Arab J Sci Eng (2013) 38:2773–2784

DOI 10.1007/s13369-012-0490-0

RESEARCH ARTICLE - ELECTRICAL ENGINEERING

A Novel Space-Vector Current Control Method for Commutation

Torque Ripple Reduction of Brushless DC Motor Drive
V. Viswanathan · S. Jeevananthan

Received: 17 July 2011 / Accepted: 14 January 2012 / Published online: 13 December 2012
© King Fahd University of Petroleum and Minerals 2012

Abstract This paper presents a novel space-vector current-

control strategy to minimize the torque ripples in brushless
DC Motor (BLDC) motor. For BLDC motors, torque ripple,
is an important origin of vibration, acoustic noise and speed
fluctuation. The current ripple, created due to the stator wind-
ing inductance and deviation of back emf, leads to generation
of ripple in the torque and prevents the usage of BLDC motor
in a precise servo drive system. The paper includes MAT-
LAB/SIMULINK results of conventional, unipolar, bipolar
current control algorithms, varying input voltage method and
a novel space vector current control method. The comparison
of simulation results reveals that the proposed technique is
effective in reducing the torque ripple and improves the sys-
tem performance. The validity and practical applications of
the proposed control scheme are verified through the experi-
mental results. The proposed method for torque ripple reduc-
tion is validated by reconstructed torque waveforms. Abbreviations
BLDC Brushless DC motor
Keywords BLDC motor · Space vector-based current SVPWM Space vector pulse width
control · Torque ripple · modulation
Torque reconstruction method SVCCM Space vector-based current
control method
VIVM Variable input voltage method
Ts Switching time
V. Viswanathan (B) T0 Switching time duration of
G2, Eminent Virata, 10/24, Vyasar Street, East Tambaram, zero vector
Chennai 600059, Tamilnadu, India
e-mail: viswanathan_ped@yahoo.com
V1 –V6 Active vectors
V0 and V7 Zero vectors
V. Viswanathan Vref Reference voltage vector
Department of Electrical and Electronics Engineering, E Input DC voltage
Sa+ , Sa− , S+ − +
BS Abdur Rahman University, Seethakathi Estate, −
Vandalur, Chennai 600048, India b , Sb , Sc and Sc Switching variable vector
θ Phase angle of reference
S. Jeevananthan voltage vector
Department of Electrical and Electronics Engineering, m Modulation index
Pondicherry Engineering College, Pondicherry 605014, India
e-mail: drsj_eee@pec.edu
T1 , T2 Dwelling times

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1 Introduction
Permanent BLDC motors are increasingly being used in
many applications, such as appliances, automotive, aeros-
pace, consumer, medical, industrial automation, servo drives,
computer peripheral equipments and electric vehicles due to
their high power density, high efficiency and easier control
[1,2]. A BLDC motor is designed to utilize the trapezoidal
back EMF with square-wave currents to generate the con-
stant torque [3]. However, one of the drawbacks BLDC motor
drive is its relatively high torque ripple during phase com-
mutation. This makes the BLDC motor drive unsuitable for
high-performance positioning applications, where accuracy
and repeatability would be compromised by torque pulsa-
tions. When the armature current is commutated, a ripple is
generated because of the stator winding inductance and devi-
ation of the back emf and therefore contributes to a pulsating
torque. The reduction of the ripple in the torque is essential
for precise speed and position control [4,5].
The ideal BLDC motor has a trapezoidal back EMF and
the constant source voltage is inputted. The source voltage
allows the current to rise instantly to its steady-state value and
the torque is produced without ripple in an ideal case. The
current has a definite time constant and cannot rise or fall to
the steady-state value instantaneously and there by produces
a ripple in the current. The current ripple is produced by
influence of inductance and the torque ripple is affected by
current ripple directly [6]. The conventional control methods
[7] of BLDC motor lead to higher torque ripples, which is
primarily caused by commutation of phase currents [8,9].
A number of control algorithms have been proposed in
the literature for reducing torque ripples of BLDC motor
[10–20]. Hysteresis current control and pulse width modula-
tion (PWM) current control have been employed for reduc-
ing the ripples in the torque of a BLDC motor [10]. The
former has served to offer a higher current control capability
but it is difficult to be implemented because of the change
in switching frequency in accordance with hysteresis band
width and back emf magnitude. In contrast, the latter has
exhibited a lower current control capability but it possesses
the advantage of constant switching frequency. The PWM
current control is divided into unipolar PWM method and
bipolar PWM method. The unipolar PWM of 120◦ conduc-
tion makes fewer switching loss and current ripple, but lower
dynamic response of current. The bipolar PWM method pro-
duces higher dynamic response of current, but more switch-
ing loss and current ripple than unipolar PWM method.
The study of PWM methods in permanent magnet brush-
less DC motor speed control system is given in [21]. A PWM
control algorithm for eliminating torque ripple caused by sta-
tor magnetic field jump of brushless DC motor is proposed
[22]. A low-cost digital control technique is proposed in [23]
with a constant frequency digital PWM controller, simulated
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Arab J Sci Eng (2013) 38:2773–2784
and experimentally verified for a BLDC motor drive system.
Commutation torque ripple reduction in BLDC motor using
PWM_ON_PWM mode is given in [24]. Reference [25] pro-
posed a PWM chopping method to improve the torque ripple
for brushless DC miniature motors. A new circuit topology
and control strategy has been proposed to suppress commuta-
tion torque ripple of the BLDC motor in [26]. The proposed
method has less torque fluctuation during transient period
when it is compared with input voltage control by DC–DC
converter [27] and optimized input voltage control method
[28].
This paper presents an approach for minimizing torque
ripple in BLDC motor using space vector-based current con-
trol technique. Among various modulation techniques for a
BLDC motor, space vector current control method (SVCCM)
is an attractive candidate due to the following merits. It
directly uses the control variable given by the control system
and identifies each switching vector as a point in complex
space. It is suitable for digital signal processor (DSP) imple-
mentation. Simulation results are presented, which, com-
pared with that in the conventional, unipolar, bipolar current
control algorithms (CCAs) and varying input voltage method
(VIVM), show that the method proposed is effective in reduc-
ing the torque ripple. Finally, effectiveness and feasibility
of the proposed control method are verified through experi-
ments and torque reconstruction method.
2 Analysis of BLDC Motor
Figure 1 shows the equivalent circuit of a three-phase BLDC
motor [29]. The typical mathematical model of the BLDC
motor is described as:
⎡ ⎤ ⎡ ⎤⎡ ⎤ ⎡ ⎤ ⎡ ⎤
Van R0 0 ia L0 0 ia
⎣ Vbn ⎦ = ⎣ 0 R 0 ⎦ ⎣ i b ⎦ + ⎣ 0 L 0 ⎦ d ⎣ i b ⎦
dt
Vcn 0 0 R ic 0 0 L ic
⎡ ⎤
ean
⎣
+ ebn ⎦ , (L = L s − L M ) (1)
ecn
where, Van , ean , i a , L s and L M represent the terminal A volt-
age, back EMF, current, self-inductance, and mutual induc-
tance, respectively. The electromagnetic torque is expressed
as:
1
Te = (ean i a + ebn i b + ecn i c ) (2)
Wr
where Wr is the rotor speed.
3 SVPWM for BLDC Motor
The structure of a BLDC motor fed from a voltage source
inverter is shown in Fig. 2. S1 to S6 are the six power switches
Arab J Sci Eng (2013) 38:2773–2784 2775

non-zero phase voltages form the vertices of a hexagon as

shown in Fig. 4.
⎡ ⎤ ⎡ ⎤
  1 − 21 − 21 Van
Vα
=⎣ √ √ ⎦ × ⎣ Vbn ⎦ (3)
Vβ 0 23 − 23 Vcn

In complex form, these non-zero phase voltages can be

Fig. 1 Equivalent circuit of the BLDC motor
that shape the output, which are controlled by the switching
variables Sa+ , Sa− , S+ − + −
b , Sb , Sc and Sc . Since the upper power
switches can only be On or Off, and since the lower ones are
supposed to be always in the opposed state, there are only
eight possible switching states, as shown in Table 1. Figure 3
shows the possible switching configuration. Six of them lead
to non-zero phase voltages, and two interchangeable states
lead to zero phase voltages. When mapped in a 2D frame
fixed to the stator using a Concordia transformation, the six
π
written as Vk = Ee j (k−1) 3 , with k = 1 to 6 and V0 = V7 =
0 V. The line-to-line and line-to-neutral voltages in each of
the eight possible configurations of the inverter are shown in
Table 1.
In the Concordia frame, any stator voltage, Vref = Vα +
j Vβ = Vsm cos(θ ) + j Vsm sin(θ ) located inside the hexa-
gon belongs to one of the six sectors, and can be expressed
as a linear combination of the two non-zero phase voltages
which delimits the sector Vs = dk Vk + dk+1 Vk+1 . Equat-
ing dk Vk + dk+1 Vk+1 to Vsm cos(θ ) + j Vsm sin(θ ) in each
sector leads to the expressions of the duty cycles shown in
Table 2. The SVPWM principle is employed to produce a
periodic voltage, whose rms value equals Vs , by generating
Vk and Vk+1 such that Tk = dk Ts and Tk+1 = dk+1 Ts respec-
tively, for every sampling period Ts . Since dk +dk+1 ≤ 1, the
voltages V0 through V7 must be hexagonally enveloped over
the switching period Ts . Though several solutions are possi-
ble, the one which minimizes the total harmonic distortion

Fig. 2 Block diagram of

BLDC motor drive

Table 1 Switching
configurations and output Sa+ Sb+ Sc+ Si Vab Vbc Vca Van Vbn Vcn Vα Vβ Vi
voltages of a three-phase
0 0 0 S0 0 0 0 0 0 0 0 0 V0
inverter √
0 0 1 S1 0 −E E −E/3 −E/3 2E/3 −E/2 − 3E/2 V5
√
0 1 0 S2 −E E 0 −E/3 2E/3 −E/3 −E/2 3E/2 V3
0 1 1 S3 −E 0 E −2E/3 −E/3 −E/3 −E 0 V4
1 0 0 S4 −E 0 −E 2E/3 −E/3 −E/3 E 0 V1
√
1 0 1 S5 E −E 0 E/3 −2E/3 E/3 E/2 − 3E/2 V6
√
1 1 0 S6 0 E −E E/3 E/3 −2E/3 E/2 3E/2 V2
1 1 1 S7 0 0 0 0 0 0 0 0 V7

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Fig. 3 Possible switching

configuration of a three phase
inverter

Table 3 Time functions for SVPWM technique

Sector no. Ta Tb Tc
Ts −T1 −T2 Ts +T1 −T2 Ts +T1 +T2
1 4 4 4
Ts −T1 +T2 T s−T1 −T2 Ts +T1 +T2
2 4 4 4
Ts +T1 +T2 Ts −T1 −T2 Ts +T1 −T2
3 4 4 4
Ts +T1 +T2 Ts −T1 +T2 Ts −T1 −T2
4 4 4 4
Ts +T1 −T2 Ts +T1 +T2 Ts −T1 −T2
5 4 4 4
Ts −T1 −T2 Ts +T1 +T2 Ts −T1 +T2
6 4 4 4

Fig. 4 Eight possible switching configurations in the Concordia refer-

ence frame

Table 2 Expressions of the duty cycles in each sector

Sector θ dk dk+1
no.
 π
1 0, 3
√2 × Vs
E × sin( π3 − θ) √2 × Vs
E × sin(θ)
3 3
π
2 3, 3
2π √2 × Vs
E × sin( π3 + θ) √2 × Vs
E × sin( 5π
3 + θ)
3 3 Fig. 5 Comparison of current error and saw tooth waveform
 2π Vs Vs
3 3 ,π √2 × E × sin(θ) √2 × E × sin( 4π
3 + θ)
3 3
 Vs Vs
4 π, 4π
3
√2 × E × sin( 5π
3 + θ)
√2 × E × sin(2π − θ) corresponding times as T1 and T2 . The time functions Ta , Tb
3 3
and Tc can be obtained from Table 3.
5 3 , 3
4π 5π √2 × Vs
E × sin( 4π
3 + θ)
√2 × Vs
E × sin( π3 − θ)
3 3

6 3 , 2π
5π √2 × Vs
E × sin(2π − θ) √2 × Vs
E × sin( π3 + θ)
3 3
4 Current Controlled Algorithms

The reference currents in a PWM CCA are generated using

(THD) of the stator current emerges by applying V0 and V7 the error in speed, fed through a PI controller. The actual val-
during the same duration T0 = T7 = 1−dk −d 2
k+1
Ts . V0 is ues of the three stator currents are measured, compared with
equally applied at the beginning and at the end of the switch- the reference currents and the errors (i e ) are computed. These
ing period, whereas V7 is applied in the middle. error currents are compared with a triangular wave and the
The duty cycles can be written in a unified way as dk = corresponding gate signals are obtained as shown in Fig. 5.
 
2V
√ sm sin(θ ) and dk+1 = 2V√ sm sin(θ  ), with θ = π − θ  and
3E 3E 3 The block diagram of proposed SVPWM CCA is shown

θ = θ −(k −1) π3 . Since these expressions no longer depend in Fig. 6. It consists of speed controller, current controller,
on the sector number, they are denoted as d1 and d2 and the PWM controller, voltage source inverter, BLDC motor and

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Fig. 6 Block diagram of proposed current control algorithm

Fig. 7 Obtaining SVCCM reference function

sensors. Proportional integral (PI) controller can be used to currents and the errors (Ie ) are computed. The time func-
control the speed of BLDC motor. The differential (PID) tions are obtained from the SVPWM technique as shown in
controller is normally avoided because differentiation can be Fig. 7a. These time functions are multiplied with their cor-
problematic when input command is a step. In general, the responding current errors (Ie ) and new references (Ie ) are
speed error (We), which is the difference of reference speed generated as shown in Fig. 7b. The reference waveforms are
(Wr*) and actual speed (Wr), is given as input to the PI reg- compared with triangular wave and the corresponding gate
ulator. The PI regulator processes the speed error and gives signals are obtained. The comparison will result in a volt-
torque value as an input. Then the torque value is fed to the age control signal that goes to the gates of the voltage source
limiter, which gives the final value of reference torque (Te*) inverter to generate the desire output. Its control will respond
and applied to T–I block. according to the error. If the error command is greater than
The T–I block performs the conversion from the reference
torque to the peak reference current (I*). The relation used to
convert torque to current assumes pure rectangular current Table 4 Parameters of BLDC motor
waveforms. In practice, due to the motor inductance, it is Rated voltage 150 V
impossible to obtain these currents. The hall decoder block Rated current 5A
is used to extract the back EMF information from the Hall Rated torque 3 Nm
Effect signals. The outputs, three-level signals (−1, 0, 1), are Resistance 0.5 
multiplied with peak reference current (I*) to generate three Magnetizing inductance 10 mH
phase reference currents (Iabc *) to be injected in the motor Back emf constant 0.42 V/(rad/s)
phases. The actual values of the three stator currents (Iabc ) are Poles 2
measured, compared with the three phase reference (Iabc *)

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Phase currents
5 Ia Ib Ic

Iabc (A)
0
-5

0.6 0.62 0.64 0.66 0.68 0.7 0.72

(a) phase current Iabc (A) time (sec)
100
Ea Eb Ec
Back EMF
Eabc (V)

-100
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(b) Back emf Eabc(V) time (sec)
speed (rpm)

3000

1500

0
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(c) speed N (rpm) time (sec)
Torque (N-m)

2
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(d) torque T (N-m) time (sec)

Fig. 8 Current, back emf, speed and torque waveforms with conventional method
Phase currents

Ia Ib Ic
5
Iabc (A)

-5
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(a) phase current Iabc (A) time (sec)
100 Ec
Ea Eb
Back EMF
Eabc (V)

-100
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(b) Back emf Eabc (V) time (sec)
Speed (rpm)

2000
1500
1000

0
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(c) speed N (rpm) time (sec)
Torque (N-m)

2
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(d) torque (N-m) time (sec)

Fig. 9 Current, back emf, speed and torque waveforms with unipolar PWM method

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Ia Ib Ic

Phase currents
5

Iabc (A)
0

-5

0.6 0.62 0.64 0.66 0.68 0.7 0.72

(a) phase current Iabc (A) time (sec)
100
Eb Ec
Back Emf

Ea
Eabc (V)

-100
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(b) Back emf Eabc (V) time (sec)
speed (rpm)

2000

1000

0.6 0.62 0.64 0.66 0.68 0.7 0.72

(c) speed N (rpm) time (sec)
4
Torque (N-m)

2
0.6 0.62 0.64 0.66 0.68 0.7 0.72
(d) torque T (N-m) time (sec)

Fig. 10 Current, back emf, speed and torque waveforms with Bipolar PWM method

the triangle waveform, the inverter leg is held switched to the
positive polarity (upper switch on). When the error command
is less than the triangle waveform, the inverter leg is switched
to the negative polarity (lower switch on). The inverter leg
is forced to switch at the frequency of the triangle wave
and produces an output voltage proportional to the current
error command. When BLDC motor is operated using pro-
posed algorithm, more rectangular phase current is obtained
despite of the switching ripple, and then torque ripple is
minimized.
The parameters of PI regulator are adapted to cope with
the varying operating conditions of the system. The moment
of inertia of the shaft and attached load, J, and the load torque
constant, KT , vary independently based on the conditions of
the mechanical loading at the motor shaft. The effective value
of the armature circuit resistance, R, changes with the load
on the motor and the stator current of the motor increases
with the mechanical load. The proportional and integral con-
stants of speed controller should be tuned based on the J,
KT , and Ra parameters of the system. No other parameter of
the system seems to change significantly with the operating
conditions.
5 Simulation Results
The simulation is performed using MATLAB/SIMULINK
on a standard BLDC motor whose parameters are seen in
Table 4, for an average load torque of 3 N m.
5.1 Conventional Method
The simulated results of phase current (Iabc ), back emf
(Eabc ), speed (N) and torque (T) waveforms for the conven-
tional method are shown in Fig. 8. The motor is allowed to
run at 1,500 rpm and the trapezoidal back emf waveform has
a maximum value of 64 V, while the quasi-rectangular phase
current is with a maximum value of 4.8 A. The load torque
vacillates between 2.08 and 3.78 N m, resulting in a torque
ripple of 29.01 %. The THD of the phase current is 24.33 %.
5.2 Unipolar PWM Method
The phase current (Iabc ), back emf (Eabc ), speed (N) and
torque (T) waveforms for the unipolar PWM method is shown
in Fig. 9. The vacillation in the shaft torque is from 2.2 to

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Fig. 11 Current, back emf, speed and torque waveforms with VIVM
3.6 N m with a ripple of 24.13 %. This method results in an
improved phase current than the conventional method and
hence paves the way to reduce the torque ripple. The THD
of the phase current is 24.19 %.
5.3 Bipolar PWM Method
The performance of a bipolar PWM method as seen from
Fig. 10 illustrates the reduced vacillation of shaft torque
(from 2.5 to 3.5 N m) and ripple (16.67 %). The THD of
the phase current is also reduced to 13.24 %.
5.4 Varying Input Voltage Method
Figure 11 shows the simulated results of phase current (Iabc ),
back emf (Eabc ), speed (N) and torque (T) waveforms for
VIVM. Shaft torque varies from 2.5 to 3.4 N m while the
torque ripple is 15.25 % and phase current THD is 21.68 %.
5.5 Space Vector Current Control Method
To show the effectiveness of the novel current controlled
SVPWM switching technique, a simulation work has been
carried out on BLDC motor with the specifications given in
Table 4. The proposed scheme is simulated with Matlab/Sim-
ulink. Figure 12 shows the steady-state simulated results of
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phase current (Iabc ), back emf (Eabc ), speed (N) and torque
(T) waveforms for SVCCM with the PI controller. The shaft
torque varies from 2.7 to 3.3 N m while the torque ripple is
10 % and the phase current THD is 9.02 %.
The comparison of results of both CCA and SVCCM is
presented in Table 5. It follows that the torque ripple is higher
for the conventional method over the unipolar and bipolar
PWM methods. The SVCCM performs significantly better
by a measure of 50 % in terms of torque ripple and phase
current distortion.
6 Transient Performance
The phase current (Iabc ), back emf (Eabc ), speed (N) and
torque (T) waveforms are displayed in Fig. 13, when a step
change in load is introduced. The shaft torque is allowed to
vary suddenly from 3 to 1 N m. The PI controller enables
the speed of the motor to settle at its steady-state value, after
the load disturbance, with in a reasonable time frame. The
torque ripple is 18 % when the load torque is 1 N m and 11 %
when the load torque is 3 N m.
7 Experimental Results
The feasibility of the proposed space vector-based current
control technique has been evaluated using an experimental
Arab J Sci Eng (2013) 38:2773–2784 2781

Fig. 12 Current, back emf, speed and torque waveforms with SVCCM

test bed, shown in Fig. 14. Experiments performed with a Table 5 Performance evaluation of ripple reduction techniques
motor having specifications given in Table 4 along with a Method Shaft Torque THD of phase
IGBT-based PWM inverter. The IGBT modules were rated torque (N m) ripple (%) current (%)
at 30 A, 600 V with a switching frequency of 15 kHz. Three
Conventional 2.08–3.78 29.01 24.33
current sensors are used to sample currents of phase A, B
Unipolar PWM 2.2–3.6 24.13 24.19
and C and one voltage sensor to sample DC bus supply
voltage. Three Hall sensors are used for position informa- Bipolar PWM 2.5–3.5 16.67 13.24
tion and speed to produce phase commutation signals. The VIVM 2.5–3.4 15.25 21.68
core of the driving system is DSP TMS320F2407A. The SVCCM 2.7–3.3 10.00 9.02
implementation through assembly language programming
of DSP has resulted in increased system reliability and cost
reduction of the overall system. The output pulses from the torque with a minimum torque ripples. The similar result
TMS320F2407A DSP are not capable of driving the IGBTs can be found in the comparison at 1,000 r/min, as shown in
with higher ratings. Hence, isolated device drivers are used. Fig. 16a and b.
Six driver circuits are used to drive the IGBTs. The shaft of the BLDC motor is coupled a drum. The
The measured current waveforms shown in Fig. 15a and mechanical load of the shaft can be varied using brake drum
b illustrates the phase currents of BLDC motor using VIVM and pulley arrangement. The torque waveforms are recon-
and SVCCM techniques at 1,500 r/min. The spikes of cur- structed from current waveform data [30]. Figures 17 and
rent at the end of commutation get smooth, and the current is 18 show the reconstructed torque waveforms variation with
much closer to a rectangle and it will result in smother output VIVM and SVCCM technique at 1,500 and 1,000 r/min. In

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Fig. 13 A novel SVCCM with load disturbances

Fig. 14 Experimental test-bed. a Three phase inverter and DSP control unit, b BLDC motor

Fig. 15 Measured phase

current at 1,500 r/min. a VIVM
technique. b SVCCM technique

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Fig. 16 Measured phase
current at 1,000 r/min. a VIVM
technique. b SVCCM technique
Fig. 17 Torque as reconstructed from current waveform data at 1,500 r/min. a VIVM technique. b SVCCM technique
Fig. 18 Torque as reconstructed from current waveform data at 1,000 r/min. a VIVM technique. b SVCCM technique
Fig. 17a, the average torque is 2.925 N m, maximum toque
is 3.4 N m, and minimum torque is 2.45 N m, so that the
torque ripple is 16.23 %. And in Fig. 17b, the average torque
is 3.105 N m, maximum torque is 3.43 N m, and minimum
torque is 2.78 N m, so that the torque ripple is 10.47 %. In the
torque ripple result, the torque ripple is reduced to 5.76 % by
the suggested method compared with VIVM method.
The similar result can be found in the comparison at
1,000 r/min, as shown in Fig. 18a and b and the torque
ripple is reduced by 8 %. Adopting the proposed SVCCM
technique will reduce torques ripples and produce smoother
output torque; result in a visible reduction of the torque
ripples.
2783
8 Conclusion
In this paper, a commutation torque ripples reduction method
has been proposed for BLDC motor drives using space vec-
tor-modulated current control technique. The proposed con-
trol method is evaluated with relevant waveforms and their
effectiveness in torque ripple reduction has been highlighted.
The spikes on the current and torque response during the
commutation intervals are reduced effectively by the pro-
posed control method. The ability of the motor to perform
satisfactorily both during steady-state and transient condi-
tions has been brought out. The proposed method, which is
found to be more efficient in reducing the torque ripples, will
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serve to enhance the usage of BLDC motor drives in applica-
tions such as position sensing and robotics. Subsequently the
effectiveness and feasibility of the proposed control method
were verified through experiments and torque reconstruction
method. The reduced ripples in torque also help in eliminat-
ing undesirable noise and inaccuracies in motion control.
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