A model of the torque ripple induced when linearizing hybrid stepping motors is developed. Using this model, the optimal waveforms for linearization are derived. These optimized waveforms require only a slightly different table look-up, yet they reduce the square root of the mean square torque ripple approximately five-fold, thus making square wave commutation possible for some applications. Frequency analysis of the resulting torque ripple provides a method of trading-off linearization computations for performance. Experimental results validate this analysis. © 1995.
McInroy, J. E., Lofthus, R. M., & Schweid, S. A. (1995). Step motor supply: Minimizing torque ripple induced by digital linearization. Control Engineering Practice, 3(9), 1225–1235. https://doi.org/10.1016/0967-0661(95)00121-A