Aimed at the problem that serious torque ripples exist in brushless DC motors (BLDCM), this paper proposes a three-phase cooperative modulation to eliminate the commutation torque ripple. During non-commutation, the paper proposes a direct torque control to eliminate torque ripple by adopting hysteresis comparison to follow-up control torque and flux linkage of BLDCM. The paper establishes a relationship between motors torque and input power. The method based on one cycle control enables the system to control input power accurately, even more control torque of BLDCM correctly. The simulated and experimental results show that the method of torque ripple suppression of current and electromagnetic torque waveform is smooth for a motor in speed changes compared with the traditional control method whose current and electromagnetic torque can produce fluctuations. When the torque ripple suppression method is used, the influence of motor speed changes on the influence of winding current is small. Motor electromagnetic torque can relatively stably output. The validity and corrective of the theoretical analysis are verified.