Variable speed drive systems with permanent magnet synchronous motors (PMSMs) are widely used for industry applications and electric home appliances. However, structural imperfections in a PMSM and its control system produce torque ripple, which causes mechanical vibration (i.e., frame vibration), rotational speed ripple, acoustic noise, and so on. We previously proposed a control method for suppressing the motor frame vibration of a PMSM by utilizing feedforward compensation control and a method of generating compensation signals for the feedforward control. However, when the operating point of the motor changes during feedforward control, the motor frame vibration sometimes increases. To cope with this problem, we propose a control method for suppressing motor frame vibration that corresponds to the motor torque and load. The experimental results confirmed the effectiveness of the proposed method.
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