REDUCED-COMPLEXITY SELF-BEARING BRUSHLESS DC MOTOR

• US 20090001917A1
• Filed: 06/27/2007
• Published: 01/01/2009
• Est. Priority Date: 06/27/2007
• Status: Active Grant

• Current Assignee: Brooks Automation Ltd. (United Kingdom) (Azenta, Inc.)
• Original Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Inventors: Hofmeister, Christopher, Hosek, Martin, Moura, Jairo Terra
• Granted Patent: US 9,752,615 B2
• Time in Patent Office: Days
• US Class Current: 318/491
• CPC Class Codes: F16C 2380/26 Dynamo-electric machines or combinations therewith, e.g. electro-motors and generators in general H02K
• CPC Class Codes: F16C 32/0444 Details of devices to control the actuation of the electromagnets
• CPC Class Codes: F16C 32/0493 integrated in an electrodynamic machine, e.g. self-bearing motor

Abstract

A method of commutating a motor includes operatively interfacing a stator and actuated component of the motor, arranging at least two winding sets relative to the actuated component, and independently controlling the at least two winding sets so that with the at least two winding sets the actuated component is both driven and centered.

Claims

1. A method of commutating a motor comprising:

operatively interfacing a stator and actuated component of the motor;

arranging at least two winding sets relative to the actuated component; and

independently controlling the at least two winding sets so that with the at least two winding sets the actuated component is both driven and centered.

2. The method of claim 1, further comprising:

arranging at least three winding sets relative to the actuated component; and

independently controlling the at least three winding sets so that with the at least three winding sets the actuated component is both driven and centered.

3. The method of claim 1, further comprising:

arranging at least four winding sets relative to the actuated component; and

independently controlling the at least four winding sets so that with the at least four winding sets the actuated component is both driven and centered.

4. The method of claim 1 further comprising:

arranging each of the at least two winding sets as a pair of winding subsets; and

offsetting winding subsets within each pair of winding subsets so that one winding subset of the pair produces a radial force and the other winding subset produces a tangential force on the actuated component.

5. The method of claim 4, comprising offsetting the winding subset within each pair of winding subsets by 90 electrical degrees.

6. An apparatus for commutating a motor comprising:

at least two winding sets arranged relative to an actuated component of the motor; and

commutation circuitry operable to independently control the at least two winding sets so that with the at least two winding sets the actuated component is both driven and centered.

7. The apparatus of claim 6, further comprising:

at least three winding sets arranged relative to the actuated component; and

commutation circuitry operable to independently control the at least three winding sets so that with the at least three winding sets the actuated component is both driven and centered.

8. The apparatus of claim 6, further comprising:

at least four winding sets arranged relative to the actuated component; and

commutation circuitry operable to independently control the at least four winding sets so that with the at least four winding sets the actuated component is both driven and centered.

9. The apparatus of claim 6, wherein:

each of the at least two winding include a pair of winding subsets; and

winding subsets within each pair of winding subsets are offset so that one winding subset of the pair produces a radial force and the other winding subset produces a tangential force.

10. The apparatus of claim 9, wherein the winding subsets within each pair of winding subsets are offset by 90 electrical degrees.

11. A motor comprising:

a stator having at least two independently controlled winding sets;

an actuated component operatively interfacing the stator; and

a controller communicatively connected to the at least two winding sets for controlling the at least two winding sets to independently drive and center the actuated component,

wherein the at least two winding sets are arranged relative to the actuated component and the controller is programmed to control the at least two winding sets so that with the at least two winding sets the actuated component is both driven and centered.

12. The motor of claim 11, wherein:

the stator includes at least three independently controlled winding sets;

the controller is communicatively connected to the at least three winding sets for controlling the at least two winding sets to independently drive and center the actuated component, and

the at least three winding sets are arranged relative to the actuated component and the controller is programmed to control the at least three winding sets so that with the at least three winding sets the actuated component is both driven and centered.

13. The motor of claim 11, wherein:

the stator includes at least four independently controlled winding sets;

the controller is communicatively connected to the at least four winding sets for controlling the at least four winding sets to independently drive and center the actuated component, and

the at least four winding sets are arranged relative to the actuated component and the controller is programmed to control the at least four winding sets so that with the at least four winding sets the actuated component is both driven and centered.

14. The motor of claim 11, wherein:

each of the at least two independently controlled winding sets include a pair of winding subsets; and

winding subsets within each pair of winding subsets are offset so that one winding subset of the pair produces a radial force and the other winding subset produces a tangential force.

15. The motor of claim 14, wherein the winding subsets within each pair of winding subsets are offset by 90 electrical degrees.

16. A substrate processing apparatus comprising:

a motor including;

a stator having at least two independently controlled winding sets;

an actuated component operatively interfacing the stator; and

a controller communicatively connected to the at least two winding sets for controlling the at least two winding sets to independently drive and center the actuated component,

wherein the at least two winding sets are arranged relative to the actuated component and the controller is programmed to control the at least two winding sets so that with the at least two winding sets the actuated component is both driven and centered.

17. The substrate processing apparatus of claim 16, wherein:

the stator has at least three independently controlled winding sets;

the controller is communicatively connected to the at least two winding sets for controlling the at least two winding sets to independently drive and center the actuated component, and

the at least three winding sets are arranged relative to the actuated component and the controller is programmed to control the at least three winding sets so that with the at least three winding sets the actuated component is both driven and centered.

18. The substrate processing apparatus of claim 16, wherein:

the stator has at least four independently controlled winding sets;

the controller is communicatively connected to the at least four winding sets for controlling the at least four winding sets to independently drive and center the actuated component, and

the at least four winding sets are arranged relative to the actuated component and the controller is programmed to control the at least four winding sets so that with the at least four winding sets the actuated component is both driven and centered.

19. The substrate processing apparatus of claim 16, wherein:

each of the at least two independently controlled winding sets include a pair of winding subsets; and

winding subsets within each pair of winding subsets are offset so that one winding subset of the pair produces a radial force and the other winding subset produces a tangential force.

20. The substrate processing apparatus of claim 19, wherein the winding subsets within each pair of winding subsets are offset by 90 electrical degrees.

21. A method of commutating a motor comprising:

calculating an adjustment electrical angle; and

utilizing the adjustment electrical angle in a common set of commutation equations to independently torque and actively center a rotor of the motor so that the rotor is actively centered with at least two of the motors winding sets.

22. The method of claim 21, further comprising utilizing a winding phase current in combination with the adjustment electrical angle in the common set of commutation equations.

23. The method of claim 21, further comprising utilizing the adjustment electrical angle in a common set of commutation equations to independently torque and actively center a rotor of the motor so that the rotor is actively centered with at least three of the motors winding sets.

24. The method of claim 21, further comprising utilizing the adjustment electrical angle in a common set of commutation equations to independently torque and actively center a rotor of the motor so that the rotor is actively centered with at least four of the motors winding sets.

25. The method of claim 21, further comprising utilizing the adjustment electrical angle in the common set of commutation equations to independently torque and actively center the rotor using Lorentz forces.

26. The method of claim 21, further comprising utilizing the adjustment electrical angle in the common set of commutation equations to independently torque and actively center the rotor using Maxwell forces.

27. The method of claim 21, further comprising utilizing the adjustment electrical angle in the common set of commutation equations to independently torque and actively center the rotor using a combination of Lorentz and Maxwell forces.

28. A method of commutating a motor comprising:

calculating an adjustment electrical angle; and

entering the adjustment electrical angle into commutation equations for commutating a motor to independently torque and actively center a rotor of the motor so that the rotor is actively centered with at least two of the motors winding sets.

29. The method of claim 28, further comprising entering the adjustment electrical angle into commutation equations for commutating a motor to independently torque and actively center a rotor of the motor so that the rotor is actively centered with at least three of the motors winding sets.

30. The method of claim 28, further comprising entering the adjustment electrical angle into commutation equations for commutating a motor to independently torque and actively center a rotor of the motor so that the rotor is actively centered with at least four of the motors winding sets.

31. The method of claim 28, further comprising determining the adjustment electrical angle so that the torque and active centering forces in the motor include Lorentz forces.

32. The method of claim 28, further comprising determining the adjustment electrical angle so that the torque and active centering forces in the motor include Maxwell forces.

33. The method of claim 28, further comprising determining the adjustment electrical angle so that the torque and active centering forces in the motor include a combination of Lorentz and Maxwell forces.

34. An apparatus for commutating a motor comprising:

circuitry for calculating an adjustment electrical angle; and

a current amplifier operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces in motors with at least two winding sets and in motors with at least three winding sets.

35. The apparatus of claim 34, further comprising circuitry for utilizing a winding phase current in combination with the adjustment electrical angle in the common set of commutation equations.

37. The apparatus of claim 34, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces in motors with at least four winding sets.

38. The apparatus of claim 34, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Lorentz forces.

39. The apparatus of claim 34, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Maxwell forces.

40. The apparatus of claim 34, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include a combination of Lorentz and Maxwell forces.

41. A motor comprising:

a rotor; and

windings driven by a current amplifier, the current amplifier having;

circuitry for calculating an adjustment electrical angle; and

an amplifier operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces that are different from each other in the motor, wherein the motor is at least one of a two winding set motor or a three winding set motor.

42. The motor of claim 41, wherein the current amplifier includes circuitry for utilizing a winding phase current in combination with the adjustment electrical angle in the common set of commutation equations.

43. The motor of claim 41, wherein the amplifier is operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces that are different from each other in the motor, wherein the motor is at least a four winding set motor.

44. The motor of claim 41, wherein the amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Lorentz forces.

45. The motor of claim 41, wherein the amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Maxwell forces.

46. The motor of claim 41, wherein the amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include a combination of Lorentz and Maxwell forces.

47. A substrate processing apparatus comprising:

a controller for commutating a motor including;

circuitry for calculating an adjustment electrical angle; and

a current amplifier operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces that are different from each other in the motor, wherein the motor is at least one of a two winding set motor or a three winding set motor.

48. The substrate processing apparatus of claim 47, further comprising circuitry for utilizing a winding phase current in combination with the adjustment electrical angle in the common set of commutation equations.

49. The substrate processing apparatus of claim 47, wherein the current amplifier operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces that are different from each other in the motor, wherein the motor is at least a four winding set motor.

50. The substrate processing apparatus of claim 47, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Lorentz forces.

51. The substrate processing apparatus of claim 47, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Maxwell forces.

52. The substrate processing apparatus of claim 47, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include a combination of Lorentz and Maxwell forces.

53. A substrate processing apparatus comprising:

a motor including;

a rotor; and

windings driven by a current amplifier, the current amplifier having;

circuitry for calculating an adjustment electrical angle; and

an amplifier operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces that are different from each other in the motor, wherein the motor is at least one of a two winding set motor or a three winding set motor.

54. The substrate processing apparatus of claim 53, wherein the current amplifier includes circuitry for utilizing a winding phase current in combination with the adjustment electrical angle in the common set of commutation equations.

55. The substrate processing apparatus of claim 53, wherein the amplifier is operable to utilize the adjustment electrical angle in a common set of commutation equations so that the common set of commutation equations is capable of producing both torque and active centering forces that are different from each other in the motor, wherein the motor is a four winding set motor.

56. The substrate processing apparatus of claim 53, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Lorentz forces.

57. The substrate processing apparatus of claim 53, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include Maxwell forces.

58. The substrate processing apparatus of claim 53, wherein the current amplifier is operable to utilize the adjustment electrical angle in the common set of commutation equations so that the torque and active centering forces in the motor include a combination of Lorentz and Maxwell forces.