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Motor Driving PWM noise

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ama_trig

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Im new to designing PWM circuit. How can I mute motor's high pinch sound generated due to PWM on its driver?

I'm using Atmega8, Timer1 as PWM, F-oc and 9V motor, DC, Small, High Speed

I tried lowering freq, by dividing Foc/1024&..., but the PWM on motor doesn't work quite well , because its high speed and when I lower the duty cycle, it doesn't affect right away.(takes time for motor to respond and lower its rpm.)
I tried couple of RC filters, no good effect. if so is the way How to Calculate right amount?

I'm guessing the sound is generated by the shaft it self as it is behaving like speaker.

by the way I'm having different duty cycles.
 

You'll need to increase the frequency to above ~20 kHz in order to not be able to hear it.
 

I m using Timer1,16mHz Ext Crystal, Foc, correct me if I'm wrong but this is the highest possible stable configuration. Thnx
 

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