Methods and apparatus for controlling a polyphase motor in implantable
medical device applications are provided. In one embodiment, the polyphase motor is a brushless
DC motor. The back emf of a selected phase of the motor is sampled while a drive
voltage of the selected phase is substantially zero. Various embodiments utilize sinusoidal or trapezoidal drive voltages. The sampled back emf provides an
error signal indicative of the positional error of the rotor. In one embodiment, the sampled back emf is normalized with respect to a commanded
angular velocity of the rotor to provide an
error signal proportional only to the positional error of the motor rotor. The
error signal is provided as feedback to control a frequency of the drive
voltage. A speed control generates a speed
control signal corresponding to a difference between a commanded
angular velocity and an
angular velocity inferred from the frequency of the drive
voltage. The speed
control signal is provided as feedback to control an amplitude of the drive voltage. In one embodiment, an apparatus includes a brushless
DC motor and a commutation control. The commutation control provides a commutation
control signal for a selected phase of the motor in accordance with a sampled back
electromotive force (emf) of that phase. The back emf of the phase is sampled only while the corresponding drive voltage for the selected phase is substantially zero, wherein a frequency of a drive voltage of the motor is varied in accordance with the commutation control
signal.