Fig. 1. Structure distribution of segmented arc motor for large aperture telescope. (a) Stator winding; (b) Mechanical structure

Fig. 2. Dynamic structure of motor current loop

Fig. 3. PR controller Bode diagram on ideal condition

Fig. 4. PR controller Bode diagram when varying 变化PR控制器伯德图

Fig. 5. PR controller Bode diagram when varying 变化PR控制器伯德图

Fig. 6. Quasi-PR controller design of the current loop

Fig. 7. Drive and control platform of segmented arc PMSM. (a) Physical drawing of arc PMSM; (b) Drive and control circuit board

Fig. 8. Simulations comparison of current wave and harmonic analysis between PI and PR controller. (a) Current wave of one period (PI); (b) Current wave of one period (QPR); (c) Harmonics percentage of magnitude of current of simulation (PI); (d) Harmonics percentage of magnitude of current of simulation (QPR)

Fig. 9. Experiments comparison of current wave and harmonic analysis between PI and PR controller. (a) Current wave of PI; (b) Current wave of QPR; (c) Magnitude percentage of current harmonics of experiment (PI); (d) Magnitude percentage of current harmonics of experiment (QPR)

Table 1. Current harmonic percentage of simulation comparison between PI and QPR

Table 2. Current harmonic percentage of experiment comparison between PI and QPR