| 摘要 |
A method and apparatus are provided for ripple suppression of brushless DC motors at any given velocity irrespective of the limited bandwidth of the driver/amplifier supplying the excitation currents to the stator. In a preferred embodiment, Fourier coefficients of the current waveform are calculated as a function of rotor velocity by taking into account the driver/amplifier's finite bandwidth dynamics. For a given velocity, Fourier coefficients of the series approximating the waveform (control signal) are calculated as a function of the rotor velocity and the amplifier dynamics, to generate a waveform that results in no torque or velocity pulsations. When changing the motor speed, the coefficients are updated (recalculated) based on the new desired velocity (and amplifier dynamics), resulting in generation of an updated waveform that results in no torque or velocity pulsations at the new motor speed.
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