摘  要：传统的电动车用轮毂电机采用电机与控制器分离的结构，散热性、抗干扰能力差。该文引入并介绍了一种具有自主专利的控制器与电机一体化新型结构的轮毂电机，在此基础上，提出了对应的控制策略，并在PWM-ON调制方式下，通过分析上桥换向和下桥换相时对电磁转矩脉动的影响，提出在不同的速度阶段通过改变PWM占空比的方式消除和改善转矩脉动的控制方法。文章对硬件电路和软件设计进行了介绍，通过实验以及结果分析论证了方案的可行性。
关键词：无刷直流电动机；转矩脉动；轮毂电机一体化结构；控制策略

Abstract: The traditional in-wheel-motor for EV (electric vehicles) was designed in a motor and controller separated structure which has some serious shortcomings such as heat dissipation problem and poor anti-interference ability. This article is first introduced and describes a novel high-assembled controller-imbedded in-wheel motor construction, then provides a corresponding PMBLDCM control system strategy. The motor was driven in PWM-ON modulation, this paper also offered a new method which regulated the PWM duty according to the different speed level the BLDCM works at to reduce and improve the ripple in torque. This paper introduced both of the hardware circuits and program design, as well as an analysis of test waveforms, and demonstrated the feasibility of the method at last.
Key words: Torque ripple; Controller-imbedded in-wheel motor; BLDCM; Control strategy