This article (from this video) is going to talk about how to pronounce the past tense of a regular verbs, which takes -ed endings. There are three different ways to pronounce the -ed, depending on the final sound of the verb in the infinitive form.

1. Verb ends in [t] or [d], -ed/ɪd/

punted, rested; landed, ended, needed.

2. Unvoiced consonant ending, -ed/t/

[p]   [k]   [f]　 [θ]　 [s]　 [∫]　 [t∫]

flipped, baked, laughed,  washed, missed, wished, watched 

3. Voiced consonant, vowel, or diphthong ending, -ed/d/

3.1 Voiced consonant

[b]   [g]   [v]   [ð]　 [z]   [dз]　 [m]　 [n]　 [ŋ]　 [l]　 [r]　

robbed, begged, saved, seized, changed, bummed, leaned, filled, required

3.2 Vowel or diphthong

• 前元音  [i:]  [i]   [e]   [æ]
• 中元音  [ə:]  [ə]
• 后元音  [u:]  [u]   [כ]  [כ:]   [a:]  [۸]　
• 双元音  [ei]  [ai]  [כi]  [əu]  [au]  [iə]  [εə]  [uə]

carried, shied

4. Conclusion

规则动词过去式-ed的发音规则取决于其原型的最后一个音，/t/和/d/发/ɪd/；末尾是不响亮音的(清辅音)，-ed发/t/；末尾是响亮音的(包括元音和浊辅音)，-ed发/d/。这一规则跟名词变复数s发/s/和/z/是一样的^[2]。

References:
[1]YouTube: How to pronounce -ed verb endings
[2]博文《英语发音规则(整理版)：辅音字母及其组合》

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