WO2024038351A1 - Procédé de commande d'un moteur à aimant permanent sans balai - Google Patents

Procédé de commande d'un moteur à aimant permanent sans balai Download PDF

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Publication number
WO2024038351A1
WO2024038351A1 PCT/IB2023/058003 IB2023058003W WO2024038351A1 WO 2024038351 A1 WO2024038351 A1 WO 2024038351A1 IB 2023058003 W IB2023058003 W IB 2023058003W WO 2024038351 A1 WO2024038351 A1 WO 2024038351A1
Authority
WO
WIPO (PCT)
Prior art keywords
back emf
motor
magnet
phase angles
permanent
Prior art date
Application number
PCT/IB2023/058003
Other languages
English (en)
Inventor
Li NIU
Fengjiao Cui
Neil HODGINS
Original Assignee
Dyson Operations PTE. LTD.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from GB2217143.3A external-priority patent/GB2621641A/en
Application filed by Dyson Operations PTE. LTD. filed Critical Dyson Operations PTE. LTD.
Publication of WO2024038351A1 publication Critical patent/WO2024038351A1/fr

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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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/67—Controlling or determining the motor temperature by back electromotive force [back-EMF] evaluation
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Definitions

  • the present invention relates to a method of controlling a brushless permanent-magnet motor.
  • a first aspect of the present invention provides a method of controlling a brushless permanent-magnet motor, the method comprising: measuring a plurality of values indicative of back EMF induced in a phase winding of the motor; determining estimated phase angles associated with the measured values indicative of back EMF; integrating the measured values indicative of back EMF to determine an integrated back EMF; integrating the estimated phase angles to determine an integrated phase angle; determining a peak back EMF based on the integrated back EMF and the integrated phase angle; and controlling the motor based on the peak back EMF.
  • Back EMF induced in the phase winding of the motor may take a generally sinusoidal form with multiple peaks and troughs, and may be measured to determine various properties of the motor.
  • the back EMF may be used to determine a temperature of a permanent-magnet of the motor.
  • a temperature of the permanent-magnet may be controlled such that it stays below a desired threshold value during use.
  • the temperature of the permanent magnet may also be used to estimate temperatures of other components of the motor, such as an exhaust or a bearing. Peaks in the temperature of the permanent-magnet of the motor may be determined from peaks of the back EMF induced in the phase winding of the motor.
  • the method of the first aspect of the present invention may help to provide an accurate determination of peaks of back EMF induced in the phase windings of the motor, for example even when the peak exceeds the dc-link voltage.
  • the method provides an unobtrusive way to determine peaks of the back EMF, which does not require additional sensors.
  • the method may comprise determining a temperature of a permanent-magnet of the motor based on the peak back EMF and controlling operation of the motor based on the determined temperature of the permanent-magnet.
  • the temperature at which the permanent-magnet of the motor operates may have an impact on the working and/or lifetime of the motor. As such, it may be useful to determine and/or monitor the temperature that the permanent-magnet reaches during use. By determining the temperature of the permanent-magnet of the motor based on the back EMF, the temperature of the permanent-magnet may be determined without the need for additional sensors.
  • the motor may be controlled to prevent the permanent-magnet from exceeding the desired threshold value. This may help to improve the lifetime and efficiency of the motor and reduce damage being caused to the permanent-magnet and/or motor.
  • Controlling operation of the motor may comprise controlling power (e.g. by controlling a voltage and/or current) applied to the phase winding of the motor such that the determined temperature of the permanent-magnet is below a desired threshold value.
  • controlling power applied to the phase winding such that the determined temperature of the permanent-magnet is below the desired threshold value this may help to improve the lifetime of the motor and reduce damage being caused to the permanent-magnet and/or motor. For example, if the determined temperature is higher than the desired threshold value, the voltage applied to the phase winding may be reduced to reduce the temperature of the permanent-magnet.
  • Measuring the plurality of values indicative of back EMF induced in the phase winding of the motor may comprise using an analogue-to-digital converter (ADC) to measure the plurality of values indicative of back EMF induced in the phase winding of the motor.
  • ADC analogue-to-digital converter
  • the use of an analogue-to-digital converter (ADC) may provide a straightforward way in which to directly measure the values indicative of back EMF induced in the phase winding of the motor. The direct measurement of the values indicative of back EMF may then be used to provide an accurate determination of the peak back EMF.
  • the method may comprise: exciting the phase winding of the motor by applying a voltage to the phase winding using an inverter of the motor; and turning off the inverter for a time period, wherein measuring the plurality of values indicative of back EMF induced in the phase winding of the motor occurs during the time period.
  • Measuring the plurality of values indicative of back EMF induced in the phase winding of the motor may comprise measuring a voltage across the phase winding of the motor during the time period. As there may be no applied voltage to the phase winding when the inventor is turned off, any voltage across the phase winding may be caused directly by the back EMF induced in the phase winding. Therefore measuring the voltage across the phase windings during the time period may provide a direct measurement of the induced back EMF.
  • Determining the peak back EMF may comprise dividing the integrated back EMF by the integrated phase angle. This may provide an accurate measurement of the peak back EMF even when the peak back EMF exceeds the dc-link voltage. This may also provide an unobtrusive way to the measure the peak back EMF which does not require additional sensors.
  • the method may comprise modifying the estimated phase angles based on a difference between the estimated phase angles and actual phase angles, wherein integrating the estimated phase angles comprises integrating the modified estimated phase angles.
  • modifying the estimated phase angles a more accurate estimate of the phase angles of the back EMF may be determined.
  • modifying the estimated phase angles may help to compensate for errors (such as those caused by noise) in the estimated phase angles.
  • the modified estimated phase angles may take into account a phase angle delay which may affect the determination of peak back EMF. As such, using the modified estimated phase angles in the method of the first aspect of the present invention may result in a more accurate determination of the peak back EMF.
  • Modifying the estimated phase angles may comprise determining a phase angle delay between the estimated phase angles and the actual phase angles and adding the phase angle delay to the estimated phase angles.
  • the estimated phase angles may be modified using a proportional integral (PI) controller (also known as a PI loop). It may be assumed that the integrated phase angle should be equal to zero in ideal circumstances and that the integrated phase angle is therefore equal to an error.
  • the integrated phase angle may be input into the PI controller with a set point at zero, to determine the phase angle delay. As the calculation of the modified estimated phase angles includes the phase angle delay, this may lead to a more accurate determination of the phase angle of the back EMF. As such, using the modified estimated phase angles in the method of the first aspect of the present invention may result in a more accurate determination of the peak back EMF.
  • a brushless permanent-magnet motor comprising a phase winding and a controller configured to perform a method according to the first aspect of the present invention.
  • a data carrier comprising machine-readable instructions for the operation of one or more controllers of a brushless permanent-magnet motor to perform the method according to the first aspect of the present invention.
  • a vacuum cleaner comprising a brushless permanent-magnet motor according to the second aspect of the present invention.
  • a haircare appliance comprising a brushless permanent-magnet motor according to the second aspect of the present invention.
  • Figure 1 shows a schematic view of a motor system
  • Figure 2 shows a further schematic view of the motor system of Figure 1;
  • Figure 3 shows a table indicating switching states of the motor system of Figures 1 and 2
  • Figure 4 shows an example waveform of back EMF induced in a phase winding of a brushless permanent-magnet motor together with associated ADC back EMF measurements
  • Figure 5 shows a flow diagram of a method of controlling a brushless permanent-magnet motor
  • Figure 6 shows a further flow diagram of the method of Figure 5;
  • Figure 7 shows a schematic illustration of a vacuum cleaner comprising the motor system of Figures 1 and 2;
  • Figure 8 shows a schematic illustration of a haircare appliance comprising the motor system of Figures 1 and 2.
  • a motor system is shown in Figures 1 and 2.
  • the motor system is powered by a DC power supply 12, for example a battery, and comprises a brushless permanent-magnet motor 14 and a control circuit 16.
  • a DC power supply 12 for example a battery
  • a brushless permanent-magnet motor 14 for example a brushless permanent-magnet motor
  • a control circuit 16 for example a rectifier
  • the motor 14 comprises a four-pole permanent-magnet rotor 18 that rotates relative to a four-pole stator 20. Although shown here as a four-pole permanent-magnet rotor, it will be appreciated that the present invention may be applicable to motors having differing numbers of poles, for example eight poles. Conductive wires wound about the stator 20 are coupled together to form a single-phase winding 22. Whilst described here as a singlephase motor, it will be recognised by a person skilled in the art that the teachings of the present application may also be applicable to multiphase, for example three-phase, motors.
  • the control circuit 16 comprises a filter 24, an inverter 26, a gate driver module 28, a current sensor 30, a first voltage sensor 32, a second voltage sensor 33, and a controller 34.
  • the filter comprises a link capacitor Cl that smooths the relatively high-frequency ripple that arises from switching of the inverter 26.
  • the inverter 26 comprises a full bridge of four power switches Q1-Q4 that couple the phase winding 22 to the voltage rails.
  • Each of the switches Q1-Q4 includes a freewheel diode.
  • the switches QI and Q3 comprise a pair of high-side switches, and the switches Q2 and Q4 comprise a pair of low-side switches.
  • the gate driver module 28 drives the opening and closing of the switches Q1-Q4 in response to control signals received from the controller 34.
  • the current sensor 30 comprises a shunt resistor R1 located between the inverter and the zero-volt rail.
  • the voltage across the current sensor 30 provides a measure of the current in the phase winding 22 when connected to the power supply 12.
  • the voltage across the current sensor 30 is output to the controller 34 as signal I SENSE. It will be recognised that in this example it is not possible to measure current in the phase winding 22 during freewheeling, but that alternative examples where this is possible, for example via the use of a plurality of shunt resistors, are also envisaged.
  • the first voltage sensor 32 comprises a voltage divider in the form of resistors R2 and R3, located between the DC voltage rail and the zero-volt rail.
  • the voltage sensor outputs a signal, V_DC, to the controller 34 that represents a scaled-down measure of the supply voltage provided by the power supply 12.
  • the second voltage sensor 33 comprises a pair of voltage dividers constituted by resistors R4, R5, R6, and R7, that are connected either side of the phase winding 22.
  • the second voltage sensor 33 provides a signal indicative of back EMF induced in the phase winding 22 to the controller, as bEMF.
  • the controller 34 comprises a microcontroller having a processor, a memory device, and a plurality of peripherals (e.g. ADC, comparators, timers etc.). In an alternative example, the controller 34 may comprise a state machine.
  • the memory device stores instructions for execution by the processor during operation.
  • the controller 34 is responsible for controlling the operation of the motor 14 and generates four control signals S1-S4 for controlling each of the four power switches Q1-Q4.
  • the control signals are output to the gate driver module 28, which in response drives the opening and closing of the switches Q1-Q4.
  • the controller 34 estimates the position of the rotor 18 using a sensorless control scheme, i.e. without the use of a Hall sensor or the like, by using software to estimate the waveform indicative of back EMF induced in the phase winding 22 via signals V_DC and I SENSE.
  • a sensorless control scheme i.e. without the use of a Hall sensor or the like
  • zero-crossings of back EMF induced in the phase winding 22 can be estimated to estimate aligned positions of the rotor 18.
  • Another sensorless control scheme that utilises hardware components to estimate back EMF induced in the phase winding 22 is disclosed in published PCT patent application WO2013/132247A1.
  • the controller 34 With knowledge of the position of the rotor 18 in normal operation, the controller 34 generates the control signals S1-S4.
  • Figure 3 summarises the allowed states of the switches Q1-Q4 in response to the control signals S1-S4 output by the controller 34, and such allowed states may be referred to as switch configurations here.
  • the terms “set” and “clear” will be used to indicate that a signal has been pulled logically high and low respectively.
  • the controller 34 sets S 1 and S4, and clears S2 and S3 to excite the phase winding 22 from left to right.
  • the controller 34 sets S2 and S3, and clears SI and S4 to excite the phase winding 22 from right to left.
  • the controller 34 clears SI and S3, and sets S2 and S4 in order to freewheel phase winding 22.
  • Freewheeling enables current in the phase winding 22 to re-circulate around the low-side loop of the inverter 26.
  • the power switches Q1-Q4 are capable of conducting in both directions. Accordingly, the controller 34 closes both the low-side switches Q2, Q4 during freewheeling such that current flows through the switches Q2, Q4 rather that the less efficient diode.
  • the inverter 26 may comprise power switches that conduct in a single direction only.
  • the controller 34 would clear SI, S2 and S3, and set S4 to freewheel the phase winding 22 from left to right.
  • the controller 34 would then clear SI, S3 and S4, and set S2 to freewheel the phase winding 22 from right to left.
  • Current in the low-side loop of the inverter 26 then flows down through the closed low-side switch (e.g. Q4) and up through the diode of the open low-side switch (e.g. Q2).
  • Appropriate control of the switches Q1-Q4 can be used to drive the rotor 18 at speeds up to or in excess of lOOkrpm during normal operation, for example in a steady-state mode.
  • the phase winding 22 can be excited and freewheeled sequentially, with commutation of the phase winding 22 occurring between excitations of the phase winding 22.
  • the temperature of the permanent-magnet of the motor 14 is determined from a measurement of the back EMF induced in the phase winding 22. Determining the temperature in this way may help to avoid the need for physical temperature sensors within the motor system 10.
  • the signal bEMF from the voltage sensor 33 is monitored during a time period when switches Q1-Q4 are turned off, i.e. when the inverter 26 is turned off.
  • Measuring the back EMF induced in the phase winding 22 of the motor 14 during the time period in which the inverter 26 is turned off may lead to increased accuracy in the measurements. For example, when the inverter 26 is turned off, there may be no applied voltage to the phase winding 22, and hence any voltage across the phase winding 22 may be caused directly by the back EMF induced in the phase winding 22. Therefore, any measurement of voltage across the phase windings 22 during the time period may provide an accurate measurement of the back EMF induced in the phase winding 22.
  • Figure 4 shows an example waveform of the back EMF induced in the phase winding 22.
  • the back EMF (shown by dashed line 104) has a substantially sinusoidal waveform which includes multiple peaks 101 and troughs 102.
  • the values of the amplitudes of the peaks 101 and troughs 102 are indicative of the temperature of the permanent-magnet at a given time.
  • the phrase “peak back EMF” may refer to any one of the peaks 101 or troughs 102.
  • the peak back EMF induced in the phase winding 22 is indicative of the temperature of the permanent-magnet, it may be desirable to determine the peak back EMF. However, it may not be possible to directly measure the peak back EMF as, when the value of the back EMF exceeds a dc-link voltage 107, clipping through conduction of anti -parallel diodes may occur. Therefore, the measurement of the back EMF induced in the phase winding 22 is capped at the dc-link voltage. If a capped back EMF measurement is used to determine the temperature of the permanent-magnet, this may lead to an incorrect determination of the temperature which is lower than the actual temperature of the permanent-magnet.
  • the permanent-magnet may operate at a higher than desired temperature, which may cause damage to the permanent-magnet.
  • solid line 105 illustrates the back EMF measured by the ADC
  • horizontal lines 106 illustrate a software limit of the motor system 10.
  • the software limit is set such that values below the software limit are not affected by dc-link voltage capping.
  • any values below the software limit can be assumed to be accurate measurements of the back EMF.
  • Any values of back EMF above the dc-link voltage have been capped at the dc-link voltage and are therefore not able to be accurately measured directly by the ADC (via the second voltage sensor 33). This means that the peaks of the back EMF (i.e. the peaks 101 and troughs 102) are not able to be directly measured and it is therefore not possible to accurately determine the temperature of the permanent-magnet at the peak back EMF.
  • Figure 5 shows a method 200 which may help to address these problems and allow for an accurate determination of peak back EMF even when the back EMF exceeds the dc-link voltage.
  • the method 200 comprises measuring 202 a plurality of values indicative of back EMF induced in a phase winding 22 of the motor 14 and determining 204 estimated phase angles associated with the measured values indicative of back EMF.
  • the method 300 comprises integrating 206 the measured values indicative of back EMF to determine an integrated back EMF and integrating 208 the estimated phase angles to determine an integrated phase angle.
  • a peak back EMF is determined 210 based on the integrated back EMF and the integrated phase angle, and the motor 14 is controlled 212 based on the peak back EMF.
  • Figure 6 shows a further flow diagram 300 illustrating the method 200 of Figure 5. Due to the measurement of back EMF being capped at the dc-link voltage, direct measurements of back EMF are only accurate in shaded regions 103 of Figure 4. As such, measuring 202 the plurality of values indicative of back EMF induced in the phase winding 22 comprises measuring the values within a voltage region covered by the shaded regions 103. At box 302 of Figure 6, the plurality of values indicative of back EMF induced in the phase winding 22 are received from the ADC and a voltage region is detected. The voltage region corresponds to the shaded regions 103 of Figure 4 (i.e. where direct measurements of back EMF are not capped).
  • the integration of the measured values indicative of back EMF is carried out at box 304 by summing absolute values of the measured values indicative of back EMF over phase angles -a to a. This is illustrated by the equation: where Bemf pk is the peak back EMF and Bemf ADC is the value of the back EMF measured by the ADC.
  • the integration of the estimated phase angles is carried out by summing the estimated phase angles over the phase angles -a to a, as illustrated by the equation: (sin 0 est ) where sin 6 int is the integrated phase angle and sin 6 est is the estimated phase angle.
  • the summation term may be simplified to a constant, or may be simplified in another way for convenience.
  • the peak back EMF, Bemf pk is then calculated by dividing the integrated back EMF by the integrated phase angle, as illustrated by the equation: “ a abs(Bemf ADC ) - a abs(sin 0 est )
  • Determining the peak back EMF in this way may help to provide an accurate value for the peak back EMF even when the peak back EMF exceeds the dc-link voltage. Moreover, as the method 200 uses integrals to determine the peak back EMF, it is less susceptible to noise in the measurement of the back EMF at the ADC, which may help to increase the accuracy of the determined peak back EMF. This also reduces the need to include filters to remove noise, helping to simplify the motor system 10.
  • the estimated phase angle, 6 est is determined using one of the sensorless control schemes previously discussed. In some examples, the estimated phase angle may be determined through interpolation of zero crossing points.
  • the sensorless control schemes estimate the waveform indicative of back EMF induced in the phase winding 22 via signals V_DC and I SENSE. However, the estimated phase angle is not equal to the actual electrical phase angle, 0 eJe , as there is a phase angle delay, Odeiay, between the estimated phase angle and the actual electrical phase angle. As such, the estimated phase angle can be illustrated by the equation:
  • the estimated phase angle is modified to account for the phase angle delay and produce a modified estimated phase angle, 6 est .
  • the phase angles around a zero-crossing of the back EMF are symmetric.
  • the integral of the phase angle between -a and a should be equal to zero in such a situation.
  • the integral of the phase angles is therefore considered to be an error when non-zero, and the estimated phase angle is modified to account for this error and determine the modified estimated phase angle.
  • the integral of the estimated phase angles is used as an input in a proportional integral (PI) controller (also known as a PI loop) with a set point of zero.
  • the output of the PI controller 310 is the phase angle delay which is added to the estimated phase angle to determine the modified estimated phase angle. This is shown by the equation:
  • the modified estimated phase angle is then used in the determination of the integrated phase angle, such that the calculation of the integrated phase angle (in box 312 of Figure 6) becomes: (sin 6 est ) and the calculation of the peak back EMF (carried out at box 306) becomes: “ a abs(Bemf ADC ) abs(sin 0 est )
  • the temperature of the permanent-magnet is calculated using the equation: where T mag is the calculated permanent-magnet temperature, a mag is the thermal coefficient of remanence (Br) of the permanent-magnet, and Bemf amb is the back EMF measured at ambient temperature T amb .
  • T mag is the calculated permanent-magnet temperature
  • a mag is the thermal coefficient of remanence (Br) of the permanent-magnet
  • Bemf amb the back EMF measured at ambient temperature T amb .
  • a threshold value is the value above which the lifetime of the motor 14 may be limited or the performance of the motor 14 may decrease. Controlling operation of the motor 14 based on the threshold value may also be used to control other properties of the motor 14, such limiting an exhaust temperature or controlling another parameter that scales with the temperature of the permanentmagnet.
  • a further threshold value is indicative of a temperature above which damage to the motor 14 may occur. When the determined temperature of the permanent-magnet exceeds the further threshold value, the inverter 26 is switched off to help protect the motor 14 from damage.
  • the above method 200 has been discussed in relation to determining the peak back EMF, it may be equally used to determine any value of back EMF induced in the phase winding 22 of the motor 14, especially a value of back EMF induced in the phase winding which is larger than the dc-link voltage.
  • a vacuum cleaner 300 comprising the brushless permanent-magnet motor 14 is illustrated schematically in Figure 7.
  • a haircare appliance 400 comprising the brushless permanentmagnet motor 14 is illustrated schematically in Figure 8.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention divulgue un procédé de commande d'un moteur à aimant permanent sans balai. Le procédé comprend la mesure d'une pluralité de valeurs indicatives d'une force contre-électromotrice induite dans un enroulement de phase du moteur et la détermination d'angles de phase estimés associés aux valeurs mesurées indicatives d'une force contre-électromotrice. Le procédé comprend également l'intégration des valeurs mesurées indicatives d'une force contre-électromotrice pour déterminer une force contre-électromotrice intégrée et l'intégration des angles de phase estimés pour déterminer un angle de phase intégré. Une force contre-électromotrice de crête est déterminée sur la base de la force contre-électromotrice intégrée et de l'angle de phase intégré, et le moteur est commandé sur la base de la force contre-électromotrice de crête.
PCT/IB2023/058003 2022-08-19 2023-08-08 Procédé de commande d'un moteur à aimant permanent sans balai WO2024038351A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
SG10202250788A 2022-08-19
SG10202250788A 2022-08-19
GB2217143.3A GB2621641A (en) 2022-08-19 2022-11-16 A method of controlling a brushless permanent-magnet motor
GB2217143.3 2022-11-16

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WO2024038351A1 true WO2024038351A1 (fr) 2024-02-22

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4879497A (en) * 1987-10-27 1989-11-07 Heidelberger Druckmaschinen Ag Method and device for measuring the temperature of a brushless d-c motor
JPH1169900A (ja) * 1997-08-25 1999-03-09 Hitachi Ltd 電気車の制御装置
US20130119905A1 (en) * 2011-11-10 2013-05-16 Whirlpool Corporation Determination of magnetic flux and temperature of permanent magnets in washing machine motor
WO2013132247A1 (fr) 2012-03-06 2013-09-12 Dyson Technology Limited Commande sans capteurs d'un moteur sans balais à aimants permanents
GB2582612A (en) 2019-03-28 2020-09-30 Dyson Technology Ltd A method of determining a position of a rotor of brushless permanent magnet motor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4879497A (en) * 1987-10-27 1989-11-07 Heidelberger Druckmaschinen Ag Method and device for measuring the temperature of a brushless d-c motor
JPH1169900A (ja) * 1997-08-25 1999-03-09 Hitachi Ltd 電気車の制御装置
US20130119905A1 (en) * 2011-11-10 2013-05-16 Whirlpool Corporation Determination of magnetic flux and temperature of permanent magnets in washing machine motor
WO2013132247A1 (fr) 2012-03-06 2013-09-12 Dyson Technology Limited Commande sans capteurs d'un moteur sans balais à aimants permanents
GB2582612A (en) 2019-03-28 2020-09-30 Dyson Technology Ltd A method of determining a position of a rotor of brushless permanent magnet motor

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