US20010030517A1 - Detection of rotor angle in a permanent magnet synchronous motor at zero speed - Google Patents
Detection of rotor angle in a permanent magnet synchronous motor at zero speed Download PDFInfo
- Publication number
- US20010030517A1 US20010030517A1 US09/738,279 US73827900A US2001030517A1 US 20010030517 A1 US20010030517 A1 US 20010030517A1 US 73827900 A US73827900 A US 73827900A US 2001030517 A1 US2001030517 A1 US 2001030517A1
- Authority
- US
- United States
- Prior art keywords
- phase
- voltage
- pair
- open
- measured
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
Definitions
- the teachings herein relate to an electrical angle detecting apparatus and method and in particular, to an apparatus and method for detecting the electrical angle of a synchronous motor at zero speed without using commutation sensors.
- Electrically commutated synchronous motors are used in various drive applications because of their desirable operating characteristics, such as, for example their high efficiency, high power-to-volume ratio, high torque-to-volume ratio, reliability, robust construction, and quiet operation.
- the rotor position i.e., electrical angle
- the rotor position is needed to determine the commutation points necessary for initiating and continuing synchronous motor operation.
- Previously disclosed methods for starting a sensorless permanent magnet synchronous motor include, for example, open loop starting strategies with a fixed PWM pattern as disclosed in “A Permanent Magnet Motor Drive Without a Shaft Sensor”, R. Wu, G. Slemon, IEEE Transactions on Industry Applications, vol. 27, no. 5, pp. 1005-1011, 1991.
- the disclosed open loop method yields to a sensorless controller when a suitable back emf has been developed in the method. With such open loop methods, a full torque and a correct torque polarity cannot be guaranteed at startup due to the lack of back emf at startup.
- Another sensorless PMSM starting strategy uses forced rotor alignment as disclosed in “Brushless DC Motor Control Without Position and Speed Sensors”, N. Matsui, M.
- a dc current is applied to the stator before startup of the motor.
- the dc current generates a magnetic flux that acts to align the permanent magnet field with the magnetic field generated by the stator excitation due to the applied dc current.
- the initial alignment torque is of a polarity determined by the initial position.
- U.S. Pat. No. 5,751,125 discloses a technique wherein the inductance ratio of a delta-wound motor is used to determine the standstill rotor position (electrical angle) of the motor. The disclosed method however yields an ambiguous indication of the rotor angle, since an uncertainty of ⁇ remains in the result of the method. This technique identifies only a position sector in which the rotor angle lies.
- U.S. Pat. Nos. 5,841,252 and 5,854,548 both disclose rotor position detection methods that use current waveform risetime measurements to obtain the desired rotor position information. These disclosed techniques are ineffective for round rotor machine applications, and also suffer inaccuracies due to measurement noise.
- the teachings herein comprise a method and apparatus for determining the position of a rotor by applying a voltage across a pair of phases of a motor and using a voltage measurement responsive to the applied voltage and indicative of the distribution of the phase inductances within the phase pair to which a test voltage is applied to determine the rotor position.
- FIG. 1 is a schematic diagram of a PMSM for determining the rotor position at zero speed in accordance with the teachings herein;
- FIG. 2 is a standstill model of a PMSM with a test voltage applied across the phases a and b while phase c is open for measurement in accordance with the teachings herein;
- FIG. 3 is a schematic diagram of a system for detecting the rotor position of a PMSM at zero speed in accordance with the teachings herein;
- FIG. 4 is a tabular listing for determining the rotor position of a three-phase motor from the measured open circuit voltages across the three phases of a motor in accordance with the teachings herein;
- FIG. 5 is a depiction of the measured voltage on the open phase c with test voltage applied across phases a and b;
- FIG. 6 is a depiction of the measured voltage on open phase a with test voltage applied across phases b and c.
- FIG. 7 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 0 degrees for FIG. 5;
- FIG. 8 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 30 degrees for FIG. 5
- FIG. 9 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 60 degrees for FIG. 5;
- FIG. 10 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 90 degrees for FIG. 5;
- FIG. 11 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 120 degrees for FIG. 5
- FIG. 12 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 150 degrees for FIG. 5;
- FIG. 13 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 180 degrees for FIG. 5;
- FIG. 14 s a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 210 degrees for FIG. 5;
- FIG. 15 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 240 degrees for FIG. 5;
- FIG. 16 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 270 degrees for FIG. 5;
- FIG. 17 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 300 degrees for FIG. 5;
- FIG. 18 is a depiction of the measured phase a, b excitation voltage (upper) and the response measured on phase c (lower) at 330 degrees for FIG. 5;
- FIG. 19 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 0 degrees for FIG. 6;
- FIG. 20 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 30 degrees for FIG. 6;
- FIG. 21 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 60 degrees for FIG. 6;
- FIG. 22 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 90 degrees for FIG. 6;
- FIG. 23 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 120 degrees for FIG. 6;
- FIG. 24 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 150 degrees for FIG. 6;
- FIG. 25 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 180 degrees for FIG. 6;
- FIG. 26 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 210 degrees for FIG. 6;
- FIG. 27 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 240 degrees for FIG. 6;
- FIG. 28 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 270 degrees for FIG. 6;
- FIG. 29 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 300 degrees for FIG. 6;
- FIG. 30 is a depiction of the measured phase b, c excitation voltage (upper) and the response measured on phase a (lower) at 330 degrees for FIG. 6;
- FIG. 31 is a flow diagram of a method for detecting the rotor position of a PMSM at zero speed in accordance with the teachings herein.
- FIG. 1 is a simplified schematic diagram of a motor 1 .
- each phase of motor 1 that is, phase a 35 , phase b 45 , and phase c 40 is coupled to both a positive voltage source (V+) and a negative voltage source (V ⁇ ) through switches.
- Phase a 35 of the motor 1 is coupled to the positive voltage source (V+) through switch 5 and coupled to the negative voltage source (V ⁇ ) through switch 10 .
- Phase b 45 of the motor 1 is coupled to the positive voltage source (V+) through switch 15 and coupled to the negative voltage source (V ⁇ ) through switch 20 .
- Phase c 40 of the motor 1 is coupled to the positive voltage source (V+) through switch 25 and coupled to the negative voltage source (V ⁇ ) through switch 30 .
- the switches 5 , 10 , 15 , 20 , 25 , and 30 are provided so that test voltages of the a positive and a negative polarity can be sequentially applied to motor 1 with the proper timing for determining the rotor position of motor 1 at a standstill zero speed.
- test voltages of the a positive and a negative polarity can be sequentially applied to motor 1 with the proper timing for determining the rotor position of motor 1 at a standstill zero speed.
- circuitry can be used, such as, integrated circuit means for selectively coupling the phases of motor 1 to the positive and negative voltage sources.
- FIG. 2 is a schematic drawing of motor 1 illustrating a test voltage, V test , applied across phase a 35 and phase b 45 of motor 1 while phase c is open.
- FIG. 2 is a representation of FIG. 1 when one of FIG. 1 phase a switches and one of phase b switches are closed, and both of the phase c switches are held open.
- FIG. 3 is an exemplary system for implementing the method of the teachings herein for determining the rotor position of a motor at zero speed.
- FIG. 3 includes a PMSM 1 under test for which the rotor position will be determined.
- Switching circuitry 50 is coupled to the PMSM 1 under test in the manner described above in discussing FIGS. 1 and 2.
- the opening and closing of the switches and the timing thereof of the switches of switching circuitry 50 is controlled by microprocessor 70 .
- Microprocessor 70 provides the timing and control signaling necessary to ensure the proper sequential application of test voltages to PMSM 1 under test.
- Signal conditioning unit 80 receives the measured output from PMSM 1 .
- the measured output signal of the voltage across phase a (V a-g ) 35 , phase b (V b-g ) 45 , and phase C (V c-g ) 40 are input to signal conditioning unit 60 .
- Signal conditioning unit 60 is not a necessary requirement of the rotor determination system but is provided in FIG. 3 as a means of “pre-conditioning” the measured output from PMSM 1 prior to passing the measured output signals to analog-to-digital converter (ADC) 85 .
- ADC analog-to-digital converter
- Signal conditioning unit 60 optionally includes voltage attenuation circuitry for reducing the measured voltages 35 , 40 , 45 of PMSM 1 to a magnitude suitable for input to ADC 85 .
- Signal conditioning unit 60 also optionally includes a low pass filter to reduce the effect of switching transients.
- ADC 85 provides a digital representation of the measured output signals from PMSM 1 to the microprocessor 70 for determination of the rotor position based on the measured output signals from PMSM 1 .
- Microprocessor 70 in FIG. 3 has lookup tables that contain the relational information concerning the applied test voltage versus the measured output for ascertaining an accurate determination of the rotor position of PMSM 1 .
- terminal voltages in FIG. 3 are measured with respect to the midpoint of the DC voltage bus “g” but this is not a requirement for the circuit.
- an open circuit voltage of a motor are measured while sequentially exciting two of the three possible phase pairs in a three-phase motor to provide the orientation of the rotor direct axis.
- a method for detecting the rotor position of a three-phase PMSM at standstill is implemented by applying a test voltage pulse across any two of the motor terminals of a three-phase motor while a response to the applied voltage is measured at the open phase of the motor.
- the test voltage is then applied across a different pair of motor phases and a measurement is taken across a second open phase of the motor different than the first measured open phase.
- the polarity and timing of the application of the test voltages is selectively controlled to ensure the proper timing and opening and closing of the switches sa 5 , sa′ 10 , sb 15 , sb′ 20 , sc 25 , and sc′ 35 as shown in FIG. 1.
- step 1 the switches sa 5 and sb′ 20 are closed and the other switches are left in the open state. This applies a positive voltage across phases a 35 and b 45 . This state of the switches is maintained for a time sufficient for the phase current to approach the rated current of the machine. This time period is dependent on the electrical time constant of the machine under test.
- switches sa′ 10 and sb 15 are closed very soon after the opening of switches sa 5 and sb′ 20 in order to avoid shoot-through currents.
- This switch configuration applies a negative voltage across windings a 35 and b 45 .
- the voltage in the open phase c 40 , Vc is measured shortly after closing switches sa′ 10 and sb 15 .
- This state of the switches is maintained for a time sufficient for the phase current to approach the rated current of the machine.
- the direction of the current in this switch configuration is opposite to the current resulting from step 1 .
- step 3 the switches sa 5 and sb′ 20 are closed very soon after opening all other switches. This again applies a positive voltage across phase windings a 35 and b 45 The voltage in the open phase c 40 , Vc, is measured shortly after closing switches sa 5 and sb′ 20 .
- a next step 4 the switches sb 15 and sc′ 30 are closed and all other switches are left in the open state. This applies a positive voltage across phases b 45 and c 40 . This state of the switches is maintained for a time sufficient for the phase current to approach the rated current of the machine, and is dependent on the electrical time constant of the machine under test.
- step 5 the switches sb′ 20 and sc 25 are closed very shortly after the opening of switches sb 15 and sc′ 30 to avoid shoot-through currents. This applies a negative voltage across windings b 45 and c 40 .
- the voltage in the open phase a 35 , Va is measured shortly after closing switches sb′ 20 and sc 25 . This configuration of the switches is maintained for a time sufficient for the phase current to approach the rated current of the machine.
- the direction of the current in this step is the opposite of the current resulting in step 4.
- step 6 switches sb 15 and sc′ 30 are closed very shortly after opening all other switches. This again applies a positive voltage across phases b 45 and c 40 . The voltage in the open phase a 35 , Va, is measured shortly after closing switches sb 15 and sc′ 30 .
- the above-described method can be used to determine the position of a motor rotor.
- the basis for using the open phase to obtain the standstill rotor position is that the reactance of each motor phase is a function of twice the rotor angle ( ⁇ ) as will be shown below.
- ⁇ the rotor angle
- an asymmetry introduced by the permanent magnet flux introduces a rotor position-dependent reactance that is a function of one times the rotor angle ( ⁇ ).
- FIG. 4 The process of determining the orientation of the rotor from the measured open circuit test voltages is summarized in the table provided in FIG. 4.
- rotor orientation is obtained from the sign of three measured open circuit voltages, where v a+ , for example, represents the measured open circuit voltage of phase a for a positive voltage test pulse v test.
- FIG. 4 describes the response of a salient rotor PMSM, but different motor construction techniques may generate different lookup tables.
- the relative magnitudes and signs of the measured voltages allows for the unambiguous determination of the rotor position in accordance with the teachings herein. Greater resolution estimates can be obtained by comparing the relative magnitudes of the measured open circuit voltages, as shown in the third column of the table provided in FIG. 4.
- rotor orientation can be accurately determined by measuring the open circuit voltages of just two phase pairs, such as phase pair ab and phase pair bc as previously explained in the illustrative example above.
- the PMSM 1 per phase inductance terms may be expressed as, ⁇
- L I represents the leakage inductance
- L A represents the average inductance
- L B represents rotor position dependent inductance terms.
- L B may be positive or negative depending on the construction of the PMSM.
- ⁇ x , L xx and L xy in the above equations, 3(a-c) represent the flux linking phase x, the self inductance of phase x, and the mutual inductance between phase x and phase y.
- the symbols x and y may have the value of a, b, or c to indicate which phase the terms are referencing with the restriction that x not equal y (i.e., x ⁇ y).
- i a ⁇ ( t ) V test ⁇ ( t ) ( R a + R b ) ⁇ [ 1 - ⁇ - ( R a + R b L aa + L bb - 2 ⁇ Lab ) ⁇ t ] + i 0 ⁇ ⁇ - ( R a + R b L aa + L bb - 2 ⁇ L ab ) ⁇ t ( 5 )
- i 0 is the initial current at the time of the test voltage transition.
- FIGS. 5 and 6 illustrate the measured voltage in the open phase winding (c) and (a) versus rotor position for test voltage pulses applied to the ab and bc phase pair, respectively.
- the open phase voltage is measured just after switching the test voltage and prior to the exponential decay of this voltage as indicated in equation (6) above, when the voltage is at its maximum.
- the measured open circuit voltage is shown for both positive and negative test voltage transitions, which correspond to a negative and positive phase a current, respectively.
- FIGS. 7 - 18 The actual test voltage and measured open phase voltage waveforms used to generate FIG. 5 are shown in FIGS. 7 - 18 .
- FIGS. 19 - 30 The actual test voltage and measured open phase voltage waveforms used to generate FIG. 6 are shown in FIGS. 19 - 30 .
- the FIGS. 7 - 18 and 19 - 30 are taken at various angles (e.g., 0, 30, 60, 90, . . . ).
- the measured open phase voltages for a test voltage pulse applied to a single phase pair yields four candidate rotor angles.
- two of the candidate rotor angles can be eliminated.
- the relative amplitude of the measured open phase voltages is used to choose the proper rotor angle from the two remaining candidate angles.
- FIG. 4 The process of accurately determining the rotor angle is summarized in FIG. 4.
- a lookup table containing the information of table 4 can be stored in a memory accessible to the microprocessor 70 depicted in FIG. 4 in an embodiment of a system for determining the rotor position of a motor.
- a test voltage is applied across phases across phases x and y.
- the open phase voltage response across open phase z is measured for both the positive and negative applied voltages (i.e., for both current directions).
- the measured open phase voltages are scaled by the magnitude of the test voltage (where x ⁇ y and x and y may be phases a, b, or c).
- the two resulting ratios are referred to as the positive and negative current reactance ratios.
- step 200 the measured open phase voltages for both current directions and with the test voltage applied across phases x and z are scaled by the magnitude of the test voltage (where x ⁇ z, y ⁇ z and x and z may take on phases a, b, or c).
- This step yields the positive and negative current reactance ratios for the second phase pair, x and z.
- step 300 the positive or negative reactance ratios from steps 100 and 200 are used to identify four potential rotor angles.
- the two candidate rotor position angles can be stored previously in a memory in a lookup table, such as FIG. 4.
- the lookup table may be referenced to determine the two candidate rotor angles based on the measurements.
- the position estimate obtained by measuring the open phase voltage in steps 100 and 200 yields the orientation of the rotor direct axis of the motor under test with an ambiguity of ⁇ radians since the open phase voltage measurement varies with twice the rotor angle as shown in FIG. 5 and 6 . That is, the north and south orientation of the rotor cannot be determined by the saliency effects alone.
- step 400 of the method the magnitude of the reactance ratios obtained in steps 100 and 200 are compared.
- the set of positive and negative reactance ratios with the largest magnitude is used to calculate the unbalance of the reactance ratio term.
- the unbalance is defined by: ⁇ positive current reactance ratio ⁇ ⁇ negative current reactance ratio ⁇ .
- step 500 the unbalance term calculated in step 400 is used to choose the proper rotor angle from the remaining two candidate rotor angles selected in step 400 .
- This selection process can be implemented by referencing a lookup table having the requisite rotor angle and phase voltage relationships such as, for example, FIG. 5 or 6 that show the unbalance.
- the unbalance term is used to resolve the uncertainty of ⁇ radians because by the interaction of the stator and permanent magnet interaction.
- the process of introducing saturation when a stator flux of sufficient magnitude is aligned with the permanent magnet flux of the PMSM introduces an asymmetry in the PMSM.
- the current resulting from the applied test voltage pulse generates a flux of sufficient magnitude in the same direction as the permanent magnet flux, a corresponding reduction in the phase reactance results.
- current in the opposite direction will not result in a reduction in the per phase reactance.
- FIGS. 5 and 6 The unbalance term is clearly visible in FIGS. 5 and 6.
- the measured open phase voltage for negative currents is larger in magnitude than the measured voltage for positive currents for half of an electrical cycle. Conversely, it is smaller in magnitude for the other half of the electrical cycle. Therefore, based on the magnitudes of the measured values, the rotor position can be determined without ambiguity.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/738,279 US6441572B2 (en) | 1999-12-14 | 2000-12-14 | Detection of rotor angle in a permanent magnet synchronous motor at zero speed |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17062399P | 1999-12-14 | 1999-12-14 | |
US09/738,279 US6441572B2 (en) | 1999-12-14 | 2000-12-14 | Detection of rotor angle in a permanent magnet synchronous motor at zero speed |
Publications (2)
Publication Number | Publication Date |
---|---|
US20010030517A1 true US20010030517A1 (en) | 2001-10-18 |
US6441572B2 US6441572B2 (en) | 2002-08-27 |
Family
ID=22620650
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US09/738,279 Expired - Fee Related US6441572B2 (en) | 1999-12-14 | 2000-12-14 | Detection of rotor angle in a permanent magnet synchronous motor at zero speed |
Country Status (3)
Country | Link |
---|---|
US (1) | US6441572B2 (US20010030517A1-20011018-M00002.png) |
AU (1) | AU2432801A (US20010030517A1-20011018-M00002.png) |
WO (1) | WO2001045247A1 (US20010030517A1-20011018-M00002.png) |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6584813B2 (en) | 2001-03-26 | 2003-07-01 | Emerson Electric Co. | Washing machine including a segmented stator switched reluctance motor |
US6700284B2 (en) | 2001-03-26 | 2004-03-02 | Emerson Electric Co. | Fan assembly including a segmented stator switched reluctance fan motor |
US6744166B2 (en) | 2001-01-04 | 2004-06-01 | Emerson Electric Co. | End cap assembly for a switched reluctance electric machine |
US6803735B2 (en) | 2002-10-01 | 2004-10-12 | Siemens Vdo Automotive Inc. | Speed-based open-loop start-up method for brushless DC motor |
EP1471629A2 (en) * | 2003-04-24 | 2004-10-27 | Switched Reluctance Drives Limited | Rotor position determination in a switched reluctance machine |
US20050077854A1 (en) * | 2003-10-08 | 2005-04-14 | Minebea Co., Ltd. | Method for the commutation of brushless direct current motor |
US6897591B2 (en) * | 2001-03-26 | 2005-05-24 | Emerson Electric Co. | Sensorless switched reluctance electric machine with segmented stator |
WO2005091489A1 (de) * | 2004-03-18 | 2005-09-29 | Robert Bosch Gmbh | Verfahren zum starten eines sensorlosen, elektronisch kommutierbaren gleichstrommotors |
US7012350B2 (en) * | 2001-01-04 | 2006-03-14 | Emerson Electric Co. | Segmented stator switched reluctance machine |
WO2006089812A1 (de) * | 2005-02-22 | 2006-08-31 | Robert Bosch Gmbh | Rotorlagendetektion |
US20060284581A1 (en) * | 2003-10-24 | 2006-12-21 | A.O. Smith Corporation | Electrical machine and method of controlling the same |
US20070229018A1 (en) * | 2006-03-29 | 2007-10-04 | Mitchell Lawrence H | Brushless servo motor tester |
WO2008034670A1 (de) * | 2006-09-18 | 2008-03-27 | Robert Bosch Gmbh | Verfahren zum betreiben eines elektronisch kommutierenden elektromotors |
GB2428916B (en) * | 2005-07-30 | 2009-04-15 | Stored Energy Technology Ltd | Synchronous motors |
WO2009053388A3 (de) * | 2007-10-24 | 2009-10-15 | Continental Teves Ag & Co. Ohg | Stillstandsrotorpositionserkennungsverfahren |
US20110279073A1 (en) * | 2010-05-12 | 2011-11-17 | Wichert Rene | Method for operating an electronically commutated electric motor and apparatus therefor |
US8901867B2 (en) | 2011-04-28 | 2014-12-02 | Regal Beloit America, Inc. | Electrical machine, method of controlling an electrical machine, and system including an electrical machine |
US8912743B2 (en) | 2011-11-01 | 2014-12-16 | Simmonds Precision Products, Inc. | Apparatus and method of determining rotor position in a salient-type motor |
WO2015182352A1 (ja) * | 2014-05-28 | 2015-12-03 | 日立オートモティブシステムズ株式会社 | 同期電動機の制御装置およびそれを用いたドライブシステム |
US9559623B2 (en) | 2013-08-30 | 2017-01-31 | Regal Beloit America, Inc. | Method of controlling an electrical machine |
US20170170758A1 (en) * | 2015-12-10 | 2017-06-15 | Dyson Technology Limited | Determining the parked position of a permanent-magnet motor |
CN112104290A (zh) * | 2020-09-18 | 2020-12-18 | 杭州士兰微电子股份有限公司 | 电机转子磁极初始位置辨识方法及装置 |
DE102007063386B4 (de) | 2007-12-18 | 2023-07-06 | Dmos Gmbh | Verfahren zur Bestimmung von elektrischen Rotorpositionen in elektrischen Maschinen mit Vorrichtungen zur Kommutierung und Positionserkennung |
Families Citing this family (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE69908786T2 (de) * | 1999-12-15 | 2004-04-22 | Bien-Air Holding S.A. | Bürstenlosen Motor mit Vorrichtung zur Ermittlung der Rotorstellung |
DE10116814A1 (de) * | 2001-04-04 | 2002-11-07 | Bosch Gmbh Robert | Verfahren zur Ableitung des Polradlagewinkels |
WO2003043172A1 (en) * | 2001-11-12 | 2003-05-22 | International Rectifier Corporation | Rotor angle estimation for permanent magnet synchronous motor drive |
US7066034B2 (en) * | 2001-11-12 | 2006-06-27 | International Rectifier Corporation | Start-up method and system for permanent magnet synchronous motor drive |
DE10162380A1 (de) * | 2001-12-19 | 2003-07-03 | Bosch Gmbh Robert | Verfahren zum Starten eines bürstenlosen Gleichstrommotors |
US6960928B2 (en) * | 2003-11-21 | 2005-11-01 | International Business Machines Corporation | Electromagnetic coupling based motor plug detect system and method |
JP4409313B2 (ja) * | 2004-02-24 | 2010-02-03 | 株式会社デンソー | ブラシレスモータ駆動装置 |
US6949900B1 (en) * | 2004-06-30 | 2005-09-27 | Silicon Laboratories Inc. | MCU control for brushless DC motor |
JP4614728B2 (ja) * | 2004-10-14 | 2011-01-19 | ルネサスエレクトロニクス株式会社 | モータの駆動制御装置および起動方法 |
JP4455981B2 (ja) * | 2004-11-30 | 2010-04-21 | 株式会社日立産機システム | 同期電動機の駆動装置 |
US7358692B2 (en) * | 2005-06-06 | 2008-04-15 | Hewlett-Packard Development Company, L.P. | Alignment method |
US7477034B2 (en) * | 2005-09-29 | 2009-01-13 | Agile Systems Inc. | System and method for commutating a motor using back electromotive force signals |
US7279860B2 (en) * | 2005-09-29 | 2007-10-09 | Agile Systems Inc. | System and method for evaluating back electromotive force in a motor |
US20070069677A1 (en) * | 2005-09-29 | 2007-03-29 | Mackay David K | System and method for applying energy to a motor |
US7592761B2 (en) * | 2005-09-29 | 2009-09-22 | Agile Systems Inc. | System and method for starting and operating a motor |
US7256564B2 (en) | 2005-09-29 | 2007-08-14 | Agile Systems Inc. | System and method for attenuating noise associated with a back electromotive force signal in a motor |
US7288911B2 (en) * | 2005-09-29 | 2007-10-30 | Agile Systems Inc. | System and method for commutating a motor |
US7622882B2 (en) * | 2006-08-21 | 2009-11-24 | Magna Electronics Inc. | Position detection device for permanent magnetic machines |
US9160264B2 (en) * | 2007-11-16 | 2015-10-13 | Hamilton Sundstrand Corporation | Initial rotor position detection and start-up system for a dynamoelectric machine |
US8242725B2 (en) * | 2008-04-15 | 2012-08-14 | Ford Global Technologies, Llc | Method for operating sensorless and brushless motors |
US8228013B2 (en) * | 2008-09-10 | 2012-07-24 | Rockwell Automation Technologies, Inc. | Method and apparatus for automatically identifying electrical parameters in a sensor-less PMSM |
US8633662B2 (en) * | 2009-06-12 | 2014-01-21 | Standard Microsystems Corporation | Drive method to minimize vibration and acoustics in three phase brushless DC (TPDC) motors |
US8896246B2 (en) | 2010-05-28 | 2014-11-25 | Standard Microsystems Corporation | Method for aligning and starting a BLDC three phase motor |
US8698432B2 (en) | 2010-08-31 | 2014-04-15 | Standard Microsystems Corporation | Driving low voltage brushless direct current (BLDC) three phase motors from higher voltage sources |
US10234508B1 (en) | 2012-08-17 | 2019-03-19 | University Of South Florida | Dynamic parameter estimation of generators |
AT514007B1 (de) * | 2013-03-08 | 2015-01-15 | Ge Jenbacher Gmbh & Co Og | Verfahren zur Ermittlung eines Polradwinkels |
US20150249419A1 (en) * | 2014-02-28 | 2015-09-03 | Kia Motors Corporation | System and method for controlling inverter |
US11349418B2 (en) * | 2016-02-11 | 2022-05-31 | Sedemac Mechatronics Pvt Ltd | Method and system for cranking an internal combustion engine |
CN109983690B (zh) * | 2016-11-22 | 2023-07-14 | 舍弗勒技术股份两合公司 | 用于确定电动机的转子的位置的方法和电路装置 |
DE102018127412A1 (de) | 2018-11-02 | 2020-05-07 | Elmos Semiconductor Aktiengesellschaft | Verfahren zur sensorlosen Positionsdetektion eines Motors mittels Löschung der magnetischen Vorgeschichte |
DE102019127051A1 (de) | 2018-11-06 | 2020-05-07 | Elmos Semiconductor Aktiengesellschaft | Verfahren zur geräuschlosen, messpulsfreien Regelung der Kommutierung eines BLDC-Motors im Haltebetrieb |
US11303235B2 (en) | 2019-04-25 | 2022-04-12 | Black & Decker Inc. | Dual-controller system for a sensorless brushless motor control |
EP3751720A1 (en) | 2019-06-10 | 2020-12-16 | Black & Decker Inc. | Field-oriented sensorless brushless motor control in a power tool |
CN113118934B (zh) * | 2019-12-31 | 2023-01-13 | 南京泉峰科技有限公司 | 一种交流电动工具 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4558259A (en) * | 1984-01-09 | 1985-12-10 | General Motors Corporation | Controller for a movable motor vehicle headlamp mechanism |
US4876491A (en) * | 1986-07-01 | 1989-10-24 | Conner Peripherals, Inc. | Method and apparatus for brushless DC motor speed control |
US5001405A (en) * | 1989-09-27 | 1991-03-19 | Seagate Technology, Inc. | Position detection for a brushless DC motor |
US5028852A (en) * | 1990-06-21 | 1991-07-02 | Seagate Technology, Inc. | Position detection for a brushless DC motor without hall effect devices using a time differential method |
US5117165A (en) | 1990-06-29 | 1992-05-26 | Seagate Technology, Inc. | Closed-loop control of a brushless DC motor from standstill to medium speed |
US5254914A (en) * | 1990-06-29 | 1993-10-19 | Seagate Technology, Inc. | Position detection for a brushless DC motor without Hall effect devices using a mutual inductance detection method |
KR940001917B1 (ko) * | 1990-08-28 | 1994-03-11 | 가부시기가이샤 도시바 | 센서레스 스핀들 모터 제어 장치 |
JP3381408B2 (ja) | 1993-10-26 | 2003-02-24 | トヨタ自動車株式会社 | 電気角検出装置およびこれを用いた同期モータの駆動装置 |
US5841252A (en) | 1995-03-31 | 1998-11-24 | Seagate Technology, Inc. | Detection of starting motor position in a brushless DC motor |
US5751125A (en) | 1995-11-08 | 1998-05-12 | The Penn State Research Foundation | Artificial heart with sensorless motor |
JP3381509B2 (ja) | 1996-02-29 | 2003-03-04 | トヨタ自動車株式会社 | 電気角検出装置および同期モータの駆動装置 |
JP3808510B2 (ja) * | 1996-04-11 | 2006-08-16 | シチズン時計株式会社 | モーター駆動装置 |
-
2000
- 2000-12-14 AU AU24328/01A patent/AU2432801A/en not_active Abandoned
- 2000-12-14 US US09/738,279 patent/US6441572B2/en not_active Expired - Fee Related
- 2000-12-14 WO PCT/US2000/033994 patent/WO2001045247A1/en active Application Filing
Cited By (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6744166B2 (en) | 2001-01-04 | 2004-06-01 | Emerson Electric Co. | End cap assembly for a switched reluctance electric machine |
US7012350B2 (en) * | 2001-01-04 | 2006-03-14 | Emerson Electric Co. | Segmented stator switched reluctance machine |
US6897591B2 (en) * | 2001-03-26 | 2005-05-24 | Emerson Electric Co. | Sensorless switched reluctance electric machine with segmented stator |
US6700284B2 (en) | 2001-03-26 | 2004-03-02 | Emerson Electric Co. | Fan assembly including a segmented stator switched reluctance fan motor |
US6584813B2 (en) | 2001-03-26 | 2003-07-01 | Emerson Electric Co. | Washing machine including a segmented stator switched reluctance motor |
US6803735B2 (en) | 2002-10-01 | 2004-10-12 | Siemens Vdo Automotive Inc. | Speed-based open-loop start-up method for brushless DC motor |
CN1551484B (zh) * | 2003-04-24 | 2012-10-10 | 尼得科Sr驱动有限公司 | 开关磁阻电机中的转子位置确定的方法和系统 |
CN1551484A (zh) * | 2003-04-24 | 2004-12-01 | 开关磁阻驱动有限公司 | 开关磁阻电机中的转子位置确定 |
EP1471629A2 (en) * | 2003-04-24 | 2004-10-27 | Switched Reluctance Drives Limited | Rotor position determination in a switched reluctance machine |
EP1471629A3 (en) * | 2003-04-24 | 2006-05-03 | Switched Reluctance Drives Limited | Rotor position determination in a switched reluctance machine |
US20050077854A1 (en) * | 2003-10-08 | 2005-04-14 | Minebea Co., Ltd. | Method for the commutation of brushless direct current motor |
US7030583B2 (en) * | 2003-10-08 | 2006-04-18 | Mineba Co., Ltd | Method for the commutation of brushless direct current motor |
US8084970B2 (en) | 2003-10-24 | 2011-12-27 | Regal Beloit Epc Inc. | Electrical machine and method of controlling the same |
US20060284581A1 (en) * | 2003-10-24 | 2006-12-21 | A.O. Smith Corporation | Electrical machine and method of controlling the same |
US20090160384A1 (en) * | 2003-10-24 | 2009-06-25 | Paul Steven Mullin | Electrical machine and method of controlling the same |
US7514887B2 (en) | 2003-10-24 | 2009-04-07 | A. O. Smith Corporation | Electrical machine and method of controlling the same |
US7511439B2 (en) | 2004-03-18 | 2009-03-31 | Robert Bosch Gmbh | Method for starting a sensorless, electronically commutatable direct current motor |
US20070210732A1 (en) * | 2004-03-18 | 2007-09-13 | Volker Bosch | Method For Starting A Sensorless, Electronically Commutatable Direct Current Motor |
WO2005091489A1 (de) * | 2004-03-18 | 2005-09-29 | Robert Bosch Gmbh | Verfahren zum starten eines sensorlosen, elektronisch kommutierbaren gleichstrommotors |
US20090146597A1 (en) * | 2005-02-22 | 2009-06-11 | Volker Bosch | Method for detecting the position of a rotor |
WO2006089812A1 (de) * | 2005-02-22 | 2006-08-31 | Robert Bosch Gmbh | Rotorlagendetektion |
GB2428916B (en) * | 2005-07-30 | 2009-04-15 | Stored Energy Technology Ltd | Synchronous motors |
US7462999B2 (en) * | 2006-03-29 | 2008-12-09 | Mitchell Electronics, Inc | Brushless servo motor tester |
US20070229018A1 (en) * | 2006-03-29 | 2007-10-04 | Mitchell Lawrence H | Brushless servo motor tester |
WO2008034670A1 (de) * | 2006-09-18 | 2008-03-27 | Robert Bosch Gmbh | Verfahren zum betreiben eines elektronisch kommutierenden elektromotors |
WO2009053388A3 (de) * | 2007-10-24 | 2009-10-15 | Continental Teves Ag & Co. Ohg | Stillstandsrotorpositionserkennungsverfahren |
DE102007063386B4 (de) | 2007-12-18 | 2023-07-06 | Dmos Gmbh | Verfahren zur Bestimmung von elektrischen Rotorpositionen in elektrischen Maschinen mit Vorrichtungen zur Kommutierung und Positionserkennung |
US8493011B2 (en) * | 2010-05-12 | 2013-07-23 | Andreas Stihl Ag & Co. Kg | Method for operating an electronically commutated electric motor and apparatus therefor |
US20110279073A1 (en) * | 2010-05-12 | 2011-11-17 | Wichert Rene | Method for operating an electronically commutated electric motor and apparatus therefor |
US8901867B2 (en) | 2011-04-28 | 2014-12-02 | Regal Beloit America, Inc. | Electrical machine, method of controlling an electrical machine, and system including an electrical machine |
US8912743B2 (en) | 2011-11-01 | 2014-12-16 | Simmonds Precision Products, Inc. | Apparatus and method of determining rotor position in a salient-type motor |
US9559623B2 (en) | 2013-08-30 | 2017-01-31 | Regal Beloit America, Inc. | Method of controlling an electrical machine |
WO2015182352A1 (ja) * | 2014-05-28 | 2015-12-03 | 日立オートモティブシステムズ株式会社 | 同期電動機の制御装置およびそれを用いたドライブシステム |
JP2015226375A (ja) * | 2014-05-28 | 2015-12-14 | 日立オートモティブシステムズ株式会社 | 同期電動機の制御装置およびそれを用いたドライブシステム |
US9923502B2 (en) | 2014-05-28 | 2018-03-20 | Hitachi Automotive Systems, Ltd. | Synchronous motor control apparatus and drive system using the same |
US20170170758A1 (en) * | 2015-12-10 | 2017-06-15 | Dyson Technology Limited | Determining the parked position of a permanent-magnet motor |
CN112104290A (zh) * | 2020-09-18 | 2020-12-18 | 杭州士兰微电子股份有限公司 | 电机转子磁极初始位置辨识方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2001045247A1 (en) | 2001-06-21 |
US6441572B2 (en) | 2002-08-27 |
AU2432801A (en) | 2001-06-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6441572B2 (en) | Detection of rotor angle in a permanent magnet synchronous motor at zero speed | |
US9784772B2 (en) | Sensorless rotor angle detection circuit and method for a permanent magnet synchronous machine | |
US8400086B2 (en) | Initial rotor position detection for permanent magnet synchronous motors | |
US5028852A (en) | Position detection for a brushless DC motor without hall effect devices using a time differential method | |
EP1535389B1 (en) | Motor drive control | |
EP1850471B1 (en) | System and method for transient-based motor speed estimation with transient excitation | |
Champa et al. | Initial rotor position estimation for sensorless brushless DC drives | |
US9739815B2 (en) | Method for determining the rotor position of an electrically-commuted multi-phase direct current motor | |
US6738718B2 (en) | Method and apparatus for measuring torque and flux current in a synchronous motor | |
US20210351728A1 (en) | Position Observer for Electrical Machines | |
JP3687603B2 (ja) | Pmモータの磁極位置推定方式 | |
JP2018033301A (ja) | 無鉄pmsmモータのロータの配向をセンサフリーで決定する為の方法 | |
KR20000028798A (ko) | 스위치형 자기 저항 모터용 정류 방법 및 장치 | |
EP2951918B1 (en) | Device for determining a position of a rotor of a polyphase electric motor | |
Ertugrul et al. | Indirect rotor position sensing in real time for brushless permanent magnet motor drives | |
KR101448677B1 (ko) | Bldc 모터의 회전자 위치 추정 장치 및 방법 | |
KR100635006B1 (ko) | 3고조파를 이용한 피엠 비엘디씨 전동기의 구동장치 및 그구동방법 | |
JP4051833B2 (ja) | 永久磁石式同期電動機のベクトル制御装置 | |
KR20140137123A (ko) | 단자간 전압을 이용한 브러시리스 직류 전동기의 센서리스 구동 장치 및 구동 방법 | |
CN105720880B (zh) | 一种电机转角实时估计方法与装置 | |
US20040037541A1 (en) | BLDC motor speed control apparatus and method | |
Parasiliti et al. | Initial rotor position estimation method for PM motors | |
JP4127000B2 (ja) | モータ制御装置 | |
JPH08126379A (ja) | ブラシレス直流モータの駆動装置及び制御方法 | |
KR20080079142A (ko) | 홀센서가 없는 오디디용 브러시리스 직류전동기의 기동방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: PENN STATE RESEARCH FOUNDATION, THE, PENNSYLVANIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:BATZEL, TODD D.;REEL/FRAME:011848/0389 Effective date: 20010119 |
|
AS | Assignment |
Owner name: NAVY, SECRETARY OF THE, UNITED STATES OF AMERICA, Free format text: CONFIRMATORY LICENSE;ASSIGNOR:PENN STATE RESEARCH FOUNDATION, THE;REEL/FRAME:012414/0561 Effective date: 20010314 |
|
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |
|
FP | Expired due to failure to pay maintenance fee |
Effective date: 20060827 |