If the synchronous reference frame by the position information with

0
0
error is the de qe axis, the transformation of the rotating vector ~I s is
represented as

Reduction of PMSM torque ripple caused

by resolver position error
H.S. Mok, S.H. Kim and Y.H. Cho

e0

~idqs j~I s j cosy Dy j  j~I s j siny Dy

The resolver is mainly used to obtain position information when

driving the permanent magnet synchronous motor (PMSM). A resolver generates periodic position errors owing to the transformer ratio
difference and excitation signal distortion. When the vector control is
done with the position information that includes position error, torque
ripple is periodically generated. An algorithm is proposed that reduces
torque ripple components by applying a simple torque ripple compensation method to the current controller.

Introduction: Rotor position information is essential in vector control

for high performance PMSM drives. Although many sensorless vector
control schemes have been known, the electric power steering system
still requires a physical sensor such as a resolver owing to stringent
torque ripple, safety, and reliability etc. [1]. In an actual resolverbased position sensing system, all amplitude imbalance, quadrature
error, inductive harmonics, reference phase shift, excitation signal
distortion, and disturbance signals exist owing to the finite precision
with which a resolver can be mechanically constructed and electrically excited. Amplitude imbalance, which is a common characteristic
in any resolver, refers to the amplitude difference between the two
resolver signals, as shown in Fig. 1, where a represents the amount of
amplitude imbalance. It results from either unequal transformation
ratio or unbalanced excitation of the resolver phases. Processing these
signals by a resolver-to-digital (R=D) converter leads to the following
approximate position error:
a
e sin2y
2

Fig. 2 Relation of real position and distorted position

dsqs: stationary dq reference frame, deqe0 : synchronously
rotating dq
0
reference frame (without position error), de qe : synchronously rotating
dq reference frame (with position error)

Equation (3) can be expressed, through some trigonometric expansions,

as
e0

~idqs ieds  cos Dy ieqs  sin Dy jieds  sin Dy ieqs  cos Dy 4

Controlling ~ieds 0 during vector control, the current vector with error is
given by:
e

~idqs ieqs0  sin Dy j  ieqs0  cos Dy

The torque of a PMSM with P poles, EMF constant lm and stator self
inductance Ls is
Te

3P
3P
3P
l ie
l ie cos Dy  1
L ie 2 cosDy  sinDy
2 2 m qs 2 2 m qs
2 2 s qs
6
0

Fig. 1 Resolver schematics with amplitude imbalance

Depending on resolver type, the transformation ratio error range is

in general
5 to
20%, and the change of angle as (1) will
generate the position error of the sin(2y) component with a magnitude of
4.9 to
16.3 [2]. When position error is included by
using the resolver generated from the above causes, torque ripple
with twice the electrical frequency is periodically generated. The low
inertia motor has recently been used for fast response. In this case,
the effect of the torque ripple is strong. Without its compensation,
the motor driving performance is worsened. The position error can
be corrected by a higher accuracy sensor. However, this error
correction needs complex signal processing and has a high cost
[3, 4]. In this Letter, torque ripple generated by periodic position
error is identified by a speed or position sensor with other low
resolution. An algorithm for reducing torque ripple by applying it to
the current controller is proposed. The proposed algorithm is verified
through simulation and experiment on the automobile electric power
steering (EPS) system, in which the motor torque ripple must be
limited for smooth steering feel.
Torque ripple from position sensor error: Fig. 2 shows that an
arbitrary synchronously rotating current vector ~I s can be expressed
as a complex vector ~I dqs on the deqe axis. Here, subscripts dq and s
represent reference frame and stator variable, respectively, and superscript e stands for synchronous reference frame:
e

~idqs j~I s j cos y j  j~I s j sin y

When ieqs, ieds are controlled on the de qe axis, torque ripple

occurs by position error components of the second and third terms
in (6).

Torque ripple compensation: It is necessary to get the position signal

without distortion in order to obtain the error signal in (5).The method
of either a separate speed signal or a speed observer can be used. In
the EPS application shown in this Letter, a separate steering position
sensor such as an absolute encoder can be used. This sensor has a low
resolution around 100ppr, which is lower than 4.9 , i.e. the minimum
position error of the resolver. So, it is not adequate for use in vector
control, but it can be used as the compensation signal for the proposed
algorithm. The compensation method is as follows: using the sine
table with unity magnitude, the corrected sine and cosine values are
generated in the stationary reference frame from the position information where there is no distortion by the steering position sensor as
follows:
~idqss;pu sin y  j  cos y

After stationary-to-synchronous transformation with position y Dy

(Dy is position error), (7) is transformed into
e0

~idqs;pu  sin Dy  j  cos Dy

Converting the sign of (8) and multiplying it by ieqs, ieds gives (5). The
0
0
current control using (8) on the de qe axis can eliminate the torque
ripple caused by position error, as shown in Fig. 3.

ELECTRONICS LETTERS 24th May 2007 Vol. 43 No. 11

Conclusions: A method for reducing torque ripple has been proposed,

which is generated by the periodical position error from the transformer ratio difference and excitation signal distortion of the resolver in
a PMSM drive system. The proposed method has been verified
through simulation and experiment on an automobile EPS system.
This can be applied in all cases where resolver position errors occur,
leading to benefits of reducing torque ripple.

Fig. 3 Torque ripple compensation scheme

Results: The performance of the proposed method has been tested

with a 1 kW, 8 V (line-to-line), 80 A (RMS) and four pole pairs
surface mount type PMSM drive system for EPS. Figs. 4a and b show
the simulation results and Fig. 4c shows the experimental results. The
error is added to the position signal at point (i) in Fig. 4a. The position
error added in Fig. 4 is given the same frequency of the rotor angle
and a magnitude of 15 , assuming the worst case. The proposed
torque ripple compensation algorithm is applied at (ii). The proposed
method eliminates almost the entire torque ripple generated from the
resolver position error and leads to improved torque performance.

# The Institution of Engineering and Technology 2007

29 January 2007
Electronics Letters online no: 20070296
doi: 10.1049/el:20070296
H.S. Mok (Department of Electrical Engineering, Konkuk University,
Hwayang 1 dong, Gwangingu, Seoul 143-701, Korea)
E-mail: hsmok@konkuk.ac.uk
S.H. Kim (Department of Electrical and Electronics Engineering,
Kangwon National University, Chunchon, Kangwondo 200-701,
Korea)
Y.H. Cho (Technical Research Institute, Hyundai MOBIS, Yongin,
Gyunggido 446-912, Korea)
References
1 Liu, G., Kunia, A., Larminat De, R., Desmond, P., and OGorman, T.: A
low torque ripple PMSM drive for EPS applications. Proc. IEEE
APEC04, 2004, pp. 11301136
2 Hanselman, D.C.: Resolver signal requirement for high accuracy
resolver-to-digital conversion, IEEE Trans. Ind. Electron., 1990, 37,
(6), pp. 556561
3 Qian, W., Panda, S.K., and Xu, JIan-Xin.: Torque ripple minimization in
PM synchronous motors using iterative learning control, IEEE Trans.
Power Electron., 2004, 19, (2), pp. 272279
4 Beccue, P., Neely, J., Perarek, S., and Stutts, D.: Measurement and
control of torque ripple-induced frame torsional vibration in a surface
mount permanent magnet machine, IEEE Trans. Power Electron., 2005,
20, (1), pp. 182191

Fig. 4 Results of torque ripple compensation

a Torque (simulation)
b Distorted position signal (simulation)
c Torque (experiment)

ELECTRONICS LETTERS 24th May 2007 Vol. 43 No. 11