In many papers about commutation torque ripple of Brushless DC motor, the winding resistance is neglected to match the current slew of incoming and outgoing phase, which lead to torque ripple under heavier load and low speed .The approach I adopt to solve the problem is to maintain neutral voltage constant during the commutation interval. Simulation and experiment result show the proposed algorithm suppress the ripple under heavier load and low speed.
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Chen et al. (2024) studied this question.
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