Systems and methods for providing an adaptive nut removal mode in a power tool. The power tool includes a housing and a motor. The motor includes a rotor and a stator. The stator includes a plurality of stator windings. A power switching circuit is configured to provide a supply of power from a power source to the motor. An electronic controller is configured to control the power tool to remove a fastener from a joint. The electronic controller is configured to monitor a torque of the motor, determine whether the torque of the motor is equal to or less than a threshold torque value, operate, when the torque is greater than the threshold torque value, the motor in an loosening mode while the torque of the motor decreases, and increase, when the torque is equal to or less than the threshold torque value, a speed of the motor.

There is provided herein a method of advancing phase of a DQ reference frame in a Field Oriented Control, FOC, algorithm for a permanent magnet motor. The method comprises: monitoring a component of the stator voltage demand of the permanent magnet motor, when the component of the stator voltage demand surpasses a threshold, calculating a phase advance angle, .sub.adv, based on a gain multiplied by the difference between the component of stator voltage demand and the threshold; and advancing phase of the DQ reference frame in the FOC algorithm based on the calculated phase advance angle, up to a maximum phase advance angle when motor speed is positive, or down to a minimum phase angle when motor speed is negative.

To provide a controller for a rotary electric machine and an electric power steering apparatus which can suppress the error increase of the rotational angle due to the high frequency noise component included in the current detection value, while reducing the AC component error included in the sensor detection value of rotational angle, at high rotational speed. A controller for a rotary electric machine estimates an estimation actual angle deviation; calculates a detection angle deviation; calculates a control angle deviation by dividing internally between the estimation actual angle deviation and the detection angle deviation; calculates a rotational angle for control by performing feedback control so that the control angle deviation approaches 0; and makes the ratio of the estimation actual angle deviation higher than the ratio of the detection angle deviation, when the rotational speed is higher than a speed threshold value.

Embodiments described herein are directed to a position sensor that includes a first receiver coil electrically coupled to a first multiplier to generate a first output, a second receiver coil electrically coupled to a second multiplier to generate a second output, a transmitter coil electrically coupled to an oscillator, the oscillator electrically coupled to a third multiplier to generate a third output, a phase-locked loop electrically coupled to the oscillator and the transmitter coil, a summing circuit configured to receive the first output and the second output and configured to generate a signal, a phase detector configured to receive the signal and the third output, the phase detector outputting a sense signal that is indicative of an angle of the motor position sensor, and a pair of op amps electrically coupled to the phase detector. The op amps configured to output an analog differential signal and a differential phase signal.