Systems, devices, and methods for: an unmanned aerial vehicle (UAV); at least one sensorless motor of the UAV, the at least one sensorless motor comprising a set of windings and a rotor; at least one propeller connected to the at least one sensorless motor; a microcontroller in communication with the at least one sensorless motor, wherein the microcontroller is configured to: determine a rotation rate of the at least one propeller; determine a rotation direction of the at least one propeller; provide an output to stop the at least one propeller if at least one of: the determined rotation rate is not a desired rotation rate and the determined rotation direction is not a desired rotation direction; and provide an output to start the at least one propeller if the at least one propeller is stopped at the desired rotation rate and the desired rotation direction.

Systems, devices, and methods for: an unmanned aerial vehicle (UAV); at least one sensorless motor of the UAV, the at least one sensorless motor comprising a set of windings and a rotor; at least one propeller connected to the at least one sensorless motor; a microcontroller in communication with the at least one sensorless motor, wherein the microcontroller is configured to: determine a rotation rate of the at least one propeller; determine a rotation direction of the at least one propeller; provide an output to stop the at least one propeller if at least one of: the determined rotation rate is not a desired rotation rate and the determined rotation direction is not a desired rotation direction; and provide an output to start the at least one propeller if the at least one propeller is stopped at the desired rotation rate and the desired rotation direction.

An AC to DC conversion device has first and second AC input terminals arranged to be coupled respectively to first and second terminals of a phase of an AC current generator, an H-bridge rectification device comprising two pairs of diodes, each pair being coupled to a respective one of the AC terminals to produce a DC output comprising a rectified back EMF waveform, and a waveform generator. The waveform generator comprises an output coupled to the DC output of the H-bridge rectification device, and is configured to input a unidirectional waveform to the DC output having the same magnitude and fundamental frequency as the rectified back EMF, phase shifted by a predetermined angle relative to the rectified back EMF waveform.

An AC to DC conversion device has first and second AC input terminals arranged to be coupled respectively to first and second terminals of a phase of an AC current generator, an H-bridge rectification device comprising two pairs of diodes, each pair being coupled to a respective one of the AC terminals to produce a DC output comprising a rectified back EMF waveform, and a waveform generator. The waveform generator comprises an output coupled to the DC output of the H-bridge rectification device, and is configured to input a unidirectional waveform to the DC output having the same magnitude and fundamental frequency as the rectified back EMF, phase shifted by a predetermined angle relative to the rectified back EMF waveform.

A motor controller that is operable to control a motor includes drive current generation circuitry having an output coupled to the motor. The motor controller further includes a velocity control path. The velocity control path includes angular velocity estimation circuitry having an input adapted to be coupled to the motor, a velocity comparator having first input coupled to a target velocity input and a second input coupled to an output of the angular velocity estimation circuitry, and an adaptive velocity controller having a first input coupled to an output of the velocity comparator and having an output coupled to a first input of the drive current generation circuitry. The motor controller further includes controller parameter determination circuitry having a first input coupled to the output of the angular velocity estimation circuitry and having an output coupled to a second input of the adaptive velocity controller.

A motor controller that is operable to control a motor includes drive current generation circuitry having an output coupled to the motor. The motor controller further includes a velocity control path. The velocity control path includes angular velocity estimation circuitry having an input adapted to be coupled to the motor, a velocity comparator having first input coupled to a target velocity input and a second input coupled to an output of the angular velocity estimation circuitry, and an adaptive velocity controller having a first input coupled to an output of the velocity comparator and having an output coupled to a first input of the drive current generation circuitry. The motor controller further includes controller parameter determination circuitry having a first input coupled to the output of the angular velocity estimation circuitry and having an output coupled to a second input of the adaptive velocity controller.

A motor control apparatus includes: a current supply unit configured to supply a coil current to a plurality of coils of a motor by controlling a voltage to be applied to the plurality of coils, based on a first command value of an excitation current and a second command value of a torque current; and a control unit configured to control the first command value based on a rotation speed of a rotor of the motor, wherein the control unit is further configured to control, when the rotation speed of the rotor is lower than a first threshold value, the first command value to cause the excitation current to be larger than zero, and control the second command value to supply the torque current in accordance with a load of the rotor.

A motor control apparatus includes: a current supply unit configured to supply a coil current to a plurality of coils of a motor by controlling a voltage to be applied to the plurality of coils, based on a first command value of an excitation current and a second command value of a torque current; and a control unit configured to control the first command value based on a rotation speed of a rotor of the motor, wherein the control unit is further configured to control, when the rotation speed of the rotor is lower than a first threshold value, the first command value to cause the excitation current to be larger than zero, and control the second command value to supply the torque current in accordance with a load of the rotor.

A motor current protecting circuit is provided. A voltage calculating circuit determines whether or not each of low-side switches is fully turned on and then determines whether or not a voltage difference between a first terminal and a second terminal of each of the low-side switches being fully turned on is larger than or equal to a zero value. The voltage calculating circuit adds up the voltage differences each of which is larger than or equal to the zero value to output a voltage signal. A control circuit controls a driver circuit to switch the low-side switches and high-side switches according to the voltage signal.

A motor current protecting circuit is provided. A voltage calculating circuit determines whether or not each of low-side switches is fully turned on and then determines whether or not a voltage difference between a first terminal and a second terminal of each of the low-side switches being fully turned on is larger than or equal to a zero value. The voltage calculating circuit adds up the voltage differences each of which is larger than or equal to the zero value to output a voltage signal. A control circuit controls a driver circuit to switch the low-side switches and high-side switches according to the voltage signal.