Multimodal Magnetic-Co-Energy-Model-Based Angle-Domain Compensation Finite-Set Torque Ripple Suppression for Switched Reluctance Motor

Theswitched reluctance motor (SRM) suffers from torque ripple and speed fluctuations because of its doubly salient structure, magnetic saturation, and discrete commutation. To improve commutation performance and disturbance rejection, this paper proposes a progressive torque ripple suppression strategy. First, a multimodal magnetic co-energy model is developed to describe position-dependent saturation and generate the reference current through model inversion. Then, envelope extraction and frequency identification reveal the commutation-related periodic torque-error characteristic. Based on this feature, an angle-domain binned compensation method combining cycle averaging and linear interpolation is proposed to correct the reference current. A score-based finite-set PI hysteresis current controller is further designed to optimize magnetizing, freewheeling, and demagnetizing states, while a linear active disturbance rejection control (LADRC) speed loop improves load-disturbance rejection. Ablation studies verify the synergistic effect between angle-domain compensation and finite-set current execution. Robustness tests confirm low sensitivity to parameter variations, and theoretical analysis proves ultimate boundedness. Simulation results show that torque ripple is reduced to 2.00%, 2.03%, and 2.18% at 250, 500, and 1000 r/min, respectively. Under load-disturbance conditions, speed fluctuation is reduced by 59.92% and 57.20%, and all normalized parameter sensitivities remain below 0.35.