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I was doing some tests the other day on slow speed control (1rpm). I thought that sinusoidal commutation and a high resolution encoder (4K CPT) would be "the thing" for controlling a multi-pole flat motor well (with detent torque - naming the EC90 flat from maxon). This would enable the controller to have better control during the commutation between coil switching. During the commutation the natural attraction of the rotor to the poles pulls and pushes the rotor into position. This is something that I thought sinusoidal commutation would help with. I was pleasantly surprised that using another controller that had just block commutation but a 53.5Khz current loop proved far superior in comparison to the 10KHz control on the sinusoidal drive!
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