System and method for controlling a permanent magnet electric motor
IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0510030
(2003-04-02)
|
우선권정보 |
CA-2379732(2002-04-02) |
국제출원번호 |
PCT/CA03/000486
(2003-04-02)
|
§371/§102 date |
20041001
(20041001)
|
국제공개번호 |
WO03/082013
(2003-10-09)
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발명자
/ 주소 |
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출원인 / 주소 |
|
대리인 / 주소 |
Schnader Harrison Segal &
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인용정보 |
피인용 횟수 :
7 인용 특허 :
8 |
초록
▼
A system and method are provided for controlling a three-phased permanent magnet electric motor terminal voltages in relation to both changes in speed and torque of the permanent magnet electric motor, whereby phase currents are first rotated from a stationary frame to two decoupled current componen
A system and method are provided for controlling a three-phased permanent magnet electric motor terminal voltages in relation to both changes in speed and torque of the permanent magnet electric motor, whereby phase currents are first rotated from a stationary frame to two decoupled current components in a rotor synchronous frame, which enable to derive a voltage along a quadrature axis and a voltage along a direct axis thereof, before rotating back the quadrature and direct axis voltages from the rotor synchronous frame to the stationary frame to yield the permanent magnet electric motor terminal voltages.
대표청구항
▼
What is claimed is: 1. A system for controlling a permanent magnet electric motor (12), comprising: a motor controller (16), said motor controller ( 16) using phase currents of the permanent magnet electric motor ( 12) at a preset speed ω to generate voltage-controlling signals used to obtain
What is claimed is: 1. A system for controlling a permanent magnet electric motor (12), comprising: a motor controller (16), said motor controller ( 16) using phase currents of the permanent magnet electric motor ( 12) at a preset speed ω to generate voltage-controlling signals used to obtain changes in torque T of the permanent magnet electric motor (12); and a power stage (14), said power stage (14) receiving the voltage-controlling signals from the motor controller ( 16) and feeding them back to the permanent magnet electric motor ( 12), wherein said motor controller (16) is a park vector rotator unit that generates continuously rotating angles. 2. The system for controlling a permanent magnet electric motor according to claim 1, said system continuously responding to changes of the preset speed and torque of the permanent magnet electric motor (12) as well as to changes in ambient conditions. 3. A method for controlling a permanent magnet electric motor (12) comprising: determining a current of each phase of the permanent magnet electric motor (12) at a preset speed ω; obtaining voltage controlling signals at the preset speed ω in relation to changes in torque of the permanent magnet electric motor (12); and feeding the voltage controlling signal back to the permanent magnet electric motor (12); computing a current torque T of the permanent magnet electric motor (12); wherein said computing a current torque T comprises rotating the currents of each phase of the permanent magnet electric motor by an angle-θn to output two currents Id and I q, according to the following relations on a d-q axis fixed on a rotor axis of the permanent magnet electric motor (12): description="In-line Formulae" end="lead"I d=⅔횞[ia횞cos(θn)+i b횞cos(θn+120째)+ic횞cos(θ n-120째)] anddescription="In-line Formulae" end="tail" description="In-line Formulae" end="lead"I q=⅔횞[ia횞sin(θn)+i b횞sin(θn+120째)+ic횞sin(θ n-120째)]description="In-line Formulae" end="tail" 4. A method for controlling a permanent magnet electric motor (12) comprising: determining a current of each phase of the permanent magnet electric motor (12) at a preset speed ω; obtaining voltage controlling signals at the preset speed ω in relation to changes in torque of the permanent magnet electric motor (12); and feeding the voltage controlling signal back to the permanent magnet electric motor (12), wherein said determining a current of each phase of the permanent magnet electric motor (12) comprising measuring a current of two phases thereof and calculating a current of a third phase using the relation: wherein said obtaining voltage controlling signals comprises: computing a current rotating angle θn+1; computing two voltage outputs Vq and Vd; and rotating the voltage outputs Vq and Vd by the angle θn+1. 5. The method for controlling a permanent magnet electric motor according to claim 4, wherein said computing a current rotating angle θn+1 is done using a current torque T and a preset speed ω of the permanent magnet electric motor (12) with the formula θn+1=θn+k1횞ω+k2 횞T where k1 and k2 are constants. 6. The method for controlling a permanent magnet electric motor according to claim 5, wherein said computing two voltage outputs Vq and Vd comprises: computing the voltage output Vq on a d-q axis fixed on a rotor axis: Vq=PI(I*-Id)+k3횞Iq where k3 is a constant, "PI"referring to a proportional and integral operator, defined as follows: PI(x)=ax+b∫x dt where a and b are constants and integration is over time; and computing the voltage output Vd, according to the following equation on the d-q axis fixed on the rotor axis: Vd =k5횞Id+k4횞Iq횞ω where k4 and k5 are constants. 7. The method for controlling a permanent magnet electric motor according to claim 5, wherein said obtaining voltage controlling signals comprises obtaining three voltage controlling signals Va, Vb and Vc according to the following equations: description="In-line Formulae" end="lead"V a=Vd횞cos(θn+1)+Vq횞sin (θn+1), Vb=Vd횞cos(θ n+1+120째)+Vq횞sin(θn+1120째) and Vc=Vd횞cos(θn+1-120째) +V q횞sin(θn+1-120째).description="In-line Formulae" end="tail" 8. A circuit for controlling a permanent magnet three-phases electric motor provided with a rotor and a stator, comprising: a rotator allowing rotation of current signals of the phases of the permanent magnet electric motor (12) from a stationary frame to two decoupled current components in a rotor synchronous frame along a direct axis (Id) and a quadrature axis (Iq) respectively; a proportional and integral operator for deriving a voltage (Vq) along the quadrature axis and a voltage (Vd) along the direct axis; a rotator allowing rotating the voltages Vq and V d back from the rotor synchronous frame to the stationary frame to yield terminal voltages Va, Vb and Vc of the permanent magnet electric motor; wherein a current rotating angle θn+1 is computed using a current torque T and a preset speed ω of the permanent magnet electric motor with a formula as follows: θn+ 1=θn+k1횞ω+k2횞T where k1 and k2 are constants. 9. A method for controlling a permanent magnet three-phases electric motor provided with a rotor and a stator, comprising: rotating current signals of the phases of the permanent magnet electric motor (12) from a stationary frame to two decoupled current components in a rotor synchronous frame along a direct axis (Id) and a quadrature axis (Iq) respectively; deriving a voltage (Vq) along the quadrature axis therefrom; deriving a voltage (Vd) along the direct axis; rotating the voltages Vq and Vd back from the rotor synchronous frame to the stationary frame to yield terminal voltages Va, Vb and Vc of the permanent magnet electric motor; wherein a current rotating angle θn+1 is computed using a current torque T and a preset speed ω of the permanent magnet electric motor (12) with a formula as follows: θn+1=θn+k1횞ω+k2횞T where k1 and k2 are constants. 10. A method for controlling a permanent magnet electric motor having three-phases each supporting a current ia, ib and ic respectively, comprising: determining the currents ia, ib and i c; rotating the currents ia, ib and ic by an angle-θn to yield currents Id and Iq; computing a current torque of the permanent magnet electric motor (12); computing a current rotating angle θn+1; computing a voltage output Vq; computing a voltage output Vd; rotating the voltages Vq and Vd by the rotating angle θn+1 to yield three voltage controlling signals V a, Vb and Vc; and applying the voltage controlling signals Va, Vb and Vc to the permanent magnet electric motor; wherein a current rotating angle θn+1 is computed using the current torque T and a preset speed ω of the permanent magnet electric motor (12) with a formula as follows: θn+1=θn+k1횞ω+k2횞T where k1 and k2 are constants.
이 특허에 인용된 특허 (8)
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Giuseppe, Guidi, Control system, observer, and control method for a speed-sensorless induction motor drive.
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Veltman, Andre, Method and a device for sensorless estimating the relative angular position between the stator and rotor of a three-phase synchronous motor.
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Jnsson Ragnar (Kyrkobacksvgen 5 S-271 95 Ystad SEX), Method and apparatus for controlling an AC induction motor by indirect measurement of the air-gap voltage.
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Veltman, Andre, Method and device for controlling an electric load connected to a multiphase switchable DC/AC frequency convertor.
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Naidu Malakondaiah (Utica MI) Bose Bimal K. (Knoxville TN), Rotor position estimation of a permanent magnet synchronous-machine for high performance drive.
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Sakakibara Hiroyuki,JPX ; Okuno Tomoya,JPX ; Obayashi Kazuyoshi,JPX ; Tsuji Hiroya,JPX, Sensorless control system and method of permanent magnet synchronous motor.
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Cho, Byung Guk, Sensorless vector control system of induction motor and method thereof.
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Shinji Shinnaka JP, Vector control method for synchronous reluctance motor.
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