Abstract
This study discusses the evolution of the local minimum to global minimum torque ripples of the direct torque control of induction motor drives. This study will show that the previous minimum torque ripple design is not the global minimum but a local minimum root-mean-square (RMS) torque ripple. To show this, the study finds the optimal initial torque error, which makes the global minimum torque ripple, and then the related global minimum RMS torque ripple. Moreover, after finding the optimal initial torque error and its related global minimum RMS torque ripple, this study derives the evolution of the initial torque ripple error, under the local minimum RMS torque ripple control strategy. Furthermore, this study also proves that under the local minimum RMS torque ripple control strategy, the local minimum torque ripple will converge to the global minimum value.
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