This article proposes a method to suppress the torque ripple caused by misalignment of the gearbox. Misalignment is a common fault caused by the manufacturing tolerances, and generates torque ripple. Therefore, even if a constant electromagnetic torque is transmitted from the motor to the gearbox, a large torque ripple may be transmitted to the load because of misalignment. In the proposed method, a harmonic current injection method, in which harmonic current is injected into the armature current, is used to suppress the torque ripple produced by misalignment. The amplitude and phase of the harmonic current are calculated using the misalignment torque ripple, and a method for estimating the misalignment torque ripple, which does not require a torque sensor, has been presented. Using the estimation method and harmonic current injection method, the misalignment torque ripple can be suppressed effectively. The phenomenon of torque ripple production by misalignment is analyzed, and a current control algorithm based on harmonic current injection method is proposed. The effectiveness of the proposed method is verified through experiments at various load torque. Using this method, a high degree of torque control can be achieved with even a low-quality gearbox.

中文翻译：

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谐波注入法抑制变速箱不对中引起的转矩脉动

本文提出了一种抑制齿轮箱不对中引起的转矩脉动的方法。偏差是由制造公差引起的常见故障，并会产生转矩波动。因此，即使恒定的电磁转矩从电动机传递到齿轮箱，由于未对准，大的转矩波动也可能传递到负载。在所提出的方法中，谐波电流注入方法是将谐波电流注入电枢电流，以抑制由于未对准而产生的转矩脉动。使用失准转矩脉动来计算谐波电流的振幅和相位，并且提出了不需要转矩传感器的估计失准转矩脉动的方法。使用估算方法和谐波电流注入方法，可以有效地抑制失准转矩脉动。分析了由于偏心而产生转矩脉动的现象，提出了一种基于谐波注入法的电流控制算法。通过在各种负载转矩下的实验验证了该方法的有效性。使用这种方法，即使是低质量的变速箱也可以实现高度的扭矩控制。