Synchronous Torque Model
Now the feasibility studies are done, the goal of the synchronous torque controller can be pursued.So the stepper code has been improved with a pre-emptive stepper algorithm.
This means we can include other pre-emptive code or drop this algorithm into the other code easily.
The motor control works fine at low speeds when using an external supply control (like a variable voltage switch mode PSU),
but when using the synchronous torque algorithm to start and at low RPMs the behaviour is chaotic.
So the solution may be to include a low frequency PWM algorithm (say 50Hz) to control the power delivered during the synchronous "mark".
This way the high power "kicks" the motor gets at low speeds are controlled by reducing the power of the pulses.
It would work, but it is moving away from the pure synchronous torque strategy which is key to reducing loss in the controller.