Abstract. Precision electric drive systems for robotic complexes are considered. Such systems are subject to increasingly stringent requirements for the permissible level of electromagnetic torque pulsations. At the same time, it is necessary to provide a wide range of speed control. These requirements cannot be satisfied only by improving the control algorithms, since the limiting factors are the range of output voltage regulation, as well as the pulsed nature of the voltage inverter operation. Reducing the level of output current and voltage ripples can be achieved by using multi-level inverter topologies that combine the properties of pulse-width and pulse-amplitude modulation, which is due to an increase in the number of output voltage levels. As an alternative to multi-level topologies, it is proposed to consider multi-phase inverter topologies, which are free from a number of disadvantages of traditional multi-level topologies and at the same time allow increasing the number of output voltage levels.

Keywords: multiphase electric drive, multilevel voltage invertors, space-vector modulation, torque pulsations, coefficient of variation, precision electric drive

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