Electromechanical Energy Conversion Systems

Electromechanical Energy Conversion Systems

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)

Document Type : Original Article

Authors
Abolfazl Halvaei Niasar 1
Davood Maleki 2
1 Faculty of Electrical and Computer Engineering, University of Kashan
2 Faculty of Electrical and Computer Engineering, University of Kashan, Ravand Road, Kashan, Iran
10.30503/eecs.2025.504836.1072
Abstract
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 12-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.
Keywords
Drive
Ultra-local model
Extended state observer
H-bridge inverter
Reliability
Subjects

  • Receive Date 05 February 2025
  • Revise Date 26 April 2025
  • Accept Date 17 September 2025