System and method for starting and operating a motor

• US 7,592,761 B2
• Filed: 09/29/2005
• Issued: 09/22/2009
• 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): Benson; Walter
• Assistant Examiner(s): COLON SANTANA, EDUARDO
• Application Number:
  US11/237,907
• Publication Number:
  US 20070069669A1
• Time in Patent Office: 1,454 Days
• Field of Search: 318/400.01, 318/400.11, 318/400.26, 318/400.27, 318/400.35, 318/778, 318/785, 318/823, 318/254.1, 318/254.2
• US Class Current: 318/254.1
• CPC Class Codes: H02P 2209/07 Trapezoidal waveform
• CPC Class Codes: H02P 6/20 Arrangements for starting H02P6/08 takes precedence

Abstract

A method for determining an initial position of a rotor of a polyphase motor is described. The method comprises determining current change values from a plurality of phases of the motor during saturation of the motor relating to the initial position of the rotor; identifying a set of modelled current change values according to a modelled behaviour of the motor, in which the modelled current change values represents modelled positions of the rotor under the modelled behaviour; and comparing the current change values to the set of modelled current change values to identify the initial rotor position from the modelled positions. A system implementing the method is also described.

Claims

1. A method for determining an initial position of a rotor of a polyphase motor comprising:

determining current change values from a plurality of phases of the motor during saturation of the motor relating to the initial position of the rotor;

identifying a set of modelled current change values according to a modelled behaviour of the motor, the modelled current change values representing modelled positions of the rotor under the modelled behaviour;

transforming the current change values into a lower dimensional space;

transforming the set of modelled current values into the lower dimensional space; and

comparing the current change values in said lower dimensional space to the set of modelled current change values in said lower dimensional space to identify the initial rotor position from the modelled positions,

wherein each current change value of said current change values is obtained by;

providing a first voltage pulse having a magnitude and duration to a pair of phases of the plurality of phases in a first direction; and

observing a first resulting current appearing on the pair of phases;

providing a second voltage pulse having said magnitude and said duration of said first voltage pulse to the pair of phases in a second direction opposed to the first direction; and

observing a second resulting current appearing on the pair of phases; and

obtaining the each current change value as the difference between the first resulting current and the second resulting current.

2. The method of claim 1, wherein the motor is a three-phase motor.

3. The method of claim 2, wherein each current change value relates to a respective pair of phases of the motor.

4. The method of claim 3, wherein the current change values are a triplet of values, and which are transformed into an ordered pair in the lower dimensional space.

5. The method of claim 4, wherein the rotor rotates around a rotational space of the motor divided into a plurality of sectors, and each value of the set of modelled current change values corresponds to the modelled behaviour of the motor when the rotor is at a midpoint of each of the respective plurality of sectors.

6. The method of claim 5, wherein the comparing the current change values and the modelled current change values comprises identifying the rotor by:

obtaining a set of differences between the current change values to each modelled current change value at the midpoint of of a each sector of a plurality of sectors of rotational space of the motor, said each sector being associated with a respective modelled current change value at the midpoint of the sector;

determining a difference in the set of differences that is the smallest, and the sector of the plurality of sectors associated with the difference that is the smallest; and

identifying the rotor as within the sector of the plurality of sectors associated with the difference that is the smallest.

7. A system for determining an initial position of a rotor of a polyphase motors, comprising:

sense circuitry for determining current change values from a plurality of phases of the motor during saturation of the motor relating to the initial position of the rotor; and

a motor controller that

accesses a set of modelled current change values according to a modelled behaviour of the motor, the modelled current change values representing modelled positions of the rotor under the modelled behaviour;

transforms the set of modelled current values into a lower dimensional space;

receives the current change values from the sense circuitry and transforms the current change values into the lower dimensional space;

compares the current change values in the lower dimensional space to the set of modelled current change values in the lower dimensional space to identify the initial rotor position from the modelled positions;

provides a first voltage pulse having a magnitude and duration to a pair of phases of the plurality of phases in a first direction;

obtains from the sense circuitry a first resulting current appearing on the pair of phases;

provides a second voltage pulse having said magnitude and duration of said first voltage pulse to the pair of phases in a second direction opposed to the first direction;

obtains from the sense circuitry a second resulting current appearing on the pair of phases; and

obtains each current change value of the current change values as the difference between the first resulting current and the second resulting current.

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

9. The system of claim 8, wherein each current change value relates to a respective pair of phases of the motor.

10. The system of claim 9, wherein the current change values are a triplet of values, and which are transformed into an ordered pair in the lower dimensional space.

11. The system of claim 10, wherein the rotor rotates around a rotational space of the motor divided into a plurality of sectors, and each value of the set of modelled current change values corresponds to the modelled behaviour of the motor when the rotor is at a midpoint of each of the respective plurality of sectors.

12. The system of claim 11, wherein the comparing the current change values and the modelled current change values by the motor controller comprises identifying the rotor by:

obtaining a set of differences between the current change values to each modelled current change value at the midpoint of a each sector of a plurality of sectors of rotational space of the motor, said each sector being associated with a respective modelled current change value at the midpoint of the sector;

determining a difference in the set of differences that is the smallest and a sector of the plurality of sectors associated with the difference that is the smallest; and

identifying the rotor as within a sector of the plurality of sectors associated with the difference that is the smallest.

13. The system of claim 12, wherein the motor controller includes a digital signal processor.

14. A motor controller used in system that determines an initial position of a rotor of a polyphase motor, the motor controller comprising instructions operating on a microprocessor:

to access a set of modelled current values according to a modelled behaviour of the motor, the modelled current change values representing modelled positions of the rotor under the modelled behaviour;

to transform the set of modelled current values into a lower dimensional space;

to receive current change values from sense circuitry in the system and transforms the current change values into the lower dimensional space and to compare the current change values in the lower dimensional space to the set of modelled current change values in the lower dimensional space to identify the initial rotor position from the modelled positions;

to provide a first voltage pulse having a magnitude and duration to a pair of phases of the plurality of phases in a first direction;

to obtain from the sense circuitry a first resulting current appearing on the pair of phases;

to provide a second voltage pulse having said magnitude and duration of said first voltage

pulse to the pair of phases in a second direction opposed to the first direction;

to obtain from the sense circuitry a second resulting current appearing on the pair of phases; and

to obtain each current change value of the current change values as the difference between the first resulting current and the second resulting current,

wherein the sense circuitry determines said current change values from a plurality of phases of the motor during saturation of the motor relating to the initial position of the rotor.

15. The motor controller of claim 14, wherein the motor is a three-phase motor.

16. The motor controller of claim 15, wherein said each current change value relates to a respective pair of phases of the motor.

17. The motor controller of claim 16, wherein said current change values are a triplet of values, which are transformed into an ordered pair in the lower dimensional space.

18. The motor controller of claim 14, wherein motor controller includes instructions operable on said microprocessor to identify the rotor by:

obtaining a set of differences between the current change values to each modelled current change value at the midpoint of each sector of a plurality of sectors of rotational space of the motor, said each sector being associated with a respective modelled current change value at the midpoint of the sector,

determining a difference in the set of differences that is the smallest and a sector of the plurality of sectors associated with the difference that is the smallest; and

identifying the rotor as within a sector of the plurality of sectors associated with the difference that is the smallest.