Abstract: This invention provides a method and device for controlling brushless direct current (BLDC) motors, enabling smooth transitions between open loop control at low speeds and closed loop control at higher speeds. The device integrates modules for driving, observing, and transitioning between open and closed loop IB (current and back electromotive force) angles. A weighted average of the IB angles ensures stable motor performance during transitions, minimizing torque shocks, current spikes, and noise. The device also features current and voltage regulation to maintain accurate motor speed under varying conditions. Dynamic adjustment of weighting factors based on motor speed and signal-to-noise ratio further enhances control stability. This system improves motor efficiency in motor driving, reduces the risk of stalling, and optimizes performance across a wide range of operating speeds.

Abstract: A method for rotor angle estimation for a 3-phase BLDC or stepper motor with a saliency ratio different from 1 includes receiving a requested duty cycle per motor phase from a motor control algorithm or deriving it from an output voltage per motor phase. The method involves providing a PWM pattern to each motor phase during operation, where the PWM pattern per motor phase matches the requested duty cycle or includes an equal fixed additional duty cycle. Current slopes in each motor phase are measured during active PWM pulses, and these measured current slopes or their average are compared to estimate the rotor angle.

Abstract: A method for controlling a motor comprising a rotor and a stator, the stator comprising a plurality of coils which are isolated from each other. The method includes applying a dynamically adjustable sinusoidal current to every motor coil, obtaining an electrical parameter for each motor coil, which is either an average voltage over the coil or an instantaneous voltage over the coil, and utilizing a feedback-based vector control algorithm. This algorithm receives the electrical parameter and the applied sinusoidal current for each motor coil to calculate a target current vector, which is determined based on the electrical parameter and the applied sinusoidal current for each motor coil. The method further involves dynamically adjusting for each motor coil the sinusoidal current applied to that motor coil based on the target current vector.

Abstract: The invention relates to stall detection of an electronically commutated motor, comprising one or more motor phases for each motor phase a phase inductance L, and a phase resistance R. A driver is configured for driving the electronically commutated motor by applying a voltage or a current vector to one or more motor phases of the electronically commutated motor with a rotation speed ? of the voltage vector or the current vector; a detector is configured for obtaining an electric angle between the applied voltage vector and a resulting current vector or between the applied current vector and a resulting voltage vector; a processing device is configured for determining a stall of the rotor if the absolute value of the electric angle or a filtered version thereof crosses a stall threshold value wherein the stall threshold value is arctan 2(?L, R) plus or minus a predefined margin.