Method of three-phase winding motor control of rotary motor- driven linear actuators, linear motor-actuated carriages, and similar systems, and apparatus for practicing the same

摘要

A motor controller for a three-phase rotary electric motor driving a leadscrew or linear electric motor actuated carriage or similar device and in which the controller generates periodic waveforms on all three phases that match the back-emf of the motor to enable smooth moving of the carriage with compensation for nonlinearities in motor parameters and carriage stiffness and damping.