Force and Torque Control Method for Piezo Motors

A control system and method for a motor with multiple piezoelectric elements driving a gear. The system calculates a target-thrust-based switching phase and compares it to each element’s gear phase angle to control voltage timing. It also manages charge transfer between element capacitors by adjusting switch timing, reducing energy loss. This enables precise, efficient thrust control with coordinated actuation based on real-time gear phase detection.