摘  要：基于无刷直流电动机换相过程电磁转矩的分析，推导出考虑绕组电阻和电感的换相转矩波动公式，并与现有文献常引用的Carlson 经典文献只考虑电感忽略绕组电阻的换相转矩波动分析结果比较。给出了换相转矩波动率与绕组电磁时间常数和转速的关系。
关键词：无刷直流电动机;换相过程;换相转矩波动;电感

Abstract: Based on analysis of electromagnetic torque in commutation process,commutation torque ripple formulas for brushless DC motor were derived to consider winding resistance and inductance.The relation of commutation torque ripple with winding electromagnetic time constant and speed was given.
Key words: brushless DC motor; commutation torque ripple; winding inductanc