Non-ideal factors can cause steady-state speed ripples for Permanent Magnet Synchronous Motor (PMSM). In this paper current measurement error is mainly analyzed since it can cause multiple (not only 1st- or 2nd-order as analyzed in the existing literature) harmonics when considering its influence on electrical angle. In order to suppress the ripples, a robust plug-in repetitive controller with phase compensation is designed in the outer speed loop of PMSM cascade PI control system. Compared with the repetitive controller added in the current loop, there are two technical challenges: more stringent requirement of high-frequency disturbance suppression and more complex phase compensation design. Hence, a third-order Butterworth filter with phase correction is proposed which can ensure the system’s ability to resist low-frequency periodic disturbances and the high-frequency stability of the system. A hybrid phase correction method combining lead, lag and linear correction is designed which can ensure the stability and the fast convergence of the system at low frequencies. The designed repetitive controller is robust to PMSM parameters variation within a normal range. The experimental results prove that the proposed control strategy can effectively suppress motor speed fluctuation with good steady-state and transient performance.

非理想因素会导致永磁同步电机 (PMSM) 出现稳态速度波动。在本文中，主要分析电流测量误差，因为在考虑其对电角度的影响时，它会引起多次（不仅仅是现有文献中分析的一阶或二阶）谐波。为了抑制纹波，在 PMSM 级联 PI 控制系统的外速度环中设计了一个具有相位补偿的鲁棒插入式重复控制器。与电流环中增加的重复控制器相比，存在两个技术挑战：高频扰动抑制要求更加严格，相位补偿设计更加复杂。因此，提出了一种具有相位校正功能的三阶巴特沃斯滤波器，可以保证系统抵抗低频周期性扰动的能力和系统的高频稳定性。设计了一种超前、滞后和线性校正相结合的混合相位校正方法，可以保证系统在低频下的稳定性和快速收敛。设计的重复控制器对正常范围内的 PMSM 参数变化具有鲁棒性。实验结果证明，所提出的控制策略能够有效抑制电机转速波动，具有良好的稳态和瞬态性能。设计了滞后和线性校正，保证系统在低频下的稳定性和快速收敛。设计的重复控制器对正常范围内的 PMSM 参数变化具有鲁棒性。实验结果证明，所提出的控制策略能够有效抑制电机转速波动，具有良好的稳态和瞬态性能。设计了滞后和线性校正，保证系统在低频下的稳定性和快速收敛。设计的重复控制器对正常范围内的 PMSM 参数变化具有鲁棒性。实验结果证明，所提出的控制策略能够有效抑制电机转速波动，具有良好的稳态和瞬态性能。