This paper investigates the relationship between current, back electromotive force (back-EMF), and torque for permanent-magnet\nbrushless DC (PM BLDC) motors under advanced commutation control from the perspective of harmonics. Considering that\nthe phase current is the influencing factor of both torque and torque ripple, this paper firstly analyzes the effects of advanced\ncommutation on phase current and current harmonics. And then, based on the harmonics of the phase current and back-EMF, the\ntorque harmonic expressions are deduced. The expressions reveal the relationship of harmonic order between the torque, phase\ncurrent, and back-EMF and highlight the different contribution of individual torque harmonic to the total torque ripple. Finally,\nthe proposed harmonic analysis method is verified by the experiments with different speed and load conditions.
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