This article proposes a novel control technique for suppressing pulsating torques in permanent magnet synchronous motors (PMSMs) and synchronous reluctance motors (Syn-RMs). This torque-control system is based on instantaneous torque estimation with a rigorous analytical model that can account for spatial harmonics. Using this novel analytical model, the produced torque can be accurately estimated from simple preknowledge and some measurable online information. Ultimately, superimposed currents obtained from the torque estimation can smooth out the pulsating torque. The effectiveness of the proposed technique is evaluated by performing both simulations and experiments.
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