Brushless and sensorless DC motor control system with locked and stopped rotor detection

• US 7,042,180 B2
• Filed: 01/23/2004
• Issued: 05/09/2006
• Est. Priority Date: 01/24/2003
• Status: Active Grant

• Current Assignee: Regal Beloit America, Inc.
• Original Assignee: Tecumseh Products Company
• Inventors: Terry, Robert L., Wyatt, Arnold G.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US10/763,452
• Publication Number:
  US 20050029976A1
• Time in Patent Office: 837 Days
• Field of Search: 318/138, 318/254, 318430-434, 318/439, 318/459, 318471-473, 318/504, 318720-724, 388/909, 388/910, 388/928.1, 388/934, 363 23- 34
• US Class Current: 318/400.21
• CPC Class Codes: F04B 35/04 the means being electric
• CPC Class Codes: F04B 49/02 Stopping, starting, unloading or idling control
• CPC Class Codes: F04B 49/065 and making use of computers
• CPC Class Codes: H02P 29/02 Providing protection against overload without automatic interruption of supply protection against faults of stepper motors H02P8/36
• CPC Class Codes: H02P 6/12 Monitoring commutation; Providing indication of commutation failure
• CPC Class Codes: H02P 6/182 using back-emf in windings
• CPC Class Codes: H02P 6/34 Modelling or simulation for control purposes
• CPC Class Codes: Y10S 388/909 Monitoring means

Abstract

A motor control system for a brushless and sensorless DC motor for driving a compressor, pump or other application, includes a protection and fault detection circuit for detecting a locked rotor and a rotor which has stopped because of lost rotor phase lock. The motor control system also includes an off-the-shelf motor control integrated circuit having an input for disabling power outputs to the motor phase coils. The protection and fault detection circuit uses a back EMF sampling circuit coupled to the motor phase coils and momentarily disables power to the motor phase coils, via the motor control integrated circuit input, to determine if the motor rotor is rotating. The system also monitors supply voltage, supply current, temperature, and motor speed limits to detect faults and protect system components.

Claims

1. A motor control system for controlling a brushless and sensorless DC motor system having a plurality of phase coils, comprising:

a motor control integrated circuit having a plurality of motor driver outputs and a control input for operating said plurality of motor driver outputs, said plurality of motor driver outputs coupled to the plurality of phase coils; and

a fault detection circuit coupled with said control input and capable of selectively switching the state of said control input to momentarily and substantially simultaneously disable all of said plurality of motor driver outputs, said fault detection circuit being coupled to at least one of the plurality of phase coils and capable of detecting a threshold back EMF voltage from the at least one of the plurality of phase coils while all of said motor driver outputs are momentarily disabled and providing a fault signal if the sensed back EMF is below a preset threshold.

2. The motor control system of claim 1, wherein said fault detection circuit includes a capacitor coupled to the at least one of the plurality of phase coils, said capacitor receiving back EMF and said fault detection circuit detecting said threshold back EMF voltage across said capacitor.

3. The motor control system of claim 2, wherein said fault detection circuit includes at least one optical isolator coupling the at least one of the plurality of phase coils and said capacitor.

4. A motor control system for controlling a brushless and sensorless DC motor system having a plurality of phase coils, comprising:

a motor control integrated circuit having a plurality of motor driver outputs and a control input for operating said plurality of motor driver outputs, said plurality of motor driver outputs coupled to the plurality of phase coils; and

a fault detection circuit coupled with said control input and capable of selectively switching the state of said control input to momentarily disable said plurality of motor driver outputs, said fault detection circuit being coupled to at least one of the plurality of phase coils and capable of detecting a threshold back EMF voltage from the at least one of the plurality of phase coils, wherein said fault detection circuit includes a microcontroller having an analog-to-digital converter coupled to the at least one of the plurality of phase coils and an output port coupled to said control input.

5. The motor control system of claim 4, further comprising at least one optically coupled isolator coupling said analog-to-digital converter and the at least one of the plurality of phase coils.

6. The motor control system of claim 4, further comprising software enabling said microcontroller to:

switch a control signal coupled to said control input, momentarily disabling said plurality of motor driver outputs;

measure back EMF generated by the at least one of the plurality of phase coils and received by said analog-to-digital converter; and

switch said control signal coupled to said control input upon measuring back EMF above a threshold level, enabling said plurality of motor driver outputs.

7. The motor control system of claim 6, wherein said software further enables said microcontroller to delay switching said control signal for a preset time upon measuring back EMF below a threshold level in order to delay re-enabling said plurality of motor driver outputs.

8. The motor control system of claim 7, wherein said microcontroller is capable of providing a fault signal and said software further enables said microcontroller to switch said control signal to disable said plurality of motor driver outputs, and to provide said fault signal upon measuring a back EMF below a threshold level more than a preset number of times.

9. A motor control system for controlling a brushless and sensorless DC motor system in a hermetic compressor, said system having a plurality of phase coils, comprising:

a motor control integrated circuit having a plurality of motor driver outputs and a control input for operating said plurality of motor driver outputs, said plurality of motor driver outputs coupled to the plurality of phase coils; and

a fault detection circuit coupled with said control input, said fault detection circuit capable of selectively switching the state of said control input to momentarily and substantially simultaneously disable all of said plurality of motor driver outputs, said fault detection circuit capable of detecting a plurality of electrical and nonelectrical fault conditions of the motor system, said fault detection circuit capable of providing a control signal to said control input to disable all of said plurality of motor driver outputs upon detection of at least one of said plurality of electrical and nonelectrical fault conditions relating to said compressor.

10. The motor control system of claim 9, further comprising a voltage sensing circuit coupled to a voltage supply of the system, said voltage sensing circuit coupled to said fault detection circuit, said fault detection circuit capable of switching said control input to disable said plurality of motor driver outputs upon said voltage supply being above or below a preset limit.

11. The motor control system of claim 9, further comprising a current sensing circuit coupled to at least one of the plurality of phase coils, said current sensing circuit coupled to said fault detection circuit, said fault detection circuit capable of switching said control input to disable said plurality of motor driver outputs upon a detected phase coil current being above or below a preset limit.

12. The motor control system of claim 9, wherein said motor control integrated circuit outputs a speed signal related to motor speed, and said fault detection circuit is capable of receiving said speed signal and switching said control input to disable said plurality of motor driver outputs upon said motor speed being above or below a preset motor speed limit.

13. The motor control system of claim 9, wherein said control input is an over current protection input of said motor control integrated circuit.

14. A motor control system for controlling a brushless and sensorless DC motor system having a plurality of phase coils, comprising:

a motor control integrated circuit having a plurality of motor driver outputs and a control input for operating said plurality of motor driver outputs, said plurality of motor driver outputs coupled to the plurality of phase coils;

a fault detection circuit coupled with said control input and capable of detecting a plurality of electrical and nonelectrical fault conditions of the motor system, said fault detection circuit capable of providing a control signal to said control input to disable said plurality of motor driver outputs upon detection of at least one of said plurality of electrical and nonelectrical fault conditions; and

a temperature sensing circuit coupled to said fault detection circuit.

15. The motor control system of claim 14, further comprising a motor housing and a temperature sensor thermally coupled to said motor housing and electrically coupled to said temperature sensing circuit.

16. The motor control system of claim 14, further comprising a temperature sensor and a compressor driven by said motor and having a housing, said temperature sensor thermally coupled to said housing and electrically coupled to said temperature sensing circuit.

17. The motor control system of claim 14, further comprising:

a transistor power bridge circuit coupled between said plurality of motor driver outputs and the plurality of phase coils;

a heat sink thermally coupled to said transistor power bridge circuit; and

a power bridge temperature sensor thermally coupled to said heat sink and electrically coupled to said temperature sensing circuit.

18. A method for detecting faults in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils, comprising the steps of:

providing a motor control integrated circuit having a plurality of power driver outputs coupled to the plurality of phase coils, and having a control input capable of selectively enabling the plurality of power driver outputs;

momentarily and substantially simultaneously disabling all of said plurality of power driver outputs,

detecting a motor system fault by measuring EMF on at least one of the plurality of phase coils while all of said plurality of power driver outputs are momentarily disabled; and

switching the control input to disable all of the plurality of power driver outputs upon detecting a motor system fault indicated by measured EMF below a preset threshold to thereby stop motor operation.

19. The method of claim 18, wherein the step of detecting a motor system fault includes the further steps of:

switching the control input to momentarily disable the plurality of power driver outputs;

then measuring the back EMF generated in the plurality of phase coils; and

then switching the control input to enable the plurality of power driver outputs.

20. The method of claim 18, wherein the step of detecting a motor system fault includes the steps of:

measuring the supply voltage of the motor; and

determining a fault upon the measured supply voltage being above or below a preset voltage threshold.

21. The method of claim 18, wherein the step of detecting a motor system fault includes the steps of:

measuring the supply current for at least one of the plurality of phase coils; and

determining a fault upon the measured supply current being above or below a preset current threshold.

22. A method for detecting faults in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils, comprising the steps of:

providing a motor control integrated circuit having a plurality of power driver outputs coupled to the plurality of phase coils, and having a control input capable of selectively enabling the plurality of power driver outputs;

detecting a motor system fault by measuring EMF on at least one of the plurality of phase coils; and

switching the control input to disable the plurality of power driver outputs upon detecting a motor system fault indicated by excess, measured EMF below a preset threshold to thereby stop motor operation;

wherein the step of detecting a motor system fault includes the steps of;

measuring the temperature of a portion of the motor system; and

determining a fault upon the measured temperature exceeding a preset threshold.

23. A method for detecting faults in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils, comprising the steps of:

providing a motor control integrated circuit having a plurality of power driver outputs coupled to the plurality of phase coils, and having a control input capable of selectively enabling the plurality of power driver outputs;

detecting a motor system fault by measuring EMF on at least one of the plurality of phase coils; and

switching the control input to disable the plurality of power driver outputs upon detecting a motor system fault indicated by excess, measured EMF below a preset threshold to thereby stop motor operation;

wherein the motor system includes a compressor driven by the motor, and wherein the step of detecting a motor system fault includes the steps of;

determining a minimum motor speed below which the compressor may be damaged due to lack of adequate lubrication;

measuring the motor speed; and

determining a fault upon the measured motor speed being above or below the minimum motor speed.

24. A method for detecting faults in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils, comprising the steps of:

providing a motor control integrated circuit having a plurality of power driver outputs coupled to the plurality of phase coils, and having a control input capable of selectively enabling the plurality of power driver outputs;

detecting a motor system fault by measuring EMF on at least one of the plurality of phase coils; and

switching the control input to disable the plurality of power driver outputs upon detecting a motor system fault indicated by excess, measured EMF below a preset threshold to thereby stop motor operation;

wherein the motor system includes a compressor driven by the motor, and wherein the step of determining a motor system fault includes the steps of;

determining a maximum motor speed above which compressor valve damage may occur;

measuring the motor speed; and

determining a fault upon the measured motor speed exceeding the maximum motor speed.

25. A method for detecting a locked or stopped rotor in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils driven by power driver outputs, comprising the steps of:

momentarily and substantially simultaneously disabling all of the power driver outputs;

then measuring the back EMF generated from the plurality of phase coils while all of the power driver outputs are momentarily disabled; and

then enabling all of the power driver outputs after a time period dependent on the measured back EMF.

26. The method of claim 25, further comprising the following steps after the step of then measuring the back EMF:

if measured back EMF is above a preset threshold, setting the time period to zero.

27. The method of claim 25, further comprising the steps of:

measuring a motor supply voltage; and

upon the measured voltage being above or below a preset range, disabling the power driver outputs.

28. The method of claim 25, further comprising the steps of:

measuring a motor supply current supplied to at least one of the plurality of phase coils, and

upon the measured current being above or below a preset range, disabling the power driver outputs to the plurality of phase coils.

29. The method of claim 25, wherein the motor system includes a compressor having valves and driven by the motor, and further comprising the steps of:

determining a maximum motor speed above which the valves may be damaged;

measuring the motor speed; and

upon the motor speed exceeding the maximum motor speed, disabling the power driver outputs.

30. A method for detecting a locked or stopped rotor in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils driven by power driver outputs, comprising the steps of:

disabling the power driver outputs;

then measuring the back EMF generated from the plurality of phase coils;

then enabling the power driver outputs after a time period dependent on the measured back EMF;

if measured back EMF is above a preset threshold, setting the time period to zero;

incrementing a counter each time measured back EMF is below the preset threshold; and

upon the counter exceeding a preset limit, disabling the power driver outputs.

31. A method for detecting a locked or stopped rotor in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils driven by power driver outputs, comprising the steps of:

disabling the power driver outputs;

then measuring the back EMF generated from the plurality of phase coils;

then enabling the power driver outputs after a time period dependent on the measured back EMF;

measuring the temperature of a portion of the motor system; and

upon the measured temperature exceeding a threshold, disabling the power driver outputs.

32. A method for detecting a locked or stopped rotor in a motor control system for a brushless and sensorless DC motor system having a plurality of phase coils driven by power driver outputs, comprising the steps of:

disabling the power driver outputs;

then measuring the back EMF generated from the plurality of phase coils; and

then enabling the power driver outputs after a time period dependent on the measured back EMF;

wherein the motor system includes a compressor driven by the motor, and further comprising the steps of;

determining a minimum motor speed below which the compressor may be damaged due to lack of adequate lubrication;

determining the motor speed; and

upon the motor speed being below the minimum motor speed, disabling the power driver outputs.

33. A fluid handling system, comprising:

a pump;

a brushless DC motor for driving said pump, said motor having a plurality of phase coils; and

a motor control system coupled to said motor, said motor controller system including;

a motor control circuit having at least one motor driver output coupled to said plurality of phase coils; and

a microcontroller having an AID converter coupled to at least one of said plurality of phase coils and having software enabling said microcontroller to provide an output signal coupled to said motor control circuit for momentarily disabling said at least one motor driver output, said microcontroller capable of measuring a voltage level of back EMF generated in said at least one of said plurality of phase coils upon said at least one motor driver output being disabled.

34. The fluid handling system of claim 33, wherein said pump includes a compressor.

35. The fluid handling system of claim 33, wherein said software enables said microcontroller to provide said output signal to keep said at least one motor driver output disabled upon said voltage level being below a preset limit.

36. An actuator control system for controlling a sensorless DC actuator having a plurality of phase coils, comprising:

an actuator control integrated circuit having a control input and a plurality of driver outputs, said control input adapted for selectively disabling said driver outputs, said driver outputs coupled to the plurality of phase coils; and

a voltage measuring circuit coupled with the plurality of phase coils and providing a control signal coupled with said control input;

said voltage measuring circuit capable of selectively switching the state of said control input to momentarily and substantially simultaneously disable all of said driver outputs;

said voltage measuring circuit measuring a voltage received from the plurality of phase coils upon said voltage measuring circuit momentarily providing said control signal to substantially simultaneously disable all of said driver outputs,

said voltage measuring circuit further providing said control signal upon said received voltage being below a preset threshold.

37. The actuator control system of claim 36, wherein the actuator includes a brushless DC motor and the actuator control integrated circuit is adapted for brushless DC motor control.

38. The actuator control system of claim 37, wherein said voltage measuring circuit includes a microcontroller.

39. The actuator control system of claim 37, wherein said voltage measuring circuit includes a capacitor coupled to the plurality of phase coils and said received voltage is measured across said capacitor.