Reduction of torque ripple in brushless DC motor drives

Yoni Mandel*, George Weiss

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations


Permanent magnet synchronous motors (PMSMs) are widely used as high-performance variablespeed drives. Ripple in the electric torque of such motors is often a source of vibration and tracking errors, especially at low speeds. In this paper we study the torque characteristics of PMSMs and propose a method to minimize the torque ripple. First, we establish a model for the motor to cover all dynamics without any assumptions on the signals. Next, we present a Fourier analysis of the torque ripple, caused by non-sinusoidal EMF and cogging torque. We propose a controller based on the internal model principle, and we prove the stability of the (non-linear) closed-loop, based on the passivity of the motor model. Finally, simulation results are given to verify the concept.

Original languageEnglish
Title of host publicationROCOND'09 - 6th IFAC Symposium on Robust Control Design, Proceedings
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902661456
StatePublished - 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


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