Based on the analysis of airgap field modulation theory

this paper studies the torque model of dual three-phase permanent magnet synchronous motors (DTP-PMSMs) and proposes a strategy to improve the torque performance by current optimization. A torque ripple model of DTP-PMSM is established

which effectively considers the cogging torque ripple based on airgap field modulation theory. The relationship between the phase current and the torque ripple is derived to obtain the current harmonic frequency that affects the main torque ripple component and to give a general expression for the torque ripple controlled by current harmonics. Through finite element analysis (FEA)

the harmonic current amplitude and phase coefficient used to suppress the torque ripple are extracted under any condition within the rated operating range. This control coefficient can be applied to the torque ripple suppression under other working conditions of the motor. On this basis

the paper further designs a composite harmonic current control method based on deadbeat predictive-fractional order repetitive control (DP-FORC). By effectively controlling harmonic currents

the torque ripple is suppressed and the torque density is improved. The effectiveness of the proposed torque model

the current control method

and the torque performance improvement strategy is verified through experiments.