In this thesis, a method to estimate the torque pulsation of IPMSMs is proposed. The method is based on an analytical torque equation of IPMSMs derived by using the concepts of energy and co-energy of a magnetic circuit. This method is valid and accurate for any operating point, including that under heavy magnetic saturation, and for any arbitrary current waveform. Also, by using the proposed equation, a method to reduce the torque pulsation is proposed. Simulation and experimental results show that the proposed methods, for both estimation and reduction, are valid, accurate and effective.
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