Torque ripples due to positioning errors of Hall sensors and armature windings for PWM permanent magnent brushless dc motors

This paper presents an analytical model to address the scenarios of positioning errors for both Hall sensors and phase windings. This model is capable of demonstrating the qualitative features of torque ripples due to the indicated positioning defects. Moreover, it can be employed to investigate and predict various quantitative aspects such as fundamental frequency and corresponding harmonics, effects on average torque, etc. Incorporating this model into a conventional PWM PMBDCM model and conduct a realistic simulation further justify the capability and effectiveness of the proposed analytical model.