Create the torque-control and speed-control subsystems, verify the target execution time, and tune the control gains.
Design Field-Oriented Control Algorithm
Design and integrate the torque-control and speed-control subsystems.
Estimate Control Gains from Motor Parameters
Perform control parameter tuning for speed and torque control subsystems.
Code Verification and Profiling Using PIL Testing
Verify the torque-control and speed-control subsystems.