High order torque harmonics observer for IPMSM

This is the authors' abstract. We don't add key points for this paper.

Interior Permanent Magnet Synchronous Motors (IPMSMs) are widely used in various industrial applications due to their high power density, but particular focus is placed on reducing torque ripples. This article proposes an observer and its tuning capable of estimating high orders harmonics. The proposed formulation ensures system observability regardless of the number of harmonics considered. To address numerical issues in gain synthesis, an algebraic Lyapunov function-based approach is employed. Results from real motor test bench measurements demonstrate that incorporating high-order harmonics significantly reduces observer gains while mitigating the influence of measurement noise, thereby improving estimation accuracy.