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US 12,348,174 B2Granted
Bi-stable, sub-commutated, direct-drive, sinusoidal motor controller for precision position control
AssigneeAeroVironment, Inc.
InventorsMichael Leonardi, William Nicoloff
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Abstract
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.
Claims19
A method comprising:
- modulating a requested motor torque via oscillating a requested instantaneous torque;
- generating, by a bi-stable torque controller comprising a sinusoidal drive table having at least three phases, the requested instantaneous torque, wherein the requested instantaneous torque is based on the sinusoidal drive table;
- and
- communicating, via a brushless electric motor, with a torque drive oscillating circuit;
- wherein the brushless electric motor comprises:
- a rotor having three or more multi-turn coils, each multi-turn coil disposed about an associated armature of the rotor;
- and a stator having circumferentially distributed magnetic elements.
4 more elements
A method comprising:
- achieving sub-degree pointing accuracy of a brushless direct current (DC) motor;
- communicating, via a proportional-integral (PI) velocity controller, with a proportional-integral-differential (PID) position controller;
- communicating, via a bi-stable torque controller, with the PI velocity controller;
- and
- reducing torque ripple via sinusoidal zero-velocity table mapping in communication with the bi-stable torque controller.
2 more elements
Dependencies are inferred from the claim text.