Torque Ripple Reduction for Direct Torque Control of Dual Three-Phase PMSM Based on Multiple Virtual Voltage Vectors

The switching-table-based direct torque control (ST-DTC) has the merits of simple structure, easy implementation, and fast response, but suffers from large torque ripples. Previous literature, i.e., the classical DTC, can achieve torque ripple reduction in the high-speed region but has a limited capability for torque ripple reduction in the low-speed region. In this paper, the issue of torque ripple reduction in the full-speed region, i.e., both the low-speed and high-speed regions, is addressed. The effects of each group in all possible six groups of virtual voltage vectors (VVs) on torque variation are firstly investigated. Then, a multiple VV DTC based on only three groups of VVs is proposed and the corresponding optimal selections of three VV groups and level of torque regulator are presented. The proposed DTC not only can effectively reduce torque ripples in the full speed region, but also is simple and easy to implement. The superiority of the proposed DTC with optimal selections of VVs and level of torque regulator are verified by experimental results.