In a permanent magnet motor,the actual air gap magnetic field distribution is not sinusoidal,corresponding harmonic components will also exist in the back-EMF waveform,which will cause additional torque pulsation,leading to vibration and noise,reducing the system control accuracy.In order to solve this problem,a permanent magnet motor model predictive current control method based on harmonic injection was proposed.A general analytical model of pulsating torque suitable for any phase permanent magnet motor back-EMF harmonic generation was established.Based on this model,from the point of control,a control strategy of using current harmonic injection to compensate the torque ripple caused by back-EMF harmonics was proposed,and the general expression of the current harmonic characteristics to be injected was analyzed.The model predictive current control method was adopted to control the current.In order to verify the effectiveness of the proposed method,taking a three-phase 12-slot 10-pole surface-mount permanent magnet synchronous motor as example,a motor simulation model considering back-EMF harmonics was designed through MATLAB/Simulink,and a harmonic injection-based motor control system was built.In addition,in order to further verify the correctness of the proposed method,corresponding experimental verification was conducted.The research results show that the peak-to-peak value of the torque ripple of the motor before and after harmonic injection is reduced from 2 N·m to 1.3 N·m.