非理想梯形波反电势的永磁无刷直流电机换相转矩脉动抑制方法

为了提高磁悬浮控制力矩陀螺(magnetically suspended control moment gyro, MSCMG)框架伺服的精度与稳定度，针对永磁无刷直流力矩电机(permanent magnet brushless DC motor, PMBLDCM)非理想梯形波造成的换相转矩脉动，分析指出了换相反电势不平衡是造成转矩脉动产生的又一原因，且是影响低速力矩电机换相转矩脉动的主要因素。在单一直流母线电流反馈的基础上，提出了一种换相转矩自平衡控制方法，其中包括换相转矩平衡点观测器和角加速度的快速最优估计算法，有效的抑制了换相转矩脉动，提高了低速时的速率伺服精度与稳定度。

Commutation Torque Ripple Reduction in PM Brushless DC Motor With Nonideal Trapezoidal Back EMF

To improve the precision and reduce the speed ripple of magnetically suspended control moment gyro (MSCMG) gimbal servo system, It was analyzed that the unbalance back electromotive force (EMF) during commutation is the reason that produces the torque ripple considering the nonideal trapezoidal back EMF of permanent magnet brushless DC motor (PMBLDCM), witch is the main factor effecting the torque ripple of low speed torque motor. And the paper presents an auto-balance control method of commutation torque based on single DC current sensor. The controller is consisted of commutation torque balance point observer and fast optimization estimation algorithm. The method reduces the commutation torque ripple effectively and improves the precision of speed servo.