永磁同步馬達具高效率、高功率密度、低噪音、壽命長及較其它種類交流馬達容易控制等優點，目前已成為最受矚目的應用馬達。然而由於先天的結構因素，其輸出轉矩包含了週期性交變的漣波成分，而轉矩漣波會造成系統產生振動與噪音，進而限制了永磁同步馬達的應用場合。

本研究分析永磁同步馬達轉矩漣波的成因與其對應的諧波轉矩，並提出基於磁場導向控制架構下，以外插(Plug-in)的疊代學習控制器抑制馬達轉矩漣波成分。此外，考量永磁同步馬達轉矩漣波為位置週期訊號，本研究提出以位置週期為疊代學習控制器設計依據。並由實驗結果驗證於傳統磁場導向控制架構中，外插一疊代學習控制器確實能有效降低永磁同步馬達輸出轉矩的漣波成分，且相較於傳統基於時間週期的疊代學習控制器，以轉子位置為依據的疊代學習控制器可自主適應各種速度命令下的轉速環境，自行達到轉矩漣波抑制的控制效果，因此適用性更佳

Permanent magnet synchronous machines (PMSMs) are featured by high efficiency, high power density, low noise, long life span, easier control than the other types of AC motors, etc., which leads PMSM to the most attentive AC motor. However, due to the structure and the inherent errors of the sensors used in control system, the output torque contains periodic ripple. Such torque ripple would cause vibration and noise to the system and further constrain the applications of PMSMs.

In this paper, the causes of the PMSM torque ripple and the corresponding harmonic torque are analyzed. Moreover, basing on the mainstream field oriented control structure, the plug-in type iterative learning control system is developed to minimize torque ripples. In the case, torque ripple of PMSMs are periodic signals, whose period is defined in position domain. The implementation and experiment of the plug-in type iterative learning control system are verified to efficiently minimize the torque ripples. Moreover, comparing to traditional time-periodic iterative learning control system, the iterative learning control system whose period is defined in rotor position can even more effectively reduce the torque ripples.

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