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.
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