Bi-Stable, Sub-Commutated, Direct-Drive, Sinusoidal Motor Controller for Precision Position Control

摘要

An electric motor controller system for modulating requested motor torque via oscillating the instantaneous torque, including a bi-stable torque controller; a proportional-integral (PI) velocity controller a proportional-integral-differential (PID) position controller; and sinusoidal zero-velocity table mapping.