of the position and can be considered
anti-symmetric and modeled by the sinusoidal components.
(28)
θ sin θ

Considering the inertia moment of the system , the acceleration , angular velocity , in relation
to θ , are given by:
N
T θ 1
α θ b sin kθ (29)
I I

N
1 b
ω θ cos kθ (30)
I k

To compensate for the velocity ripple a control voltage should be introduced where is the
voltage constant:
(31)
θ cos θ

Introducing , the control voltage can be written, as function of the position θ , as:

θ cos θ (32)
Sensors 2013, 13 3838

For each term cos θ the angular position ripple θ can be approximated by a sinusoidal
function, and because of speed variations its temporal representation of cos θ is distorted, thus
we can use a measure of its distortion S to iteratively adjust its coefficients until distortion is
reduced by regulating θ . Let 2π be the spatial period for a complete mechanical revolution:
(33)
cos θ

1 δS (34)
This algorithm permits adjusting the control voltage parameters, adapting for changes in the torque
ripple, and the parameter δ allows for controlling the adjusting speed.

Demonstration:

While the shape of the cogging torque is a complex function of motor geometry and material
properties, here it is approximated by a sinusoidal function and consequently the angular position
ripple is also approximated by a sinusoidal function.
Assuming that angular position is given by θ , were nominal angular
position “ ” comes from the nominal constant speed of the rotor “ ”, and the angular position
ripple “ ” corresponds to the angular lag or advance (from nominal angular position),
produced by periodic perturbation such as cogging torque. Then the angular velocity , and angular
position ripple θ are given by:
θ (35)

(36)
For each term cos θ , according to Fourier series methodology, its value is in theory
determined by:
T (37)
1
c cos kθ t ω t dt
T
were T represent the temporal period for a complete mechanical revolution.
In practice, is not necessarily a periodic function of time and synchronization of the
controller to the torque perturbation could be difficult to achieve.
Using Equations (35) and (36) in Equation (37):
1 T (38)
c cos k Asin ω t φ ω Aω cos ω t φ dt
T
So:
1 (39)

Recognizing that the second term is equal to zero, because can be rewritten as cos :
T (40)
ω
c cos kAsin ω t φ dt
T
Sensors 2013, 13 3839

Finally:
T (41)
ω
c cos kθ t dt
T
when the rotor speed is not constant or periodic of unknown period it is preferable to replace T by τ to
allow for a fix parameter. Furthermore instead of computing , because the angular velocity is
changing, the integral term can be used to iteratively adjust the coefficient , through the gain factor δ
as proposed in Equations (33) and (34).

4. Experimental Implementation

Figure 1 shows the overall torque ripple minimization scheme. During the transient state, the
Fourier Series Controller is not activated and the Field Oriented Control (FOC) sets the motor in a
stable operation.

Figure 1. Block diagram of the Fourier series controller applied to the Field Oriented Control.

Flux Ref VDC

IdRef
Park-1 Clarke-1
1 / + VUPWM
cos θ Flux PI Vd d,q Vα
PWM VVPWM 3-Phase
Controller
- VWPWM
Speed PI IqRef + Torque PI Vq Vβ
Modulator Inverter
Ref
+ Controller + Controller α,β
- -

Id d,q Iα α,β IU
IV
Iq Iβ IW
α,β a b,c
Park Clark
θ
M
Encoder

When steady state is reached, the Fourier Series Controller is applied and it provides the additional
compensation so as to minimize torque ripple. Conventional PI current controllers that generate the
control voltages in accordance with the field oriented control are used in the inner loop. The current
controllers work with a sample time of 500 μs and gains are set as: Kp = 1, Ki = 80, all variables are
considered in per unit values and the δ parameter is set to 0.02.
Figure 2 shows the configuration of the experiments. A TMDSHVMTRPF development system
with a F28035 DSP control card is connected to the EMJ-04APB22 four pole pairs Permanent Magnet
Synchronous Motor with the following parameters: 200 V, 2.7 A, 400 W maximum power, 300 rpm
rated speed, 4.7 Ω, 0.014 H stator resistance and inductance, and 2500 PPR incremental encoder
attached. Measurements of the variables were taken at the PWMDAC ports of the TMDSHVMTRPF
Sensors 2013, 13 3840

development system by using a FLUKE 199C floated oscilloscope-meter, setting the bandwidth to 10
kHz for high frequency rejection. The encoder signals were coupled with a TTL Buffer (SN74LS243N
Bus Transceiver), to avoid electric noise that degrades the angular position signal readings.

Figure 2. Experimental setup including the TMDSHVMTRPF development and

EMJ-04APB22 PMSM.

The performance evaluation of the controller with the proposed self-tuning algorithm is presented in
the following section.

5. Experimental Results

To verify the performance of the proposed self-tuning algorithm with the Fourier series expansion
scheme, experiments were performed using the setup described in the preceding section. The
experiments were conducted for speeds lower than 10% of the motor´s nominal speed. The
performance criterion used to evaluate the performance of the proposed scheme for torque ripple
minimization is the variation of the angular speed determined from the angular position measurements
from the encoder.

The Standard Field Oriented Control

Figure 3 shows the angular position of the motor versus time, the slope of the triangular waveform
change reflecting speed variations. In Figure 4 a cosine function of the angular position, with the same
frequency as the perturbation fundamental frequency, is plotted against time, showing a distortion
shape caused by speed variation that can be used to adjust the Fourier coefficients. Figure 5 presents
Sensors 2013, 13 3841

the speed ripple, although it is only 1.6% of the reference speed (4.4 rpm of 273 rpm), it is responsible
for distorting the previous two waveforms.

Figure 3. Angular position of the motor, at 273 rpm, controlled by Field Oriented Control.

360
θ (°)

0
0 0.1 0.2 Time (s)

Figure 4. Fundamental cosine term, distorted by speed ripple, for Field Oriented Control.
1
cos (θ)

-1
0 0.1 0.2 Time (s)

Figure 5. Speed ripple, at 273 rpm, controlled by Field Oriented Control.

275

270
ω (rpm)

0 0.1 0.2 Time (s)

The proposed self-tuning algorithm with the Fourier series expansion scheme (for the first two
terms) Figure 6 shows a reduction in angular position waveform distortion. Figure 7 verifies that the
fundamental cosine function shape also improved. Figure 8 presents a 2 rpm peak to peak speed ripple
which is half of the original variation as shown in Figure 5. The waveform in Figure 9 corresponds to
the control signal u(θ) in per unit values.

Figure 6. Angular position of the motor, at 273 rpm, controlled by the proposed scheme,
for the first two terms.

360
θ (°)

0
0 0.1 0.2 Time (s)
Sensors 2013, 13 3842

Figure 7. Fundamental cosine term, corrected by the proposed scheme, for the first two terms.

1
cos (θ)

-1
0 0.1 0.2 Time (s)

Figure 8. Speed ripple, at 273 rpm, controlled by the proposed scheme, for the first two terms.

275

270
ω (rpm)

0 0.1 0.2 Time (s)

Figure 9. Control signal u(θ), of the proposed scheme, for the first two terms.

1
u(θ)

-1

0 0.1 0.2 Time (s)

Figures 10–12 shows similar results for the proposed control for the first four terms. Figure 13
presents the control signal u(θ), although the wave forms in Figures 9 and 13 are substantially
different, for this experiment the results are similar and perhaps it is because torque ripple is almost
sinusoidal. Figures 14–17 shows that the second and fourth harmonic cosine function shape also
improved. Finally Figure 18 shows that speed can be reduced to 2.7% of nominal speed while the
motor starts to malfunction at 5.7% of nominal speed with only FOC control.

Figure 10. Angular position of the motor, at 273 rpm, controlled by the proposed scheme,
for the first four terms.

360
θ (°)

0
0 0.1 0.2 Time (s)
Sensors 2013, 13 3843

Figure 11. Fundamental cosine term, corrected by the proposed scheme, for the first
four terms.

1
cos (θ)

-1
0 0.1 0.2 Time (s)

Figure 12. Speed ripple, at 273 rpm, controlled by the proposed scheme, for the first
four terms.

275

270
ω (rpm)

0 0.1 0.2 Time (s)

Figure 13. Control signal u(θ), of the proposed scheme, for the first four terms.

1
u(θ)

-1

0 0.1 0.2 Time (s)

Figure 14. Second harmonic cosine term, distorted by speed ripple, for Field
Oriented Control.

1
cos (2θ)

-1
0 0.1 0.2 Time (s)
Sensors 2013, 13 3844

Figure 15. Fourth harmonic consine term, distorted by speed ripple, for Field
Oriented Control.

1
cos (4θ)

-1
0 0.1 0.2 Time (s)

Figure 16. Second harmonic cosine term, corrected by the proposed schem.

1
cos (2θ)

-1
0 0.1 0.2 Time (s)

Figure 17. Fourth harmonic consine term, corrected by the proposed scheme.

1
cos (4θ)

-1
0 0.1 0.2 Time (s)

Figure 18. Angular position of the motor, at 80 rpm, controlled by the proposed scheme.

360
θ (°)

0
0 0.1 0.5 1 Time (s)

6. Conclusions

In this paper has been presented an adaptive self-tuning algorithm for determining the Fourier
coefficients of the controller with the aim of reducing the torque ripple in a PMSM. Its implementation
is simple and represents a good alternative for minimizing torque ripple, cogging torque and non-
sinusoidal electromotive torque variations due to its periodic nature. The proposed scheme does not
require previous knowledge of the motor parameters. The performance of the proposed scheme has
Sensors 2013, 13 3845

been evaluated through experimentation and test results confirm 50% speed ripple reduction (from 4.4
rpm to 2 rpm peak to peak speed ripple). Further research should be conducted to extend these results
to applications where load torque varies as periodic function, which is not considered in this work.

Acknowledgments

We gratefully acknowledge the funding for the publication of this paper provided by the Mexican
Council for Science and Technology (Consejo Nacional de Ciencia y Tecnología; CONACyT), under
Register No. 163660. Our thanks also extend to José Enrrique Crespo- Baltar for technical advice in
the mathematical development of this paper, and to Daisie Hobson for the review of the manuscript
and her valuable suggestions.

References

1. Gamazo-Real, J.C.; Vázquez-Sánchez, E.; Gómez-Gil, J. Position and speed control of brushless
DC motors using sensorless techniques and application trends. Sensors 2010, 10, 6901–6947.
2. Dönmezer, Y.; Ergene, L.T. Cogging Torque Analysis of Interior-Type Permanent-Magnet Brushless
DC Motor Used in Washers. In Proceedings of the 8th International Symposium on Advanced
Electromechanical Motion Systems and Electric Drives Joint Symposium, Lille, France, 1–3 July
2009; pp. 1–6.
3. Nikolay, S.; Han, Q.; Jatskevich, J.J. Dynamic performance of brushless DC motors with
unbalanced hall sensors. IEEE Trans. Energy Conv. 2008, 23, 752–763.
4. Štumberger, B.; Štumberger, G.; Hadžiselimović, M.; Zagradišnik, I. Torque ripple reduction in
exterior-rotor permanent magnet synchronous motor. J. Magn. Magn. Mater. 2006, 304, 826–828.
5. Tewari, S.V.; Indu, R.B. Torque Ripple Minimization of BLDC Motor with Un-Ideal Back EMF.
In Proceedings of the 2nd International Conference on Emerging Trends in Engineering and
Technology, Maharashtra, India, 16–18 December 2009; pp. 687–690.
6. Zhang, Y.; Zhu, J. Direct torque control of permanent magnet synchronous motor with reduced
torque ripple and commutation frequency. IEEE Trans. Power Electron. 2011, 26, 235–248.
7. Zhang, Y.; Zhu, J. A novel duty cycle control strategy to reduce both torque and flux ripples for
DTC of permanent magnet synchronous motor drives with switching frequency reduction.
IEEE Trans. Power Electron. 2011, 26, 3055–3067.
8. Victor, M.H.-G.; Ramón, S.O. PI control plus electric current loops for PM synchronous motors.
IEEE Trans. Contr. Syst. Technol. 2011, 19, 868–873.
9. Rodríguez-Reséndiz, J.; Gutiérrez-Villalobos, J.M.; Duarte-Correa, D.; Mendiola-Santibañez, J.D.;
Santillán-Méndez, I.M. Design and implementation of an adjustable speed drive for motion
control applications. J. Appl. Res. Technol. 2012, 10, 180–194.
10. Hoo, C.-L.; Haris, S.-M. A brief survey on artificial intelligence methods in synchronous motor
control. Appl. Mechan. Mater. 2011, 52, 198–203.
11. Lu, H.; Zhang, L.; Qu, W. A new torque control method for torque ripple minimization of BLDC
motors with un-ideal back EMF. IEEE Trans. Power Electron. 2008, 23, 950–958.
Sensors 2013, 13 3846

12. Cao, J.; Cao, B.; Xu, P.; Zhou, S.; Guo, G.; Wu, X. Torque Ripple Control of Position-Sensorless
Brushless DC Motor Based on Neural Network Identification. In Proceedings of the 3rd IEEE
Conference on Industrial Electronics and Applications, Singapore, 3–5 June 2008; pp. 752–757.
13. Wang, J.; Liu, H.; Zhu, Y.; Cui, B.; Duan, H. A New Minimum Torque-Ripple and Sensorless
Control Scheme of BLDC Motors Based on RBF Networks. In Proceedings of the 5th
International Conference on Power Electronics and Motion Control, Shanghai, China, 14–16
August 2006; pp. 1–4.
14. Kaliappan, E.; Sharmeela, C. Torque ripple minimization of permanent magnet brushless DC
motor using genetic algorithm. Power Electron. Instrum. Eng. 2010, 2, 53–55.
15. Liu, Y.; Zhu, Z.Q.; Howe, D. Direct torque control of brushless DC drives with reduced torque
ripple. IEEE Trans. Ind. Appl. 2005, 41, 599–608.
16. Muruganantham, N.; Palani, S. State space modeling and simulation of sensorless permanent
magnet BLDC motor. Int. J. Eng. Sci. Technol. 2010, 2, 5099–5106.
17. Varatharaju, V.M.; Mathur, B.L.; Udhayakumar, K. A comparative study with modeling and
simulation of torque ripple reduction techniques in BLDC motor. Eur. J. Sci. Res. 2011, 52, 295–305.
18. Kim, I.; Nakazawa, N.; Kim, S.; Park, C.; Yu, C. Compensation of torque ripple in high
performance BLDC motor drives. Contr. Eng. Pract. 2008, 18, 1166–1172.
19. Mattavelli, P.; Tubiana, L.; Zigliotto, M. Torque-ripple reduction in PM synchronous motor
drives using repetitive current control. IEEE Trans. Power Electron. 2005, 20, 1423–1431.
20. Kasac, J.; Novakovic, B.; Majetic, D.; Brezak, D. Passive finite-dimensional repetitive control of
robot manipulators. IEEE Trans. Contr. Syst. Technol. 2008, 16, 570–576.
21. Aghili, F. Adaptive reshaping of excitation currents for accurate torque control of brushless
motors. IEEE Trans. Contr. Syst. Technol. 2008, 16, 356–364.
22. Vladan, P.; Romeo, O.; Aleksandamr, M.S.; Gilead, T. Design and implementation of an adaptive
controller for torque ripple minimization in PM synchronous motors. IEEE Trans. Power Electron.
2000, 15, 871–880.
23. Varatharaju, V.M.; Mathur, B.L.; Udhayakumar, K. Recursive least square algorithm based selective
current harmonic elimination in PMBLDC motor drive. Int. J. Comput. Appl. 2011, 30, 32–38.
24. Qian, W.; Panda, S.K.; Xu, J. Torque ripple minimization in PM synchronous motors using
iterative learning control. IEEE Trans. Power Electron. 2004, 19, 272–279.
25. Panda, S.K.; Xu, J.; Qian, W. Review of Torque Ripple Minimization in PM Synchronous Motor
Drives. In Proceedings of the IEEE Power and Energy Society General Meeting-Conversion and
Delivery of Electrical Energy in the 21st Century, Pittsburgh, PA, USA, 20–24 July 2008; pp. 1–6.
26. Xu, J.; Cao, W. Improved Tracking Performance of Variable Structure Control Using Fourier
Series Based Iterative Learning. In Proceedings of the 38th IEEE Conference on Decision and
Control, Phoenix, AZ, USA, 7–10 December 1999; pp. 5140–5145.
27. Xu, J.; Lee, T.H.; Zhang, H.W. Analysis and Comparison of Two Practical Iterative Learning
Control Schemes. In Proceedings of the IEEE International Conference on Control Applications,
Taipei, Taiwan, 2–4 September 2004; pp. 382–387.
28. Xu, J.; Wang, X.; Lee, T.H. Analysis of Continuous Iterative Learning Control Systems Using
Current Cycle Feedback. In Proceedings of the IEEE American Control Conference, Seattle, WA,
USA, 21–23 June 1995; pp. 4221–4225.
Sensors 2013, 13 3847

29. Xu, J.; Lee, T.H.; Nair, N. A Revised Iterative Learning Control Strategy for Robotic
Manipulators. In Proceedings of the Asia-Pacific Workshop on Advances in Motion Control,
Singapore, 15–16 July 1993; pp. 88–93.
30. Marino, R.; Tomei, P.; Verrelli, C.M. Position Learning Control for Current-Fed Permanent
Magnet Step Motors with Uncertainties. In Proceeding of the 10th IEEE International Workshop
on Advanced Motion Control, Trento, Italy, 26–28 March 2008; pp. 699–703.
31. Bifaretti, S.; Tomei, P.; Verrelli, C.M. A Global Robust Iterative Learning Position Control for
Current-Fed Permanent Magnet Step Motors. In Proceeding of the IEEE International Symposium
on Industrial Electronics, Bari, Italy, 4–7 July 2010; pp. 30–35.
32. Bifaretti, S.; Iacovone, V.; Rocchi, A.; Tomei, P.; Verrelli, C.M. Global learning position controls
for permanent-magnet step motors. IEEE Trans. Ind. Electron. 2011, 58, 4654–4663.
33. Lyshevski, S.E. Electromechanical Systems, Electric Machines, and Applied Mechatronics;
CRC Press: Boca Raton, FL, USA, 2000.
34. Krishnan, R. Dynamic Modeling of Permanent Magnet Synchronous Machines. In Permanente
Magnet Synchronous and Brushless DC Motor Drives; CRC Press: Boca Raton, FL, USA, 2010;
pp. 225–276.
35. Hanselmanl, D.C. Brushless Motor Fundamentals. In Brushless Permanent Magnet Motor
Design; Magna Physics Pub.: Hillsboro, OH, USA, 2006; pp. 67–116.

© 2013 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article
distributed under the terms and conditions of the Creative Commons Attribution license
(http://creativecommons.org/licenses/by/3.0/).