Electric motor control for preventing torque ripple

A system comprising

• means for determining whether a current speed of at least one motor is within a critical speed zone, the critical speed zone defining a particular torque input to the electric motor that induces torque ripple when the electric motor is operating at any of a range of motor speeds;
• and
• means for controlling, while the current speed is within the critical speed zone, a torque input to the at least one motor by avoiding the particular torque input defined by the critical speed zone.

A method comprising:

• determining whether a current speed of an electric motor is within a critical speed zone, the critical speed zone defining a particular torque input to the electric motor that induces torque ripple when the electric motor is operating at any of a range of motor speeds;
• and
• while determining that the current speed is within the critical speed zone, controlling a torque input to the electric motor by avoiding the particular torque input defined by the critical speed zone.

A computer-readable storage medium comprising instructions that, when executed by at least one processor of a computing device, cause the at least one processor to:

• determine whether a current speed of at least one motor is within a critical speed zone, the critical speed zone defining a particular torque input to the electric motor that induces torque ripple when the electric motor is operating at any of a range of motor speeds;
• and
• control, while the current speed is within the critical speed zone, a torque input to the at least one motor by avoiding the particular torque input defined by the critical speed zone.