BI-STABLE, SUB-COMMUTATED, DIRECT-DRIVE, SINUSOIDAL MOTOR CONTROLLER FOR PRECISION POSITION CONTROL

摘要

An electric motor controller system (400) for modulating requested motor torque via oscillating the instantaneous torque, including a bi-stable torque controller (419); a proportional-integral (PI) velocity controller (416); a proportional-integral-differential (PID) position controller (413); and sinusoidal zero-velocity table mapping (421).