WO2008135520A2 - An electric motor and the control method thereof - Google Patents
An electric motor and the control method thereof Download PDFInfo
- Publication number
- WO2008135520A2 WO2008135520A2 PCT/EP2008/055401 EP2008055401W WO2008135520A2 WO 2008135520 A2 WO2008135520 A2 WO 2008135520A2 EP 2008055401 W EP2008055401 W EP 2008055401W WO 2008135520 A2 WO2008135520 A2 WO 2008135520A2
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- WO
- WIPO (PCT)
- Prior art keywords
- motor
- position sensors
- sensors
- changes
- sensor
- Prior art date
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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
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
- G01D5/24461—Failure detection by redundancy or plausibility
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
-
- 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
- H02P6/16—Circuit arrangements for detecting position
Definitions
- the present invention relates to a motor and the control method thereof that detects the sensor errors.
- the position of the rotor is detected by sensorless algorithms or by various sensor structures such as position sensors.
- the position sensor configuration provides performance safety in washer/dryers. If the motor is operating at high speed when this sensor malfunctions or when there is a lock of motor, then great damage can occur in the motor or the motor circuit.
- the aim of the present invention is the realization of a motor and a control method thereof wherein the erroneous functioning of the position sensors is detected without delay.
- At least one control unit is provided that controls the position sensors. As long as the motor operates with the algorithms in the control unit, the output values of the position sensors are controlled without interruption.
- the control unit controls the number of changes in output values of each sensor and compares the number of changes in output values of each sensor with the number of changes in output values of the other two sensors. If the control unit detects that while the output value of a sensor changes n times, the output values of the other two sensors do not change (n-1), n or (n+1) times, then an error signal is generated and the motor is halted.
- Figure 1 - is the schematic view in a three position sensor embodiment of a bipolar brushless direct current motor with a clockwise rotating rotor.
- Figure 2 - is the output value diagram of the sensors in a three position sensor embodiment of a bipolar brushless direct current motor with a clockwise rotating rotor.
- Figure 3 - is the table of output values received from the sensors in a three position sensor embodiment of a bipolar brushless direct current motor with a clockwise rotating rotor.
- Figure 4 - is the schematic view of a bipolar brushless direct current motor with a clockwise rotating rotor in another embodiment.
- the elements illustrated in the figures are numbered as follows:
- the motor (1) comprises a rotor (2), a stator (3) around the rotor (2), at least two position sensors (4) positioned equidistantly to one another on the stator (3) and at least one control unit (5) that controls the output values of the position sensors (4, 41 , 42).
- the rotor (2) has magnetic poles (WS). While the rotor (2) rotates, the magnetic poles (N/S) pass alternately in front of the position sensors (4). The output values of the positions sensors (4) change as each of the magnetic poles (N/S) passes in front of the position sensors (4).
- the position sensors (4, 41 , 42) are disposed equidistantly from each other. For example, in an embodiment with three position sensors (4, 41 , 42), the position sensors (4, 41 , 42) generate square waves each having 120 degree phase difference with respect to each other as the different poles of the rotor (2) pass in front of the position sensors (4, 41 , 42) ( Figure 2).
- a hall sensor that detects magnetic changes and delivers by converting to an electrical parameter such as voltage is selected as the position sensor (4, 41 , 42).
- three position sensors (4, 41 , 42) are positioned on the stator (3) ( Figure 1).
- a triple phase bipolar brushless direct current motor (1) is used as the motor (1).
- the output values of the first, second and third positions sensors (4, 41 , 42) are respectively the repeated groups of [(O 1 0), (0 1 1), (0 0 1), (1 0 1), (1 0 0), (1 1 O)] ( Figure 3).
- the routine digital information received from the first, second and third positions sensors (4, 41 , 42) is respectively the repeated groups of [(1 1 0), (1 0 0), (1 0 1), (0 0 1), (0 1 1), (0 1 0)].
- each position sensor (4, 41 , 42) is monitored by the control unit (5) continuously.
- the control unit (5) In an embodiment with three position sensors (4, 41 , 42), while the rotor (2) rotates clockwise, when there are 4 changes in the output of a position sensor (4), there must be at least 3 changes in the other two position sensors (41 , 42) according to routine digital information received previously from the sensors (4, 41 , 42). In such a case, if there are not 3, 4 or 5 changes in both of the other two position sensors (41 , 42), an error in the motor (1) is identified by the control unit (5).
- control unit (5) continuously compares the output values of each position sensor (4, 41 , 42) with the output values of the other two position sensors.
- the control unit (5) gives an error signal and halts the motor (1) if the output value of one position sensor (4 or 41 or 42) changes n times while the output of the other two position sensors changes less than (n-1) or more than (n+1) times.
- three position sensors (4, 41 , 42) are positioned on the stator (3) and furthermore three control units (5, 51 , 52) connected to these three position sensors (4, 41 , 42) are provided ( Figure 4).
- the control unit (5, 51 , 52) of each position sensor (4, 41 , 42) monitors the output of the other two position sensors (4, 41 , 42) continuously.
- the control unit (5) of a position sensor (4) evaluates both the output of the position sensor (4) it is responsible of and also the number of changes in the output values of the other two position sensors (41 , 42).
- the control units (5, 51 , 52) give an error signal if the output value of the position sensor they are connected to changes n times while the output of the other two position sensors () changes less than (n-1) or more than (n+1).
- providing three control units (5, 51 , 52) connected to three position sensors (4, 41 , 42) enables to evaluate the changes in the output values of the sensors (4, 41 , 42) in a shorter period of time.
- the lock of a motor (1) can occur when the outputs of the position sensors (4, 41 , 42) are at any group of values [(O 1 0), (0 1 1), (0 0 1), (1 0 1), (1 0 0), (1 1 0)].
- the sensor outputs oscillate between the present and the previous or the next digital values. For example, if the rotor (2) locks up while the outputs of the first, second and third position sensors (4, 41 , 42) are in consecutive sequence (0 1 0), then the sensor outputs continuously change between (0 1 0) and (0 1 1).
- the value of the first position sensor (4) stays at 0 and the value of the second position sensor (41) stays at 1 perpetually and the value of the third position sensor (42) oscillates between 0 and 1.
- the motor (1) is halted before excess brake generated currents arise in the electronic circuits preventing enormous damages since the normal or erroneous operation of the position sensors (4, 41 , 42) or the presence of another problem originating from the motor (1) can be detected a short while after the motor (1) is actuated.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a motor (1) and the control method thereof wherein the erroneous operation of the position sensors (4) can be detected without delay. The motor (1) of the present invention comprises a control unit (5) that gives an error signal and halts the operation when the output value of one position sensor (4) changes n times while the output values of the other position sensors (4) change less than (n -1) or more than (n+1).
Description
Description
AN ELECTRIC MOTOR AND THE CONTROL METHOD THEREOF
[0001] The present invention relates to a motor and the control method thereof that detects the sensor errors.
[0002] In brushless direct current motors, the position of the rotor is detected by sensorless algorithms or by various sensor structures such as position sensors. The position sensor configuration provides performance safety in washer/dryers. If the motor is operating at high speed when this sensor malfunctions or when there is a lock of motor, then great damage can occur in the motor or the motor circuit.
[0003] Various methods are used in the art for detecting sensor errors. One of these methods is explained in the Japanese Document No JP2002125387. In the said document, the rotational position of the rotor is detected and the motor drive is stopped if output signals of two or more sensors deviate from the prescribed rules. Whether or not there is a deviation from prescribed rules is determined by controlling whether the digital signals received from each of the three hall sensors is one of the predetermined values.
[0004] The aim of the present invention is the realization of a motor and a control method thereof wherein the erroneous functioning of the position sensors is detected without delay.
[0005] In the motor and the control method realized in order to attain the aim of the present invention, explicated in the first claim and the attached claims thereof, at least two position sensors are placed equidistantly on the stator. The said position sensors generate square waves depending on the rotational direction and speed of the rotor. When there are not any problems in the motor, the output values (0 or 1) of the position sensors are repeated in a consecutive sequence.
[0006] In the motor, at least one control unit is provided that controls the position sensors. As long as the motor operates with the algorithms in the control unit, the output values of the position sensors are controlled without interruption. The control unit controls the number of changes in output values of each sensor and compares the number of changes in output
values of each sensor with the number of changes in output values of the other two sensors. If the control unit detects that while the output value of a sensor changes n times, the output values of the other two sensors do not change (n-1), n or (n+1) times, then an error signal is generated and the motor is halted. [0007] The motor realized in order to attain the aim of the present invention is illustrated in the attached claims, where: [0008] Figure 1 - is the schematic view in a three position sensor embodiment of a bipolar brushless direct current motor with a clockwise rotating rotor. [0009] Figure 2 - is the output value diagram of the sensors in a three position sensor embodiment of a bipolar brushless direct current motor with a clockwise rotating rotor. [0010] Figure 3 - is the table of output values received from the sensors in a three position sensor embodiment of a bipolar brushless direct current motor with a clockwise rotating rotor. [0011] Figure 4 - is the schematic view of a bipolar brushless direct current motor with a clockwise rotating rotor in another embodiment. [0012] The elements illustrated in the figures are numbered as follows:
1. Motor
2. Rotor
3. Stator
4. 41., 42. Position sensor
5. 51., 52. Control unit
[0013] The motor (1) comprises a rotor (2), a stator (3) around the rotor (2), at least two position sensors (4) positioned equidistantly to one another on the stator (3) and at least one control unit (5) that controls the output values of the position sensors (4, 41 , 42).
[0014] The rotor (2) has magnetic poles (WS). While the rotor (2) rotates, the magnetic poles (N/S) pass alternately in front of the position sensors (4). The output values of the positions sensors (4) change as each of the magnetic poles (N/S) passes in front of the position sensors (4). The position sensors (4, 41 , 42) are disposed equidistantly from each other. For example, in an embodiment with three position sensors (4, 41 , 42), the
position sensors (4, 41 , 42) generate square waves each having 120 degree phase difference with respect to each other as the different poles of the rotor (2) pass in front of the position sensors (4, 41 , 42) (Figure 2). A hall sensor that detects magnetic changes and delivers by converting to an electrical parameter such as voltage is selected as the position sensor (4, 41 , 42).
[0015] In an embodiment of the present invention, three position sensors (4, 41 , 42) are positioned on the stator (3) (Figure 1). Preferably a triple phase bipolar brushless direct current motor (1) is used as the motor (1). In this embodiment, while the rotor (2) rotates clockwise, the output values of the first, second and third positions sensors (4, 41 , 42) are respectively the repeated groups of [(O 1 0), (0 1 1), (0 0 1), (1 0 1), (1 0 0), (1 1 O)] (Figure 3). While the rotor (2) rotates counterclockwise, the routine digital information received from the first, second and third positions sensors (4, 41 , 42) is respectively the repeated groups of [(1 1 0), (1 0 0), (1 0 1), (0 0 1), (0 1 1), (0 1 0)].
[0016] When the output value of a position sensor (4, 41 , 42) changes from 0 to 1 or from 1 to 0, then it is understood that there is a change in the poles of the rotor (2) aligned with that position sensor (4, 41 , 42). In summary, the rotor (2) has made a half turn.
[0017] As long as the motor (1) continues to be operated, the change in the output of each position sensor (4, 41 , 42) is monitored by the control unit (5) continuously. In an embodiment with three position sensors (4, 41 , 42), while the rotor (2) rotates clockwise, when there are 4 changes in the output of a position sensor (4), there must be at least 3 changes in the other two position sensors (41 , 42) according to routine digital information received previously from the sensors (4, 41 , 42). In such a case, if there are not 3, 4 or 5 changes in both of the other two position sensors (41 , 42), an error in the motor (1) is identified by the control unit (5). That is, the control unit (5) continuously compares the output values of each position sensor (4, 41 , 42) with the output values of the other two position sensors. The control unit (5) gives an error signal and halts the motor (1) if the output value of one position sensor (4 or 41 or 42) changes n times while
the output of the other two position sensors changes less than (n-1) or more than (n+1) times.
[0018] In another embodiment of the present invention, three position sensors (4, 41 , 42) are positioned on the stator (3) and furthermore three control units (5, 51 , 52) connected to these three position sensors (4, 41 , 42) are provided (Figure 4). As the motor (1) continues to be operated, the control unit (5, 51 , 52) of each position sensor (4, 41 , 42) monitors the output of the other two position sensors (4, 41 , 42) continuously. For example, when the rotor (2) rotates clockwise, the control unit (5) of a position sensor (4) evaluates both the output of the position sensor (4) it is responsible of and also the number of changes in the output values of the other two position sensors (41 , 42). According to routine digital information received from the motor (1) sensors (4, 41 , 42), for example when 4 changes occur in the output of one position sensor (4), at least 3 changes have to occur in the other two position sensors (41 , 42). In this case, if there are not 3, 4 or 5 changes in both of the other two position sensors (41 , 42), an error in the motor (1) is identified by the control unit (5) of that sensor (4). That is, the control units (5, 51 , 52) continuously compare the output values of the position sensors () they are connected to with the output values of the other two position sensors (). The control units (5, 51 , 52) give an error signal if the output value of the position sensor they are connected to changes n times while the output of the other two position sensors () changes less than (n-1) or more than (n+1). In this embodiment, providing three control units (5, 51 , 52) connected to three position sensors (4, 41 , 42) enables to evaluate the changes in the output values of the sensors (4, 41 , 42) in a shorter period of time.
[0019] In all the embodiments, if the output of all the three position sensors (4, 41 , 42) is seen as 0 or 1 during start-up and rotation of the motor (1), since this status is not possible under normal operational conditions, then an error in the motor (1) is detected and the operation of the motor (1) is halted.
[0020] By means of the present invention, it is possible to detect numerous errors that may happen in the motor (1), for example the lock of a motor (1) can
occur when the outputs of the position sensors (4, 41 , 42) are at any group of values [(O 1 0), (0 1 1), (0 0 1), (1 0 1), (1 0 0), (1 1 0)]. In such a case, the sensor outputs oscillate between the present and the previous or the next digital values. For example, if the rotor (2) locks up while the outputs of the first, second and third position sensors (4, 41 , 42) are in consecutive sequence (0 1 0), then the sensor outputs continuously change between (0 1 0) and (0 1 1). In this case, the value of the first position sensor (4) stays at 0 and the value of the second position sensor (41) stays at 1 perpetually and the value of the third position sensor (42) oscillates between 0 and 1. By means of the embodiment of the present invention, when any one sensor changes twice and when the other sensors do not change at all, the existence of a problem is detected without delay since an error signal is given immediately and the motor (1) is halted without damaging the motor (1) and the electronic circuits. By means of the motor (1) and the control method of present invention, the motor (1) is halted before excess brake generated currents arise in the electronic circuits preventing enormous damages since the normal or erroneous operation of the position sensors (4, 41 , 42) or the presence of another problem originating from the motor (1) can be detected a short while after the motor (1) is actuated.
Claims
1. A motor (1) that comprises a rotor (2), a stator (3) and at least two position sensors (4) positioned equidistantly to one another and characterized by a control unit (5) that gives an error signal and stops the operation thereof, when the output value of one position sensor (4) changes n times while the output values of the other sensors (4) change less than (n-1) or more than (n+1).
2. A motor (1) as in Claim 1 , characterized control units (5, 51 , 52) as many as the position sensors , connected to each of the position sensors (4, 41 , 42), that continuously controls and compares the output of the position sensor (4, 41 , 42) it is connected to together with the other two position sensors (4, 41 , 42), and monitors whether there is an output value that does not change (n-1), n, or (n+1) times.
3. A motor (1) control method for a motor (1) as in any one of the above claims, comprising the steps of : -The control unit (5) gives an error signal and halts the motor (1) if the output value of the other two position sensors (4, 41 , 42) does not change at least (n-1) or at the most (n+1) times when the output value of one position sensor (4 or 41 or 42) changes n times according to the routine digital information received from the position sensors (4, 41 , 42).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR200702965 | 2007-05-02 | ||
| TRTR2007/02965 | 2007-05-02 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| WO2008135520A2 true WO2008135520A2 (en) | 2008-11-13 |
| WO2008135520A3 WO2008135520A3 (en) | 2010-03-11 |
Family
ID=39810148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2008/055401 WO2008135520A2 (en) | 2007-05-02 | 2008-05-01 | An electric motor and the control method thereof |
Country Status (2)
| Country | Link |
|---|---|
| TR (1) | TR200908942T1 (en) |
| WO (1) | WO2008135520A2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3217532A3 (en) * | 2016-02-08 | 2017-11-22 | Rohm Co., Ltd. | Motor drive device |
| DE102018130332A1 (en) * | 2018-11-29 | 2020-06-04 | Jungheinrich Aktiengesellschaft | Fault detection method for a position detection system for a hydraulic cylinder, fault detection system and industrial truck |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050076867A1 (en) * | 2003-10-09 | 2005-04-14 | Denso Corporation | Valve controller |
| US20050212469A1 (en) * | 2004-03-29 | 2005-09-29 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method and device for triggering an electric motor |
| WO2006134753A1 (en) * | 2005-06-13 | 2006-12-21 | Shinano Kenshi Kabushiki Kaisha | Open/close body drive device |
-
2008
- 2008-05-01 WO PCT/EP2008/055401 patent/WO2008135520A2/en active Application Filing
- 2008-05-01 TR TR2009/08942T patent/TR200908942T1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050076867A1 (en) * | 2003-10-09 | 2005-04-14 | Denso Corporation | Valve controller |
| US20050212469A1 (en) * | 2004-03-29 | 2005-09-29 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method and device for triggering an electric motor |
| WO2006134753A1 (en) * | 2005-06-13 | 2006-12-21 | Shinano Kenshi Kabushiki Kaisha | Open/close body drive device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3217532A3 (en) * | 2016-02-08 | 2017-11-22 | Rohm Co., Ltd. | Motor drive device |
| US10177693B2 (en) | 2016-02-08 | 2019-01-08 | Rohm Co., Ltd. | Motor drive device |
| DE102018130332A1 (en) * | 2018-11-29 | 2020-06-04 | Jungheinrich Aktiengesellschaft | Fault detection method for a position detection system for a hydraulic cylinder, fault detection system and industrial truck |
Also Published As
| Publication number | Publication date |
|---|---|
| TR200908942T1 (en) | 2010-06-21 |
| WO2008135520A3 (en) | 2010-03-11 |
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