WO2002054574A2 - Commutation and velocity control system for a brushless dc motor - Google Patents
Commutation and velocity control system for a brushless dc motor Download PDFInfo
- Publication number
- WO2002054574A2 WO2002054574A2 PCT/US2001/050357 US0150357W WO02054574A2 WO 2002054574 A2 WO2002054574 A2 WO 2002054574A2 US 0150357 W US0150357 W US 0150357W WO 02054574 A2 WO02054574 A2 WO 02054574A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signal
- velocity
- receives
- provides
- indicative
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
Definitions
- serial number 60/259,354 entitled "Commutation and Velocity Control System For
- the present invention relates to DC brushless motors, and in particular to a
- a brushless DC motor employs a permanently magnetized rotor and electronic commutation to switch current to appropriate
- stator windings to cause the rotor to rotate to follow switched magnetic poles in the stator
- Brushless DC motors may be commutated by signals generated from the rotational
- brushless DC motors may be commutated by an external
- rotor include resolver windings, Hall effect devices, optical position sensors, etc.
- Brushless DC motors often achieve brushless commutation by the use of the resolver that is rotationally coupled to an armature shaft and a pair of resolver windings, respectively producing output signals sine ⁇ and cosine ⁇ , where ⁇ is the angular position of the shaft, which are used to control the windings for driving the armature. From these position signals, velocity must be derived in order to control the commutation.
- control system of a brushless DC motor receives a velocity command signal and provides
- the system includes a summer that receives the velocity command signal and a velocity feedback signal and provides a velocity
- a velocity loop compensator receives the velocity
- a polarity sensing circuit senses the polarity of the
- compensated velocity error signal and provides a velocity polarity signal indicative thereof.
- the system also includes an integrated circuit having: (i) a velocity calculation circuit that
- a filter receives the pulse width modulated output signal and
- the present invention provides a simplified commutation and velocity control system
- FIG. 1 is a block diagram illustration of a commutation and velocity control system for
- FIG. 2 is a block diagram illustration of the FPGA
- FIGs. 3-5 illustrates commutation logic tables resident in the FPGA of FIG. 2:
- FIG. 6 is a simplified illustration of a bridge driver circuit
- FIG. 7 is a block diagram illustration of the resolver folder over logic.
- FIG. 1 is a block diagram illustration of a commutation and velocity control system 10
- the system 10 receives a velocity command signal on a line 14,
- This error signal is input to a velocity loop compensator 24 that provides an analog
- velocity error signal (e.g. , a voltage signal) on a line 26 to a comparator 28.
- the comparator 28 also receives a signal on a line 30 from a digital-to-analog converter
- the output of the DAC 32 on the line 30 is a triangular waveform that allows the
- comparator 28 to provide a pulse-width-modulated (PWM) output signal on a line 34, whose
- pulse width is indicative of the magnitude of the velocity error signal on the line 26.
- the PWM output signal on the line 34 is input to an application specific integrated circuit
- the FPGA 36 provides command signals on lines 38 to control the brushless DC motor 12, and
- the command signals on the lines 38 are output to a H-bridge driver circuit 42,
- the system 10 also includes a comparator 44 that receives the
- the comparator 44 provides a Boolean
- the comparator 44 provides a Boolean signal on the line 46 that is logical zero. Therefore, the signals on the lines 34, 46 (PWM and DIR, respectively) together provide magnitude and polarity information indicative of the velocity error on the line 26.
- the system 10 also includes a motor shaft position
- the resolver 50 provides a sine signal on a line 52 and a cosine signal on a line
- a resolver signal processing interface 56 which is configured as an RC bridge circuit.
- the sine and cosine signals from the resolver signal processing interface 56 are separated by
- the brushless DC motor 12 preferably has four pole
- the resolver has two pole pairs to accommodate a direct (2*0) to electrical degrees.
- resolver receives an excitation signal on a line 57, which is a 23.4375
- the RC bridge circuit 56 provides start and stop signals on lines 58, 60 to the FPGA 36.
- FIG. 2 is a block diagram illustration of the FPGA 36.
- the FPGA receives a clock
- the clock signal is input to a counter(s) 72 that generates
- the FPGA also includes an up/down counter 74 (e.g., a seven bit counter) that cycles between a one hundred
- a 4 Mhz clock signal on a line 78 may be
- DAC 32 providing a triangle waveform having a frequency of 20 KHz.
- the FPGA 36 receives the start and stop signals on the lines 58, 60, which are used to
- This counter 80 (e.g., a ten bit counter) operates at a 23.4375 KHz rate
- the start signal on the line 58 is separated from the stop signal on the line 60 by (2 * ⁇ ) degrees
- resolver e.g., a four pole motor and a two pole resolver.
- the value (2* ⁇ ) is a direct
- the resolver excitation period is equal to 42.667 ⁇ sec
- the counter is 10 bits (i.e., 1024 states);
- the resolver excitation is 23.4375 KHz derived from the 24 MHz clock.
- the commutation logic tables provide the output signals on the lines 38 that control the
- FIG. 1 is provided energy to cause rotation of the permanent magnet rotor in either direction.
- Variation of the energy is by pulse width modulation of the commutation pulse.
- the commutation logic tables 82 receive the signal indicative of velocity error polarity
- the commutation logic tables 82 also receive a signal on a line 86
- This signal is provided by a latch 88 that receives a count
- the commutation logic tables 82 determine the state of the motor driver circuit based
- FIG. 6 is a simplified block diagram illustration of the bridge driver
- the bridge driver circuit 42 includes a plurality of current switches (e.g. , FETs)
- FET off to FET on dead time may be required to avoid "H" bridge common leg high side
- HSS high side switch
- LSS low side switch
- the dead time may be 1.5 ⁇ sec to
- the FPGA also includes velocity calculation circuitry 120 that computes the velocity
- counter 122 e.g., a divide
- a summer 126 receives the count
- the difference signal indicative of the difference on a line 130.
- the difference signal is input to
- FIG. 7 is a block diagram illustration of the resolver folder
- Velocity is counted as long as the clock signal is active.
- a counter 134 e.g., a ten bit counter
- output (e.g., 0 to 5 VDC) on the line 40 indicative of velocity.
- zero velocity is represented by 50% duty cycle
- full-scale negative velocity is represented by 0% duty
- filter 150 (FIG. 1) provides the signed positive and negative velocity feedback
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP01985140A EP1346461B1 (en) | 2000-12-30 | 2001-12-31 | Commutation and velocity control system for a brushless dc motor |
AU2002234118A AU2002234118A1 (en) | 2000-12-30 | 2001-12-31 | Commutation and velocity control system for a brushless dc motor |
DE60135149T DE60135149D1 (en) | 2000-12-30 | 2001-12-31 | SWITCH CONTROL SYSTEM AND SPEED CONTROL FOR A BRUSHLESS ENGINE |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US25935400P | 2000-12-30 | 2000-12-30 | |
US60/259,354 | 2000-12-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2002054574A2 true WO2002054574A2 (en) | 2002-07-11 |
WO2002054574A3 WO2002054574A3 (en) | 2003-01-30 |
Family
ID=22984588
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2001/050357 WO2002054574A2 (en) | 2000-12-30 | 2001-12-31 | Commutation and velocity control system for a brushless dc motor |
Country Status (5)
Country | Link |
---|---|
US (1) | US6891346B2 (en) |
EP (1) | EP1346461B1 (en) |
AU (1) | AU2002234118A1 (en) |
DE (1) | DE60135149D1 (en) |
WO (1) | WO2002054574A2 (en) |
Cited By (2)
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US7835630B2 (en) | 2007-04-06 | 2010-11-16 | The Johns Hopkins University | Adaptive and reconfigurable system for DC motor control |
EP2135139B1 (en) * | 2006-12-07 | 2016-03-09 | Sensormatic Electronics, LLC | Method and system for low speed control of a video surveillance system motor |
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WO2005048444A1 (en) * | 2003-11-12 | 2005-05-26 | Siemens Aktiengesellschaft | Control of an electric motor with continuous adjustment of the commutation angle |
JP2005269855A (en) * | 2004-03-22 | 2005-09-29 | Matsushita Electric Ind Co Ltd | Dc motor drive circuit |
ATE414343T1 (en) * | 2004-05-15 | 2008-11-15 | Luk Lamellen & Kupplungsbau | METHOD FOR MEASURING THE SPEED OF AN EC MOTOR |
US7187142B2 (en) * | 2005-05-25 | 2007-03-06 | Rockwell Automation Technologies, Inc. | Motor drive with velocity noise filter |
US7109670B1 (en) * | 2005-05-25 | 2006-09-19 | Rockwell Automation Technologies, Inc. | Motor drive with velocity-second compensation |
US7578024B2 (en) * | 2005-11-10 | 2009-08-25 | Daniel Hughes | Trash container with a vacuum |
US7265514B1 (en) * | 2006-03-23 | 2007-09-04 | Sunonwealth Electric Machine Industry Co., Ltd. | Frequency-variable pulse-width-modulation motor drive circuit capable of operating under different PWM frequencies |
US8217616B2 (en) * | 2007-11-02 | 2012-07-10 | HJamilton Sundstrand Corporation | Electric motor control with buck boost converter |
US7969122B2 (en) * | 2007-11-14 | 2011-06-28 | Hamilton Sundstrand Corporation | Pole count changing generator |
US7710058B2 (en) * | 2007-12-13 | 2010-05-04 | Hamilton Sundstrand Corporation | Motor drive architecture for high frequency AC bus |
US7638959B2 (en) * | 2007-12-14 | 2009-12-29 | Hamilton Sundstrand Corporation | Method of operating a brushless motor wherein open loop and closed loop controllers utilize different commutation methods |
US8209107B2 (en) * | 2008-01-23 | 2012-06-26 | Hamilton Sundstrand Corporation | Electric motor for fuel pump with improved shutdown features |
US7977936B2 (en) * | 2008-10-16 | 2011-07-12 | Hamilton Sundstrand Corporation | Resolver interface and signal conditioner |
US8294396B2 (en) | 2009-07-13 | 2012-10-23 | Hamilton Sundstrand Space Systems International, Inc. | Compact FPGA-based digital motor controller |
US8456114B2 (en) | 2010-05-27 | 2013-06-04 | Hamilton Sundstrand Corporation | Motor bus voltage commutation method |
US8796965B2 (en) * | 2011-02-28 | 2014-08-05 | Precision Engine Controls Corporation | Commutation calibration via motor mapping |
US8742715B2 (en) | 2011-06-09 | 2014-06-03 | Simmonds Precision Products, Inc. | System and method for providing control of an electric motor using inductive rotary sensor |
FR2999825B1 (en) | 2012-12-13 | 2015-01-02 | Moving Magnet Tech | MECATRONIC ASSEMBLY FOR DRIVING AN EXTERNAL BODY USING A BRUSHLESS MOTOR AND A SINGLE ASSEMBLY OF ELECTRONIC COMPONENTS |
US9059732B2 (en) | 2013-03-21 | 2015-06-16 | Hamilton Sundstrand Corporation | Resolver-to-digital converter |
US9601003B2 (en) | 2015-08-17 | 2017-03-21 | Hamilton Sundstrand Space Systems International, Inc. | Sensor and control systems for electrical machines |
US10289092B2 (en) * | 2016-01-14 | 2019-05-14 | Hamilton Sundstrand Space Systems International Inc. | Digital motor controller stability analysis tool |
US10536100B2 (en) * | 2016-04-01 | 2020-01-14 | Gentherm Incorporated | Systems and methods for calculating motor position, inertia and rest position in sensorless brushed DC motor control systems |
KR102506930B1 (en) * | 2018-03-19 | 2023-03-07 | 현대자동차 주식회사 | Apparatus and method for controlling resolver signal |
CN109338607A (en) * | 2018-10-11 | 2019-02-15 | 浙江众邦机电科技有限公司 | A kind of motor heavy duty control method of sewing machine, device, medium, equipment |
CN113315426B (en) * | 2021-06-16 | 2022-11-18 | 杭州瑞盟科技股份有限公司 | Driving device of stepping motor and motor system |
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US5089761A (en) * | 1989-07-11 | 1992-02-18 | Matsushita Electric Industrial Co., Ltd. | Motor control system |
US5461293A (en) * | 1993-05-12 | 1995-10-24 | Sundstrand Corporation | Rotor position detector |
EP0734115A1 (en) * | 1995-03-18 | 1996-09-25 | Danfoss A/S | Method for operating a motor/compressor combination and a motor/compressor combination for carrying out that method |
US5563980A (en) * | 1994-12-14 | 1996-10-08 | Industrial Technology Research Institute | Brushless DC motor speed controller |
EP0883233A2 (en) * | 1994-01-12 | 1998-12-09 | Mitsubishi Denki Kabushiki Kaisha | Drive circuit for brushless motor |
US5978547A (en) * | 1998-04-20 | 1999-11-02 | K-Tron Technologies, Inc. | High-turndown DC motor controller and method |
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JPS61106088A (en) | 1984-10-26 | 1986-05-24 | Hitachi Ltd | Current control drive circuit of brushless motor |
JPS62203596A (en) | 1986-02-28 | 1987-09-08 | Mitsubishi Heavy Ind Ltd | Speed controller for 3-phase ac motor |
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2001
- 2001-12-31 EP EP01985140A patent/EP1346461B1/en not_active Expired - Lifetime
- 2001-12-31 DE DE60135149T patent/DE60135149D1/en not_active Expired - Fee Related
- 2001-12-31 US US10/039,235 patent/US6891346B2/en not_active Expired - Fee Related
- 2001-12-31 WO PCT/US2001/050357 patent/WO2002054574A2/en not_active Application Discontinuation
- 2001-12-31 AU AU2002234118A patent/AU2002234118A1/en not_active Abandoned
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EP0734115A1 (en) * | 1995-03-18 | 1996-09-25 | Danfoss A/S | Method for operating a motor/compressor combination and a motor/compressor combination for carrying out that method |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2135139B1 (en) * | 2006-12-07 | 2016-03-09 | Sensormatic Electronics, LLC | Method and system for low speed control of a video surveillance system motor |
US7835630B2 (en) | 2007-04-06 | 2010-11-16 | The Johns Hopkins University | Adaptive and reconfigurable system for DC motor control |
Also Published As
Publication number | Publication date |
---|---|
US6891346B2 (en) | 2005-05-10 |
DE60135149D1 (en) | 2008-09-11 |
EP1346461A2 (en) | 2003-09-24 |
WO2002054574A3 (en) | 2003-01-30 |
AU2002234118A1 (en) | 2002-07-16 |
EP1346461B1 (en) | 2008-07-30 |
US20040150362A1 (en) | 2004-08-05 |
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