System and method for evaluating back electromotive force in a motor

• US 7,279,860 B2
• Filed: 09/29/2005
• Issued: 10/09/2007
• Est. Priority Date: 09/29/2005
• Status: Active Grant

• Current Assignee: Allied Motion Canada Inc. (Allient, Inc.)
• Original Assignee: Agile Systems Inc. (Allient, Inc.)
• Inventors: MacKay, David Kyle
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US11/237,893
• Publication Number:
  US 20070069668A1
• Time in Patent Office: 740 Days
• Field of Search: 318/138, 318/245, 318/254, 318/439, 318801-811
• US Class Current: 318/400.34
• CPC Class Codes: H02P 2209/07 Trapezoidal waveform
• CPC Class Codes: H02P 6/10 Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
• CPC Class Codes: H02P 6/182 using back-emf in windings

Abstract

Methods for evaluating back electromotive force (EMF) in a polyphase motor is described. The methods include monitoring back EMF in the motor after a commutation of the motor, and evaluating the back EMF only after a back EMF event occurs after the commutation of the motor. The methods may also include monitoring a total current appearing on all phase windings of the motor after a rotor of the motor begins to rotate, and evaluating back EMF only after the total current is within a predetermined margin of the current supplied to the motor. Systems implementing the methods are also described.

Claims

1. A method for determining back electromotive force (EMF) in a polyphase motor, comprising:

obtaining samples of back EMF values of said motor at regular intervals;

obtaining a first back EMF value from said samples at a first time;

at a second time subsequent to the first time, obtaining a second back EMF value from said samples;

determining a difference between the first back EMF value and the second back EMF value; and

evaluating the back EMF for the motor for purposes of next sector commutation only after a predetermined back EMF event occurs relating to the first and second back EMF values and after the prior sector commutation of the motor.

2. The method of claim 1, wherein:

if a spike in the back EMF is observed relating to the first and second back EMF values, then the pre-determined back EMF event is an end to the spike; and

if a spike in the back EMF is not observed relating to the first and second back EMF values within a pre-determined period of time after the commutation of the motor, then the pre-determined back EMF event is an end to the pre-determined period of time.

3. The method of claim 2, wherein if a spike in the back EMF is observed, then:

the spike in the observed back EMF relating to the first and second back EMF values has a first foot, a peak and a second foot; and

the first foot corresponds to the commutation of the motor and the second foot corresponds to the end of the spike in the back EMF.

4. The method of claim 3, wherein:

if a spike in the back EMF is observed, then the evaluating the observed back EMF includes disregarding the back EMF that is observed until the end of the spike and determining the end of the spike, the determining the end of the spike comprising;

i) evaluating whether the difference between the first and second back EMF values signifies that the observed back EMF is between the first foot and the peak of the spike, and if so, noting that the peak of the spike has been passed; and

ii) if the peak of the spike has been passed, evaluating whether the difference between the first and second back EMF values signifies that the observed back EMF is past the second foot of the spike and so determining the end to the spike in the observed back EMF; and

if a spike in the back EMF is not observed, then the evaluating the observed back EMF includes disregarding the back EMF that is observed until the end of the pre-determined period of time.

5. The method of claim 4, wherein the pre-determined period of time corresponds to a time period expiring before a next commutation of the motor at a present speed and load current of the motor.

6. The method of claim 5, wherein the obtaining the first back EMF value comprises obtaining a first voltage level on the off winding of the motor at the first time, and the obtaining the second back EMF value comprises obtaining a second voltage level on the off winding of the motor at the second time.

7. The method of claim 6, wherein the difference between the first and second back EMF values is used to signify that the observed back EMF is between the first foot and the peak of the spike if the difference is greater than a first pre-determined hysteresis value, and the difference is used to signify that the observed back EMF is past the second foot of the spike if the difference is greater than a second pre-determined hysteresis value.

8. The method of claim 7, wherein the motor is a three-phase motor.

9. The method of claim 8, wherein the motor is connected in either a wye or delta configuration.

10. A system for determining back electromotive force (EMF) in a polyphase motor, comprising:

sense circuitry for sampling back EMF values in said motor at regular intervals and for monitoring back EMF in the motor after a commutation of the motor; and

a motor controller for receiving the back EMF and evaluating the back EMF only after a predetermined back EMF event occurs after the commutation of the motor,

wherein

the sense circuitry obtains a first back EMF value at a first time from said samples and obtains at a second time subseauent to the first time a second back EMF value from said samples; and

the motor controller utilizes a difference between the first back EMF value and the second back EMF value to evaluate the back EMF.

11. The system of claim 10, wherein:

if a spike in the back EMF is observed by the sense circuitry and the motor controller, then the pre-determined back EMF event is an end to the spike; and

if a spike in the back EMF is not observed by the sense circuitry and the motor controller within a pre-determined period of time after the commutation of the motor, then the pre-determined back EMF event is an end to the pre-determined period of time.

12. The system of claim 11, wherein if a spike in the back EMF is observed, then:

the spike in the observed back EMF has a first foot, a peak and a second foot; and

the first foot corresponds to the commutation of the motor and the second foot corresponds to the end of the spike in the back EMF.

13. The system of claim 12, wherein:

if a spike in the back EMF is observed, then the evaluating the observed back EMF by the motor controller includes disregarding the back EMF that is observed until the end of the spike and determining the end of the spike, the determining the end of the spike comprising;

i) evaluating whether the difference between the first and second back EMF values signifies that the observed back EMF is between the first foot and the peak of the spike, and if so, noting that the peak of the spike has been passed; and

ii) if the peak of the spike has been passed, evaluating whether the difference between the first and second back EMF values signifies that the observed back EMF is past the second foot of the spike and so determining the end to the spike in the observed back EMF,

if a spike in the back EMF is not observed, then the evaluating the observed back EMF by the motor controller includes disregarding the back EMF that is observed until the end of the pre-determined period of time.

14. The system of claim 13, wherein:

the pre-determined period of time corresponds to a time period expiring before a next commutation of the motor at a present speed and load current of the motor;

the obtaining the first back EMF value comprises the sense circuitry obtaining a first voltage level on the off winding of the motor at the first time, and the obtaining the second back EMF value comprises the sense circuitry obtaining a second voltage level on the off winding of the motor at the second time;

the difference between the first and second back EMF values is used to signify that the observed back EMF is between the first foot and the peak of the spike if the difference is greater than a first pre-determined hysteresis value, and the difference is used to signify that the observed back EMF is past the second foot of the spike if the difference is greater than a second pre-determined hysteresis value;

the motor is a thee-phase motor; and

the motor controller includes a digital signal processor.

15. The system of claim 14, wherein the motor is connected in either a wye or delta configuration.

16. A method for evaluating observed back electromotive force (EMF) in a polyphase motor, comprising:

monitoring a total current appearing on all phase windings of the motor after a rotor of the motor begins to rotate; and

evaluating back EMF only after the total current is within a pre-determined margin of the current demanded of the motor,

wherein the current supplied to the motor is provided to the phase windings of the motor by a bridge circuit connected to the phase windings, and the monitoring the total current includes obtaining the current appearing across the bridge circuit.

17. The method of claim 16, wherein the pre-determined margin is selected so that the back EMF is evaluated only after an error component of the total current has decayed below a negligible value as signified by the total current being with the pre-determined margin of the current demanded of the motor.

18. The method of claim 17, wherein the current supplied to the motor is controlled in a closed loop fashion.

19. The method of claim 18, wherein the motor is a three-phase motor.

20. The method of claim 19, wherein the motor is connected in either a wye or delta configuration.

21. A system for evaluating observed back electromotive force (EMF) in a polyphase motor, comprising:

sense circuitry for monitoring a total current appearing on all phase windings of the motor after a rotor of the motor begins to rotate; and

a motor controller for receiving the total current and evaluating back EMF only after the total current is within a pre-determined margin of the current demanded of the motor,

wherein;

the current supplied to the motor is provided to the phase windings of the motor by a bridge circuit connected to the phase windings, and the monitoring the total current by the sense circuitry includes obtaining the current appearing across the bridge circuit;

the pre-determined margin is selected so that the back EMF is evaluated only after an error component of the total current has decayed below a negligible value as signified by the total current being with the pre-determined margin of the current demanded of the motor;

the motor controller controls the current demanded of the motor is controlled in a closed loop fashion;

the motor is a three-phase motor; and

the motor controller includes a digital signal processor.

22. The system of claim 21, wherein the motor is connected in either a wye or delta configuration.