Back emf loop closure

A control system for back emf position loop closure for a DC motor, comprising:

• a back emf sensor responsive to signals representing applied motor voltage, measured motor inductance, and continuously corrected motor-resistance for generating a computed back emf voltage;
• adaptive motor-resistance means responsive to a motor position drive signal, the computed back emf voltage, and a voltage signal based upon the static motor-resistance to generate the corrected motor-resistance signal to said back emf sensor;
• and
• position integrator means responsive to the computed back emf voltage and an approximate motor position signal to generate an output varying with the relative motor position.

A control system for back emf position loop closure for a DC motor comprising:

• a back emf sensor responsive to an applied motor voltage for subtracting a continuously corrected motor iR voltage and a motor L di/dt voltage based upon the measured inductance of the motor from the applied motor voltage to generate a computed back emf voltage;
• a motor resistance circuit responsive to a motor position signal, the computed back emf voltage and a motor iR voltage based upon the static resistance of the motor to generate the corrected motor iR voltage;
• and
• position integrator means responsive to the computed back emf voltage and an approximate motor position signal to generate an output signal varying with the relative motor position.