Normalization of motor phase measurements

A microcontroller unit (MCU) chip, comprising:

• a substrate having the following formed thereon configured to realize a motor controller for controlling an N-phase motor including a rotor, including:
• at least one analog-to-digital converter (ADC) for receiving resulting N-phase measurements from current measurement circuits or voltage measurement circuits coupled to stator windings of said motor associated with each of said N-phases;
• a pulse-width modulation (PWM) driver;
• a first non-volatile program memory including code for realizing an angle and velocity estimator (EST) block, a normalizing phase measurements (NPM) controller, an NPM algorithm block having an input coupled to receive an output from said ADC, and a signal generator (SIG GEN) block, wherein said NPM controller has respective outputs coupled to an input of said NPM algorithm block, an input of said EST block, and an input of said SIG GEN block;
• an ID controller for controlling direct (d) current and an IQ controller for controlling quadrature (q) current;
• a digital I/O (interface);
• a central processing unit (CPU) coupled through said digital I/O (interface) to receive said N-phase measurements after processing by said ADC's;
• a clock, and a digital data bus and an address bus for coupling together said ADC, said first non-volatile program memory, said digital I/O (interface), said CPU, and said clock,
• said SIG GEN block for triggering a forcing of a set of input current or input voltage vectors (set of input vectors) to stator terminals of said stator windings including repeating said forcing after rotating said rotor of said motor through discrete angles to complete at least one full mechanical cycle to generate resulting current or voltage samples (resulting samples) of a non-normalized phase A waveform and of a non-normalized phase B waveform, wherein a magnitude of said input vectors are all sufficiently small to not move said rotor, and wherein a time duration for said input vectors is essentially constant;
• said NPM controller for determining a maximum value (x_max) and a minimum value (x_min) for each of said non-normalized phase A waveforms and for each of said non-normalized phase B waveforms and using said x_max and said x_min for determining an offset value and normalization scale factor (NSF) for each of said non-normalized phase A and said phase B waveforms, and said NPM algorithm block applying said offset and said NSFs to said non-normalized phase A and phase B waveforms to generate a normalized phase A waveform and a normalized phase B waveform, and
• said EST block using an angular position estimation algorithm with said normalized phase A waveform and said normalized phase B waveform to determine an angle of said rotor.