AeroVironment, Inc.
Bi-stable, sub-commutated, direct-drive, sinusoidal motor controller for precision position control

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.