WO2010112929A2 - Control of an electric machine - Google Patents
Control of an electric machine Download PDFInfo
- Publication number
- WO2010112929A2 WO2010112929A2 PCT/GB2010/050565 GB2010050565W WO2010112929A2 WO 2010112929 A2 WO2010112929 A2 WO 2010112929A2 GB 2010050565 W GB2010050565 W GB 2010050565W WO 2010112929 A2 WO2010112929 A2 WO 2010112929A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- power
- speed
- winding
- signal
- motor
- Prior art date
Links
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
- H02P6/15—Controlling commutation time
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0086—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for high speeds, e.g. above nominal speed
-
- 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
- H02P6/26—Arrangements for controlling single phase motors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/907—Specific control circuit element or device
- Y10S388/9072—Bridge circuit
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/923—Specific feedback condition or device
- Y10S388/9281—Counter or back emf, CEMF
Definitions
- the present invention relates to control of an electric machine.
- the control system of an electric machine may control the excitation of phase windings in response to a speed demand signal or a torque demand signal. However, it may be advantageous to adjust the power of the electric machine in response to an input signal.
- the present invention provides a method of controlling an electric machine, the method comprising: storing a plurality of power maps, each power map comprising control values for driving the electric machine at different power; and selecting a power map in response to an input signal.
- the input signal may therefore be used to control the power of the electric machine.
- the input signal may include, for example, a power-supply identification signal. Accordingly, a different power map may be selected for different types of power supply, and in particular power supplies of different voltages.
- the input signal may also include a power-mode signal, which may be generated by a user interface. A user is then able to control the power of the electric machine via the user interface. For example, a first power map may be selected when the power-mode signal is logically low and a second power map may be selected when the power-mode signal is logically high. The first and second power maps then achieve different power for the electric machine.
- the input signal may include an accessory signal that is generated whenever an accessory draws power from the power supply. Since the accessory draws power from the power supply, excessive current demand on the power supply may be prevented by selecting a particular power map in response to the accessory signal. In particular, a power map that delivers a lower power for the electric machine may be selected in response to the accessory signal.
- Each power map preferably comprises a first control value and a second control value.
- the method then comprises sequentially excites and freewheels a winding of the electric machine.
- the winding is excited in advance of zero-crossings of back emf in the winding by an advance time that is defined by the first control value, and the winding is freewheeled for a freewheel time that is defined by the second control value.
- the control values thus act to control the excitation of the winding so as to control the power of the electric machine. For example, by selecting a first control value that increases the advance time, current is driven into the winding at an earlier stage, and thus the power may be increased. Similarly, by selecting a second control value that decreases the freewheel time, current is driven into the winding over a longer period and thus the power may again be increased. Accordingly, by selecting a particular power map, the efficiency and power of the electric machine can be controlled.
- Each power map preferably comprises a lookup table storing a first control value and a second control value for each of a plurality of voltage levels.
- the method then comprises selecting from the power map a first control value and a second control value according to an excitation voltage used to excite the winding. By selecting different control values in response to the level of the excitation voltage, better control over both the efficiency and the power of the electric machine may be achieved.
- the method ideally comprises periodically monitoring the excitation voltage and selecting from the power map a first control value and a second control value according to the monitored voltage. Accordingly, the electric machine is controlled in response to changes in the excitation voltage such that a particular performance may be maintained.
- each power map stores control values that increase the advance time and decrease the freewheel time with decreasing excitation voltage. Consequently, as the excitation voltage decreases, current is driven into the winding at an earlier stage. Additionally, current is driven into the winding over a longer period. Accordingly, in spite of a drop in excitation voltage, the same or similar power may be achieved.
- each power map preferably stores control values that achieve substantially constant power for the electric machine over a range of excitation voltages. Substantially constant power in this instance should be understood to mean that the variance in power is no more than +1- 5%.
- each power map stores control values that achieve an efficiency (i.e. the ratio of output power to input power) of at least 75% for the electric machine over a range of excitation voltages.
- the range of excitation voltages may extend between a minimum voltage and a maximum voltage, with the minimum voltage being less than 80% of the maximum voltage. This then represents a relatively broad range of voltages over which constant power and/or good efficiency may be achieved. Consequently, a battery pack may be used to as an excitation source. In spite of battery discharge with use, constant power and/or good efficiency may nevertheless be achieved.
- the method comprises applying a speed-correction value to at least one of the first control value and the second control value, the speed-correction value varying with the speed of the electric machine.
- the speed of the electric machine varies, the back emf induced in the winding, and thus the power of the electric machine, also varies.
- the effect of speed on the power may be reduced.
- the speed-correction value varies with both the speed of the electric machine and a level of excitation voltage.
- the ideal correction depends on the level of the excitation voltage.
- a larger correction is ideally required for a lower excitation voltage.
- the method preferably comprises storing a speed-correction lookup table for each power map.
- Each speed-correction lookup table then ideally stores a first speed-correction value and a second speed-correction value for each of a plurality of speeds and a plurality of voltage levels.
- the method then comprises selecting from the speed-correction lookup table a first speed-correction value and a second speed-correction value according to the speed of the electric machine and the level of the excitation voltage, applying the first speed-correction value to the first control value and applying the second speed-correction value to the second control value.
- the use of a lookup table to correct the control values for both speed and excitation voltage then simplifies the control of the electric machine.
- the speed-correction lookup table stores speed-correction values that increase the advance time and/or decrease the freewheel time with increasing speed. Accordingly, as the speed of the electric machine increases, and thus the back emf in the winding increases, current is driven into the winding at an earlier stage. Additionally, current is driven into the winding over a longer period. Accordingly, the same or similar power may be achieved irrespective of changes in speed of the electric machine.
- the method may comprise exciting the winding, monitoring a signal indicative of back emf in the winding, continuing to excite the winding for a drive-off time in response to detecting an edge of the signal, and freewheeling the winding for a freewheel time.
- the drive-off time is then proportional to the first control value and the freewheel time is proportional to the second control value. This then presents a convenient method of exciting the winding in advance of zero- crossings of back emf.
- each electrical half cycle comprises a single drive period and a single freewheel period.
- the winding is then excited during the drive period and freewheeled during the freewheel period. Following the freewheel period, the winding is commutated.
- the present invention provides a control system for an electric machine, the control system performing the method as described in any one of the preceding paragraphs.
- the control system ideally comprises a position sensor, such as a Hall-effect sensor, that outputs a signal indicative of back emf in the winding.
- the control system then uses the signal output by the position sensor to control excitation and freewheeling of the winding.
- the control system may comprise a current controller for limiting current in the winding during excitation. This then prevents excessive currents building up in the winding, which might otherwise damage components of the control system or demagnetise magnets of the electric machine.
- the control system may also comprise an inverter, a gate driver module and a drive controller.
- the drive controller then generates one or more control signals to control excitation of the winding, and the gate driver module in response to the control signals controls switches of the inverter.
- the present invention provides a product comprising a power supply, an electric machine, and a control system as described in any one of the preceding paragraphs.
- the control system then excites the winding using the power supply.
- the power supply may output a power-supply identification signal that is unique to the type of power supply.
- the power-supply identification signal is then delivered to the control system, which in response selects a power map.
- the power- supply identification signal may have a frequency that is unique to the type of power supply.
- the power supply may be a removable battery pack. Accordingly, the product may be used with different types of battery pack having different voltages.
- the product may include an accessory that is powered by the power supply.
- the accessory then generates an accessory signal when powered on, and the accessory signal is delivered to the control system, which in response selects an appropriate power map.
- the product may also include a user interface having a power-mode selection switch for switching between a high-power and a low-power mode.
- the power-mode selection switch generates a power-mode selection signal that is delivered to the control system.
- the product may be a vacuum cleaner, which may include an accessory in the form of a motorised brushbar.
- the control system may then select a different power map to achieve a different power for the motor depending on whether or not the brushbar is turned on.
- Figure 1 is a block diagram of a product in accordance with the present invention.
- FIG 2 is a block diagram of the motor system of the product of Figure 1;
- Figure 3 is a schematic diagram of the motor system;
- Figure 4 is a schematic diagram of a current controller of the motor system
- Figure 5 illustrates waveforms of the motor system during a period of current control
- Figure 6 illustrates waveforms of the motor system when operating at high speed
- Figure 7 is a graph of advance angle and freewheel angle versus excitation voltage
- Figure 8 is a product of the present invention in the form of a vacuum cleaner.
- the product 1 of Figure 1 comprises a power supply 2, a user interface 3, an accessory 4, and a motor system 5.
- the power supply 2 comprises a battery pack that supplies a DC voltage to both the accessory 4 and the motor system 5.
- the power supply 2 is removable from the product 1 such that the product 1 may be used with different battery packs.
- the power supply 2 is either a 4-cell battery pack providing a 16.4 V DC supply or 6-cell battery pack providing a 24.6 V DC supply.
- the power supply outputs an identification signal that is unique to the type of battery pack.
- the ID signal takes the form of a square-wave signal having a frequency that varies according to the type of battery pack.
- the 4-cell battery pack outputs an ID signal having a frequency of 25 Hz (20 ms pulse length), whilst the 6-cell battery pack outputs an ID signal having a frequency of 50 Hz (10 ms pulse length).
- the ID signal continues to be output by the power supply 2 until such time as a fault is detected within the power supply 2, e.g. under-voltage or over-temperature of the cells.
- the ID signal is used by the motor system 5 to identify the type of power supply 2 and to periodically check that the power supply 2 is functioning correctly.
- the user interface 3 comprises a power switch 6 and a power-mode selection switch 7.
- the power switch 6 is used to power on and off the product 1.
- a closed circuit is formed between the power supply 2 and each of the accessory 4 and the motor system 5.
- the power-mode selection switch 7 is used to control whether the motor system 5 operates in a high-power mode or a low-power mode. When the power-mode selection switch 7 is closed, a logically high power-mode signal is output to the motor system 5.
- the accessory 4 is removably attached to the product 1.
- the accessory 4 draws power from the power supply 2 and outputs an accessory signal to the motor system 5.
- the accessory 4 may include a power switch (not shown), e.g. forming part of the user interface 3. The accessory 4 then draws power and outputs the accessory signal only when the accessory power switch is closed.
- the motor system 5 comprises an electric motor 8 and a control system 9.
- the motor 8 comprises a two-pole permanent-magnet rotor 17 that rotates relative to a stator 18 about which a single-phase winding 19 is wound.
- the stator 18 is c-shaped, which enables a high fill- factor to be achieved for the winding 19. Accordingly, copper losses may be reduced, thereby improving the efficiency of the motor 8.
- the control system 9 comprises a filter module 10, an inverter 11, a gate driver module 12, a position sensor 13, a current sensor 14, a current controller 15, and a drive controller 16.
- the filter module 10 links the power supply 2 of the product 1 to the inverter 11, and comprises a pair of capacitors C1,C2 arranged in parallel.
- the filter module 10 acts to reduce ripple in the voltage linked to the inverter 11.
- the inverter 11 comprises a full-bridge of four power switches Q1-Q4 that link the power supply 2 to the winding 19 of the motor 8.
- Each power switch Q1-Q4 is a MOSFET, which provides fast switching and good efficiency over the voltage range of the power supply 2.
- Other types of power switch might nevertheless be used, such as IGBTs or BJTs, particularly if the voltage of the power supply 2 exceeds the voltage rating of the MOSFETs.
- Each of the switches Q1-Q4 includes a flyback diode, which protects the switch against voltage spikes from the back emf of the motor 8 during switching.
- the inverter 11 may be controlled so as to freewheel the winding 19. Freewheeling occurs when the winding 19 is disconnected from the excitation voltage provided by the power supply 2. This may occur by opening all switches Q1-Q4 of the inverter 11. However, the efficiency of the motor system 5 is improved if either the high- side switches Q1,Q3 or the low-side switches Q2,Q4 are closed during freewheeling. By closing either the high-side switches Q1,Q3 or the low-side switches Q2,Q4, current in the winding 19 is able to re-circulate through the switches rather than the less efficient flyback diodes. For the purposes of the present description, freewheeling is achieved by closing both low-side switches Q2,Q4. However, it should be understood that freewheeling might equally be achieved by closing the high-side switches Q1,Q3 or by opening all switches Q1-Q4.
- the gate driver module 12 drives the opening and closing of the switches Q1-Q4 of the inverter 11 in response to control signals S1-S4 received from the drive controller 16.
- the gate driver module 12 comprises four gate drivers 20-23, each gate driver driving a respective switch Q1-Q4 in response to a control signal S1-S4 from the drive controller 16.
- the gate drivers 20,22 responsible for the high-side switches Q1,Q3 are additionally driven in response to an overcurrent signal received from the current controller 15. In response to the overcurrent signal, the gate drivers 20,22 open the high-side switches Q1,Q3.
- the overcurrent signal takes precedence over the control signals Sl, S3 of the drive controller 16 such that the high-side switches Q1,Q3 are opened in response to the overcurrent signal irrespective of the state of the control signals Sl, S3.
- This level of control may be achieved through the provision of a NOR gate at the high-side gate drivers 20,22.
- Table 1 summarises the allowed states of the switches Q1-Q4 in response to the control signals S1-S4 of the drive controller 16 and the overcurrent signal of the current controller 15. Owing to the NOR gate operating on the inputs of the high-side gate drivers 20,22, the high-side switches Q1,Q3 are closed by control signals Sl, S3 that are logically low.
- the position sensor 13 is a Hall-effect sensor that outputs a signal indicative of the angular position of the permanent-magnet rotor 17.
- the signal is a digital square wave, with each edge representing the angular position at which the polarity of the rotor changes.
- the signal output by the position sensor 13 is delivered to the drive controller 16, which in response generates control signals S1-S4 that control the inverter 11 and thus control the power delivered to the motor 8.
- the permanent-magnet rotor 17 When rotating, the permanent-magnet rotor 17 induces a back emf in the winding 19 of the motor 8.
- the polarity of the back emf changes with the polarity of the rotor 17. Consequently, the position-sensor signal provides not only a measure of the electrical position of the rotor 17, but also a measure of the back emf in the winding 19.
- the position sensor 13 is aligned relative to the rotor 17 such that the edges of the position-sensor signal are synchronous, or have a predetermined phase difference, with the zero-crossings of the back emf.
- the current sensor 14 comprises a single sense resistor Rl located on the negative rail of the inverter 11. The voltage across the current sensor 14 therefore provides a measure of the current in the winding 19 when connected to the power supply 2. The voltage across the current sensor 14 is output to the current controller 15.
- the current controller 15 comprises an input, an output, a threshold generator 24, a comparator 25 and an SR latch 26.
- the input of the current controller 15 is coupled to the output of the current sensor 14, and the output of the current controller 15 is coupled to the input of each of the high-side gate drivers 20,22.
- the threshold generator 24 comprises a reference voltage input, a PWM module 27, a nonvolatile memory device 28, and a filter 29.
- the PWM module 27 employs a fixed frequency and a variable duty cycle that is set according to a scaling factor stored in the memory device 28.
- the PWM module 27 operates on the voltage at the reference input to provide a pulsed voltage signal, which is then smoothed by the filter 29 to provide a scaled threshold voltage.
- the comparator 25 compares the voltage at the input of the current controller 15 against the threshold voltage output by the threshold generator 24. If the voltage at the input exceeds the threshold voltage, the comparator 25 outputs a signal that sets the SR latch 26. In response, the SR latch 26 generates an overcurrent signal at the output of the current controller 15.
- the current controller 15 when the overcurrent signal is output by the current controller 15 (i.e. when the overcurrent signal is logically high), the high-side gate drivers 20,22 open the high-side switches Q1,Q3. Consequently, the current controller 15 disconnects the winding 19 from the excitation voltage provided by the power supply 2 when the current in the winding 19 exceeds a threshold.
- a threshold As is described further on in the section entitled 'Post- Assembly Fine Tune', by employing a voltage threshold that is scaled according to a scaling factor, each individual motor system 5 may be fine-tuned such that the effect of component tolerances on the current threshold can be trimmed out.
- the current controller 15 also outputs an overcurrent interrupt to the drive controller 16.
- the output of the comparator 25 is delivered to the drive controller 16 as the overcurrent interrupt.
- the overcurrent signal output by the latch 26 might equally be delivered to the drive controller 16 as the overcurrent interrupt.
- the drive controller 16 executes an overcurrent routine.
- the drive controller 16 generates a control signal S2 or S4 that causes the remaining low-side switch Q2 or Q4 to close such that the winding 19 freewheels. Freewheeling continues for a predetermined time, e.g. 100 ⁇ s, during which the current in the winding 19 decays.
- the driver controller 16 switches the control signal S2 or S4 so as to open the recently closed low-side switch Q2 or Q4 and outputs an latch-reset signal to the current controller 15.
- the latch-reset signal causes the latch 26 of the current controller 15 to reset, thereby driving the overcurrent signal low.
- the inverter 11 is thus returned to the condition that existed before the overcurrent event occurred.
- Figure 5 illustrates the waveforms of the winding current, the position-sensor signal, the switches Q1-Q4, the control signals S1-S4, the overcurrent signal, and the latch-reset signal over a typical half cycle.
- the state of the switches Q1-Q4 is the same before and after each overcurrent event.
- the current in the winding 19 may be chopped by the current controller 15 many times during an electrical half cycle.
- the speed of the motor 8 increases, the back emf induced in the winding 19 increases. Consequently, the number of overcurrent events decreases with motor speed.
- the speed of the motor 8 and thus the magnitude of the back emf, is such that the current in the winding 19 no longer reaches the threshold during each half cycle.
- the current controller 15 ensures that the current within the winding 19 does not exceed a threshold. Accordingly, excessive currents are prevented from building up in the winding 19, which might otherwise damage the switches Q1-Q4 of the inverter 11 or demagnetise the rotor 17.
- the drive controller 16 comprises a processor 30, a non- volatile memory device 31, six signal inputs and five signal outputs.
- the memory device 31 stores software instructions for execution by the processor 30. In response to executing the instructions, the processor 30 controls the operation of the motor system 5. In particular, the processor 30 generates control signals S1-S4 that control the switches Q1-Q4 of the inverter 11 and thus drive the motor 8. The particular operation of the drive controller 16 is described in further detail below.
- the memory device 31 also stores a plurality of power maps, a plurality of speed-correction maps, and a plurality of position-sensor offsets.
- the six signal inputs are the power-supply ID signal, the accessory signal, the power-mode signal, the position-sensor signal, the overcurrent interrupt, and a voltage-level signal.
- the voltage-level signal is derived from the power supply line, scaled by a potential divider R2,R3 and filtered by a capacitor C3 to remove switching noise.
- the voltage-level signal thus provides the drive controller 16 with a measure of the link voltage provided by the power supply 2. Owing to the internal resistance of the power supply 2, the link voltage is less than the open-circuit voltage.
- the maximum open-circuit voltage is 24.6 V, which corresponds to a link voltage of 23.0 V.
- the maximum open- circuit voltage is 16.4 V, which corresponds to a link voltage of 14.8 V.
- the drive controller 16 stops operating when the link voltage drops below an undervoltage threshold.
- the undervoltage threshold of the link voltage is 16.8 V, which corresponds to an open-circuit voltage of 19.0 V.
- the undervoltage threshold of the link voltage is 11.2 V, which corresponds to an open-circuit voltage of 12.8 V.
- the drive controller 16 therefore operates over a link voltage range of 16.8- 23.0 V for the 6-cell battery and 11.2-14.8 V for the 4-cell battery.
- the five signal outputs are the four control signals S1-S4 and the latch-reset signal.
- the four control signals S1-S4 are output to the gate driver module 12, which in response controls the opening and closing of the switches Q1-Q4 of the inverter 11. More specifically, each control signal S1-S4 is output to a respective gate driver 20-23.
- the latch-reset signal is output to the current controller 15.
- the drive controller 16 generates the control signals S1-S4 in response to the signals received at the inputs. As is explained in further detail below, the timing of the control signals S1-S4 is controlled such that the motor 8 is driven at constant output power over a range of speeds. Moreover, constant output power is maintained irrespective of changes in the link voltage of the power supply 2. Consequently, the motor 8 is driven at constant output power as the power supply 2 discharges.
- the drive controller 16 When the drive controller 16 generates a control signal, e.g. Sl, to open a particular switch Ql of the inverter 11, there is a short delay between the generation of the control signal Sl and the physical opening of the switch Ql.
- the drive controller 16 employs a dead-time delay (e.g. 1 ⁇ s) between generating control signals for switches on the same arm of the inverter 11. It should therefore be understood that, when reference is made below to exciting or freewheeling the winding 19, the drive controller 16 employs a dead-time delay between control signals.
- the dead-time delay is ideally kept as short as possible so as to optimise motor performance.
- the current controller 15 and the drive controller 16 may form part of a single component microcontroller.
- a suitable candidate is the PIC16F690 microcontroller by Microchip Technology Inc.
- This microcontroller has an internal comparator 25, latch 26, PWM module 27, non- volatile memory device 28,31 and processor 30.
- the output pin of the PWM module 27 is fed back into the input pin of the comparator 25 via the filter 29, which is external of the microcontroller. Additionally, the output of the comparator 25 serves as an internal overcurrent interrupt, which is delivered to the processor 30 of the drive controller 16.
- the current controller 15 and the drive controller 16 together provide a form of hysteretic current control.
- the current controller 15 generates a latched overcurrent signal in response to an overcurrent event.
- the overcurrent signal causes the gate driver module 12 to open the high-side switches Q1,Q3 of the inverter 11 to thus disconnect the winding 19 from the link voltage used to excite the winding 19.
- the drive controller 16 then resets the latch 26 after a predetermined period of time has elapsed, during which the current in the winding 19 decays.
- Current control is achieved through a combination of hardware and software.
- the hardware of the current controller 15 monitors the current in the winding 19 and generates an overcurrent signal in the event that the current exceeds a threshold.
- the software of the drive controller 16 then resets the hardware of the current controller 15 after a predetermined time.
- the control system 9 responds relatively quickly to an overcurrent event. This is important for ensuring that the winding 19 is disconnected from the link voltage as soon as possible following an overcurrent event. If software were instead employed for monitoring an overcurrent event, there would be a significant delay between the overcurrent event and the generation of the overcurrent signal, during which time the current in the winding 19 may rise to a level that results in component damage or rotor demagnetisation.
- the number of hardware components needed to control the current in the winding 19 may be reduced.
- the software of the drive controller 16 is able to control the predetermined period of time over which current in the winding 19 decays.
- the drive controller 16 resets the latch 26 of the current controller 15 after a fixed period of time has elapsed (100 ⁇ s).
- the drive controller 16 might equally reset the latch 26 after a period of time that is adjusted according to the speed of the motor 8. Accordingly, the level to which the current decays with each chop may be better controlled.
- current control may be achieved through the use of a single sense resistor. Not only does this reduce the component cost of the control system 9, but power dissipation through the single sense resistor is typically no more than 1% of the input power.
- the drive controller 16 When the power switch 6 is closed, power is delivered from the power supply 2 to the motor system 5 causing the drive controller 16 to power up. On powering up, the drive controller 16 polls the inputs of the power supply ID signal, the accessory signal and the power-mode signal. On the basis of these three signals, the drive controller 16 selects a power map stored in memory 31. As is explained below, each power map stores control values for driving the motor 8 at different output power. As can be seen from Table 2, the drive controller 16 stores five different power maps. If the power supply 2 is a 4-cell battery pack (i.e. if frequency of the power supply ID signal is 25 Hz), then the high-power mode is not available and the power- mode signal is ignored.
- the power map selected by the drive controller 16 is subsequently used by the drive controller 16 to generate the control signals S1-S4 when operating in 'High-Speed Acceleration Mode' and 'Running Mode'.
- the drive controller 16 Whilst the drive controller 16 is powered up, the drive controller 16 periodically polls (e.g. every 8 ms) the power supply ID signal, the accessory signal and the power-mode signal. If the power supply ID signal is constantly high or low, rather than clocked, this suggest a problem with the power supply 2; the drive controller 16 then opens all switches Q1-Q4 and terminates. If the accessory signal or the power-mode signal changes, the drive controller 16 selects a new power map.
- the power supply ID signal is constantly high or low, rather than clocked, this suggest a problem with the power supply 2; the drive controller 16 then opens all switches Q1-Q4 and terminates. If the accessory signal or the power-mode signal changes, the drive controller 16 selects a new power map.
- the drive controller 16 On selecting a power map, the drive controller 16 enters 'Resynchronisation Mode'.
- the drive controller 16 determines the speed of the motor 8 and selects a mode of operation according to the determined speed.
- the speed of the motor 8 is obtained by measuring the time interval between two edges of the position-sensor signal, i.e. the pulse width. If the drive controller 16 fails to detect two edges within a predetermined time (e.g. 26 ms), the speed of the motor 8 is deemed to be no greater than 1 krpm; the drive controller 16 then enters 'Stationary Mode'. Otherwise, the drive controller 16 waits until a further edge of the position-sensor signal is detected. The drive controller 16 then averages the time interval across the three edges to provide a more accurate determination of the motor speed.
- a predetermined time e.g. 26 ms
- the speed of the motor 8 is determined to be between 1 and 16 krpm; the drive controller 16 then enters 'Low-Speed Acceleration Mode'. If the time interval is between 500 and 1875 ⁇ s, the speed of the motor 8 is determined to be between 16 and 60 krpm, and the drive controller 16 enters 'High-Speed Acceleration Mode'. Otherwise, the speed of the motor 8 is deemed to be at least 60 krpm and the drive controller 16 enters 'Running Mode'. Table 3 details the time intervals, speeds and modes of operation.
- the drive controller 16 excites the winding 19 for a predetermined time, e.g. 26 ms. During this time, the drive controller 16 commutates the winding 19 (i.e. reverses the direction of excitation) in synchrony with edges of the position-sensor signal. This initial period of excitation should cause the rotor 17 to rotate. If during this predetermined time, two edges of the position-sensor signal are detected, the drive controller 16 enters 'Low-Speed Acceleration Mode'. Otherwise, the drive controller 16 opens all switches Q1-Q4 and writes a 'Failure to Start' error to the memory device 31.
- a predetermined time e.g. 26 ms.
- the drive controller 16 commutates the winding 19 (i.e. reverses the direction of excitation) in synchrony with edges of the position-sensor signal. This initial period of excitation should cause the rotor 17 to rotate. If during this predetermined time, two edges of the position-sensor signal are detected, the drive controller 16 enters
- the drive controller 16 excites the winding 19 in synchrony with the edges of the position-sensor signal. Synchronous excitation continues until the speed of the motor 8 reaches 16 krpm, as determined by the time interval between successive edges, after which the drive controller 16 enters 'High-Speed Acceleration Mode'. If the motor 8 fails to reach 16 krpm within a predetermined time, e.g. 2.5 s, the drive controller 16 opens all switches Q1-Q4 and writes an 'Underspeed' error to the memory device 31.
- each electrical half-cycle comprises a single drive period, during which the winding 19 is excited, followed by a single freewheel period, during which the winding 19 is freewheeled.
- the current in the winding 19 may be chopped by the current controller 15. Consequently, the winding 19 may additionally be freewheeled for short intervals (e.g. 100 ⁇ s) within the drive period. However, any freewheeling that occurs within the drive period is distinct from that of the freewheel period.
- the winding 19 is commutated (i.e. the direction of excitation is reversed).
- the drive controller 16 excites the winding 19 in advance of the edges of the position-sensor signal, and thus in advance of the zero-crossings of the back emf in the winding 19. Moreover, the drive controller 16 excites the winding 19 in advance of the edges of the position-sensor signal by a period of time that remains fixed as the motor 8 accelerates from 16 krpm to 60 krpm. The drive controller 16 also freewheels the winding 19 for a period of time that remains fixed as the motor accelerates from 16 krpm to 60 krpm.
- each power map comprises a lookup table of advance times and freewheel times for a plurality of voltage levels.
- the drive controller 16 polls the voltage-level signal to obtain the excitation voltage, i.e. the link voltage provided by the power supply 2.
- the drive controller 16 selects from the power map the advance time, T ADV, and the freewheel time, T FREE, corresponding to the excitation voltage.
- the selected power map is 167 W (see Table 2) and the voltage-level signal indicates that the excitation voltage is 22.7 V
- the drive controller 16 selects from the power map an advance time of 34 ⁇ s and a freewheel time of 128 ⁇ s (see Table 4).
- the winding 19 is excited and freewheeled in the following manner.
- the drive controller 16 On detecting an edge of the position-sensor signal, the drive controller 16 continues to excite the winding 19 for the time period, T DRIVE OFF.
- T DRIVE OFF is calculated from the half-cycle time, T HALF C YCLE, the advance time, T ADV, and the freewheel time, T FREE:
- T DRIVE OFF T HALF CYCLE - T ADV - T FREE
- the half-cycle time, T HALF CYCLE is the time interval between two successive edges of the position-sensor signal.
- the advance time, T ADV, and the freewheel time, T FREE are the times obtained from the power map.
- the drive controller 16 freewheels the winding 19 for the period T FREE, after which the drive controller 16 commutates the winding 19.
- T FREE the advance time
- Figure 6 illustrates the waveforms of the winding current, position- sensor signal, excitation voltage, and control signals S1-S4 over a couple of half cycles.
- the electrical angle at which excitation occurs in advance of the back emf ideally increases with motor speed, i.e. the advance angle at 60 krpm is ideally greater than that at 16 krpm.
- a ADV T ADV * c ⁇ /60 * 360° where CO is speed of the motor in rpm. Consequently, as the motor 8 accelerates, current is driven into the winding 19 at an increasingly early stage. As a result, more power is driven into the winding 19.
- T ADV By employing a fixed advance time, T ADV, there is no need for the drive controller 16 to perform on-the-fly calculations of what advance angle should be used as the motor 8 accelerates. This then greatly minimises the number of instructions needed to be executed by the processor 30 of the drive controller 16, and thus a cheaper processor 30 may be used.
- the drive controller 16 freewheels the winding 19 at a time when the back emf in the winding 19 is falling. As the back emf in the winding 19 falls, less torque is achieved for a given level of current. Accordingly, by freewheeling the winding 19 within this region, a more efficient motor system 5 is achieved. Additionally, the back emf in winding 19 may exceed that of the excitation voltage. Consequently, as the back emf in the winding 19 falls, current spikes may arise should the excitation voltage suddenly exceed that of the falling back emf. By freewheeling the winding 19 within the region of falling back emf, current spikes are avoided and thus a smoother current waveform is achieved.
- the drive controller 16 continues to sequentially excite and freewheel the winding 19 in the manner described above until the speed of the motor 8 reaches 60 krpm. During this time, the advance and freewheel times, T ADV and T FREE, are fixed. On reaching 60 krpm, the drive controller 16 enters 'Running Mode'. If the motor fails to reach 60 krpm within a predetermined time, e.g. 2.5 s, the drive controller 16 opens all switches Q1-Q4 and writes an 'Underspeed' error to the memory device.
- the drive controller 16 sequentially excites and freewheels the winding 19. Each electrical half-cycle therefore continues to comprise a single drive period followed by a single freewheel period. Again, the winding 19 is excited in advance of the edges of the position-sensor signal, and thus in advance of the zero-crossings of the back emf.
- the drive controller 16 now varies the advance time and the freewheel time so as to achieve constant output power.
- the drive controller 16 excites the winding 19 in advance of the edges of the position-sensor signal by an electrical angle, A_ADV, and freewheels the winding 19 over the electrical angle, A FREE.
- the drive controller 16 varies both the advance angle, A ADV, and the freewheel angle, A FREE, in response to changes in the excitation voltage (i.e. the link voltage of the power supply 2) and the speed of the motor 8 so as to achieve constant output power.
- the power supply 2 is a battery pack and therefore the excitation voltage decreases as the battery pack discharges with use. If the electrical angles at which the winding 19 is excited and freewheeled were fixed, the input power, and thus the output power, of the motor system 5 would decrease as the power supply 2 discharges. Accordingly, in order to maintain constant output power, the drive controller 16 varies the advance angle, A ADV, and the freewheel angle, A FREE, in response to changes in the excitation voltage. In particular, the advance angle, A ADV, increases and the freewheel angle, A FREE, decreases with decreasing excitation voltage. By increasing the advance angle, A ADV, current is driven into the winding 19 at an earlier stage.
- Figure 7 illustrates the variance in the advance angle and the freewheel angle for constant output power over the voltage range 16.8-23.0 V.
- this voltage range corresponds to the DC link voltage of the 6-cell battery pack. Below 16.8 V, it is difficult to drive sufficient current into the winding 19 so as to maintain constant output power without potentially demagnetising the rotor 17. Additionally, the voltage of the 6-cell battery pack drops off sharply below about 16.8 V. Accordingly, should the DC link voltage drop below 16.8 V, the drive controller 16 opens all switches Q1-Q4 and terminates. A similar pattern is observed for the 4-cell battery pack over the operating range 11.2-14.8 V; again, the drive controller 16 opens all switches Ql- Q4 and terminates when the DC link voltage drops below 11.2 V.
- the variance in the advance angle and the freewheel angle is stored by the drive controller 16 as a power map.
- Each power map comprises a lookup table storing an advance time and a freewheel time for each of a plurality of voltage levels.
- the drive controller 16 monitors the voltage-level signal and selects from the power map a corresponding advance time and freewheel time from the power map.
- the drive controller 16 uses the advance and freewheel times obtained from the power map to control excitation and freewheeling of the winding 19. Consequently, constant output power is achieved for the motor system 5 irrespective of changes in the excitation voltage.
- Table 4 illustrates a section of the 167 W power map.
- the left-hand portion only of the table is stored by the drive controller 16 as the 167 W power map.
- the right-hand portion has been included for the purposes of the present description and does not form part of the power map.
- the 167 W power map stores advance times and freewheel times that deliver a constant output power of 167 W.
- the DC link voltage is sampled at a resolution of 0.1 V.
- the power map is thus reasonably small without being so small as to adversely affect the performance of the motor system 5.
- the resolution of the power map may be increased or decreased.
- the power map stores advance times and freewheel times rather than advance angles and freewheel angles.
- the drive controller 16 uses timers to generate the control signals S1-S4 that excite and freewheel the winding 19. Accordingly, by storing advance and freewheel times rather than angles, the instructions performed by the drive controller 16 are greatly simplified. Nevertheless, the power map might alternatively store advance angles and freewheel angles, which the drive controller 16 then uses to control the excitation and freewheeling of the winding 19.
- Each advance and freewheel angle has a corresponding time that depends on the speed of the motor 8.
- the drive controller 16 drives the motor 8 within a particular operating speed range.
- Each operating speed range has a nominal speed, which is used to calculate the advance times and the freewheel times:
- T ADV (A ADV / 360°) * 60/dWmai
- T FREE (A FREE / 360°) * 60/ ⁇ Wnai
- OCWnmai is the nominal speed in rpm.
- Table 5 lists the operating speed ranges and the nominal speeds for the various power maps.
- Each power map stores advance times and freewheel times for the motor 8 rotating at the nominal speed. So, for example, the 167 W power map stores advance and freewheel times that achieve constant output power when the motor 8 is rotating at a speed of 99 krpm.
- the drive controller 16 applies a speed-correction value to each of the advance time and the freewheel time, as described below in more detail.
- the drive controller 16 stores five power maps and selects one of the power maps according to the status of the power-supply ID signal, the accessory signal and the power-mode signal.
- the output power of the motor 8 is thus determined by the type of power supply 2 that is attached to the product 1 , whether or not the accessory 4 is attached and powered on, and whether a user has selected a high-power mode or a low-power mode.
- a different power map is selected according to whether a 6-cell battery pack or a 4-cell battery pack is attached to the product 1. Since the 4-cell battery pack has a lower charge capacity, the product 1 would have a shorter run time if the same power map were selected for both the 6-cell and the 4-cell battery packs. By selecting a power map that delivers lower output power, a similar run time for the 4-cell battery pack may be achieved at the expense of output power.
- a power map delivering an output power of 96 W is selected in response to a power-mode signal that is logically low, i.e. when the user selects low-power mode.
- a higher power map delivering either 167 W (with the accessory off) or 136 W (with the accessory on) is then selected in response to a power-mode signal that is logically high, i.e. when the user selects a high-power mode.
- the power supply 2 Since the accessory 4 draws power from the power supply 2, the power supply 2 will discharge more quickly if the same power map is selected. Additionally, excessive current might be drawn from the power supply 2 in order to power both the accessory 4 and the motor 8. Accordingly, in response to the accessory signal, the drive controller 16 selects a power map that delivers lower output power, see Table 2. Consequently, the power supply 2 is protected from excessive current draw and a similar run time for the product 1 may be achieved at the expense of output power.
- the power maps therefore provide a convenient means for controlling the output power of the motor system 5 in response to one or more input signals.
- each power map stores advance times and freewheel times that achieve constant output power when the motor 8 operates at a nominal speed.
- the speed of the motor 8 varies, the back emf in the winding 19 also varies. Consequently, if the angles at which the winding 19 is excited and freewheeled were fixed, the output power of the motor 8 would vary with motor speed. In particular, the output power of the motor 8 would decrease as the motor speed increases.
- the drive controller 16 varies the advance angle and the freewheel angle in response to changes in speed of the motor 8.
- the drive controller 16 applies a speed-correction value to each of the advance angle and the freewheel angle.
- a speed-correction value is applied to the advance angle that increases the advance angle.
- a speed correction value is applied to the freewheel angle that decreases the freewheel angle. Current is therefore driven into the winding 19 at an earlier stage and over a longer period for each half cycle. As a result, constant output power may be achieved in spite of the increase in back emf.
- the speed-correction values that are applied to the advance angle and the freewheel angle depend not only on the speed of the motor 8 but also on the level of the excitation voltage, i.e. the DC link voltage provided by the power supply 2. As the excitation voltage decreases, a particular speed-correction value has a smaller net effect on the output power of the motor 8. Accordingly, in order to maintain constant output power, the speed-corrections values increase in magnitude with decreasing excitation voltage.
- the drive controller 16 For each power map, the drive controller 16 stores two speed-correction maps: an advance speed-correction map and a freewheel speed-correction map.
- Each speed-correction map comprises a lookup table storing a speed-correction value for each of a plurality of speeds and a plurality of voltage levels. Since the power map stores advance times and freewheel times, the speed-correction values are expressed as times. However, should each power map alternatively store advance angles and freewheel angles, the speed-correction maps might then store speed- correction values expressed as angles. Tables 6 and 7 list respectively the advance speed- correction map and the freewheel speed-correction map for the 167 W power map.
- the speed-correction maps that, as the motor speed increases, the advance time is corrected by an amount that increases the advance time, and the freewheel time is corrected by an amount that decreases the freewheel time. Additionally, as the excitation voltage decreases, the amount by which the advance time and the freewheel time are corrected increases. Since each power map stores an advance time and a freewheel time for a nominal speed, the speed-correction values at the nominal speed are zero.
- the drive controller 16 rounds down the excitation voltage and the speed of the motor 8 to the next nearest entry in the lookup table.
- the half-cycle time, T HALF C YCLE is the time interval between two successive edges of the position-sensor signal.
- the drive controller 16 freewheels the winding 19 for the period T FREE, after which the drive controller 16 commutates the winding 19.
- T ADV advance time
- Figure 6 illustrates the waveforms of the winding current, position-sensor signal, excitation voltage, and control signals S1-S4 over a couple of half cycles.
- the drive controller 16 periodically monitors (e.g. each half cycle) the voltage-level signal to obtain the excitation voltage.
- the advance time, T ADV, and the freewheel time, T FREE are then obtained by selecting from the relevant power map the advance time and the freewheel time corresponding to the excitation voltage.
- the times selected from the power map are then corrected by speed-correction values selected from the speed-correction maps. So, for example, if the excitation voltage provided by the power supply is 17.0 V (as determined by the voltage- level signal) and the motor speed is 103 krpm (as determined by the half-cycle time), the drive controller 16 selects an advance time of 89 ⁇ s and a freewheel time of 56 ⁇ s from the 167 W power map (Table 4).
- the drive controller 16 then corrects the advance time by 2.09 ⁇ s, as determined by the advance speed-correction map (Table 6), and corrects the freewheel time by -6.64 ⁇ s, as determined by the freewheel speed-correction map (Table 7). Consequently, the drive controller 16 uses an advance time, T ADV, of 91.09 ⁇ s and a freewheel time, T FREE, of 49.36 ⁇ s.
- the drive controller 16 thus drives the motor 8 at constant output power over a range of excitation voltages and motor speeds. Accordingly, constant output power is achieved as the power supply 2 discharges, and as the motor 8 experiences different loads.
- Electromagnetic noise may cause the position sensor 13 to generate spurious edges. If detected by the drive controller 16, these spurious edges would cause the drive controller 16 to excite the winding 19 at incorrect times. Not only would this adversely affect the performance of the motor system 5, but it may also result in excessive current in the winding 19 that could potentially damage the switches Q2,Q4 or demagnetise the rotor 17.
- the drive controller 16 therefore employs measures to minimise the possibility of detecting spurious edges. The particular measures employed depend upon the mode of operation.
- the drive controller 16 When operating in 'Low-Speed Acceleration Mode', the drive controller 16 excites the winding 19 in synchrony with the edges of the position-sensor signal. Following commutation, the drive controller 16 ignores the position-sensor signal for a predetermined time, e.g. 250 ⁇ s. Accordingly, any spurious edges falling within this period are ignored.
- a predetermined time e.g. 250 ⁇ s. Accordingly, any spurious edges falling within this period are ignored.
- the drive controller 16 When operating in 'High-Speed Acceleration Mode' and 'Running Mode', the drive controller 16 employs a position-sensor window. Any edges of the position-sensor signal that are generated outside of this window are ignored by the drive controller 16. If no edge is detected within the position-sensor window, the drive controller 16 opens all switches for a predetermined time (e.g. 50 ms) and enters 'Resynchronisation Mode'.
- a predetermined time e.g. 50 ms
- the position-sensor window therefore starts at excitation and has a length greater than the advance time, T ADV.
- the position-sensor window has a length corresponding to the sum of the advance time, T ADV, and a quarter of the half-cycle time, T HALF CYCLE. This then provides a sufficiently tight window in which to reliably detect the next edge of the position-sensor signal.
- the position-sensor window may be larger or smaller.
- the position-sensor is preferably no greater than the sum of the advance time and half the half-cycle time.
- the duty cycle of the position-sensor signal may not be balanced. If the half-cycle time is determined from the interval between a single pair of successive edges (i.e. a single pulse) of the position-sensor signal, any imbalance in the duty cycle will result in an incorrect half-cycle time.
- the drive controller 16 obtains the half-cycle time by averaging the interval between successive edges for a plurality of pulses of the position-sensor signal. For example, the drive controller 16 may obtain the half-cycle time by averaging the interval between successive edges for the previous four pulses of the position- sensor signal. By averaging the interval between successive edges for a plurality of pulses, any variance in the half-cycle time is significantly reduced.
- the drive controller 16 excites the winding 19 in response to the rising edges or the falling edges, but not both, of the position-sensor signal.
- the drive controller 16 calculates the drive-off times for both halves of each electrical cycle in response to a single edge, i.e. rising or falling, but not both.
- the drive controller 16 calculates the drive-off time for the first half cycle, T DRIVE OFF 1, in the manner described above, i.e. using the half-cycle time, the advance time and the freewheel time.
- the drive-off time for the second half cycle, T_DRIVE_OFF_2 is then obtained by adding the half-cycle time to the drive-off time of the first half cycle:
- the drive controller 16 acts in response to a single edge only, the drive controller 16 is less sensitive to any imbalance in the duty cycle of the position-sensor signal. Accordingly, the performance of the motor system 5 is not adversely affected by duty cycle imbalance.
- the current controller 15 ensures that the current within the winding 19 does not exceed a threshold. This then prevents demagnetisation of the rotor 17 and protects the switches Q1-Q4 of the inverter 11.
- the current sensor 14 has a tolerance in the resistance of the sense resistor Rl and thus the voltage delivered to the input of the current controller 15 has a variance.
- the tolerance stack on the current threshold can be as much as ⁇ 20%. This tolerance is too large to ensure that the motor 8 will run efficiently without potentially demagnetising the rotor 17 or damaging the switches Q1-Q4 of the inverter 11. Accordingly, following assembly of the control system 9, the current controller 15 is fine-tuned to trim out the component tolerances.
- the output of the inverter 11 is connected to an inductive load that resembles the motor 8.
- An external current sensor accurately measures the current through the inductive load.
- the PWM module 27 is loaded with a relatively low duty cycle, and the inductive load is excited. As the current in the inductive load rises, the current controller 15 generates the overcurrent signal to chop the current. Since the PWM module 27 is loaded with a relatively low duty cycle, the current is chopped at a level below the ideal current threshold.
- the external current sensor accurately measures the current level at which the overcurrent signal was generated. The duty cycle of the PWM module 27 is then increased and the process is repeated. Eventually, the current controller 15 generates the overcurrent signal at an ideal current threshold. At this point, the value of the duty cycle is written to the memory device 28 of the current controller 15 as a scaling factor.
- the current controller 15 is therefore fine-tuned such that an overcurrent signal is generated whenever the current in the winding 19 exceeds a well-defined threshold, irrespective of component tolerances.
- the threshold at which the overcurrent signal is generated may be tightly controlled. Accordingly, tight control over the current in the winding 19 is achieved without the need for expensive, high-tolerance components.
- the use of a PWM module 27 provides a simple and cost-effective means for generating a threshold voltage. Following assembly of the motor system 5, there is a tolerance associated with the alignment of the position sensor 13 relative to the motor 8.
- This tolerance results in a phase difference between the detected position of the rotor 17, as provided by the position-sensor signal, and the actual position of the rotor 17. This in turn translates to a phase difference between the edges of the position-sensor signal and the zero-crossings of the back emf in the winding 19.
- the motor 8 is driven at a speed of 49.5 krpm. This speed corresponds to half the nominal speed (i.e. 99 krpm) for the 167 W power map. Power to the motor 8 is then interrupted and the back emf in the winding 19 is measured and compared against the edges of the position-sensor signal.
- the time difference between the edges of the position-sensor signal and the zero-crossings of the back emf provides a measure of the phase difference at 49.5 krpm.
- the time difference at 49.5 krpm is then scaled for the nominal speed of each power map and stored to the memory device 30 of the drive controller 16 as a position-sensor offset, T POS OFFSET.
- the time difference at 49.5 krpm is doubled to provide the position-sensor offset for the 167 W power map, whilst the time difference is multiplied by 79.0/49.5 to provide the position-sensor offset for the 83 W power map.
- the drive controller 16 therefore stores a position-sensor offset for each power map.
- the position-sensor offset corresponds to a time difference between the edges of the position-sensor signal and the zero-crossings of back emf when the motor 8 operates at the nominal speed for the corresponding power map (see Table 5).
- the drive controller 16 uses the position-sensor offset, T POS OFFSET, to correct the drive-off time, T DRIVE OFF:
- T DRIVE OFF T HALF CYCLE - T ADV - T FREE - T POS OFFSET
- the phase difference between the edges of the position-sensor signal and the zero-crossings of the back emf decreases with the speed of the motor 8.
- the drive controller 16 corrects the drive-off time by an amount that varies with the speed of the motor 8.
- the drive controller 16 need not calculate what time correction should be applied on the basis of the speed of the motor 8.
- the number of instructions performed by the drive controller 16 is reduced and thus a relatively simple and cheap processor 30 may be employed.
- the motor system 5 is optimised for the nominal speed of each power map.
- the operating speed range for each power map is relatively narrow in comparison to the full speed range of the motor system 5.
- the operational speed range (minimum speed to maximum speed of Table 5) for each power map is no more than 20% of the full speed range (zero to maximum speed). Consequently, the discrepancy between the position-sensor offset and the phase difference at each end of the operating range is relatively small, and thus relatively good performance is achieved over the full operating range using the fixed-time position-sensor offset.
- tolerances in with the inductance and the back emf of the motor 8 For example, tolerances in the geometry of the pole tips of the stator 18 and the air gap influence the inductance of the winding 19, whilst tolerances in the magnetic properties of the rotor 17, as well as the geometry of the air gap, influence the back emf in the winding 19.
- the inductance and back emf of the motor 8 can vary by as much as ⁇ 5% and ⁇ 10%. Consequently, the output power of different motor systems 5 may differ, in spite of the same control system 9 being used to drive the motor 8.
- the power maps employed by the drive controller 16 are fine-tuned such that the same or similar output power is achieved for each motor system 5 irrespective of tolerances in the inductance and the back emf.
- the motor system 5 is fine-tuned by an external fine-tune system storing a plurality of power maps.
- Each power map stored by the fine-tune system comprises advance times and freewheel times that drive a nominal motor (i.e. one having a nominal inductance and nominal back emf) at different output power.
- the fine-tune system stores each of the power maps listed in Table 2, i.e. power maps that drive the nominal motor at 83 W, 96 W, 107 W, 136 W and 167 W.
- the fine-tune system For each of these base power maps, the fine-tune system additionally stores power maps that drive the nominal motor at a higher output power and at a lower output power. Each base map and the respective additional power maps drive the nominal motor at discrete levels of output power that are separated by a predetermined amount. For the purposes of the present description, it will be assumed that, for each base map, the fine-tune system stores a single high power map that drives the motor at higher output power and a single low power map that drives the motor at lower output. Moreover, the high power map, base power map, and low power map are separated by 4 W. Accordingly, for the 167 W base power map, the fine-tune system additionally stores a 163 W power map, and a 171 W power map. For the 136 W power map, the fine-tune system additionally stores 132 W and 140 W power maps, and so on.
- the motor system 5 is fine tuned by loading the set of base power maps into the memory device 30 of the drive controller 16.
- the motor system 5 is then driven with the 167 W power map using a 17 V DC link supply.
- the input power of the motor system 5 is then measured.
- the input power for the 167 W power map should be around 190 W for a DC link voltage of 17 V, see Table 4. If the measured input power is less than 188 W, the drive controller 16 is loaded with the set of high power maps. As a result, the motor system 5 is driven at a higher power (4 W more power) so as to compensate for the power difference. Conversely, if the measured input power is greater than 192 W, the drive controller 16 is loaded with the set of low power maps.
- the motor system 5 is driven at a lower power (4 W less power) so as to compensate for the power difference. Accordingly, a different set of power maps is loaded into the drive controller 16 so as to compensate for any differences in the input power of the motor system 5. As a result, the same or similar output power may be achieved for different motors 8 having different inductance and back emf.
- the power of the motor system 5 may be fine-tuned to within ⁇ 2 W. It will, of course, be appreciated that the separation of the power maps may be decreased so as to achieve tighter tolerance on the power of the motor system 5.
- the fine-tuning process has the particular benefit that there is no need to measure the inductance or the back emf of the motor 8. Moreover, by measuring the power of the motor system 5 as it is driven and then compensating accordingly, the fine-tuning process is also able to compensate for armature reaction.
- the output power might alternatively be measured. However, it is generally easier to measure the input power of the motor system 5.
- the motor system 5 may be fine-tuned by measuring a different parameter of the motor 8. The measured parameter is then compared against that of a nominal motor and on the basis of the comparison, one of the plurality of sets of power maps stored by the fine-tune system is loaded into the drive controller 16. For example, the back emf of the motor 8 may be measured and compared against a nominal back emf value (i.e. the back emf for the nominal motor). If the measured back emf corresponds to the nominal back emf, the base power maps are loaded into the drive controller 16.
- a nominal back emf value i.e. the back emf for the nominal motor
- a different set of power maps are loaded into the drive controller 16 that take into account the difference in back emf. Accordingly, more consistent output power and performance may be achieved for different motors irrespective of tolerance in back emf.
- the back emf is measured when obtaining the position- sensor offset. Accordingly, the back emf of the motor 8 may be measured without the need for any additional processes.
- control system 9 By controlling the advance angle and the freewheel angle in response to changes in both excitation voltage and speed, the control system 9 is able to drive the motor 8 at constant output power over a range of excitation voltages and motor speeds.
- constant output power should be understood to mean that the variance in the output power of the motor 8 is no greater than ⁇ 5%.
- the control system 9 drives the motor 8 not only at constant output power but also at relatively high efficiency (i.e. the ratio of output power to input power).
- an efficiency of at least 75% is achievable over the range of excitation voltages and motor speeds.
- an efficiency of at least 80% is achievable.
- an efficiency of around 88% is obtainable with the advance and freewheel angles of the 167 W power map.
- the range of excitation voltages over which constant output power and/or high efficiency is achieved is relatively broad.
- the excitation voltage range is 16.8- 23.0 V
- the excitation voltage range is 11.2-14.8.
- the minimum voltage is less than 80% of the maximum voltage. This represents a relatively large range over which constant output power and/or high efficiency is achieved. Accordingly, the control system 9 is ideally suited for use in driving a motor of a battery- powered product, where the excitation voltage varies as the battery discharges.
- each operating speed range Whilst each operating speed range is relatively narrow in comparison to the full speed range, each operating speed range nevertheless spans at least 10 krpm (Table 5). Moreover, the minimum speed for each operating speed range is greater than 60 krpm, whilst the maximum speed for each operating speed range is greater than 80 krpm. Indeed, for the 167 W power map, the maximum speed of the operating speed range is greater than 100 krpm. Over this sort of speed range, large differences in output power would arise without the control provided by the control system. Moreover, efficiency at these relatively high speeds would generally be poor without the control provided by the control system.
- a single-phase permanent-magnet motor 8 may be driven at relatively high speeds, and in particular at speeds in excess of 60 krpm. Moreover, high speeds are achieved at relatively high efficiency. Indeed, as can be seen from Table 4, speeds in excess of 100 krpm are attainable for an input power less than 200 W. Accordingly, high speeds are attainable at relatively high efficiency without the need for additional phase windings, which would increase the cost and size of the motor.
- the control system 9 employs three different modes of operation that collectively achieve smooth and efficient performance of the motor 8.
- the winding 19 When operating in 'Low-Speed Acceleration Mode', the winding 19 is excited in synchrony with zero-crossings of the back emf in the winding 19. At these relatively low speeds, the back emf in the winding 19 is relatively small and does not impact on the ability to drive current, and thus power, into the winding 19.
- the control required to drive the motor 8 may be kept relatively simple.
- the magnitude of the back emf begins to influence the ability to drive current into the winding 19.
- the winding 19 By exciting the winding 19 in advance of the back emf, current is driven into the winding at earlier stage. Consequently, more power is driven into the motor 8.
- the winding 19 By exciting the winding 19 in advance of the back emf by a fixed period of time, the winding 19 is excited in advance of the back emf by an angle that increases with rotor speed. Consequently, as the motor 8 accelerates, current is driven into the winding 19 at an increasingly early stage and thus more power is driven into the winding 19.
- the control required to drive the motor 8 is relatively simple.
- the magnitude of the back emf significantly affects the ability to drive current into the winding 19.
- the winding 19 is excited in advance of the back emf such that current is driven into the winding 19 at an earlier stage.
- changes in the speed of the motor 8 influence the magnitude of the back emf and thus the output power of the motor 8.
- the advance time may be increased with increasing motor speed.
- the increase in back emf is then compensated by current being driven into the winding 19 at an earlier stage. As a result, the same or similar output power may be achieved irrespective of changes in speed.
- the control system 9 therefore employs different operating modes that act to accelerate the motor 8 smoothly and efficiently up to running speed, and then to drive the motor 8 at constant output power.
- each power map stores an advance time for each of a plurality of voltages.
- each power map may instead store the sum of the advance time and the freewheel time. This then simplifies the calculation of the drive-off time, T DRIVE OFF, which is directly proportional to the sum of advance time and the freewheel time obtained from the power map.
- T HALF CYCLE at each nominal speed is known (e.g. 303.03 ⁇ s at 99 krpm, 320.86 ⁇ s at 93.5 krpm, and so on)
- each power map may instead store a drive-off time, rather than an advance time, for each of the plurality of voltage levels.
- each power map might alternatively store advance angles and freewheel angles.
- each power map stores a first control value and a second control value for each of a plurality of voltage levels.
- the first control value is then proportional to an advance angle and is used to control the angle or time at which the winding 19 is excited.
- the second control value is then proportional to a freewheel angle and controls the angle or time over which the winding 19 is freewheeled.
- the drive controller 16 then excites the winding 19 in advance of zero-crossing of back emf at a time defined by the first control value, and freewheels the winding 19 for a time defined by the second control value.
- the speed-correction maps then store appropriate speed-correction values for correcting the first control value and the second control value.
- the advance speed-correction map stores speed-corrections values that are applied to the first control value
- the freewheel speed-correction map stores speed-correction values that are applied to the second control value.
- each power map stores control values that are corrected for speed using correction values stored in a speed-correction map.
- the storing of correction values has the benefit of reducing the overall memory requirements.
- each correction value is smaller than a corresponding control value.
- the drive controller 16 might alternatively store two master maps, each storing a control value for each of a plurality of speeds and excitation voltages.
- both the advance time and the freewheel time are corrected for speed.
- constant output power over each operating speed range might equally be achieved by fixing one of the advance time and the freewheel time and varying the other of the advance time and the freewheel time. Since the winding 19 is freewheeled during a period of falling back emf, the output power of the motor system 5 is more sensitive to changes in the advance time. Accordingly, of the two, the freewheel time is preferably kept fixed and the advance time is corrected for speed.
- the freewheel speed-correction map may be omitted for each power map, thus reducing the memory requirements of the drive controller 16.
- the freewheel time may be fixed for different speeds, the corresponding freewheel angle is not. This follows since the electrical angle for a fixed period of time varies with the speed of the motor 8.
- Each power map stores control values that are calculated on the basis of a nominal speed for the motor 8. Speed-correction values are then applied to the control values should the speed of the motor differ from the nominal speed. Additionally, the position-sensor offset for each power map corresponds to a time difference between the edges of the position-sensor signal and the zero-crossings of back emf when the motor 8 operates at the nominal speed. Accordingly, the control system 9 is optimised for operation at the nominal speed within each operating speed range.
- the nominal speed may therefore be chosen so as to optimise performance of the product 1.
- the nominal speed may correspond to a speed at which the motor 8 predominantly operates.
- the nominal speed may correspond to a speed at which peak performance for the product 1 is achieved.
- the product 1 may be a vacuum cleaner for which peak airwatts occurs at a particular speed within each operating speed range.
- the nominal speed for each power map then corresponds to the speed at which peak airwatts is achieved.
- the particular advance times, freewheel times, and speed-correction values listed in Tables 4-7 are provided by way of example only.
- the particular control values and speed-correction values needed to achieve constant output power will depend on the particular characteristics of the motor 8.
- the advance and freewheel angles for a particular motor are obtained from simulation that generates the best performance (e.g. best efficiency) for the motor at the desired output power within the constraints of the control system. Within the simulation, constraints may be placed on the behaviour of the advance angle and the freewheel angle. For example, the advance angle may be constrained to increase and the freewheel angle may be constrained to decrease with decreasing excitation voltage and/or increasing motor speed.
- the product 1 may take the form of a vacuum cleaner, particularly a handheld vacuum cleaner, having an accessory 4 in the form of a motorised brushbar.
- the output power of the motor system 5, and thus the suction power of the vacuum cleaner will then vary according to whether or not the brushbar is attached to the vacuum cleaner and/or turned on.
- the power-mode selection switch 7 may be used by the user to select a high-power mode when increased suction is required. Since the motor system 5 maintains constant output power over each operating speed range, the vacuum cleaner is able to maintain constant suction over a range of loads. Furthermore, since the motor system 5 maintains constant output power in response to changes in excitation voltage, the vacuum cleaner is able to maintain constant suction in response to changes in the voltage of the power supply 2. In particular, where the power supply 2 is a battery pack, the vacuum cleaner in able to maintain constant suction as the battery pack discharges.
- the power supply 2 of the embodiment described above is a DC supply, and in particular a DC battery pack
- the power supply 2 might equally comprise an AC supply, rectifier and filter to provide a DC voltage.
- the motor 8 and the inverter 11 of the embodiment described above each comprise a single phase, the motor 8 and the inverter 11 may comprise additional phases.
- the drive controller 16 then drives each phase in the manner described above. In particular, each phase is excited in synchrony with the zero-crossings of the back emf during 'Low-Speed Acceleration Mode', and each phase is sequentially excited and freewheeled during 'High-Speed Acceleration Mode' and 'Running Mode'.
- the position sensor 13 described above is a Hall-effect sensor. However, alternative position sensors capable of outputting a signal indicative of the position of the rotor 17, and thus the zero-crossings of back emf in the winding 19, might equally be employed, such as an optical sensor.
- control system 9 that controls the operation of a motor 8.
- control system 9 might equally be used to control the operation of a generator or other electric machine.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Direct Current Motors (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201080024822.3A CN102460954B (en) | 2009-04-04 | 2010-03-31 | Control of an electric machine |
KR1020117026056A KR101350763B1 (en) | 2009-04-04 | 2010-03-31 | Control of an electric machine |
BRPI1009867-4A BRPI1009867B1 (en) | 2009-04-04 | 2010-03-31 | METHOD OF CONTROLING AN ELECTRIC MACHINE, CONTROL SYSTEM FOR AN ELECTRIC MACHINE AND PRODUCT CONTAINING THEM |
EP10722760.5A EP2415164B1 (en) | 2009-04-04 | 2010-03-31 | Control of an electric machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0905910.6A GB2469140B (en) | 2009-04-04 | 2009-04-04 | Control of an electric machine |
GB0905910.6 | 2009-04-04 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010112929A2 true WO2010112929A2 (en) | 2010-10-07 |
WO2010112929A3 WO2010112929A3 (en) | 2010-12-16 |
Family
ID=40750151
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/GB2010/050565 WO2010112929A2 (en) | 2009-04-04 | 2010-03-31 | Control of an electric machine |
Country Status (8)
Country | Link |
---|---|
US (1) | US9742318B2 (en) |
EP (1) | EP2415164B1 (en) |
JP (2) | JP5279145B2 (en) |
KR (1) | KR101350763B1 (en) |
CN (1) | CN102460954B (en) |
BR (1) | BRPI1009867B1 (en) |
GB (1) | GB2469140B (en) |
WO (1) | WO2010112929A2 (en) |
Families Citing this family (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8108700B2 (en) * | 2009-03-10 | 2012-01-31 | International Business Machines Corporation | Power supply identification using a modified power good signal |
GB2469126B (en) * | 2009-04-04 | 2013-11-06 | Dyson Technology Ltd | Control of an electric machine |
GB2469142B (en) * | 2009-04-04 | 2014-04-23 | Dyson Technology Ltd | High-speed electric system |
GB2469132B (en) * | 2009-04-04 | 2014-01-29 | Dyson Technology Ltd | Control of an electric machine |
GB2469129B (en) * | 2009-04-04 | 2013-12-11 | Dyson Technology Ltd | Current controller for an electric machine |
GB2469144B (en) * | 2009-04-04 | 2014-11-05 | Dyson Technology Ltd | Control of an electric machine |
GB2469138B (en) * | 2009-04-04 | 2014-04-30 | Dyson Technology Ltd | Constant-power electric system |
GB2469131B (en) * | 2009-04-04 | 2014-04-23 | Dyson Technology Ltd | Control of an electric machine |
GB2469135B (en) * | 2009-04-04 | 2013-11-06 | Dyson Technology Ltd | Power tuning an electric system |
GB2469137B (en) * | 2009-04-04 | 2014-06-04 | Dyson Technology Ltd | Control of an electric machine |
GB2469143B (en) * | 2009-04-04 | 2014-03-12 | Dyson Technology Ltd | Control of a permanent-magnet machine |
GB201006384D0 (en) * | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006395D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006398D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006390D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006386D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006397D0 (en) * | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006387D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006396D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless motor |
GB201006388D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of brushless motor |
GB201006392D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Controller for a brushless motor |
GB201006391D0 (en) | 2010-04-16 | 2010-06-02 | Dyson Technology Ltd | Control of a brushless permanent-magnet motor |
GB2484289B (en) | 2010-10-04 | 2013-11-20 | Dyson Technology Ltd | Control of an electrical machine |
US9088238B2 (en) | 2012-03-06 | 2015-07-21 | Dyson Technology Limited | Method of determining the rotor position of a permanent-magnet motor |
US9515588B2 (en) | 2012-03-06 | 2016-12-06 | Dyson Technology Limited | Sensorless control of a brushless permanent-magnet motor |
GB2500014B (en) * | 2012-03-06 | 2016-09-21 | Dyson Technology Ltd | Sensorless control of a brushless permanent-magnet motor |
US9456726B2 (en) | 2013-11-22 | 2016-10-04 | Techtronic Industries Co. Ltd. | Battery-powered cordless cleaning system |
US10056851B2 (en) * | 2014-05-30 | 2018-08-21 | Eaton Corporation | System and method for induction motor speed estimation using a soft starter system |
DE102014219243A1 (en) | 2014-09-24 | 2016-03-24 | Robert Bosch Gmbh | Method for operating a circuit arrangement |
JP6486805B2 (en) * | 2015-09-25 | 2019-03-20 | ルネサスエレクトロニクス株式会社 | Semiconductor power module and electric motor drive system |
CN110352026B (en) | 2017-03-02 | 2023-04-25 | 科勒公司 | Hand washing table |
KR102295580B1 (en) * | 2017-04-04 | 2021-08-30 | 현대자동차주식회사 | Controlling apparatus and method for senscing ovecurrent of dc motor for vehicle |
JP2019103266A (en) * | 2017-12-04 | 2019-06-24 | 株式会社デンソー | Control device for multiple-coil rotary machine |
TWI683530B (en) * | 2018-05-25 | 2020-01-21 | 茂達電子股份有限公司 | Motor driving circuit and method thereof |
EP3607864A1 (en) * | 2018-08-07 | 2020-02-12 | Koninklijke Philips N.V. | Wet cleaning device |
WO2021015797A1 (en) * | 2019-07-25 | 2021-01-28 | Hewlett-Packard Development Company, L.P. | Shared redundant power |
EP3806273A1 (en) | 2019-10-11 | 2021-04-14 | Black & Decker Inc. | Power tool receiving different capacity batttery packs |
JP2022011042A (en) * | 2020-06-29 | 2022-01-17 | キヤノン株式会社 | Motor controller and image forming apparatus |
TWI737467B (en) * | 2020-08-28 | 2021-08-21 | 威剛科技股份有限公司 | Energy recovery management system and method for high reluctance motor |
CN114123664B (en) * | 2020-08-28 | 2023-06-02 | 威刚科技股份有限公司 | High reluctance motor energy recovery management system and method |
KR102506089B1 (en) * | 2020-12-10 | 2023-03-03 | 현대오토에버 주식회사 | Motor control apparatus for alternating freewheeling and control method of alternating freewheeling for motor |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030121685A1 (en) | 2001-12-26 | 2003-07-03 | Makita Corporation, Inc. | Power tool |
GB2410848A (en) | 2004-02-05 | 2005-08-10 | Dyson Ltd | Voltage compensation in switched reluctance motor |
Family Cites Families (195)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3781620A (en) | 1971-02-01 | 1973-12-25 | Union Carbide Corp | Full wave governor control system |
US3854081A (en) | 1973-05-14 | 1974-12-10 | Bendix Corp | Servo error signal generator for numerical control systems |
US5023527A (en) | 1974-06-24 | 1991-06-11 | General Electric Company | Control circuits, electronically commutated motor systems and methods |
JPS5181341A (en) | 1975-01-16 | 1976-07-16 | Hitachi Ltd | Erebeetayo doakudosochi |
JPS5928152B2 (en) | 1978-11-04 | 1984-07-11 | ファナック株式会社 | Protection device for motor drive inverter circuit |
US4323835A (en) * | 1980-03-05 | 1982-04-06 | The Scott & Fetzer Company | Simplified power factor controller for induction motor |
JPS57191576A (en) | 1981-05-21 | 1982-11-25 | Seikosha Co Ltd | Battery life annunciator |
GB2125642B (en) | 1982-08-06 | 1985-10-02 | Philips Electronic Associated | Washing machine motor speed control circuit |
US4618897A (en) | 1985-02-11 | 1986-10-21 | Ixi Laboratories, Inc. | System for synchronizing plural data storage devices to a common master |
SE449947B (en) | 1985-10-04 | 1987-06-01 | Electrolux Ab | DEVICE FOR A VACUUM CLEANER |
US4740999A (en) | 1985-10-17 | 1988-04-26 | Ampex Corporation | Noise immunity window circuit |
JPH01133592A (en) | 1987-11-17 | 1989-05-25 | Secoh Giken Inc | Single-phase miniature motor |
US4958269A (en) | 1988-07-27 | 1990-09-18 | Eaton Corporation | Current control for microprocessor motor drive |
JPH02178058A (en) | 1988-12-29 | 1990-07-11 | Hitachi Ltd | Protecting device of printer and printer |
JP2803151B2 (en) | 1989-05-08 | 1998-09-24 | 松下電器産業株式会社 | Power supply |
US5202614A (en) | 1989-09-25 | 1993-04-13 | Silicon Systems, Inc. | Self-commutating, back-emf sensing, brushless dc motor controller |
DE3932802A1 (en) | 1989-09-30 | 1991-04-11 | Wap Reinigungssysteme | Brushless high speed DC vacuum cleaner motor - has electronic commutation for hazardous applications using Hall-effect sensors in permanent magnet rotor with in-built stator current limit |
JP2656122B2 (en) | 1989-10-18 | 1997-09-24 | 松下電器産業株式会社 | Motor drive |
SI8912097B (en) | 1989-10-30 | 1999-04-30 | Iskra-Elektromotorji, P.O., | Single-phase direct current motor without brushes with high speed and high power |
JPH0446418A (en) | 1990-06-14 | 1992-02-17 | Yamatake Honeywell Co Ltd | Digital/analog converter |
JPH0479784A (en) | 1990-07-18 | 1992-03-13 | Fuji Electric Co Ltd | Current limit circuit for pwm amplifier |
JP2880777B2 (en) | 1990-08-28 | 1999-04-12 | 株式会社東芝 | Washing machine |
IN172484B (en) | 1990-09-10 | 1993-08-28 | Paramount Sinters Private Limi | |
EP0507907B1 (en) | 1990-09-18 | 1999-01-13 | Rodime PLC | Digital servo control system for use in disk drives |
EP0528046A1 (en) | 1991-03-07 | 1993-02-24 | Kabushikigaisha Sekogiken | High-speed motor |
US5278702A (en) | 1991-04-12 | 1994-01-11 | Western Digital Corporation | Data synchronizer with symmetric window generation |
US5191518A (en) | 1991-08-15 | 1993-03-02 | Recker Bradley J | Plural inverter control arrangement |
US5543632A (en) | 1991-10-24 | 1996-08-06 | International Business Machines Corporation | Temperature monitoring pilot transistor |
US5428522A (en) | 1992-08-17 | 1995-06-27 | Kaman Electromagnetics Corporation | Four quadrant unipolar pulse width modulated inverter |
US5406150A (en) | 1992-08-24 | 1995-04-11 | Silicon Systems Inc | Control system for motors and inductive loads |
JPH06133561A (en) | 1992-10-14 | 1994-05-13 | Hitachi Ltd | Inverter |
JPH06141584A (en) | 1992-10-26 | 1994-05-20 | Fujitsu Ltd | Spindle motor controller |
US5493200A (en) | 1993-05-12 | 1996-02-20 | Sundstrand Corporation | Control for a brushless generator |
JPH0759375A (en) * | 1993-08-06 | 1995-03-03 | Nissan Motor Co Ltd | Controller for sr motor driven by square wave |
JPH07123771A (en) | 1993-10-25 | 1995-05-12 | Hitachi Ltd | Speed controller for dc brushless motor |
US5592716A (en) | 1993-11-02 | 1997-01-14 | Aktiebolaget Electrolux | Device for a vacuum cleaner and a method for cooling a motor |
US5457364A (en) | 1994-01-18 | 1995-10-10 | Allegro Microsystems, Inc. | Bridge motor driver with short-circuit protection and motor-current limiting feature |
JPH0819267A (en) | 1994-06-27 | 1996-01-19 | Okuma Mach Works Ltd | Inverter controller |
CN1166050C (en) | 1994-07-01 | 2004-09-08 | Uqm技术公司 | Driving system of brushless motor |
JP3360946B2 (en) | 1994-08-01 | 2003-01-07 | ビーオーシーエドワーズテクノロジーズ株式会社 | Control circuit for brushless motor |
JP3340850B2 (en) | 1994-08-05 | 2002-11-05 | 株式会社東芝 | Gate circuit of cycloconverter |
JPH08108564A (en) | 1994-10-12 | 1996-04-30 | Fuji Photo Film Co Ltd | Line printer |
US5563980A (en) | 1994-12-14 | 1996-10-08 | Industrial Technology Research Institute | Brushless DC motor speed controller |
JPH08256495A (en) | 1995-03-17 | 1996-10-01 | Aiwa Co Ltd | Motor driver |
DE69623076T2 (en) | 1995-06-05 | 2003-04-17 | Kollmorgen Corp., Waltham | System and method for controlling brushless permanent magnet motors |
JP3322531B2 (en) | 1995-06-30 | 2002-09-09 | 三洋電機株式会社 | Drive control circuit |
US5857060A (en) | 1995-08-02 | 1999-01-05 | Itt Automotive Electrical Systems, Inc. | Noise suppression in PWM-driven DC motor |
JPH0998594A (en) * | 1995-09-29 | 1997-04-08 | Aisin Seiki Co Ltd | Conduction control method for electric motor |
US5805208A (en) | 1995-09-29 | 1998-09-08 | Eastman Kodak Company | Positioning system timing synchronization |
JP3575895B2 (en) | 1995-12-15 | 2004-10-13 | オリエンタルモーター株式会社 | Motor rotation abnormality detection device |
US6051942A (en) | 1996-04-12 | 2000-04-18 | Emerson Electric Motor Co. | Method and apparatus for controlling a switched reluctance machine |
JPH09294389A (en) | 1996-04-24 | 1997-11-11 | Matsushita Electric Ind Co Ltd | Power generating equipment and cleaner using it |
GB9613538D0 (en) | 1996-06-27 | 1996-08-28 | Switched Reluctance Drives Ltd | Matrix interpolation |
US5796194A (en) | 1996-07-15 | 1998-08-18 | General Electric Company | Quadrature axis winding for sensorless rotor angular position control of single phase permanent magnet motor |
KR100205354B1 (en) | 1996-09-02 | 1999-07-01 | 구본준 | Data separation circuit |
EP0841744A1 (en) | 1996-10-30 | 1998-05-13 | STMicroelectronics S.r.l. | Method for driving a D.C. brushless electric motor |
JPH10155299A (en) | 1996-11-22 | 1998-06-09 | Matsushita Electric Ind Co Ltd | Power generating device and cleaner utilizing the device |
US5838127A (en) | 1996-12-05 | 1998-11-17 | General Electric Company | Single phase motor for laundering apparatus |
JP3281561B2 (en) | 1996-12-25 | 2002-05-13 | シャープ株式会社 | Motor speed control device |
AUPO478297A0 (en) | 1997-01-24 | 1997-02-20 | Commonwealth Scientific And Industrial Research Organisation | Improvements in high speed electric motors |
GB9701438D0 (en) | 1997-01-24 | 1997-03-12 | Switched Reluctance Drives Ltd | Control of an inductive load |
WO1998035428A1 (en) | 1997-02-05 | 1998-08-13 | Fisher & Paykel Limited | Brushless dc motor control |
US5841262A (en) | 1997-03-25 | 1998-11-24 | Emerson Electric Co. | Low-cost universal drive for use with switched reluctance machines |
CA2202442A1 (en) | 1997-04-11 | 1998-10-11 | Revolve Technologies Inc. | Current mode switching for tri-state amplifiers in magnetic bearing control systems |
JP3886067B2 (en) | 1997-05-15 | 2007-02-28 | 日本電産シバウラ株式会社 | Electric tool |
JP3697623B2 (en) | 1997-05-30 | 2005-09-21 | アイシン精機株式会社 | Chopping current controller |
JPH1118474A (en) | 1997-06-30 | 1999-01-22 | Matsushita Electric Ind Co Ltd | Motor drive circuit |
US6166503A (en) | 1997-11-26 | 2000-12-26 | Seagate Technology Llc | Disc drive spindle motor with programmable current control |
US6046554A (en) | 1998-02-13 | 2000-04-04 | General Electric Company | Method and apparatus for calibrating a permanent-magnet motor using back EMF measurement |
DE19812966A1 (en) | 1998-03-24 | 1999-09-30 | Peter Koller | Small brushless DC motor |
JP3943726B2 (en) | 1998-09-16 | 2007-07-11 | 本田技研工業株式会社 | Regenerative braking device |
DE69931658T2 (en) | 1998-12-07 | 2007-05-24 | Canon Finetech Inc., Mitsukaido | Inkjet image forming apparatus |
EP1141957B1 (en) | 1998-12-16 | 2002-07-31 | STMicroelectronics Asia Pacific Pte Ltd. | A method of controlling the speed of an arm of a disk drive |
GB9906716D0 (en) | 1999-03-23 | 1999-05-19 | Switched Reluctance Drives Ltd | Operation of a switched reluctance machine from dual supply voltages |
JP2000287479A (en) | 1999-03-29 | 2000-10-13 | Matsushita Electric Ind Co Ltd | Controller for brushless motor |
US6100662A (en) | 1999-06-30 | 2000-08-08 | Warner Electric Technology, Inc. | Step motor stabilization control |
GB9911069D0 (en) | 1999-05-12 | 1999-07-14 | Switched Reluctance Drives Ltd | Control of line harmonics |
JP2001035195A (en) | 1999-07-19 | 2001-02-09 | Nec Ic Microcomput Syst Ltd | Semiconductor memory |
GB9920988D0 (en) | 1999-09-07 | 1999-11-10 | Trw Lucas Varity Electric | Motor control |
EP1400009B1 (en) * | 1999-09-17 | 2013-01-02 | GM Global Technology Operations LLC | Extended speed range operation of permanent magnet brushless machines using optimal phase angle control in the voltage mode operation |
JP2001211680A (en) | 2000-01-20 | 2001-08-03 | Toshiba Corp | Vacuum cleaner |
WO2001059922A2 (en) | 2000-02-09 | 2001-08-16 | Dana Corporation | Method for operating a switched reluctance electrical generator |
US6366225B1 (en) | 2000-02-14 | 2002-04-02 | Stmicroelectronics, Inc. | Circuit and method for determining the phase difference between a sample clock and a sample signal by linear approximation |
US6307346B1 (en) | 2000-04-20 | 2001-10-23 | General Motors Corporation | Induction motor load limiting for power steering applications |
US6380639B1 (en) * | 2000-05-11 | 2002-04-30 | Bombardier Inc. | System, method and apparatus for power regulation |
JP3656901B2 (en) | 2000-08-29 | 2005-06-08 | 東芝テック株式会社 | Drive control circuit using inverter control circuit of electric blower for vacuum cleaner and electric vacuum cleaner using this drive control circuit |
CN1211640C (en) | 2000-09-19 | 2005-07-20 | 本田技研工业株式会社 | Rotational position detector and motor equipped with rotational position detector |
JP3658310B2 (en) | 2000-11-16 | 2005-06-08 | 東芝テック株式会社 | PWM control circuit, electric blower and vacuum cleaner |
US6593720B2 (en) | 2001-01-09 | 2003-07-15 | Delphi Technologies, Inc. | Method of optimizing performance parameters of a switched reluctance motor |
JP3832257B2 (en) | 2001-02-26 | 2006-10-11 | 株式会社日立製作所 | Synchronous motor start control method and control device |
JP2002325480A (en) | 2001-04-23 | 2002-11-08 | Sharp Corp | Washing machine |
DE10123138B4 (en) | 2001-04-30 | 2007-09-27 | Berlin Heart Ag | Method for position control of a permanently magnetically mounted rotating component |
WO2002100704A2 (en) | 2001-06-08 | 2002-12-19 | Delphi Technologies, Inc. | Velocity compensation control for electric steering systems |
EP1271760B1 (en) | 2001-06-18 | 2006-08-30 | STMicroelectronics S.r.l. | Method for minimising the phase errors during the driving of an electric motor, and a circuit using the method thereof |
AU2002322775A1 (en) | 2001-07-27 | 2003-02-17 | The Regents Of The University Of California | Stk15 (stk6) gene polymorphism and methods of determining cancer risk |
KR100415493B1 (en) | 2001-08-23 | 2004-01-24 | 이이수 | Constant-power brushless DC motor |
WO2003029503A2 (en) | 2001-10-01 | 2003-04-10 | Delphi Technologies, Inc. | Method and apparatus for calibrating and initializing an electronically commutated electric machine |
JP3921985B2 (en) | 2001-10-05 | 2007-05-30 | アイシン・エィ・ダブリュ株式会社 | Core with insulating member and method for manufacturing the same |
US6633145B2 (en) | 2001-11-20 | 2003-10-14 | Stmicroelectronics, Inc. | Circuit for improved back EMF detection |
WO2003044939A1 (en) | 2001-11-23 | 2003-05-30 | Danfoss Drives A/S | Frequency converter for different mains voltages |
JP2003189667A (en) | 2001-12-18 | 2003-07-04 | Matsushita Electric Ind Co Ltd | Motor control method and motor employing the same |
US7190145B2 (en) | 2002-01-16 | 2007-03-13 | Ballard Power Systems Corporation | Method and apparatus for improving speed measurement quality in multi-pole machines |
JP3861704B2 (en) | 2002-01-31 | 2006-12-20 | 株式会社デンソー | Driving device for cooling fan motor for vehicle |
US6747300B2 (en) | 2002-03-04 | 2004-06-08 | Ternational Rectifier Corporation | H-bridge drive utilizing a pair of high and low side MOSFETs in a common insulation housing |
US6995679B2 (en) | 2002-04-30 | 2006-02-07 | International Rectifier Corporation | Electronically controlled power steering system for vehicle and method and system for motor control |
JP2004015925A (en) * | 2002-06-07 | 2004-01-15 | Mitsuba Corp | Method of controlling brushless motor |
US6901212B2 (en) | 2002-06-13 | 2005-05-31 | Halliburton Energy Services, Inc. | Digital adaptive sensorless commutational drive controller for a brushless DC motor |
TW200402929A (en) | 2002-07-22 | 2004-02-16 | Switched Reluctance Drives Ltd | Control of a switched reluctance drive |
JP4027760B2 (en) * | 2002-09-11 | 2007-12-26 | シャープ株式会社 | Inverter control device |
GB0221117D0 (en) | 2002-09-12 | 2002-10-23 | Black & Decker Inc | Control of electrical machines |
DE60302755T2 (en) | 2002-10-31 | 2006-06-29 | Siemens Vdo Automotive Inc., Chatham | Method and system for determining the electronic commutation in a brushless DC machine, regardless of the position of the rotor position sensor |
JP2004208475A (en) | 2002-12-26 | 2004-07-22 | Aisin Aw Co Ltd | Insulation structure of, and insulation method for stator core |
US7436139B2 (en) | 2003-01-29 | 2008-10-14 | Matra Manufacturing & Services Sas | Phase advance angle optimization for brushless motor control |
JP2004304901A (en) | 2003-03-31 | 2004-10-28 | Origin Electric Co Ltd | Power control device and method therefor |
JP4273805B2 (en) | 2003-03-31 | 2009-06-03 | 株式会社豊田自動織機 | Power supply |
JP4283128B2 (en) | 2004-01-26 | 2009-06-24 | 株式会社日立製作所 | Motor control device |
CN100448158C (en) | 2003-04-30 | 2008-12-31 | 松下电器产业株式会社 | Motor driving apparatus |
DE10326606B4 (en) | 2003-06-13 | 2008-05-29 | Minebea Co., Ltd. | Method for commutating a brushless DC motor |
KR20050002627A (en) | 2003-06-30 | 2005-01-07 | 마쯔시다덴기산교 가부시키가이샤 | Sensorless motor driving device and its driving method |
JP2005094938A (en) | 2003-09-18 | 2005-04-07 | Matsushita Electric Ind Co Ltd | Inverter |
US7725223B2 (en) | 2003-09-30 | 2010-05-25 | Techtronic Floor Care Technology Limited | Control arrangement for a propulsion unit for a self-propelled floor care appliance |
JP2005117840A (en) | 2003-10-10 | 2005-04-28 | Matsushita Electric Ind Co Ltd | Motor drive unit |
US20050081321A1 (en) | 2003-10-15 | 2005-04-21 | Milligan Michael A. | Hand-held cordless vacuum cleaner |
JP4406552B2 (en) | 2003-10-30 | 2010-01-27 | 日立アプライアンス株式会社 | Electric motor control device |
DE10355651B4 (en) | 2003-11-28 | 2011-06-01 | Minebea Co., Ltd. | Method for optimizing the efficiency of a motor operated under load |
FR2863049B1 (en) | 2003-12-02 | 2006-01-13 | Siemens Vdo Automotive | DEVICE FOR DETERMINING THE ANGULAR POSITION AND ROTATION SPEED OF A ROTARY MEMBER |
US20050135794A1 (en) | 2003-12-22 | 2005-06-23 | General Electric Company | Method and system for negative torque reduction in a brushless DC motor |
US7351269B2 (en) | 2003-12-22 | 2008-04-01 | Lau Kwok Yau | Self cleaning filter and vacuum incorporating same |
GB2410847A (en) * | 2004-02-05 | 2005-08-10 | Dyson Ltd | Control of motor winding energisation according to rotor angle |
JP4371951B2 (en) | 2004-08-25 | 2009-11-25 | 株式会社東芝 | Electric vacuum cleaner |
US7050929B2 (en) | 2004-10-21 | 2006-05-23 | Shop Vac | System and method of ensuring legitimacy of a sensor signal received from a rotor position sensor in a motor |
JP2006129632A (en) | 2004-10-29 | 2006-05-18 | Matsushita Electric Ind Co Ltd | Motor drive unit |
US7194321B2 (en) | 2004-10-29 | 2007-03-20 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
DE102004054504B4 (en) | 2004-11-11 | 2011-08-18 | Minebea Co., Ltd. | Method for automatically setting the commutation angle in brushless DC motors |
JP4645171B2 (en) | 2004-11-26 | 2011-03-09 | 株式会社島津製作所 | DC brushless motor device and turbo molecular pump |
JP2006197762A (en) | 2005-01-17 | 2006-07-27 | Toshiba Lsi System Support Kk | Sensor signal correction circuit for motor |
US7183734B2 (en) | 2005-02-18 | 2007-02-27 | Atmel Corporation | Sensorless control of two-phase brushless DC motor |
JP4771303B2 (en) | 2005-02-22 | 2011-09-14 | オンセミコンダクター・トレーディング・リミテッド | Integrated circuit for motor drive |
US20060197376A1 (en) | 2005-03-02 | 2006-09-07 | Bendix Commercial Vehicle Systems Llc | Hybrid air brake actuation |
US7633252B2 (en) | 2005-04-14 | 2009-12-15 | Lear Corporation | Bidirectional motor stall protection circuit |
JP4841329B2 (en) | 2005-07-20 | 2011-12-21 | パナソニック株式会社 | DC-DC converter |
KR100645380B1 (en) | 2005-09-09 | 2006-11-14 | 삼성광주전자 주식회사 | Vacuum cleaner having brush motor using rate of deseleration |
US7477034B2 (en) | 2005-09-29 | 2009-01-13 | Agile Systems Inc. | System and method for commutating a motor using back electromotive force signals |
DE502006003594D1 (en) | 2005-11-11 | 2009-06-10 | Ebm Papst St Georgen Gmbh & Co | Method and arrangement for commutating an electronically commutated motor |
DE102006052966A1 (en) | 2005-11-11 | 2007-05-24 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Electronically commutated motor commutation method, involves changing value for preset time period based on difference between two values of motor current to cause adjustment of values for current during application of changed value |
JP2007166739A (en) | 2005-12-12 | 2007-06-28 | Nsk Ltd | Brushless motor |
JP2007215351A (en) | 2006-02-10 | 2007-08-23 | Nsk Ltd | Alarm signal output device, load protector and alarm signal output method |
JP4379427B2 (en) | 2006-04-03 | 2009-12-09 | 株式会社デンソー | Control device for multiphase rotating electrical machine |
US7259531B1 (en) | 2006-04-05 | 2007-08-21 | Kwang-Hwa Liu | Speed control of brushless DC motors |
US7821217B2 (en) | 2006-05-22 | 2010-10-26 | Black & Decker Inc. | Electronically commutated motor and control system employing phase angle control of phase current |
FR2901930B1 (en) | 2006-05-31 | 2008-09-05 | Valeo Equip Electr Moteur | METHOD AND DEVICE FOR GENERATING BINARY DEPHASES AND THEIR USE |
JP5016852B2 (en) | 2006-06-09 | 2012-09-05 | 日立アプライアンス株式会社 | Permanent magnet motor, permanent magnet synchronous motor rotor and compressor using the same |
WO2008004322A1 (en) | 2006-07-07 | 2008-01-10 | Panasonic Corporation | Brushless motor drive circuit and motor having the same |
JP2008022678A (en) | 2006-07-14 | 2008-01-31 | Matsushita Electric Ind Co Ltd | Electric motor drive unit and electric motor braking method |
US8030867B1 (en) | 2006-07-29 | 2011-10-04 | Ixys Ch Gmbh | Sample and hold time stamp for sensing zero crossing of back electromotive force in 3-phase brushless DC motors |
US7830278B2 (en) | 2006-08-01 | 2010-11-09 | Continental Teves Ag & Co. Ohg | Sensor arrangement for the precise detection of relative movements between an encoder and a sensor |
US7841837B2 (en) | 2006-08-17 | 2010-11-30 | Zippy Technology Corp. | Cooling-fan rotation-speed control circuit |
KR20090045142A (en) | 2006-08-30 | 2009-05-07 | 로무 가부시키가이샤 | Motor drive circuit, drive method, and motor unit and electronic device using the motor unit |
JP2008115752A (en) | 2006-11-02 | 2008-05-22 | Toyota Motor Corp | Control device for electric supercharger |
US7893638B2 (en) | 2006-11-30 | 2011-02-22 | Denso Corporation | Apparatus and method for driving rotary machine |
JP2008141902A (en) | 2006-12-05 | 2008-06-19 | Matsushita Electric Ind Co Ltd | Control unit for brushless dc motor and ventilation blower |
DE102007012150A1 (en) | 2007-03-12 | 2008-09-18 | SENTELIC Corporation, Neihu | Method for controlling brushless direct current motor, particularly pulse width modulation controller, involves gradually increasing or reducing voltage level of external controlling signal according to change in level of hall signal |
US7541760B2 (en) | 2007-03-13 | 2009-06-02 | Sentelic Corporation | Method capable of controlling brushless DC motor |
JP2008278622A (en) | 2007-04-27 | 2008-11-13 | Matsushita Electric Ind Co Ltd | Torque control method of one piston rotary compressor |
KR100851141B1 (en) | 2007-05-14 | 2008-08-08 | 현대자동차주식회사 | An offset correcting method for a hybrid vehicle's motor |
JP5326222B2 (en) | 2007-05-14 | 2013-10-30 | 富士電機株式会社 | Control device for permanent magnet type synchronous motor |
DE102007025388A1 (en) | 2007-05-30 | 2008-12-04 | Miele & Cie. Kg | Method of operating a vacuum cleaner |
KR101341213B1 (en) | 2007-06-01 | 2014-01-02 | 엘지전자 주식회사 | Cleaner and driving method thereof |
KR101340170B1 (en) | 2007-06-01 | 2013-12-10 | 엘지전자 주식회사 | Cleaner and driving method thereof |
KR101341234B1 (en) | 2007-06-01 | 2013-12-12 | 엘지전자 주식회사 | Cleaner and driving method thereof |
KR20080105847A (en) | 2007-06-01 | 2008-12-04 | 엘지전자 주식회사 | Vacuum cleaner |
US8044623B2 (en) | 2007-07-03 | 2011-10-25 | Seiko Epson Corporation | Drive control circuit for electric motor |
JP4946681B2 (en) | 2007-07-10 | 2012-06-06 | パナソニック株式会社 | Electric vacuum cleaner |
JP5167717B2 (en) * | 2007-08-08 | 2013-03-21 | 日本精工株式会社 | Motor drive control device and electric power steering device using motor drive control device |
JP5109577B2 (en) | 2007-10-24 | 2012-12-26 | トヨタ自動車株式会社 | Rotating electric machine and insulating member |
JP2009213311A (en) | 2008-03-05 | 2009-09-17 | Taisei Plas Co Ltd | Bobbin for stator for dynamo-electric machine and its manufacturing method |
US7795828B2 (en) | 2008-03-14 | 2010-09-14 | Renesas Electronics America Inc. | Back electro-motive force (BEMF) commutation and speed control of a three-phase brushless DC (BLDC) motor |
US8294393B2 (en) | 2008-09-08 | 2012-10-23 | Nidec Motor Corporation | Blower motor for HVAC systems |
US8362736B2 (en) | 2008-09-08 | 2013-01-29 | Nidec Motor Corporation | Blower motor for HVAC systems |
JP2010093905A (en) | 2008-10-06 | 2010-04-22 | Sanyo Denki Co Ltd | Brushless motor stator |
US8159171B2 (en) | 2008-11-13 | 2012-04-17 | Padauk Technology Co., Ltd., R.O.C. | Controller and method for adaptively adjusting motor driving current waveforms |
GB2469131B (en) | 2009-04-04 | 2014-04-23 | Dyson Technology Ltd | Control of an electric machine |
GB2469128A (en) | 2009-04-04 | 2010-10-06 | Dyson Technology Ltd | Generating control signals for an electric machine from a position sensor |
GB2469137B (en) | 2009-04-04 | 2014-06-04 | Dyson Technology Ltd | Control of an electric machine |
GB2469135B (en) | 2009-04-04 | 2013-11-06 | Dyson Technology Ltd | Power tuning an electric system |
GB2469144B (en) | 2009-04-04 | 2014-11-05 | Dyson Technology Ltd | Control of an electric machine |
GB2469126B (en) | 2009-04-04 | 2013-11-06 | Dyson Technology Ltd | Control of an electric machine |
GB2469133B (en) | 2009-04-04 | 2014-04-23 | Dyson Technology Ltd | Control system for an electric machine |
GB2469143B (en) | 2009-04-04 | 2014-03-12 | Dyson Technology Ltd | Control of a permanent-magnet machine |
GB2469132B (en) | 2009-04-04 | 2014-01-29 | Dyson Technology Ltd | Control of an electric machine |
GB2469129B (en) | 2009-04-04 | 2013-12-11 | Dyson Technology Ltd | Current controller for an electric machine |
GB2469130B (en) | 2009-04-04 | 2014-01-29 | Dyson Technology Ltd | Control system for an electric machine |
GB2469138B (en) | 2009-04-04 | 2014-04-30 | Dyson Technology Ltd | Constant-power electric system |
GB2469127A (en) | 2009-04-04 | 2010-10-06 | Dyson Technology Ltd | Overcurrent control system for an electric machine |
GB2469142B (en) | 2009-04-04 | 2014-04-23 | Dyson Technology Ltd | High-speed electric system |
-
2009
- 2009-04-04 GB GB0905910.6A patent/GB2469140B/en active Active
-
2010
- 2010-03-29 US US12/749,156 patent/US9742318B2/en active Active
- 2010-03-31 EP EP10722760.5A patent/EP2415164B1/en active Active
- 2010-03-31 WO PCT/GB2010/050565 patent/WO2010112929A2/en active Application Filing
- 2010-03-31 CN CN201080024822.3A patent/CN102460954B/en active Active
- 2010-03-31 KR KR1020117026056A patent/KR101350763B1/en active IP Right Grant
- 2010-03-31 BR BRPI1009867-4A patent/BRPI1009867B1/en not_active IP Right Cessation
- 2010-04-05 JP JP2010097373A patent/JP5279145B2/en active Active
-
2012
- 2012-12-27 JP JP2012285381A patent/JP5640070B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030121685A1 (en) | 2001-12-26 | 2003-07-03 | Makita Corporation, Inc. | Power tool |
GB2410848A (en) | 2004-02-05 | 2005-08-10 | Dyson Ltd | Voltage compensation in switched reluctance motor |
Also Published As
Publication number | Publication date |
---|---|
JP2010246383A (en) | 2010-10-28 |
US9742318B2 (en) | 2017-08-22 |
JP2013059259A (en) | 2013-03-28 |
GB2469140A (en) | 2010-10-06 |
CN102460954A (en) | 2012-05-16 |
KR20110134513A (en) | 2011-12-14 |
US20100253257A1 (en) | 2010-10-07 |
JP5640070B2 (en) | 2014-12-10 |
EP2415164A2 (en) | 2012-02-08 |
KR101350763B1 (en) | 2014-01-13 |
JP5279145B2 (en) | 2013-09-04 |
BRPI1009867B1 (en) | 2019-07-09 |
GB2469140B (en) | 2013-12-11 |
WO2010112929A3 (en) | 2010-12-16 |
BRPI1009867A2 (en) | 2016-03-08 |
CN102460954B (en) | 2015-01-21 |
EP2415164B1 (en) | 2018-05-02 |
GB0905910D0 (en) | 2009-05-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8710778B2 (en) | Control of an electric machine | |
US8474095B2 (en) | Constant-power electric system | |
US8350508B2 (en) | Control system for an electric machine | |
US8373371B2 (en) | Control of an electric machine | |
US8432114B2 (en) | High-speed electric system | |
US9742318B2 (en) | Control of an electric machine | |
US8614557B2 (en) | Control of an electric machine | |
US8561253B2 (en) | Control of an electric machine | |
US8648552B2 (en) | Control system for an electric machine | |
US8487569B2 (en) | Control of an electric machine | |
WO2010112926A2 (en) | Control of a permanent-magnet motor | |
EP2415151A1 (en) | Current controller for an electric machine | |
GB2469135A (en) | Controlling an electric machine using power maps | |
GB2469127A (en) | Overcurrent control system for an electric machine |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080024822.3 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10722760 Country of ref document: EP Kind code of ref document: A2 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010722760 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 20117026056 Country of ref document: KR Kind code of ref document: A |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: PI1009867 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: PI1009867 Country of ref document: BR Kind code of ref document: A2 Effective date: 20110927 |