Difference between self commutation and internal commutation
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A self-commutated inverter is one in which the means of commutation is included within the inverter itself. This is the case for circuits including electronic power switches with turn-off capability.
Commutation refers to converting DC into AC inside the motor, and is done, in a DC motor via commutators. In a typical brushed DC motor, at the very least there is one winding on the rotor (collectivelty called "armature") that are connected to the commutators at one end.
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