综合考虑现有无刷直流力矩电机波动力矩动静态测量方法的不足， 提出了一种精确测量力矩电机波动力矩的方法。分析了力矩电机波动力矩经典测量方法的误差来源，根据力矩电机分体式的结构特点和可以长期堵转的性能特点,提出了采用电机定子相对转子旋转测量波动力矩的方法。在力矩电机转子堵转的状态下，通过外力旋转定子，测量电机堵转力矩的波动值，从而有效减少测量过程中惯性力矩和摩擦力矩引入的误差。根据提出的测量方法搭建了一套波动力矩测量装置，使用蜗轮蜗杆机构实现了定转子的相对旋转，并对测量装置进行了校准实验。实验结果表明，对于量程为0~1 Nm的装置，其测量准确度可达0.3%，线性度为0.1%，基本满足无刷直流力矩电机对波动力矩测量的精度要求。

According to the shortcomings in classical dynamic and static measurement for the torque ripple of a torque motor, a method to measure precisely the torque ripple was presented. The error sources of the classical torque ripple measurement methods were analyzed. Then a new method to measure the torque ripple based on the relative rotation of the stator to a rotor was proposed according to the unique characteristics of the torque motor with a separate structure and the ability to endure long time block. Under the condition of rotor block of the torque motor, the stator was rotated by the external force and the torque ripple of the motor was measured. Using this method, the errors of the inertia moment and the friction torque were effectively reduced. A set of measuring device was built based on the proposed method, and the relative rotation of the stator and rotor was realized with a worm gear mechanism. A verifying experiment was performed and the experimental results show that the measurement accuracy of the device with a range of 0-1 Nm is 0.3% and the linearity is 0.1%, which meets the requirements of torque motors for high precision toque ripple measurement.