SE465397B - MOTOSTYRSYSTEM - Google Patents

Description

Measuring and / or providing one or more additional signals, which represent one or more controllable motor operating parameters; and that the microprocessor is programmable and connected to receive said position indication signals and said additional signal / signals and to control the switch group to activate the windings according to said controllable parameter signal (s), and to commutate the winding activation according to said position signals.

In the most preferred embodiment of the invention, a minimum of hardware is used to achieve maximum versatility in use. The versatility is preferably obtained by means of a stored program, which allows the same or substantially the same hardware to work in a number of different modes.

Thus, the same or substantially the same hardware can be used for speed tracking, position tracking, power transmission maximization and / or efficiency maximization. In addition, the device or system can switch from one operating mode to another as a function of signals obtained from an external source or as a function of internally generated signals.

Although the most preferred embodiment utilizes a stored program, the principles of the invention may also be practiced using real circuits or a combination of stored programs and real circuits. To facilitate understanding, the invention will first be elucidated in the form of a series of working modes, in which real circuits are used. Next, the most preferred embodiment, which includes a stored program, will be described.

One mode of work is speed tracking. A desired speed and a measured speed are compared, and the result is used to control winding current within predetermined limits. The winding current is measured and compared with upper and lower threshold values. The controller activates windings when the measured value of the current reaches the lower threshold, and passivates the windings when the measured value of the current reaches the upper threshold.

In another mode of operation, the maximum available power is taken from a source, such as an electric solar generator, where the output impedance of the source varies with temperature. The controller varies the intermittent factor and thus the average value of the current supplied to the motor. This results in the motor speed and output power varying along with the motor's input impedance to thereby adjust the input power to the motor to the maximum that can be provided by the source. In particular, the controller compares successive values of the measured speed to sense an increase or decrease therein, the resulting increase or decrease being used to vary the pulse length and thereby regulate the apparent motor impedance and thus the motor output power.

In another mode of operation, the efficiency or effectiveness of the electromechanical energy converter is maximized.

It has been shown that maximum power is converted into useful work, when the ratio between motor torque and current is at or near a maximum, which corresponds to the maximum value of the motor electromotive force (EMF). Consequently, the controller will activate the windings only when the counter-EMF is at or near a maximum.

In another working mode, position tracking takes place. A desired position and a measured position are compared, and the result is used to control the winding current to reduce the position error. Again, the winding current is compared with the upper and lower threshold values, and windings are activated when the current reaches the lower threshold and passivated when the current_reaks the upper threshold.

The invention is described in more detail below with reference to the accompanying drawings.

Fig. 1 shows a functional block diagram of an electromechanical energy conversion device according to the invention, Fig. 2 is a circuit diagram of a Hall sensor in Fig. 1, Fig. 3 is a circuit diagram of a switch in the bridge circuit of Fig. 1, Fig. Fig. a diagram of Hall sensor voltages generated by the Hall sensors in Fig. 1, Fig. a functional block diagram of a sector unit in Fig. 1, Fig. 2 a circuit diagram of a controller in Fig. 1, Fig. a functional block diagram of a position measuring unit in Fig. 1; Fig. 1, a functional block diagram of a speed / position ordering unit in Fig. 1, Fig. 10 a block diagram of a speed measuring unit in Fig. 1, Fig. 11 a block diagram of a current modulator in Fig. 1 for motor operation in a speed tracking mode, Fig. 12 a block diagram of a current modulator in Fig. 1 for motor operation in a power transmission maximization mode, Fig. 13 is a block diagram of a current modulator in Fig. 1 for motor operation in an eff. activity maximization mode, and 10 15 20 25 30 35 '40 a ~ f = ~ saavwuußvs ~ - = - ø ~ za-r ~ fr-rr -f- I ~', - - - v -ß - ~ 465 397 fig 14 a functional block diagram of an electromechanical energy conversion device according to the invention, equipped with a programmed digital microcomputer.

Considering Fig. 1, there is shown an electromechanical conversion system 50Hßd a DC motor 52 connected to a feed source 54 by a bridge circuit 56. The motor 52 may be, for example, a rotating brushless DC motor with a four-pole permanent magnet rotor 58 and a three-phase stator. Y-connected windings 60. The bridge circuit 56 has six switches 62 arranged in pairs, a pair for each of the three windings 60.

Between each pair of switches and each winding, a current sensor 64 is inserted.

Three Hall sensors 66, more specifically H1, H2 and H3, measure the relative position of the rotor and stator. The Hall sensors are attached to the stator and are located around a magnetized disk 68, which is mechanically coupled (the dashed line 79) to the rotor 58.

According to Fig. 2, each Hall sensor 66 comprises a Hall power device 72, which is applied to a direct bias voltage. The output of the device 72 is connected to the input of an amplifier 78, which is biased by resistors 80 and 82. The magnetic field B of the disk 68 passes through the device 72 and causes its output voltage to vary sinusoidally. The output of the Hall device is amplified linearly by the amplifier 78.

According to Fig. 3, each switch comprises a transistor 86, which has a diode connected across the collector-emitter junction to form a path for winding currents, when the transistor 86 is switched off. A resistor 90 and a capacitor 92 filter out transient currents. A base driver circuit 94 turns the transistor 86 on and off and is optically coupled to the control terminal 96 of a photodiode 98. Power for the base driver circuit 94 is obtained from a conventional power supply (not shown).

According to Fig. 4, the current sensor 64 includes a low value current sensing resistor 100 which provides a voltage drop proportional to the winding current, which is amplified by the amplifier 102. The polarity of the amplifier 102 output is reversed when the current flowing through the resistor 100 is reversed. .

The three Hall sensors 66 are mechanically separated 600 along the periphery of the disk 68, which corresponds to a division of 120 electrical degrees in the diagram according to Fig. 5. The mechanical division KW 10 15 20 25 30 35 '40 5 465 397 of 600 is equivalent to the electrical pitch of 1200 due to the four magnetic poles on the disk 68. The signal waveforms in Fig. 5 are repeated for every 360 electrical degrees, which corresponds to a rotation of 180 mechanical degrees. For an eight-pole rotor, the Hall signal waveforms would be repeated for every 900 mechanical turns.

Commutation of the currents in the windings 60 occurs once per 60 electrical degrees, which corresponds to a change in the winding current for every 300 mechanical turns of the rotor 58. The disk 68 is so oriented relative to the rotor 58 that commutation signals are emitted whenever a Hall voltage passes zero, which occurs for every 60 electrical degrees, thereby defining sectors of 60 electrical degrees. Thus, in the case of a four-pole motor, the whole commutation procedure will be repeated twice for each revolution of the rotor 58. As will be seen later, the end of a sector is easily detected by comparing the Hall output voltage with a zero volt reference signal. By using a non-zero reference, other rotor positions can be determined. The sinusoidal paths H1 - H3 in Fig. 5 are sufficiently linear in the vicinity of the horizontal axis that the position of the rotor 58 can be considered to be proportional to the magnitude of the Hall voltage in this area. Likewise, as will be seen later, it is possible to switch from one path to another to obtain successive quasi-linear voltages, which indicate the rotor position.

Looking at Fig. 1 again, the system 50 is shown to contain comparators 106, which compare the Hall voltages with a reference signal obtained from terminal A1 on a controller 108 (later described in connection with Fig. 7). The outputs of the comparators 106 are connected through a switch 110 to a register 112, which stores the values of the comparator voltages.

Each comparator output voltage is either high (logic.1) or low (logic 0). A logic 1 exists when the Hall voltage is greater than the reference, while a logic 0 exists when the Hall voltage is less than the reference. Thus, the three comparator outputs stored in register 112 form a three-bit digital signal in Gray code, which, as shown in Fig. 5, uniquely identifies one of the six commutation sectors.

The sector unit 114 (later described in connection with Fig. 6) converts the number in the register 112 from Gray code into a logical format 35- 40 465 397 standard format. A sector identification signal appears at: terminal E on sector unit 114, while a sector change signal appears at terminal F.

The operation of the bridge circuit 56 is controlled by signals from a read only memory (ROM) 116. ROM 116 is addressed by the sector identification signal at terminal E, a torque control signal on line 118 and current command signals from terminal I on current modulator 120 (later described). ROM 116 has sufficient storage capacity for each allowable combination of signals for the six control terminals 96 on the six switches 62.

To facilitate the description of the bridge circuit 56, it is convenient to further identify the switches 62 with the designations A - F and to further identify the windings -60 with the designations A - C. Thus, for example, if the switches 62A and 62E are conductive, current flows from the winding circuit. 60B into the winding 60A. If the rotor 58 is to be subjected to torque in the opposite direction, the switches 62B and 62D should be conductive, and current would flow from the winding 60A through the winding 6OB. Pulse width modulation is achieved by controlling the time periods during which the various switches are in a conducting state.

The controller 108 provides a reference signal at terminal A1 for comparators 106 and a sector selection signal at terminal B1 for switch 110 to either select a particular comparator or to sequence each of the comparators.

The reference signal at terminal A1 and the selection signal at terminal B1 on controller 108 may be provided by a circuit device within controller 108 or alternatively simply connected through controller 108 via terminals A2 and B2 from a position measuring unit 122 (later described in connection with Figs. 7 and 8). .

The position measuring unit 122 is used for accurate tracking of the position of the rotor.68, when the system 50 operates in position tracking mode. The position measuring function is achieved by setting a value of the reference signal at terminal A1, corresponding to a value of the Hall voltage, to be reached at a predetermined time, and outputting a signal at terminals 01 - BZ for selecting the relevant comparator output signal.

When the logic level of the signal at terminal D changes, this indicates that the rotor 68 has reached the position corresponding to the anunnnnvgfmn-uq-cuu- ~ 4-- ~ -; 1 - »- a ~ - f =» «--- u --- -« ~ - - --- - - (O) 10 15 20 25 30 35. 40 7 the value of the reference signal at terminal A1.

A speed measuring unit 124 is also provided for measuring the speed of the rotor S8, when the system 50 operates in speed tracking mode. The speed measuring unit 124 measures the speed either by counting sector change signals at terminal F for a predetermined time interval or by counting clock pulses between sector change signals at terminal F and forming the reciprocal value of the count.

The first method of speed measurement is to prefer too high a speed and the second too low a speed. g A speed / position command unit 126 selects either the position measurement from the terminal G on the position measuring unit 122 or the speed measurement at the terminal M on the speed measuring unit 124 and connects it to the terminal L on the current modulator 120 (later described in connection with Fig. 9). The ordering unit 126 directs by a signal at the terminal R the controller 108 to apply either the reference and selector signals at the terminals A2 and BZ or the corresponding signals at the terminals A1 and B1 to the comparators 106 and the switch 110. In addition, the ordering unit 126 designates a specific position or speed value at terminal K, which is fed to the current modulator 120 and serves as the ordered position or speed to be followed by the system 50. As shown later in connection with Fig. 11, the modulator 120 compares the ordered and measured quantities at terminals K and L and generates a current command signal at terminal I on the basis of these.

The current command signal at terminal 120 of the modulator 120 serves as a partial address for ROM 116 and provides pulse width modulation of the currents in the windings 60. The pulse width modulation is accomplished by setting adjustable upper and lower limits for a desired average of the currents in the windings 60. A current command signal at terminal I is initiated whenever the measured current at terminal J falls below the lower limit, and terminates whenever the measured current at terminal J rises above the higher limit.

The switch 128 is actuated by the ROM 116 to select the correct current sensor 64 to provide the current measurement at the terminal J, depending on which windings are activated. Thus, when ROM 116 commutates the winding currents, it also commutates the signals from the current sensors 64. Referring to the previous example, where current flowed through windings 60A and 60B, but no current flowed through winding 60C, the switch 128 ensures that the terminal J is connected either to the current sensor 64A or to the current sensor 64B but not to the current sensor 64C.

According to Fig. 6, the sector unit 114 includes ROM 130, delay lines 132 and 134 and comparators 136 and 138.

The sector unit 114 converts the Gray code signal in register 112 to the sector identification signal at terminal E and to sector change signals at terminal P. As shown in Fig. 6, there are two sector change signals, one of which indicates a sector change accompanied by a clockwise rotation of the rotor 58. and the second indicates a sector change accompanied by counterclockwise rotation. In response to an address from register 112, ROM 130 provides three digital words, the first of which is a numerical identification of the present sector, the second is a numerical identification of the next sector. in the case that the rotor 58 rotates clockwise, and the third is a numerical identification of the next sector in the case that the rotor 58 rotates counterclockwise.

Both the sector unit 114 and other units in Fig. 1 are controlled by time and clock signals from a system timer located in the order unit 126. Comparisons are performed sequentially between the present sector and each of the next sectors of the comparators 136 and 138 depending on clock signals, emitted by the system timer. Delay lines 132 and 134 delay the supply of the corresponding sector signals to the comparators 136 and 138, so that the output signals from the comparators represent comparisons between the current sector and the previously predicted values of the next sector. The clock pulses occur many times in each sector, and many comparisons are made in each sector. If no similarity is found by either comparator, a logic zero is generated at both output terminals, indicating that no sector change has occurred. If a sector change has occurred with clockwise rotation, the present value of the sector will be equal to the previously predicted value of the next sector for clockwise rotation, and the comparator 138 will give a logical 1. Analogously, if a sector change has counterclockwise rotation, the value of the present sector 10 15 20 25 30 35 '40 465 597 to become equal to the previously predicted value of the next sequence in the counterclockwise rotation sector, so that the comparator 136 will emit a logic 1.

According to Fig. 7, the controller 108 has terminals A1, B1, A2, BZ and R, which have been previously described in connection with Fig. 1.

The controller 108 includes a switch 140, a D / A converter 142, a source 144 (such as a digital encoder for outputting a zero value reference signal) and a counter 146 (which counts modulo 3). The Modulo-3 count corresponds to the three Hall sensors 66 in Fig. 1. As shown, the switch 140 connects a reference signal from the terminal A2 to the terminal A1, which reference signal is used by the comparators 106 for comparison with the sinusoidal signal waveforms generated by The Hall sensors 66 when rotating the disc 68. It is also shown that the switch 140 connects a Hall selector signal from the terminal BZ to the terminal B1 for actuating the switch 110 in Fig. 1 to select a comparator 106 and its corresponding Hall sensor 66. The signals at terminals A2 and BZ is obtained from the position measuring unit 122.

In the alternate position of switch 140, the reference signal for terminal A1 is output from source 144, and the selector signal at terminal B1 is output from counter 146. In response to clock signals from system timer, counter 146 outputs a sequence of three addresses to switch 110, so that it is sequentially sampling the output signals from the comparators 106. The switch 140 is driven by the signal obtained from the order unit 126 at the terminal R.

According to Fig. 8, the position measuring unit 122 comprises a counter 180, a source 182 for a digital word representing 1, a summer 184, a register 186, a switch 188, a ROM 190 and a ROM 192. ROM 192 emits the reference signal at terminal A2. and the selector signal at terminal B2 in response to an address from ROM 190, which indicates the position of the rotor in electrical degrees. As can be seen from diagram 194, located near ROM 192, the reference signal at terminal A2 is a step signal which follows the sinusoidal signal waveform obtained from the Hall sensors 66 upon rotation of the rotor 58. The values of the reference signal precede the appearance of the corresponding values at Hall voltage. In other words, Systemeï will wait until the rotor 58 has started to turn, which brings the Hall voltage up (or down) to the value of the reference signal 10 15 20 25 30 35 40 10 465 397. When this happens, a comparator 106 changes state, which means that the rotor 58 has reached a specific, known position.

If the diagram in Fig. 5 is considered, it appears that only the linear regions of the Hall voltages are used. Accordingly, the diagram of Fig. 8 shows the stepwise changes in the reference signals only below the linear portions of the curve representing the Hall voltage. According to Fig. 5, a different Hall curve is selected at the center of each sector in order to use only linear parts. This selection is effected by the switch 110 in Fig. 1 in response to the signals at terminals B1 and B2. Since ROM 192 provides both the value of the reference signal at terminal A2 and the selector signal at terminal BZ, the selection of the Hall curve is coordinated for all values of the reference signal.

The counter 180 provides a count which is connected by the switch 188 to the ROM 192 and constitutes a partial address. The remainder of the address is given the velocity signal at terminal M. The count from counter 180 on line 198 represents, apart from a scale factor, the position of the rotor 58 on line 196. Thus, if each count on line 198 represents 5 degrees, a total of 72 counts will represent-360 degrees. Analogously, if each count on line 198 represents 20 degrees, a count of 18 on line 198 will represent 360 degrees.

When ROM 190 outputs the digital word representing 360 degrees, it also provides a reset signal, which through line 200 is connected to the reset terminal of the counter 180 to reset the counter 180 to zero. The scale factor used by ROM 190 is determined by the speed signal at terminal M ROM 190 contains different sets of the words that may appear on line 196, one set corresponding to each of several different selected speeds at terminal M. By using different scale factors, the magnitude of the stepwise increases. the references in the reference signal at terminal A2 to increase at high speed, and fewer steps per sector occur at high. speed. With this scale selection, the speed at which the comparators 106 are sampled can remain substantially unchanged despite large variations in speed.

Since the counter 180 is reset every 360 degrees, a second counter 202 is arranged for counting synchronously with the counter 180 but without periodic reset. As a result, the count of the 462 397 counter 202 will represent the present position on the rotor or on a load which is mechanically coupled to the rotor via a gear.

The counter 180 must be able to count up or down, depending on the direction of rotation of the rotor 58. To sense the correct counting direction, a value equal to 1 is subtracted from the source 182 from the count on line 198 through the summer 184, the difference being stored in register 186. The switch 188 thus has a choice between two input signals, namely the count on the line 198 and a number equal to one less than the count on line 198 from register 186. Switch 188 is switched between the two inputs by a switch control line, which is activated by a bistable flip-flop 204, which in turn is switched by clock pulses from system time. - the sensor. The switch control signal on line 206 is connected by a register 208 to the up / down control terminal on counters 180 and 202.

The Hall comparator output at terminal D of switch 110 in Fig. 1 is connected to register 208 through switch 216 to strobe the register to accept the switch control signal on line 206. The presence of the comparator output on line 210 indicates that a successful comparison has been made between the Hall voltage and either the reference signal corresponding to the count on line 198 or the reference signal corresponding to the reduced count from register 186. The switch between the count on line 198 and the reduced count is also shown in diagram 194, where the value of the reference signal oscillates back and forth, as shown by the dashed curve 212. Thus, the switch control signal present on line 206 when a Hall comparator output signal is present on line 210, the direction of rotation of the rotor 58. When strobeing the signal on line 206 into register 208, counters 180 and 202 are caused to count up or count down in accordance with the direction of rotation of rotor 58.

To ensure that the counters 180 and 202 are not propelled until after the switch control signal on the line 206 has been instrobated in the register 208 and the direction of the count has been determined, a delay line 214 is inserted between the line 210 and the counters 180 and 202.

Regarding the quasi-linear areas in the diagram according to Fig. 5, it can be noted that every other of the areas has a reversed slope. Thus, a positive error signal obtained with one slope corresponds to a negative error signal obtained with the next slope. To compensate for the previous reversal in polarity, the switch 216 and the inverter 218 in Fig. 8 are interposed between the terminal D and the line 210. The switch 216 selects either the signal at the terminal D or the signal complement. The switch 216 is operated by the ROM 192 in synchronism with the selection of the Hall comparator output signal on the line 210 always having the correct polarity for strobeing the register 208 and for advancing the count of the counters 180 and 202. The comparator signal on line 210 also strobes a register 220 for reading the counting position of the counter 208 before it is advanced to the next count.

An acquisition circuit is also provided from initially acquiring the position of the rotor 58 so that position tracking can be initiated.

The acquisition circuit has a ROM 222, a summer 224, a register 226 for successive approximation and an inverter 228. The counter position of the counter 180 is first brought into the correct sector by means of ROM 222, which is coupled by the summer 224 to the preset terminal of the counter 280. The sector signal on terminal E, also shown in Fig. 1, addresses ROM 222 to give the count denoting the beginning of this sector. Consequently, the counter 180 starts counting at the beginning of the sector. This count is modified by the summer 224, which adds a signal from the register 226 to the signal from.ROM 222. The successive approximation register 226 produces digital words, which represent a set of numerical values, which oscillate in magnitude and decrease towards a stable value. The register 226 is controlled by a feedback signal on the line 210, which indicates to the register 226 that the value of its outgoing digital words is to be increased or decreased. The logic state (1 or 0) of the signal on line 210 depends on whether the value of the reference signal is greater or less than the value of the Hall voltage. Therefore, the logic level register 226 responds by line 210 by continuously advancing the assumed position on the rotor 58 until the logic level on the line 210 changes, at which point the register 226 decreases the assumed position on the rotor 58. At the end of the sequence successive I) 10 15 20 25 30 35 "40 13 '465 397 approximations, the preset value in both the counter 180 and the counter 22 accurately reflects the position of the rotor 58.

According to Fig. 9, the speed / position ordering unit 120 has clamps M, G, L, K and R, which are also found in Fig. 1. The ordering unit 126 comprises switches 250 and 252, a summer 254, a register 256, a ROM 258, a clock 260. and a counter 262.

With the switches 250 and 252 in the positions shown, the speed measured at the terminal M is connected directly to the terminal L, and the ordered speed signal appears at the terminal K.

The ordered speed signal is obtained from ROM 258 on the basis of a desired position, to which the rotor 58 in Fig. 1 is to be turned. ROM 258 is therefore used in a composite operating mode, where the rotor is brought to a designated position in a two-stage operation.

In the first stage, the motor is driven at a high speed, or with a designated speed profile, to bring the motor to approximately the desired position. Thereafter, the system operates in a position tracking mode. During the first stage, speed signals appear at both terminals L and K, the ordered speed appearing at terminal K and the measured speed appearing at terminal L. During the second stage, the ordered position "occurs at terminal K and the measured position occurs at the clamp L. The switch 250 provides the transition in operation between the first and the second stage.The switch 252 is used to replace the two-stage operation with a speed tracking mode of operation.In the speed tracking mode a measured speed occurs at the terminal L, while an ordered speed occurs at the terminal K .

Regarding the two-step operation, the speed profile is given by ROM 258 in response to a sequence of address signals connected to the memory of the counter 262, which counts clock pulses from the clock 260 under the control of a time signal at terminal T. The aforementioned system timer, here designated 264, outputs the time signal at terminal T for operating the clock 260 and the time signals and clock pulses for the other units in the system 50 shown in Fig. 1. Consequently, when the counter 262 is advanced, ROM 258 will emit a sequence of output words which set the speeds at which the rotor is to rotate at specific times, a simple form of velocity profile being shown in a diagram 266 in the vicinity of ROM 258.

The counter 262 gives only a partial address to ROM 258, 10 15 20 25 30 35 40 14 vÄ% §ää rššåzn of the address is given by the register 256. The register 256 stores the difference between the desired end position and the present position on the rotor 58. I In accordance with the part of the address given by the register 256, the speed profile is changed from the ROM 258 for relatively short distances of the rotor movement, where it would be impractical to drive the motor to maximum speed. Accordingly, the partial address from the register 256 selects an appropriate rate profile in a set of rate profiles for using relatively small differences in location.

The command unit 126 further includes a comparator 268, a reference 270 (including a digital word source representing a position error limit), a position encoder 272 (for designating a desired end position for the rotor), and a speed encoder 274 (for designating Instead of encoders 272 and 274, digital words given by an external system, such as an inertia navigator in an aircraft, may be inserted into the system at this point to designate a desired position and / or Encoders 272 and 274 strobe the system timer 264 to begin timing the various system operations.

The summer 254 outputs a position error signal by subtracting the position signal measured at terminal G from the desired position designated by the encoder 272. In addition to being supplied to the register 256, this difference signal is also coupled to the comparator 268, which compares the difference in position with a reference corresponding to a position error limit. If the difference in position is smaller than the reference (position error less than position position limit), comparator 268 activates switch 250, and the position measured at terminal _G is connected to terminal L, and the designated end position of rotor 58 is connected to terminal K. the transition between it the first and second stages of the two-stage operation to bring the rotor 58 into a designated position have thus been completed.

The switch 252 can be actuated by the speed encoder 274 so that only the speed ordered by the encoder 274 occurs at terminal K. Thus, the command unit 226 allows the system to operate either in a speed tracking mode or in the two-step sequence, including a speed tracking mode followed by a position tracking mode. The two-stage sequence is initiated by the position encoder 272, which generates a signal at terminal R for actuation of switch 140 in controller 108 (Fig. 7). The position encoder 272 causes the reference signals appearing at the terminals A2 and B2 of the position measuring unit 122 and the Hall selector signals (Fig. 8) to appear at the terminals A1 and B1 of the controller 108 to actuate the comparators 106, as previously described.

If Fig. 10 is now considered, it is shown where the speed measuring unit 124 comprises two channels, the upper channel being used for high speed and the lower channel for low speed.

JK flip-flops 278, which are connected to the two sector change signals at terminal F. The rotational speed appearing on line 208 is given by an OR gate 276 and a direction of rotation, and the rotational speed appearing on line 282 gives a complete description of the speed. . OR gate 276 provides on line 284 either the clockwise change signal or the counterclockwise change signal from terminal F, whereby the signal on line 284 indicates a change in sector independent of the direction of rotation. The JK flip-flop 278 gives on the line 208 a logic 1 or a logic 0 depending on which of the sector change lines at kl fi mah F smnbefümersigi. logical 1 state. Accordingly, the logic state of the signal on line 280 indicates the direction of rotation. The upper channel of Fig. 10 includes a gate 286, a timer 288, an inverter 290, a counter 292, a register 294, a source 296 for a reference signal, a comparator 298 and a speed indicator 300. flip-flop 302, a clock 304 , a gate 306, an inverter 308, a counter 310, a register 312, a ROM 314 and a speed indicator 316. The upper and lower channels are connected by a switch 318 to a shift register 320, the output of which through a subtractor 322 is connected to an acceleration indicator 324.

For measuring high speed, the counter 292 counts sector- The lower channel comprises a bistable change signals on line 284, a sequence of sector change signals from gate 286 being transmitted to counter 292 in response to a time signal from timer 288. Operation of timer 288 is started by a time signal at terminal T from system timer 264 (Fig. 9). The number of sector change signals which the year calculator 292 counts during the predetermined time interval is proportional to the speed and is therefore, apart from a scale factor equal to the speed. The register 294 is strobeed by the timer 298 via the inverter 290 to read the contents of the counter 292 at the end of the counting interval.

The resulting count stored in register 294 is fed to the indicator 300 to give an indication of the speed.

For measuring low speed, the counter 310 counts from the clock 304 during the time interval which elapses between consecutive sector change signals on the line 284. The clock pulses from the clock 304 are transmitted by the gate 306 to the counter 310, the gate 306 being activated by the switching of the bistable flip-flop 302 through successive sector change signals on line 284. At the end of the counting interval, the trailing edge of the pulse from flip-flop 302 is transmitted by the inverter 308 to strobe register 312, which stores the contents of counter 3110 for addressing ROM 314. Counting position in register 312 is proportional to the interval between successive sector change signals. Since the speed is inversely proportional to the interval between successive sector change signals, ROM 314 provides output words which are numerically equal to the reciprocal of the address signal fed to ROM 314. The output signal from ROM 314 is supplied to the speed indicator 316.

To obtain an indication of the acceleration, successive speed values are stored in a shift register 320.

The successive values are then fed to a subtractor 322, which determines the difference between the two velocity measurements. The difference signal from the subtractor 322 is then fed to the indicator 324 to indicate the acceleration.

To obtain an indication of the speed of the line 382 and an indication of the acceleration speed, both for high and low speeds, the switch 318 selects either the output of the register 294 or the output of the ROM 314. The switch 318 is driven by the comparator 292, which compares the speed signal at the output of the register 294 with a reference signal emitted by the source 296. When the output of register 294 is greater than the reference, the comparator 292 sets the switch 318 in the high speed position and switches the output of register 294 to line 282. When the output of register 294 falls below the reference value, the comparator 298 switches the switch to the speed mode and switches the output signal from ROM 314 to line 282.

According to Fig. 11, the current modulator 120 includes a ROM 350, D / A converters 352 and 354, an amplifier 356, comparators 358 and 360 and a bistable flip-flop 362. ROM 350 receives on line 364 an address designating the desired amplitude and direction of the current of the windings 60 (Fig. 1).

The value of the current ordered via the address on line 364 is in relation to the average value of the current. The actual current, as measured by the current sensors 64 (Fig. 1) and connected to the modulator 120 via the terminal J, is shown in a diagram 366 in the vicinity of the terminal J in Fig. 11.

For activating the windings through the switches 62. in the bridge circuit 56 (Fig. 1), ROM 350 emits on line 118 a one-bit signal designating the direction of the current corresponding to a clockwise or counterclockwise motor torque. In addition, ROM 350 emits two digital words in response to the address on line 364, one word indicating an upper current limit, which is supplied to the D / A converter 352, and the second word indicates a lower current limit, which is supplied to the D / A converter 354. The analog voltages generated by the converters 352 and 354 are supplied as reference signals to the respective comparators. 358 and 360.

The current measured at terminal J is amplified by the amplifier 356 and fed to the comparators 356 and 358. If the amplitude of the measured current exceeds the upper limit, the comparator 358 emits a logic 1 signal which sets the flip-flop 362.

If the value of the measured current is less than the lower limit, the comparator 360 emits a logic 1 signal, which resets the flip-flop 362. The output of the flip-flop 362 is connected via the terminal I to the bridge control ROM 116 (Fig. 1) and has either a logic 1 or a logic 0. One of these logic states causes ROM 216 to initiate a current order, while the other causes ROM 116 to terminate a current order.

For example, for a current with a positive direction, when the current reaches the upper limit, a current order will be terminated, and when the current reaches the lower limit, a current order is initiated. The signal at terminal I is also shown by the dashed curve in diagram 366. Due to the inductance and filtering action of the windings 60, no sharp current pulses occur but instead relatively small waves are formed, together - set of exponentially increasing and decreasing components, whereby the current fluctuates around the mean value.

As previously pointed out, the signals at terminals K and L may be either position or velocity signals, the signal at terminal K being the desired value and the signal at terminal L being the measured value. The current command signal on line 364 is a result of the integration of the difference between the signals at terminals K and L. The digital word, which represents the difference between the signals at terminals K and L, is simply a one-bit word in this illustrative embodiment of the invention. it should be noted that multi-bit words can also be used.

The one-bit word, which describes the difference between the signals. at terminals K and L, is generated by the comparator 368. The integration operation begins with the summer 370, the register 372 and a source 374 for a digital word with the value 1. The output of the register 372 is connected to one input of the summer 370.

The output of source 374 is connected to the second input of summer 370. The output of comparator 368 serves as a character bit to command summer w37O to add, or subtract, the signal from source 374 to the contents of register 372.

Upon successive strobe of register 372, the value of the contents of register 372 will rise or fall in accordance with the character bit from the comparator 368. The strobe of register 372 is effected by the two sector change signals at terminal F, which via an OR gate 376 are coupled to register 372 to cause strobe at the beginning of each sector unmoved by the direction of rotation.

The modulator 120 further includes sources 378 and 380 for reference signals, comparators 382 and 384, an OR gate ass, a source is assigned to a simple word equal to a value equal to a summator 390, a register 392 and a source 394 (which may I be an encoder), which emits a digital word that presets the register 392 to a specific value.

The output signal from register 372 is compared with an upper reference from source 378 and with a lower reference from source 380 by means of comparators 382 and 384, respectively. If the register output signal is greater than the upper reference or smaller than the lower reference, the comparator 382 resp. comparator 10 15 20 25 30 35 40 19 '465 597 tower 384 to transmit via the OR gate 386 a logic 1 signal for strobeing the register 392. The logic level of the comparator 384 also serves as a bit of character for influencing the summer 390 on the same method previously described for the summator 370.

For each strobe of the register 392, its content is increased or decreased by 1 from the source 388 in accordance with the logical level of the character bit from the comparator 384. Thus, for small changes in the value of the contents of the register 372, no strobe of the register 392 occurs. register 372 undergoes a relatively large change, repeated strokes of register 392 occur with a concomitant increase or decrease in the value of the number stored in the register. The value of the contents of the register 392 appears on line 364 as the address of ROM 350. In this way, the current modulator 120 provides a filtering via integration of the loop error signal (the difference between the signals at terminals K and L) for performing closed feedback control.

When in operation the desired speed (or position) exceeds the measured speed (or position) over a time interval extending through several sectors, the reference signals of the comparators 353 and 360 will be increased by the ROM 350 to thereby increase the average value of the current in the motor windings. Analogously, when the value of the signal at terminal K falls below the value of the signal at terminal L, ROM 350 will lower the value of the reference signals to comparators 358 and 360 with a resultant decrease in the mean value of the winding current.

Fig. 12 shows an alternative form of current modulator 400 which may be used in place of modulator 120 when no operation in position or speed tracking mode is desired. The modulator 400 can be used when you want to maximize the power from a motor that uses a power source with limited capacity, such as a solar cell. In some operations, such as pumping the water, the actual speed of the pump (not shown) driving motor need not be kept at a predetermined value, since water can be pumped at varying speeds. However, the product of engine torque and engine speed determines the output power of the engine and the amount of water that can be pumped. Accordingly, the current modulator 400 varies both the apparent impedance exhibited by the motor to the source, as well as the speed, to provide maximum power transfer from the source to the motor.

The modulator 400 includes a frequency divider 402 (for reducing the frequency of the clock pulses), a counter 404 (for counting the clock pulses), a comparator 406, a bistable flip-flop 408, a counter 410, a source 412 for a digital word, a shift register 414 and a comparator 416. The rocker 408 is set and reset in turn by the counter 404 and the comparator 406 to provide a pulse train at terminal I, where each pulse has a logic level equal to 1, and the distance between the pulses has a logic level equal to 0. The length of each pulse at terminal I is equal to the length of a current pulse ordered by ROM 116 (Fig. 1). A variation in the length of the pulses at terminal I results in a corresponding variation in the intermittent factor of the current pulses supplied by the bridge circuit 56 (Fig. 1). When the intermittent factor is small, on average a relatively small current flows from the source 54. With a higher intermittent factor, more current flows. Thus, the ratio between the voltage of the source S4 and the average current produced by it can be caused to vary with a resulting shift in the magnitude of the apparent impedance of the motor. Furthermore, there is a corresponding change in the power supplied to the motor, namely the product of the voltage 54 of the source times the average current.

To test whether the motor receives maximum power, the modulator 400 monitors the measured speed at terminal L. The signals at terminals K, F and J are not used by the modulator 400. The modulator 400 provides a slow variation in the intermittent factor of the signal at terminal I. , which variation is slow compared to the dynamic response time of the motor 52 and its load. A variation in the intermittent factor can result in either an increase or a decrease in speed. If it is assumed that the load, such as the above-mentioned water pump, gives a relatively constant torque to the rotor over a useful range of engine speeds, the engine speed can be taken as a measure of the output power of the engine. Accordingly, by observing the motor speed resulting from a slow variation in the intermittent factor, the modulator 400 can control the intermittent factor to thereby achieve maximum power transfer to the motor.

The output signals from the counter 410 and the reference 412 comprise a digital word with a value, against which the comparator 406 compares the contents of the counter 404. The counter 404 counts modulo NZ and resets itself itself, at which time it emits a pulse to the position input of the flip-flop 408. When then the count reaches the number given by the counter 410 and the reference 412, the comparator 406 resets the flip-flop 408. If the count of the counter 410 and the digital word from the reference 412 becomes constant, each pulse in the signal waveform at terminal I has a constant length. A slow variation in the length of the pulses at terminal I is effected by the divider 402 and the counter 410. Assuming that the value of the divider 402 of N1 is eight times the value of NZ, a clock pulse will be supplied by the divider 402 to the counter 411 for each eighth pulse from the counter 404, and the counter 410 slowly advances its counting position. The most significant bits in the digital word from the counter 410 and the reference 412 have a constant value and are obtained from the reference 412. The least significant bits are obtained from the counter 410.

Therefore, there is a slow variation and a relatively small change in the number given by the counter 410 and the reference 412.

The shift register 414 stores successive values of the measured speed at the terminal L, a sample of the measured speed being taken from the register 414 for each strobe thereof by a clock pulse from the divider 402. Two successive values of the measured speed are taken from the register 414 and compared in the comparator 416. The output of the comparator is coupled to the up / down control of the counter 410 through a circuit comprising a bistable flip-flop 420, an AND gate 422 and a ROM 424. ROM 424 provides in response to a change in the speed of the rotor 58 and in response to the counting direction of the counter 410, the logic for ordering a change in the counting direction of the counter 410.

The function of ROM 424 in connection with the other circuit elements is described below. Lines 426 and 428 provide the address of ROM 424, with line 426 providing a partial address which signals the counting direction of the counter 410. Line 428 provides the remaining portion of the address, which signals whether the speed is rising or falling. If the speed increases, a later velocity sample V2 becomes larger than previous sample V1. If the speed drops, an earlier speed sample V1 becomes larger than a later sample V2. The comparator 416 compares the two speed samples and outputs a logic 1 signal on line 428 for increasing speed and a logic 0 signal for decreasing speed. Regarding line 426, a logic 1 indicates that the counter 410 is counting up, while a logic 0 indicates that the counter 410 is counting down. Thus, the address of ROM 424 describes both the stage of counting and the stage of changing speed.

ROM 424 activates AND gate 422 to transmit a clock pulse from divider 402 to flip-flop 420 to strobe it. The strobe adjusts the flip-flop 420 to change the counting direction of the counter 410. For example, if the rotor speed drops while the counter 410 counts up, ROM 424 directs a strobe of the flip-flop 420 to change the counting direction so that the counter 410 counts down. On the other hand, if the rotor speed drops while the counter 410 is counting down, ROM 424 commands a strobe of the rocker 420 to cause the counter 410 to count up. If the rotor speed increases, ROM 424 maintains the state of flip-flop 420 by supplying a logic 0 signal to AND gate 422.

The counter position of the counter 410 is maintained at or approximately at the value resulting in an intermittent factor in the pulse train at terminal I, which maximizes the power transfer from the source 54 to the motor 52 in Fig. 1.

Fig. 13 shows a further current modulator 450, which can be used together with the current modulator 120 and the bridge circuit 56 in Fig. 1 in a slightly modified form, when it is desired to operate a motor with maximum efficiency. Before the more detailed description of Fig. 13, it should be noted that the stator windings on a motor can be connected in star coupling, the Y-configuration in Fig. 1 being an example of a star coupling. Alternatively, the windings do not have to be connected to each other, in which case two conductors are taken out for each winding for separate activation thereof. An example of a motor with separately magnetized windings is the two-phase motor, where the windings are magnetized with currents which are 900 phase-shifted to thereby generate a rotating magnetic field.

In the case of motors with separately magnetized stator windings, it has been found that greater efficiency in the conversion of electrical energy to mechanical energy is obtained by limiting the current flow in a winding to the time intervals when the ratio between torque and current is 10 15 20 25 30 35 40 23 at or near a maximum. The ratio meLQ¿h5vr§d} 7 torque and current varies in accordance with the positions of the rotor poles relative to the stator windings. This ratio varies sinusoidally with the rotation of the rotor, as do the Hall sensor voltages. Thus, the Hall voltages can be used to identify the time interval, when the torque / current ratio is at or near the maximum, to control the activation of the windings so that the efficiency of motor operation is maximized. The current modulator 450 in Fig. 13 terminates the current flow during these periods, when the torque / current ratio is relatively low, thereby maximizing motor operating efficiency.

To illuminate the coupling of the current modulator 450 with a motor, the three windings 60 in Fig. 1 have been retained, but they have been separately connected to a bridge circuit by removing two conductors for each winding, as shown at the modified motor 52A in Fig. 13. these additional conductors, the bridge circuit 56 in Fig. 1 has been modified to form the bridge circuit 56A in Fig. 13, where further branches with switches 62 are arranged. A set of four switches is now used for each winding 60. The supply source 54 is connected to each of the switches 62 during the following of the connections in Fig. 1. ROM 116 in Fig. 1 is modified to form ROM 116A in Fig. 13. by providing additional storage and output leads for controlling the additional switches in the bridge circuit 56A.

At the current modulator 120 in Fig. 11, a single output terminal I had been provided for commanding the current to the bridge circuit 56 in Fig. 1, since a single current flows through the windings of the motor S2. However, in the case of the motor 52A in Fig. 13, where several currents can flow simultaneously, the current modulator 120 in Fig. 11 is modified in accordance with the current modulator 120A in Fig. 13 to provide additional output control lines. Fig. 13 shows only a part of the current modulator 120A, since the remainder is identical to that of the current modulator 120 in Fig. 11. Thus, instead of the single flip-flop 362 in Fig. 11, three flip-flops 362 are arranged in the modulator 120A in Fig. 13.

Analogously, the number of D / A converters and the number of comparators and amplifiers have increased. Thus, there are three sets of comparators 358 and 360, three sets of converters 352 and 354 and three amplifiers 356. The switch 128 in Fig. 1 has been omitted in the embodiment according to the embodiment of Fig. 13, since the signals from all three current sensors 64 are now required simultaneously for operation of the three sets of comparators 358 and 360 for comparing the amplitudes of the respective winding currents with the upper and lower current limits given by the three sets of transducers 352 and 354. In addition, ROM 350 in FIG. 11 has been modified to form ROM 350A in Fig. 13 by supplementing with additional storage and output lines for accommodating the additional sets of converters 352 and 354. The current order signal present on line 364, which addresses ROM 350A in Fig. 13, is the same current order signal on line 364, which addresses ROM 350 in Fig. 11.

The additional current modulator circuit 450 in Fig. 13 is connected between the output terminals of the current modulator 120A and the input terminals of the bridge circuit 56A. By comparison with the circuit arrangement of Figs. 1 and 11, where the signal at terminal I from the single flip-flop 362 is connected directly as an address signal to ROM 116, the circuit of Fig. 13 ensures that the outputs of flip-flops 362 in the modulator 120A through AND gates 452 in mode The other address signals to ROM 116A are the torque and sector signals, as described in Fig. 1. Thus, the arrangement of couplings in Fig. 13 follows that in Fig. 13. Fig. 1 is shown except that three current command lines are provided in Fig. 13 instead of the only current command line in Fig. 1, each current command line passing through an AND gate 452 in the further modulator circuit 450. As will now be described, barriers AND the gates 452 pass the current killing signals from the flip-flops 362 during those time intervals when the torque-current ratio is too low to maximize the efficiency of the motor 52A .

The current modulating circuit 450 further includes detectors 455, 456 and 457, counters 459, 460 and 461, bistable flip-flops 463, 464 and 465, a set of three comparators 468, one of three comparators 467, a set of ROM 470, a register 472, a counter flip-flop 476. Detectors 455-457 decode the sector signal at terminal E in Fig. 1 and detect closer 474 and a bistable the first, third and fifth sectors, corresponding to zero, 120 and 240 electrical degrees. 10 15 20 30 351 40 zs 465 397- In response to a suitable signal at the terminal E strobarude detectors 455-457 corresponding to counters 459-461 to count clock pulses, the count in each counter representing the time elapsed in each sector. The counters in counters 459-461 are fed to the set of comparators 467-468 for comparison with a pair of digital words from ROM 470, which words designate the start and stop times during which current can be efficiently fed to the motor windings during those of respect. tive pairs of Hall voltages defined the sectors. The comparators 467-468 are connected to the setting or reset terminals on the flip-flops 463-465, which emit output pulses which design the intervals during which current is supplied to the corresponding motor windings. The output signals from flip-flops 463-465 each activate one of the AND gates 452 for transmitting the current command signals to ROM 116A.

Diagram 478 in Fig. 13 shows a sinusoidal variation in the ratio of torque to current as a function of time or, equivalent, as a function of rotor rotation. As previously pointed out, both the Hall voltages and the torque / current ratio vary in a sinusoidal manner. Consequently, each of the curves in Diagram 478 is also denoted by the corresponding Hall voltage. The digital signals at terminals I1-I3, which command the supply of current to the respective motor windings, are also shown in diagrams 478, the signals being identified by the designations I1-I3. Diagram 478 shows that the signals I1-13 start after the zero crossing of the corresponding sine curve and stop before the next zero crossing. The start and stop signals supplied by ROM 470 to comparators 467-468 correspond to the leading and trailing edges of current current signals 11-1, as shown in Diagram 478.

The start and stop times of the current order signals depend on the rotor speed. For example, if the duration of a current order signal were to be equal to 200 of the sinusoidal torque / current ratio curve, the actual duration of the current order signal must be greater than 200 at low speeds and less than 200 at high speeds.

Consequently, the ROM stores 470 words, which designate the start and stop times for different speeds.

A signal output from register 472 addresses ROM 470 for selection of start and stop words corresponding to the various speeds. The address signal emitted by the register 472 is obtained by means of the flip-flop 476 and the counter 454, which measure the duration of a sector. The flip-flop 476 is switched by either of the sector change signals, which are connected to the flip-flop 476 from the terminal F via an OR gate 480. The counter 474 is strobeed by the flip-flop 467 to start counting clock pulses, the counting ceasing on the next switching of the flip-flop 476. 476, when the counter 474 stops counting, strobeing the register 472 to read the count in the counter 474. The output from the register 472 is fed as the address to the ROM 470 and therefore corresponds to the duration of the sector, which is proportional to the reciprocal of the rotor speed. Thus, the ROM 470 selects the appropriate start and stop words in accordance with the rotational speed of the rotor.

Fig. 14 shows a motor 52 with three phase windings 60 connected to a bridge circuit 56, which comprises power transistors and base drivers. Each arm of the motor winding contains a current sensing resistor 100, which emits a voltage proportional to the winding current. The voltages proportional to the winding current are amplified in free-floating current sensors 102, and one voltage is selected through the bilateral switch 128. The motor is equipped with position sensors, which include three Hall devices 72 and proportional amplifiers 78. The outputs from these amplifiers have the shape shown in Fig. 5. The multiplexed current signal from the bilateral switch 128 is amplified by the amplifier 356 and is compared together with the position signals from the amplifiers 78 with analog voltage levels from the D / A converters 142 and 352 in the comparators 358 and 106. The result of these comparisons is a set of five digital signals. which are connected to a microcomputer 500, which may be, for example, an R6500 / 1, manufactured by Rockwell International. These signals indicate the state of the motor to the microcomputer.

The output signals from the microcomputer control the bridge circuit 56 and the D / A converters 142 and 352. The port C on the microcomputer connects the microcomputer to an asynchronous communication device, which may be a Rockwell 6522. Through this device, the microcomputer can receive external orders and send state information to the source of the orders. It will be appreciated that in the absence of a stored program this system will not work. It is also seen that the working mode of the system is limited only by the microcomputer's ability to detect the condition of the motor and to switch on power in the windings in response to external orders or internally generated orders. Thus, the most preferred embodiment of the invention shown in Fig. 14 is capable of all of the previously described illustrative working modes and in addition many others.

To illustrate how the system shown in Fig. 14 functions in a working mode, three auxiliary functions must first be described.

These are commutation, pulse width modulation and speed measurement.

According to H1, H2 and H3 six 600 sectors through their zero crossings. A single Fig. 5 defines the three Hall voltages. Clear identification of each sector is created in the system of Fig. 14 at the outputs of the comparators 106, when the D / A converter 142 has its output set to zero passage level. To commutate the motor, the microcomputer sets a value on port B equal to the zero crossing and examines the state of inputs at port A. The three inputs to port A from comparators 106 are a Gray code representation of one of six sector numbers. Using this number as input to a table of six values, the correct state of bridge 56 will be selected and appear at gate D. When the sector number indicating the Gray code changes, another value is selected in the table, and the state of bridge 56 changes. Thus, the motor will be commutated as a function of the relative rotor / stator position, as indicated by the Hall devices. Control of the winding current can be achieved by a pulse width modulation technique which utilizes the multiplexed current produced by the bilateral switch 128.

The selection of the correct current sensor 102 is performed by output signals from the microcomputer port A, which signals are obtained in the same way as the signals controlling the state of the bridge 56, i.e. from a look-up table addressed by the sector number. Thus, the analog current signal, which represents the actual winding current through the bridge, will appear at the output of the amplifier 356. This signal is compared with the analog level of the D / A converter 352 in the comparators 358. These two comparators drive the microcomputer power lines, one of which is sensitive to a OFF state, which changes to ON, and 10 15 20 25 30 35 465 397 28 the other is sensitive to an ON state, which changes to OFF. The desired upper current level is selected by the microcomputer and delivered to the TLD / A converter 352 through port B. At the same time, the bridge 56 is activated through port D. The current in the motor will then increase. When a signal from the comparator 358 indicates that the upper limit has been reached, the microcomputer passivates the bridge and replaces the value in the D / A converter 352 with the desired lower current level. The current in the motor will now decrease until a signal from the comparators 358 indicates that the lower limit has been reached. The computer replaces the value in the D / A converter 352 with the desired upper current level and reactivates the bridge 56. Thus, an average level of the motor current is fixed. This level can be regulated by the microcomputer at any time depending on internal or external orders by varying the upper and lower current limits.

The signals from the Hall devices 72 can also be used to measure the rotational speed of the motor, ie speed. For example, the frequency of the zero passages of the Hall voltage can be counted during predetermined time intervals. Alternatively, the clock pulses could be counted between successive Hall voltage-zero passages. The former method is most useful at high speeds and the latter method at low speeds. Both methods use the microcomputer's internal clock.

From the above description, it will be appreciated by those skilled in the art that a large number of energy conversion working modes will be possible with the described and shown simple hardware, when this is used together with a stored program. These and other working methods could be combined with calculation or communication functions in order to thereby achieve a highly flexible electromechanical energy conversion at low costs. In this context, the term electromechanical energy conversion is intended to include both generation and use of electrical power.

The invention is not limited to the various working modes and energy conversion functions described herein, but various modifications are possible within the scope of the invention. *

Claims (12)

10 15 20 25 30 35 m 46.5: (97 Patent claim Motor control system, which comprises a brushless electric machine (52), which has a field element and a wound element - stator element resp. rotor elements - which are movable relative to each other, the wound element having a plurality of activatable windings (60); a position sensor for sensing the relative position of the field element and the wound element with respect to each other and for providing a sector signal indicating the sector in which a field pole is located, as well as a sector change signal, when a field pole moves from a sector to another; and a microcomputer (500) and a switch group (62), comprising a plurality of semiconductor-type switch devices, which are connected to selectively activate the windings (60) for controlling the current flow therethrough, in that it further comprises means ( 128), for measuring and / or providing one or more additional signals, which represent one or more controllable motor operating parameters; and that the microprocessor (500) is programmable and connected to receive characteristic said position indication signals and said additional signal (s) and to control the switch group (62) to activate the windings (60) according to said controllable parameter signal (s), and to commutate the winding activation according to said position signals. Motor control system according to claim 1, characterized in that it comprises means for initially obtaining the position of the rotor (58), means (122) for measuring the rotor position and control means, which comprise a current modulator (120) for comparing the measured rotor mode with a commanded rotor mode and to provide a current command signal for activating windings when the winding currents are below a first value, and for deactivating the windings when the winding currents exceed a second value, and a logic group (62) for controlling the switch circuit (128). ) in accordance with said sector and current killing signals to maintain the actual motor position approximately equal to the ordered rotor position. Engine control system according to claim 2, characterized in that said means (122) for measuring the rotor position [O L5 25 465 597 s' comprises means for predicting a future rotor position; and means (120) for comparing the current rotor position with said coming rotor position and for providing a signal when the current rotor position reaches the predicted coming rotor position. Motor control system according to claim 2 or 3, characterized by quasi-linear voltages, which are generated by Hall devices. that the current rotor position is indicated by Engine control system according to claim 3 or 4, characterized by grading the predicted rotor position, so that the position additions in that it further comprises means for low speeds are relatively small and at high speeds relatively large. Motor control system according to claim 1, characterized in that the further means are current sensing means (64) for sensing the current flow to a single blind, which is activated, and that the microprocessor (500) is programmable to calculate a high value and a low value for current flow through said windings (60) and for switching on one of the switch devices in the switch group (62), when said sensed current is below said value and for disconnecting the switch device at the "on" state, when said sensed current is below the low value . Control system according to claim 1, characterized in that the further means are means (124) for measuring the rotor speed; and said control means comprises a current modulator (120) for comparing the measured rotor speed with an ordered rotor speed and for providing a current command signal for activating windings (60), when the winding currents are below a first value, and for deactivating the windings, when the winding currents exceed a second value, and that a logic group is arranged to control the switch circuit in accordance with said sector and current order signals in order to maintain the measured rotor speed approximately equal to the ordered rotor speed. Engine control system according to claim 7, characterized in that said means (124) for measuring rotor speed, comprises means for counting sector change signals. 9. A motor control system according to claim 7, characterized in that said means for measuring rotor speed comprises means for counting clock pulses which occur between sector change signals. An engine control system according to claim 1, characterized in that said further means comprises a power measuring means for producing a signal indicating the power delivered by the motor; and that a control means is connected to said sensors (66), said switch circuit (128) and said power measuring means and comprises a current modulator (140) for providing a current pulse signal with variable pulse ratio and a logic group (64) for controlling switch circuit to maximize the power supplied by the motor (52). Engine control system according to the preceding claims, characterized in that it comprises means for providing a torque command signal for controlling the direction of rotor rotation. Engine control system according to claims 1-11, characterized in that the programmable microprocessor (500) is programmable to operate in at least two different active modes.