LAUSR

Optimal stator current design has been widely investigated for torque ripple minimization of permanent magnet synchronous machines (PMSMs). The optimal current design requires accurate machine parameters including the permanent magnet flux and dq-axis inductances, which are varying during machine operation due to machine uncertainty. Therefore, this paper investigates how these machine parameter variations influence the optimal stator current design, and hence the torque ripple minimization performance. At first, torque ripple model-based analytical solution for optimal current design is introduced in this paper, which can theoretically reduce the torque ripple to zero. Then, machine parameter variations of a laboratory interior PMSM are tested and analyzed. It is found that the magnet flux under no load can be reduced by more than 10% from room temperature to the maximal operation temperature, and the inductance term ($L_d$- $L_q$) can be reduced by more than 50% from no load to full load. Afterwards, analytical equations are derived to quantify the resultant torque ripples due to the variations of magnet flux, dq-axis inductances, and the cogging torque. Finally, the numerical and experimental studies are conducted to investigate the resultant torque ripples under different percentages of parameter variations.