DESIGN GUIDE

ON DC MOTORS

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DC MOTORS DESIGN GUIDE

DC motors are motion components that take electrical power in the

form of direct current (or some manipulated form of direct current)
and convert it into mechanical rotation. The motors do this through
the use of magnetic fields that arise from the electric currents to
spur rotation of a rotor fixed with an output shaft. Output torque
and speed depends on the electrical input and motor design.

In this Design Guide, the editors of Design World detail the most
common dc motor types as well common ways to quantify their
output during the design-engineering process. ▼
DANIELLE COLLINS
Senior editor

TABLE OF CONTENTS
▼

Brushed motor construction and operation......................................2

Shunt, series, and compound-wound dc motor variations...............3

▼
Brushless dc motor designs...............................................................5 LISA EITEL
Executive editor
Deep dive on linear BLDC behavior..................................................6

Difference between slotted and slotless motors..............................7

Details on voltage and dc motor output speed................................8

The relationship between current and output torque.......................9

Ways to avoid torque ripple in dc motors.......................................10

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 Brushed motor
▼

construction
and operation

L
et’s begin our overview of dc motors with a primer on brush parallel so the field current is proportional to the load on the motor.
dc motors. These motors are a mature technology that’s been
around for more than a century. So with brushless motors and The armature and field coils in series-wound motor connect in series
an ever-increasing array of controls for all motor types, why do so current passes only through the field coils.
engineers still use brush motors? After all, it’s common knowledge that
brush motors exhibit wear at their brush-and-commutator interface. The The armature and field coils in compound-wound motors include
truth is that brush dc motors output high peak torques and can run off both series and shunt windings.
simple speed controllers to move myriad applications. They often cost
No matter the setup, brush dc motors have commutators and brush
less than other options, especially in large volumes. Plus they can have
contacts to pass current to the rotating rotor’s copper-wire windings.
a linear torque-speed relationship, which makes controls easier.
Designers can control speed by changing rotor voltage (and current
According to the most common industry naming conventions of with it) or by changing the magnetic flux between rotor and stator
today, there are three dc motor subtypes here — dc brush motors, through adjustments of the field-winding current. Brush orientation
dc permanent-magnet (PM) motors, and dc universal motors. As we’ll to the rotor’s commutator bar segments mechanically controls the
see, there are some caveats and sub-classifications. Many larger dc phase commutation.
motors still employ brushes and wound fields … though PM motors
In fact, the way dc brush motors let designers control field and rotor
dominate fractional and integral-horsepower applications below 18
windings means they’re suitable for applications that need simple
hp, and PM motors are increasingly common for myriad designs.
and cost-effective torque and speed control.
Some engineers call dc brush motors wound-field motors, because
That said, increased functionality from electronics for PM motors
it’s a wound and lacquered coil of copper wire that makes the
means that this advantage in less pronounced than it once was.
electromagnetic field. Some engineers also argue that all dc motors
What’s worse, current on both rotor and stator generate heat that
are brush dc motors, and that the term “brushless dc motor” is a
limits the motors’ continuous-current ratings. The motors also
misnomer. No matter the term, there are permanent magnet, shunt,
present a spark hazard, so can’t go in explosive settings. At certain
series, and compound-wound brush dc motors. All except the
periods during the dc motor rotation, the commutator must reverse
former use two currents:
the current, reducing motor life with arcing and friction. So, brushed
1. Current through armature (rotor) windings to interact with a
dc motors require more maintenance in the form of replacement
stator magnetic field (for output of mechanical rotation) and
of springs and brushes that carry the electrical current, and
2. Current through stator windings to make the magnetic field
replacement or cleaning of the commutator. These components are
in question.
important for transferring electrical power from outside the motor to
In contrast, permanent-magnet brush dc motors use: the spinning coil windings of the rotor inside the motor.
1. Current through armature (rotor) windings to interact with a
stator magnetic field (for output of mechanical rotation) and Note: The brushes in dc brush motors wear and need replacing, and
2. Permanent magnets on the stator to make the magnetic field brush-wear particles mean that designers shouldn’t use dc brush
in question. motors in cleanrooms. Same goes for applications that need high
precision, as friction from brush-commutator engagement make for
The armature and field coils in a shunt-wound motor connect in long position-settling times.

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 Shunt, series, and compound-
▼

wound dc motor variations

S
eries-wound dc motors: As mentioned, the armature (rotor) Shunt-wound dc motors: As mentioned, armature and field coils
and field coils in series-wound motors connect in series. in shunt-wounds motor connect in parallel … so field current is
That means the entire armature (rotor) current passes to the proportional to the load on the motor. Variable-voltage input allows
field winding. So, these motors only need one input voltage for speed adjustment. Supply fixed voltage to a shunt-wound
supply. Torque equals current squared. Increasing armature (rotor) motor to make it run at constant speed. Then supply increasing
current induces a field-current increase. Regenerative braking isn’t motor current to a shunt-wound motor to increase torque without
possible; field current collapses when rotor current passes through significant slowing.
zero and reverses.

Torque is highest when the motor stops because the armature (rotor) With these motors, a
generates no back electromotive force (Bemf) when at rest. When technique called field IN SHUNT-WOUND
the armature (rotor) accelerates, Bemf increases. That in turn reduces weakening can control
effective current, voltage and torque. Without loading, the motor
MOTORS, THE FIELD
speed without forcing
accelerates to dangerous speeds. In contrast, increased load slows the controls to change (STATOR) WINDING
the motor but lowers Bemf … and increases torque to turn the load. input voltage. A field-
winding rheostat reduces
CONNECTS IN PARALLEL
Series-wound motors can’t regulate speed well, as speed control
depends on adjustments to the supply voltage. Even so, they’re field (stator) current and WITH THE ARMATURE
inexpensive and can drive designs that need high starting torque. with it the magnetic flux
For example, designers use series-wound motors in low and high- between armature and (ROTOR) WINDING.
power automotive mechanisms, consumer products such as power field — across the airgap
tools, toys, and sewing machines, and industrial traction drives that separates them. Speed is inversely proportional to flux, so this
with fixed and variable speed. Designers can reverse series-wound accelerates the motor. One caveat: Torque is directly proportional to
motors by reversing field or armature (rotor) winding connections. flux, so the acceleration comes with diminished torque output.

CIRCUITS FOR BRUSHED DC MOTORS

FOR CURRENT-TORQUE RELATIONSHIPS

I
SERIES-WOUND MOTOR HAS
L EMF ROTOR and STATOR FIELDS
R in SERIES.

V
EMF

SHUNT-WOUND
BRUSHED MOTOR USED IN MOTOR HAS PARALLEL EMF
EXAMPLE CALCULATIONS ROTOR and STATOR FIELDS.

Shown here are typical brushed dc motor circuits. The one to the left is used to calculate the
relationship between voltage and dc motor output speed. Applied voltage equals the voltage
drop across the coil resistance R and the inductor L plus the back electromotive force Bemf.

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 DC MOTORS DESIGN GUIDE
(continued)
Shunt, series, and compound-wound
dc motor variations

Stabilizing windings prevent acceleration as load increases at weak

field settings. The only catch is that reversing applications need
reversal of this winding to go with armature (rotor) voltage reversal.
That necessitates reversing contactors. So for reversing motion,
sometimes manufactures just design shunt-would motors with higher
stability and omit stabilizing windings. QUICK DC AND BLDC MOTOR REVIEW
Note: The operation of a permanent-magnet brush dc motor is All dc motors generate a magnetic field, either via
much like that of a shunt-wound motor, save for the mode of field- electromagnetic windings or permanent magnets. An armature,
flux production. which is often a coil of wires, is placed between the north and
south poles of a magnet. When current flows through the
Reversing a shunt-wound motor’s connections on either rotor
armature, the field produced by the armature interacts with the
windings or field reverses the motor’s direction of rotation; self-
magnetic field from the magnets and eventually generates a
excitation maintains the field when the rotor current reverses, which
torque and thereby motion. For motion-control applications,
means the motors can regeneratively brake.
the most common dc motor types are brushed dc motors and
brushless motors … permanent-magnet motors.
Shunt-wound motors drive machine tools and automotive fan and
wiper applications.
In a brushed dc motor, the magnet acts as the stator. The
armature is integrated onto the rotor and a commutator
Compound-wound motors: Separately excited motors (sometimes
switches the current flow. The commutator’s function is to
called compound-wound motors) are dc brush motors with
transfer current from a fixed point to the rotating shaft. Brushed
independent voltage supplies to the field (stator) and armature
dc motors generate torque straight from the dc power supplied
(rotor) … for better control over motor output. Input voltage on
to the motor by using internal commutation, fixed permanent
either winding can control motor output speed and torque. Most
magnets, and rotating electromagnets.
manufacturers build compound-wound motors with series and
shunt-wound field (rotor) windings. The direction and strength and
Brushed dc motors have the advantage of generally low initial
direction of two windings dictates the motor’s speed-torque curves.
cost and simple control of motor speed. However, there are some
drawbacks. At certain periods during the dc motor rotation, the
Compound-wound motors work well for traction in automotive or
commutator must reverse the current, causing reduced motor
rail-train applications.
life due to arcing and friction. Consequently, brushed dc motors
require more maintenance such as frequently replacing the springs
and brushes which carry the electrical current, as well as replacing
or cleaning the commutator. These components are important
for transferring electrical power from outside the motor to the
spinning coil windings of the rotor inside the motor.

BLDC motors, on the other hand, do away with mechanical

commutation in favor of electronic commutation. That eliminates
the mechanical wear and tear involved with brushed dc motors.
In BLDC motors, the permanent magnet is housed in the rotor
and the coils are placed in the stator. The coil windings produce
a rotating magnetic field because they’re separated from each
other electrically, which enables them to be turned on and off.
The BLDC’s commutator doesn’t bring the current to the rotor.
Instead, the rotor’s permanent magnet field trails the rotating
stator field, producing the rotor field. Successful commutation
relies on precise rotor-position data, often from magnetic
sensing with a Hall Effect sensor, which also allows for tracking of
speed and torque.

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 Brushless dc motor designs
▼

B
rushless dc (BLDC) motors do away with mechanical Note that there are some naming-convention caveats: There exist
commutation in favor of electronic commutation, which permanent-magnet (PM) dc motors with brushes (for mechanical
eliminates the mechanical wear and tear involved with commutation) and some references call these motors PMDC
brushed dc motors. In BLDC motors, the permanent motors. Furthermore, some motors called brushless dc motors have
magnet is housed in the rotor and the coils are placed in the stator. permanent magnets (PMs) so they are technically PM synchronous
The coil windings produce a rotating magnetic field because they’re motors that run on ac (though through a dc bus and electronic
separated from each other electrically, which enables them to be inverter circuitry). In other words, this naming convention merely
turned on and off. The BLDC’s commutator does not bring the indicates that 1) these motors don’t run directly from ac lines and
current to the rotor. Instead, the rotor’s permanent magnet field 2) the motors (with the proper drives) can replace dc brush motors
trails the rotating stator field, producing the rotor field. Read the (paired with drives) in closed-loop applications.
related article: What are brushless dc motors? Technical summary
for engineers. Most permanent-magnet dc motors drive fractional-horsepower
applications though other uses are on the rise. Output torque is
proportional to armature (rotor) current over the motor’s speed range.

Though brushless dc motors with armature (stator) magnets exist

BRUSHLESS DC (BLDC) MOTORS ARE DC (powered by current to the rotor through a commutator) PM motors
with rotor magnets are far more common. These have rotor PMs that
MOTORS THAT USE MAGNETS INSTEAD form a magnetic field to act much like shunt-wound motors. With the
ever-falling cost of electronics, today’s permanent-magnet motor-
OF BRUSHES AND A COMMUTATOR FOR
drive systems are often less costly than comparable brush-motor-
COMMUTATION. THE BENEFIT TO THAT IS THEY drive systems.

DON’T SUFFER FROM BRUSH WEAR … BUT THE BLDC motors have quite a few advantages over their brushed
counterparts. Compared to brushed dc motors, BLDC motors are
DRAWBACK IS THAT THEY NEED ELECTRONIC
more efficient due mainly to the elimination of the friction from the
CURRENT-PHASE COMMUTATION. brushes. They’re also more reliable and typically have longer life
spans as well. Getting rid of the brushes also means a decrease in
EMI (electromagnetic interference) noise and no sparking from the
brushes making contact with the commutator.
In short, brushless dc motors work like shunt-wound motors, but
field flux comes from magnets instead of current through a winding. BLDC motors excel in everything from low-power applications such
The permanent magnets are made of rare-earth elements such as as consumer products to high power applications in electric vehicles
high-energy neodymium that generate a magnetic field. and industrial equipment.

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 Deep dive on linear BLDC behavior
▼

W
hen the term “linear behavior” is used
to describe a system, it implies that the TYPICAL BRUSHLESS DC MOTOR DESIGN:
system’s output is directly proportional PERMANENT MAGNETS ON ROTOR
to the input. Unlike their wound-field +c2 N
-b1 N
counterparts, permanent magnet dc (PMDC) motors
+b1 ic
exhibit linear behavior. The use of permanent -c2

magnets means PMDC motors don’t need separate ib

field excitation, and therefore, don’t experience the S

S
electrical losses that often occur in field windings of
S S
other dc motor designs.
+a 1 +a 2 S
N
In permanent magnet motors, linear behavior is ia N
N S
evident in several performance characteristics. N r
N a

S
N
θm = 0 deg
-a1
N
S
First, the motor’s angular velocity (or speed) is θe = 0 deg -a2
ia
directly proportional to the applied voltage, as
shown by the equation: S

C
ib
THREE-PHASE VARIATION
+b2
-c1 BY FAR MOST COMMON
ic
Where ω = angular velocity; V = voltage; k = motor +c1 -b2

constant; T = torque; and R = resistance.

Second, the motor’s output torque is directly proportional to the

Brushless motors have stator windings and
current through the armature. The relationship between torque and
rotors with permanent magnets. Power on
current is shown by the equation: a winding sets an electromagnetic field
that interacts with the magnets to turn the
T = I • kT rotor. Electronics determine the sequence
for commutation (or energizing of the stator
Where T = torque; I = current through the armature; and kT = torque windings) in brushless motors. This sequence
constant of the motor. is based on the rotor position, which is most
often provided by either three Hall sensors
The linear characteristics of PMDC motors also extend to their or a rotary encoder … although there are
torque-speed curves. The linearity of the relationship between methods of determining rotor position
speed and torque makes permanent magnet motors ideal for without additional feedback devices.
adjustable speed uses and for servo applications.

DC motors with permanent magnets can be either brushed or

brushless types. As noted earlier, brushed permanent magnet dc
motors are often called PMDC motors while brushless permanent
magnet dc motors are referred to as BLDC motors. Both motor types
— PMDC and BLDC — exhibit the linear behavior characteristics
described above.

Despite their similar speed and torque behavior, there are two
significant differences between PMDC and BLDC motors. First,
PMDC motors are commutated mechanically, via brushes and a
commutator, whereas BLDC motors are commutated electronically,
typically via Hall effect sensors on the stator. Second, PMDC motors
have a stator made of permanent magnets, while BLDC motors have
permanent magnet rotors.

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 Difference between slotted
▼

and slotless motors

T
he original brushless dc (BLDC) motors were designed there’s no iron core, inductance is very low and current can get into
with slotted stators, and the majority of BLDC motors the stator windings very quickly, making slotless motors good for
are still made this way. But this design produces cogging applications that require high acceleration and dynamic response.
torque, which makes it difficult to achieve smooth motion,
especially at slow speeds. To eliminate this effect, a new design was But slotted motors still hold some advantages. For example, the air
developed, eliminating the slots in the stator (which are the root gap in a slotted motor is smaller than the air gap in a slotless design
cause of cogging torque), and slotless motors were born. (which must accommodate the self-supported winding assembly).
This means that the flux density is higher in a slotted motor, and
In a slotted motor design, the stator is made of slotted steel laminations torque production is more effective and efficient.
that are stacked together, and copper windings are inserted into
these slots. (The design of the stator is sometimes referred to as
having teeth.) The slotted motor design is simple and inexpensive to
manufacture, but it has a major drawback — cogging torque. THE TERM IRON CORE IS COMMONLY USED WHEN
Cogging torque (also referred to as detent torque) is a result of the DISCUSSING SLOTTED LINEAR MOTORS. THIS
permanent magnets in the rotor attempting to line up with the slots,
ORIGINATES FROM THE FACT THAT THE ASSEMBLY
or teeth, of the stator. The primary effect of cogging torque is that
it causes motor rotation to be jerky and not smooth … especially at OF STATOR WINDINGS ENCASED IN A STEEL,
low motor speeds.
SLOTTED STATOR IS SOMETIMES REFERRED TO AS
In a slotless motor, there are no iron teeth to support the windings.
AN IRON CORE. IN CONTRAST, SLOTLESS LINEAR
Instead, the stator lamination is constructed of steel rings that are
stacked together, and the windings are encapsulated in an epoxy MOTORS ARE OFTEN CALLED AIR CORE MOTORS.
resin, which gives the winding structure shape and rigidity. This
self-supporting winding is placed in the air gap between the stator
lamination and the rotor.
One way that manufacturers of slotless motors overcome the effects
of the bigger air gap is to use larger, stronger permanent magnets
The primary benefit of a slotless motor design is that the lack of teeth
in the rotor. But this increases cost. And, the cost to manufacturer
in the lamination eliminates cogging torque and results in a motor with
the self-supporting winding structure is typically higher than a
very smooth running characteristics. Torque production is predictable
conventional slotted design. For this reason, the traditional slotted
and highly controllable because in the absence of these uncontrolled
motor design is still the first choice for applications in which smooth
disturbances (such as that from cogging torque) motor torque
running and the elimination of cogging are not critical.
production is directly related to the current supplied to the winding.

There are other benefits to the slotless design. First, the elimination
of cogging also significantly reduces audible noise. And since

SLOTLESS VERSUS SLOTTED

BRUSHLESS DC MOTOR

SLOTLESS MOTORS
DELIVER SMOOTH MOTION.

Notice how the construction of a

traditional brushless motor with
a slotted design differs from that
of a slotless build.

TRADITIONAL BRUSHLESS MOTORS

INCLUDE HIGH-TORQUE VARIATIONS.

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 Details on voltage and dc motor output speed
▼

D
uring operation of a dc motor, a coil is placed in a magnetic Where: T = torque and kT = Torque constant inherent to the motor
field — and when an electric current passes through the
coil a torque is produced to make the motor turn. The entire Substituting for I, the voltage equation now becomes:
process is driven by applying electrical power to the coil,
with the source voltage having a direct relationship to the motor’s
output speed. To understand this relationship between voltage and
This shows the direct relationship between the applied voltage and
speed, consider a typical dc motor circuit.
the motor’s angular velocity. Rearranging to solve for the angular
Applied voltage equals the voltage drop across the coil resistance R velocity:
and the inductor L plus the back electromotive force Bemf …

For dc motors, the torque and electrical constants, kT and kE are

Where V = applied voltage; I = current; R = resistance; L = equal so the angular velocity equation can be simplified to:
inductance; and E = Bemf

The voltage equation can be simplified by assuming that the current

From this we can see that the motor’s maximum speed occurs when
is constant, in which case inductance can be disregarded:
there’s no load (torque) on the motor. Rearranging for torque:
V=I • R+E

The Bemf is a voltage that is generated by the rotation of the coil. It

Similarly, maximum torque occurs when angular velocity is zero.
opposes the applied voltage, reducing the voltage flowing through
the motor. Bemf is calculated as: These two relationships can be seen in a typical dc motor’s torque-
speed curve.
E = kE • ω
Back to the original question: how does voltage affect speed? From
Where: kE = electrical constant inherent to the motor and ω =
the analysis above, we can see that when the load (torque) on the
angular velocity of the motor
motor is constant, speed is directly proportional to supply voltage.
Substituting for E in the voltage equation, we get: And, when the voltage remains constant, an increase in the load
(torque) on the motor results in a decrease in speed.
V=I • R + kE • ω

Current I through the motor coil is directly related to the motor’s

torque: BLDC MOTORS EXHIBIT LINEAR BEHAVIOR
STALL (UNLIKE OTHER DC MOTOR TYPES)
T = kT • I TORQUE

BRUSHLESS
Which can be rearranged as: DC MOTOR STALL
TORQUE

TORQUE SHUNT-WOUND
MOTOR

NO-LOAD
TORQUE

SPEED

SPEED
NO-LOAD
STALL SPEED
TORQUE
Unlike dc motors with wound fields, SPEED
permanent magnet dc motors exhibit STALL
TORQUE SERIES-WOUND
linear behavior without electrical losses
MOTOR
associated with dc motors with other
types of construction. COMPOUND-WOUND
TORQUE

MOTOR
NO-LOAD SPEED
TORQUE

SPEED
NO-LOAD SPEED

SPEED

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 The relationship between current
▼

and output torque

Torque is a rotational force produced when a vertical force is applied Substituting this into the torque equation, we get:
at some distance from the center axis of the rotating body. The
familiar equation for torque is:

Which simplifies to:

Where T = Torque; F = Applied vertical force; and d = Distance from

axis of rotation.
Tc is the torque on just one coil. Total torque equals Tc multiplied
In a dc motor, the output torque is directly proportional to the by the number of coils:
current through the windings, and is given as:

Where T = total torque and Z = Number of coils

Where I = current through the windings an kT = torque constant
(specific to the motor) To further simplify the torque equation, the number of poles P, the
number of coils Z, and the geometric factors 2πA can be combined
To see how this relationship is developed, consider the geometry of to form the torque constant kT which is specific to the motor. This
a four-pole dc motor as illustrated in this Design Guide. The force on simplifies the torque equation to:
one coil is the product of flux density, current through the coil, and
the length of the coil:
For most dc motor cases, we can assume the flux φ is constant,
making torque directly proportional to the current:
Where:
Fc = force on one coil; B = flux density; Ic = current through one coil
and L = length of the coil. Current through one coil is calculated as:
When examining the torque-current curve for a dc motor, notice that
the no-load (stall) current is greater than zero. This is because some
current is needed to overcome the internal friction of the motor.

Where Ia = total current through the armature and A = area of the coil.
FORCE ON ONE COIL IS THE PRODUCT OF
Substituting for Ic in the force equation, we get: FLUX DENSITY, CURRENT, AND COIL LENGTH

Because torque equals force times distance, the torque equation

can be shown as: θ

N r
N
Where Tc = torque on one coil and r = distance from center of
armature. The flux density B equals the total flux divided by area: r
fc

fc
Where φ= total flux. Because the motor is essentially a cylinder, area
is calculated:

S
Where P = number of poles. Substituting into the flux density
equation, we get:
We use this four-pole motor in our example calculations on the
relationship between current and dc motor output torque.

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Ways to avoid torque
ripple in dc motors

T
orque ripple — variations in torque production during
shaft revolution — is an undesirable effect that occurs in
permanent-magnet motors that prevents smooth motor
rotation. Torque ripple is generally defined as non-linear
torque production of an energized motor. Cogging torque (a
phenomenon similar to torque ripple) is torque produced by the
attraction between the permanent magnets of the rotor and the
slots of the stator in an un-energized motor.

Consider a BLDC motor with a rotor having permanent magnets

and a stator with windings. Torque is produced by the repulsive
forces between the magnetic fields of the stator and the rotor. An
important distinction between BLDC motors and their counterpart
permanent-magnet ac (PMAC) motors is that the windings in a
BLDC motor are trapezoidally wound for trapezoidal Bemf waveform
output. Because their Bemf is trapezoidal, BLDC motors typically use
trapezoidal commutation, whereas PMAC motors are sinusoidally
wound and use sinusoidal commutation.

In trapezoidal commutation, the rotor is monitored by three Hall

sensors, which provide rotor position information every 60° (rather can also be reduced through various control methods, taking a page
than continuously, as with sinusoidal commutation). This produces from the PMAC motor playbook and using sinusoidal (rather than
six torque ripples per electrical cycle of the motor, or 12 torque trapezoidal) commutation.
ripples for every full mechanical revolution of the motor shaft.
Although in theory the Bemf of a BLDC motor is trapezoidal, in
The frequency of the torque ripple is proportional to the motor’s shaft reality, it is more sinusoidal in nature. With sinusoidal Bemf and the
speed. At high motor speeds, the inertia of the motor and the load addition of a resolver or encoder to accurately track rotor position,
can smooth out the effects of torque ripple. And at low motor speeds, it is feasible to use sinusoidal commutation for BLDC motors. And
high-frequency torque ripple can be filtered out using feedback and because sinusoidal commutation is continuous, torque ripple is
parameters in the motor controller. But if the frequency of the torque greatly reduced.
ripple is near the bandwidth of the controller’s speed loop, it can cause
detrimental variations in motor speed. Another commutation method known as field oriented control
(FOC) can also be used for BLDC motors. FOC provides higher
The primary methods for reducing torque ripple in BLDC motors efficiency and surpasses the speed limitations inherent in sinusoidal
with regard to design are to increase the number of windings in the commutation, although it is more complex and can be more costly
stator or to increase the number of poles in the rotor. Torque ripple to implement.

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