Permanent-magnet synchronous motors: a comprehensive approach to cogging torque suppression

Torque ripple minimization in permanent-magnet synchronous motors is traditionally achieved either by special motor design or by an adequate control of the driver. Due to motor-driver interactions, the choice of driver or motor design must consider the respective performance of each. The approach presented provides appropriate current shapes for driving a given motor without torque ripple and/or appropriate back-EMF shapes for a given current or voltage supply. Reluctance torque, due to the interaction between the rotor magnets and the stator slots, is also taken into consideration