Inverter nonlinearities and machine spatial harmonics yield unwanted machine current harmonics causing noise, vibration, additional losses and torque ripples. In this paper the dynamics of a repetitive control based mitigation method are analysed. The proposed scheme identifies voltage errors and compensates their effects online for interior permanent magnet
synchronous machines with nonlinear magnetics. It requires no additional sensors and only fundamental machine model parameters. Test bench measurements of maximal torque inversion and variable speed operation proof the fast convergence of the developed algorithm. Current harmonic
mitigation is reached after several electric periods and in the
time range of 100 ms during typical operational conditions.
The functional principle is transferable to other machine types or grid applications enabling fast and precise mitigation of current harmonics in a wide field of applications.