Active reduction of torque irregularities in rotating machines
First Claim
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1. A control system for providing smooth output torque comprising:
- a rotating electromagnetic machine, the machine including a stator, a plurality of stator windings positioned within the stator, and a rotor that tends to prefer certain angular positions with respect to the stator over other positions;
a rotor position detector that provides a rotor position signal indicative of the angular position of the rotor with respect to the stator; and
a controller coupled to the stator windings, the controller operating in a rotating reference frame and receiving as inputs an input command signal and the rotor position signal and providing in response to the inputs electric power to energize the stator windings, the controller comprising;
a torque control circuit that receives the input command signal and generates a machine energization signal corresponding to the input command signal;
a torque rejection signal that receives as an input the rotor position signal and generates a torque rejection signal corresponding to the tendency of the rotor to prefer the angular position corresponding to the received rotor position signal; and
energization circuitry for energizing the stator windings in response to the torque command signal and the torque rejection signal to provide smooth output torque.
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Abstract
A method and apparatus for actively controlling the energization of the stator windings of a rotating electromagnetic machine to actively overcome any tendency of the rotor of the machine to prefer certain angular positions with respect to the stator over other angular positions.
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Citations
24 Claims
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1. A control system for providing smooth output torque comprising:
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a rotating electromagnetic machine, the machine including a stator, a plurality of stator windings positioned within the stator, and a rotor that tends to prefer certain angular positions with respect to the stator over other positions;
a rotor position detector that provides a rotor position signal indicative of the angular position of the rotor with respect to the stator; and
a controller coupled to the stator windings, the controller operating in a rotating reference frame and receiving as inputs an input command signal and the rotor position signal and providing in response to the inputs electric power to energize the stator windings, the controller comprising;
a torque control circuit that receives the input command signal and generates a machine energization signal corresponding to the input command signal;
a torque rejection signal that receives as an input the rotor position signal and generates a torque rejection signal corresponding to the tendency of the rotor to prefer the angular position corresponding to the received rotor position signal; and
energization circuitry for energizing the stator windings in response to the torque command signal and the torque rejection signal to provide smooth output torque. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A torque rejection circuit for adjusting current feedback signals from a rotating electromagnetic machine to produce adjusted feedback signals for use by a conventional motor control circuit utilizing current feedback currents, the machine including a stator, a plurality of stator windings positioned within the stator, and a rotor that tends to prefer certain angular positions with respect to the stator over other positions, the torque rejection circuit comprising:
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a compensation circuit that receives as an input a representation of the angular position of the rotor with respect to the stator and generates at an output compensation current signals corresponding to the current required to cancel the tendency of the rotor to prefer to the received angular position; and
summing circuitry that receive as inputs the current feedback signals from the machine and the compensation current signals and sum these input signals to produce compensated current values for provision to the conventional motor control circuit. - View Dependent Claims (9, 10)
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11. A system for controlling a motor that includes a rotor that prefers certain angular positions over others, the system comprising:
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rotor position detection means for generating a rotor position signal representing the angular position of the rotor;
torque rejection means responsive to the rotor position signal for generating an energization signal that varies with the degree to which the rotor prefers the received rotor position over other rotor positions;
energization means responsive to the energization signal for energizing the motor such to produce an output torque that counteracts any preference of the rotor for certain angular positions, the energization means including a control law element that implements machine control in a rotating reference frame. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A system for controlling a motor that includes a rotor that prefers certain angular positions over others, the system comprising:
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rotor position detection means for generating a rotor position signal representing the angular position of the rotor;
torque rejection means responsive to the rotor position signal for generating an energization signal that varies with the degree to which the rotor prefers the received rotor position over other rotor positions; and
energization means responsive to the energization signal for energizing the motor such to produce an output torque that counteracts any preference of the rotor for certain angular positions;
wherein the energization means includes a control law element that implements machine control by using feeds that produce the maximum torque per sum of rms phase currents.
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24. A system for controlling a motor that includes a rotor that prefers certain angular positions over others, the system comprising:
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rotor position detection means for generating a rotor position signal representing the angular position of the rotor;
torque rejection means responsive to the rotor position signal for generating an energization signal that varies with the degree to which the rotor prefers the received rotor position over other rotor positions; and
energization means responsive to the energization signal for energizing the motor such to produce an output torque that counteracts any preference of the rotor for certain angular positions;
wherein the energization means includes a control law element that implements machine control by using feeds that require the minimum line to line voltage while maintaining smooth torque.
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Specification