EV Motor Torque Control for Harmonic Disturbance Compensation

The control system performs preliminary estimation of disturbance torque using a motion observer before the torque ripple actually occurs. By predicting the disturbance torque based on angular position and ideal torque command, the system can pre-compensate for torque ripple, reducing noise, vibration, and harshness before they affect the vehicle occupants.

The system implements feedback by continuously monitoring the angular position of the output shaft and using it to estimate disturbance torque through the motion observer. The estimated disturbance torque is fed back to the controller, which generates a compensated torque command that accounts for the predicted torque ripple, creating a closed-loop control system that actively reduces harmful vibrations.

The motion observer acts as an intermediary component between the simple conventional control system and the torque ripple mitigation function. It processes the angular position and ideal torque command to generate an estimated disturbance torque, which then serves as input to the controller. This intermediary approach enables torque ripple reduction without requiring direct modification of the motor hardware, thus limiting the increase in overall system complexity.

Instead of using mechanical dampers or physical modifications to reduce torque ripple, the system substitutes a computational approach using the motion observer and controller. The disturbance torque estimation and compensation are achieved through signal processing and control algorithms rather than mechanical means, replacing potential mechanical complexity with electronic/software-based solutions.