With referance to the document available (AN2892 3-Phase BLDC Motor with Hall Sensors and Speed Closed Loop, Driven by eTPU on MCF523x) we control the speed of BLDC motor. Here the input is actual speed and the intended speed.
If I want to control the toque of Bldc motor then can I provide the PID controller the feedback (the replica of current flowing through the motor which is propotional to torque) ie the actual torque and the intended torque (command )and drive the PWMs accordingly. The HALL inputs will only help on deciding the commutation sequence. Can I also use the hall sensor
output to detect motor jam.