This paper presents a model predictive control (MPC) based harmonic current injection method (HCIM) to suppress the torque ripple caused by misalignment in gearbox. As it is inefficient to determine the amplitude and phase of harmonic currents manually, the MPC is used to search the appropriate harmonic currents to implement HCIM efficiently. A cost function for MPC is designed to minimize a resultant torque ripple which is calculated by summing the misalignment torque ripple and compensation torque. The compensation torque is an input variable of the predictive model. In order to predict the resultant torque ripple accurately, an estimation method of the misalignment torque ripple with torque sensor is also proposed. The calculated compensation torque is converted into harmonic currents and the harmonic currents can be injected into a q -axis current. As a result, the misalignment torque ripple can be suppressed. Experimental results demonstrate verification for estimation method of misalignment torque ripple, and effectiveness of the HCIM. In addition, the proposed MPC-HCIM is also verified by experiments, and the misalignment torque ripple is effectively suppressed by using the proposed method. By using the proposed method, high degree of precision in torque control can be achieved with low quality gearbox which has misalignment.

中文翻译：

---

变速箱不对中引起的转矩纹波抑制模型预测控制

本文提出了一种基于模型预测控制（MPC）的谐波电流注入方法（HCIM），以抑制变速箱未对中引起的转矩脉动。由于手动确定谐波电流的幅度和相位效率低下，因此MPC用于搜索适当的谐波电流以有效实施HCIM。MPC的成本函数设计为最小化合成转矩波动，该转矩波动是通过将未对准转矩波动和补偿转矩相加得出的。补偿扭矩是预测模型的输入变量。为了准确预测产生的转矩脉动，还提出了一种利用转矩传感器的失准转矩脉动的估算方法。计算出的补偿扭矩将转换为谐波电流，并且谐波电流可以注入到电机中。q 轴电流。结果，可以抑制失准转矩脉动。实验结果证明了偏心转矩脉动估计方法的验证以及HCIM的有效性。此外，还通过实验验证了所提出的MPC-HCIM，并通过所提出的方法有效地抑制了偏心转矩脉动。通过使用所提出的方法，可以利用具有未对准的低质量齿轮箱来实现转矩控制的高精度。