Torque Ripple Reduction in a Modular Drive of Twelve-Phase, Non-Sinusoidal PMSM with Double Stator Windings based on an Ultra-local model and Extended State Observers (ESO)

In the electric drive systems of marine propulsion, particularly in submarines, multiphase permanent magnet synchronous motors (PMSMs) have garnered significant attention due to their enhanced reliability in high-power applications. This paper investigates a twelve-phase non-sinusoidal PMSM with double stator windings, where each stator phase's windings are symmetrically positioned relative to the stator centre. Each winding is powered by a single-phase H-bridge inverter, with both inverters of each phase controlled by a dedicated microcontroller. Given the independent control system for each phase, conventional dq-axis modeling and control methods are not applicable. Instead, the system is modeled in a stationary ۱۲-phase reference frame. Furthermore, due to the non-sinusoidal back-EMF voltage waveforms, harmonic current injection is independently applied to each phase to mitigate torque ripple. For harmonic reference current regulation, a state feedback controller based on an ultra-local model is employed, replacing traditional PI or hysteresis controllers. Additionally, extended state observers (ESOs) are designed to estimate uncertainties and parameter mismatches. Simulation results validate the superiority of the proposed control approach.

کلیدواژه ها:

drive ، Ultra-local model ، Extended state observer ، H-bridge inverter ، Reliability