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TPS54140A: Vout Ripple in case of a small Load (pulse skip mode)

Part Number: TPS54140A
Other Parts Discussed in Thread: TPS54140

The output of TPS54140A 24->5V circuit shows a large Vout ripple in case of No load.

If there exists a load resister for 20mA current , the above ripple disappears.

The follows are the comparison when I changed the inductance value. The waveform of 4.7uH case is clean, but both 33uH and 100uH cases have 0.2Vp-p ripple (cycle time is greater than 20ms).

I want to know the reason of ripple, because my application needs a small current load ( less than 50mA ) . 

Why does the ripple disappear by using a small inductance ?