The conventional current-regulated delta modulator (CRDM) results in a high current ripple and a high switching frequency at low rotational speeds, and in low-frequency current harmonics, including a fundamental current error, at high rotational speeds. An improved current controller based on CRDM is proposed which introduces a zero-vector zone and a current error correction technique. It reduces the current ripple and switching frequency at low speeds, without the need to detect the back-emf, as well as the low-frequency error at high speeds. The performance of the modulator is verified by both simulation and measurements on a permanent magnet brushless ac drive
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