The first MOSFET SHUNT R/Rs designed to replace SCR SHUNT R/R's can not be described to be anything else but a brain fart. The reality is that by simply changing the control logic in the MOSFET R/R you get a series R/R instead of a SHUNT R/R. It is basically a firmware change. Other things come to play but that is the bottom line. The efficiency of the MOSFETs only serve to keep the SHUNT R/R from burning while putting even more voltage across the stator and force it to dissipate even more power.
I'm not a high speed motor designer, but my background is in control systems which usually center on motor controls. Back in 2004-06 I was a consultant on a military program where I was leading a Modeling and Simulation(M&S) and a Motor Design group in the development of an ultra highspeed 5+1 axis gimbal system. There was an incumbent system(see link below) we were trying to replace. In the end we could prove the incumbent system was a "point design" as from our trade study, we developed a parametric family of designs that could be sized based on available power. The response time was limited by the power available. It is basically a very fast and compact robot. As it was vehicle mounted, it was optimized for SWAP-C (Space Weight,Power, Cost).
We got into into not only sophisticated motor controls, but coordinated motion control for "on-the-move" (over rough terrain) hit-to-kill intercepts.
This was the legacy system
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