Active vibration cancellation using a multi-harmonic controller

The paper describes the usage of a permanentmagnet synchronous motor (PMSM) as an actuator to perform the active cancellation of disturbing vibrations. A modification of the existing field-oriented controller in order to superimpose additional signals to the power supply of the motor is presented with a new control algorithm. The core idea is the assumption that the nonlinear dynamics of the motor can be approximated by a weighted combination of a finite number of fourier elements. Using this model, a gradient-based control approach - based on the well-known FxLMS - in a parallel version considering the first four harmonics is introduced. This control algorithm allows a significant reduction of a tonal disturbing signal, including sufficient suppression of the nonlinear distortions of the compensation signal source. The proof of concept is presented with an experimental realtime environment.