| 摘要 |
Method and apparatus for controlling a motor below a threshold velocity. During a velocity control mode, the motor is accelerated to an operational velocity, receives a commanded velocity value, and switches from a first control method to a second control method below the threshold velocity. The threshold velocity is determined from limitations of control electronics that do not function well when a motor current drops below the threshold level. The sliding mode control method measures the measured motor velocity, compares the velocity to the commanded velocity, applies a current value when the measured value is less than the commanded value and applies a negligible current value when the measured value is greater than the commanded value. The threshold level is dictated by the first control method. Back electromotive force (bemf) detection circuitry is used to measure the motor current.
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