公开(公告)号：US08212508B2

公开(公告)日：2012-07-03

申请号：US12208206

申请日：2008-09-10

申请人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose ,  Enrico Reinhardt

发明人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose ,  Enrico Reinhardt

IPC分类号： H02P6/18

CPC分类号： H02P6/182 ,  H02P2209/07 ,  H02P2209/11

摘要： In a three phase BLDC motor the rotor position is monitored by detecting the zero crossing points of the induced back EMF signals BEMF_U, BEMF_V, BEMF_W in the phase windings U, V, W. As they are illustrated, the back EMF signals are substantially sinusoidal but they may in other situations be substantially trapezoidal. The three back EMF signals are 120° out of phase with each other. In order to accurately monitor the back EMF in a phase winding, the driving waveform for each phase U, V, W includes an undriven period P close to the expected zero crossing point. The period P can be a preset part of the driving waveform or can be an interruption of the normal driving waveform in response to suitable interrupt signals. In order to determine the zero crossing points of each back EMF signal, two (or more) samples of the back EMF are taken during the undriven period P and used to interpolate the back EMF signal to determine the zero crossing point.

摘要翻译： 在三相BLDC电动机中，通过检测相绕组U，V，W中的感应反EMF信号BEMF_U，BEMF_V，BEMF_W的过零点来监测转子位置。如图所示，反电动势信号基本上是正弦曲线 但是在其他情况下也可能是梯形的。 三个反电动势信号彼此相位相差120°。 为了精确地监视相绕组中的反电动势，每相U，V，W的驱动波形包括接近预期过零点的未驱动周期P. 周期P可以是驱动波形的预设部分，或者可以响应于合适的中断信号而中断正常的驱动波形。 为了确定每个反向EMF信号的过零点，反电动势的两个（或多个）采样在未驱动周期P期间被采集，并用于内插反电动势信号以确定过零点。

公开(公告)号：US20090096397A1

公开(公告)日：2009-04-16

申请号：US12208206

申请日：2008-09-10

申请人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose ,  Enrico Reinhardt

发明人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose ,  Enrico Reinhardt

IPC分类号： H02P6/18

CPC分类号： H02P6/182 ,  H02P2209/07 ,  H02P2209/11

摘要： In a three phase BLDC motor the rotor position is monitored by detecting the zero crossing points of the induced back EMF signals BEMF_U, BEMF_V, BEMF_W in the phase windings U, V, W. As they are illustrated, the back EMF signals are substantially sinusoidal but they may in other situations be substantially trapezoidal. The three back EMF signals are 120° out of phase with each other. In order to accurately monitor the back EMF in a phase winding, the driving waveform for each phase U, V, W includes an undriven period P close to the expected zero crossing point. The period P can be a preset part of the driving waveform or can be an interruption of the normal driving waveform in response to suitable interrupt signals. In order to determine the zero crossing points of each back EMF signal, two (or more) samples of the back EMF are taken during the undriven period P and used to interpolate the back EMF signal to determine the zero crossing point.

摘要翻译： 在三相BLDC电动机中，通过检测相绕组U，V，W中的感应反EMF信号BEMF_U，BEMF_V，BEMF_W的过零点来监测转子位置。如图所示，反电动势信号基本上是正弦曲线 但是在其他情况下也可能是梯形的。 三个反电动势信号彼此相位相差120°。 为了精确地监视相绕组中的反电动势，每相U，V，W的驱动波形包括接近预期过零点的未驱动周期P. 周期P可以是驱动波形的预设部分，或者可以响应于合适的中断信号而中断正常的驱动波形。 为了确定每个反向EMF信号的过零点，反电动势的两个（或多个）采样在未驱动周期P期间被采集，并用于内插反电动势信号以确定过零点。

公开(公告)号：US07944159B2

公开(公告)日：2011-05-17

申请号：US12148350

申请日：2008-04-18

申请人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose

发明人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose

IPC分类号： H02P6/00

CPC分类号： H02P6/185 ,  H02P6/15

摘要： In order to determine the orientation of the rotor of a brushless DC motor 100, a sequence of current pulses may be applied to the stator phases U, V, W by the respective drivers HS0, LS0, HS1, LS1, HS2, LS2. The current generated in the stator phases U, V, W in turn generates a current in a shunt resistor 110. The current in this shunt resistor 110 is monitored by use of a current voltage converter 120 and a comparator 130 to determine when it exceeds a predetermined threshold. The rise time until the threshold current is exceeded is recorded in capture unit 140. A processor unit 150 then calculates a scalar parameter SU, SV, SW for each respective stator phase U, V, W from the recorded rise times associated with each pulse. The orientation of the magnetic axis of the rotor can then be determined by consideration of the scalar parameters SU, SV, SW of each stator phase U, V, W, as the respective rise times of each pulse are determined by the inductive properties of the respective stator phases U, V, W, which in turn are dependent upon the orientation of the rotor.

摘要翻译： 为了确定无刷直流电动机100的转子的方向，可以通过相应的驱动器HS0，LS0，HS1，LS1，HS2，LS2将一系列电流脉冲施加到定子相位U，V，W。 在定子相位U，V，W中产生的电流又产生分流电阻器110中的电流。通过使用电流电压转换器120和比较器130来监视该分流电阻器110中的电流，以确定它何时超过 预定阈值。 直到超过阈值电流的上升时间被记录在捕获单元140中。然后，处理器单元150根据与每个脉冲相关联的记录的上升时间，为每个相应的定子相位U，V，W计算标量参数SU，SV，SW。 然后可以通过考虑每个定子相位U，V，W的标量参数SU，SV，SW来确定转子磁轴的取向，因为每个脉冲的相应上升时间由 相应的定子相U，V，W又依赖于转子的取向。

公开(公告)号：US20090108783A1

公开(公告)日：2009-04-30

申请号：US12148350

申请日：2008-04-18

申请人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose

发明人： Christian Paintz ,  Thomas Freitag ,  Detlef Klose

IPC分类号： H02P1/46

CPC分类号： H02P6/185 ,  H02P6/15

摘要： In order to determine the orientation of the rotor of a brushless DC motor 100, a sequence of current pulses may be applied to the stator phases U, V, W by the respective drivers HS0, LS0, HS1, LS1 HS2, LS2. The current generated in the stator phases U, V, W in turn generates a current in a shunt resistor 110. The current in this shunt resistor 110 is monitored by use of a current voltage converter 120 and a comparator 130 to determine when it exceeds a predetermined threshold. The rise time until the threshold current is exceeded is recorded in capture unit 140. A processor unit 150 then calculates a scalar parameter SU, SV, SW for each respective stator phase U, V, W from the recorded rise times associated with each pulse. The orientation of the magnetic axis of the rotor can then be determined by consideration of the scalar parameters SU, SV, SW of each stator phase U, V, W, as the respective rise times of each pulse are determined by the inductive properties of the respective stator phases U, V, W, which in turn are dependent upon the orientation of the rotor.

摘要翻译： 为了确定无刷直流电动机100的转子的方向，可以通过相应的驱动器HS0，LS0，HS1，LS1，HS2，LS2将一系列电流脉冲施加到定子相位U，V，W。 在定子相位U，V，W中产生的电流又产生分流电阻器110中的电流。通过使用电流电压转换器120和比较器130来监视该分流电阻器110中的电流，以确定它何时超过 预定阈值。 直到超过阈值电流的上升时间被记录在捕获单元140中。然后，处理器单元150根据与每个脉冲相关联的记录的上升时间，为每个相应的定子相位U，V，W计算标量参数SU，SV，SW。 然后可以通过考虑每个定子相位U，V，W的标量参数SU，SV，SW来确定转子磁轴的取向，因为每个脉冲的相应上升时间由 相应的定子相U，V，W又依赖于转子的取向。

公开(公告)号：US20110221371A1

公开(公告)日：2011-09-15

申请号：US13061069

申请日：2009-08-26

申请人： Christian Paintz ,  Thomas Freitag

发明人： Christian Paintz ,  Thomas Freitag

IPC分类号： H02P6/18

CPC分类号： H02P6/14 ,  H02P6/16 ,  H02P6/18 ,  H02P6/182

摘要： During operation of a 3 phase BLDC motor it is driven by use of a PWM waveform applied to one of the driven phase (curve a). The other driven phase is connected thereto but no driving signal is applied (curve b). The third phase is left floating (curve c). This allows the back EMF in the third phase to be monitored for the purpose of determining rotor position by detection of zero crossing points. The rapid switching of the PWM pulses causes ringing in the back EMF signal indicated for one pulse by the ringed portions 1 of curve c. The ringing in the back EMF signal introduces inaccuracy into position calculations derived from back EMF signal measurement. In order to reduce this ringing, in the present invention, a reverse pulse is applied to the other driving coil shown (curve b) prior to a PWM on pulse. The reverse pulse has a polarity such that it drives the phase current through the linked coils in a direction opposite to that caused by the PWM on pulse. This reverse pulse reduces the magnitude of the ringing in the back EMF signal.

摘要翻译： 在三相BLDC电机运行期间，通过使用施加到驱动相之一（曲线a）的PWM波形来驱动它。 另一个驱动相位与其相连，但不施加驱动信号（曲线b）。 第三阶段为浮动（曲线c）。 这允许监测第三阶段中的反电动势，以便通过检测过零点来确定转子位置。 PWM脉冲的快速切换导致由曲线c的环形部分1指示的一个脉冲的反电动势信号中的振铃。 反向EMF信号中的振铃将误差引入从反EMF信号测量得到的位置计算。 为了减少该振铃，在本发明中，在PWM导通脉冲之前，向所示的另一个驱动线圈（曲线b）施加反向脉冲。 反向脉冲具有极性，使得其以与PWM导通脉冲引起的方向相反的方向驱动通过链接的线圈的相电流。 该反向脉冲减小反电动势信号中振铃的幅度。

公开(公告)号：US20100141192A1

公开(公告)日：2010-06-10

申请号：US12634991

申请日：2009-12-10

申请人： Christian Paintz ,  Thomas Freitag

发明人： Christian Paintz ,  Thomas Freitag

IPC分类号： H02P6/18

CPC分类号： H02P6/185 ,  H02P6/183 ,  H02P6/22 ,  H02P2203/03

摘要： The present invention there is provides a method of determining the rotor position in an electric motor comprising the steps of: superimposing one or more alternating signals on to the driving waveform so as to generate one or more oscillating currents in the stator coils; monitoring the variation in magnitude of the oscillating currents and thereby determining the rotor position. Typically, two alternating signals are applied in opposition so as to have no net effect on the torque applied by the driving waveform. Using this technique rotor position estimation can be obtained at start-up from stand-still and at low to medium speeds. The method can be used in applications where a fast motor start is needed under unknown load conditions and can be used to detect when the rotor has passed a certain position that coincides with the commutation instance.

摘要翻译： 本发明提供了一种确定电动机中的转子位置的方法，包括以下步骤：将一个或多个交替信号叠加到驱动波形上，以便在定子线圈中产生一个或多个振荡电流; 监测振荡电流大小的变化，从而确定转子位置。 通常，相反地施加两个交替信号，以便对由驱动波形施加的转矩没有净影响。 使用这种技术可以在从静止和低速到中速启动时获得转子位置估计。 该方法可用于在未知负载条件下需要快速电机启动的应用中，并可用于检测转子何时已经通过与换向实例一致的特定位置。

公开(公告)号：US08674639B2

公开(公告)日：2014-03-18

申请号：US13061069

申请日：2009-08-26

申请人： Christian Paintz ,  Thomas Freitag

发明人： Christian Paintz ,  Thomas Freitag

IPC分类号： H02P6/16

CPC分类号： H02P6/14 ,  H02P6/16 ,  H02P6/18 ,  H02P6/182

摘要： During operation of a 3 phase BLDC motor it is driven by use of a PWM waveform applied to one of the driven phase (curve a). The other driven phase is connected thereto but no driving signal is applied (curve b). The third phase is left floating (curve c). This allows the back EMF in the third phase to be monitored for the purpose of determining rotor position by detection of zero crossing points. The rapid switching of the PWM pulses causes ringing in the back EMF signal indicated for one pulse by the ringed portions 1 of curve c. The ringing in the back EMF signal introduces inaccuracy into position calculations derived from back EMF signal measurement. In order to reduce this ringing, in the present invention, a reverse pulse is applied to the other driving coil shown (curve b) prior to a PWM on pulse. The reverse pulse has a polarity such that it drives the phase current through the linked coils in a direction opposite to that caused by the PWM on pulse. This reverse pulse reduces the magnitude of the ringing in the back EMF signal.

摘要翻译： 在三相BLDC电机运行期间，通过使用施加到驱动相之一（曲线a）的PWM波形来驱动它。 另一个驱动相位与其相连，但不施加驱动信号（曲线b）。 第三阶段为浮动（曲线c）。 这允许监测第三阶段中的反电动势，以便通过检测过零点来确定转子位置。 PWM脉冲的快速切换导致由曲线c的环形部分1指示的一个脉冲的反电动势信号中的振铃。 反向EMF信号中的振铃将误差引入从反EMF信号测量得到的位置计算。 为了减少该振铃，在本发明中，在PWM导通脉冲之前，向所示的另一个驱动线圈（曲线b）施加反向脉冲。 反向脉冲具有极性，使得其以与PWM导通脉冲引起的方向相反的方向驱动通过链接的线圈的相电流。 该反向脉冲减小反电动势信号中振铃的幅度。

公开(公告)号：US08593098B2

公开(公告)日：2013-11-26

申请号：US12634991

申请日：2009-12-10

申请人： Christian Paintz ,  Thomas Freitag

发明人： Christian Paintz ,  Thomas Freitag

IPC分类号： G05B11/28

CPC分类号： H02P6/185 ,  H02P6/183 ,  H02P6/22 ,  H02P2203/03

摘要： The present invention there is provides a method of determining the rotor position in an electric motor comprising the steps of: superimposing one or more alternating signals on to the driving waveform so as to generate one or more oscillating currents in the stator coils; monitoring the variation in magnitude of the oscillating currents and thereby determining the rotor position. Typically, two alternating signals are applied in opposition so as to have no net effect on the torque applied by the driving waveform. Using this technique rotor position estimation can be obtained at start-up from stand-still and at low to medium speeds. The method can be used in applications where a fast motor start is needed under unknown load conditions and can be used to detect when the rotor has passed a certain position that coincides with the commutation instance.

摘要翻译： 本发明提供了一种确定电动机中的转子位置的方法，包括以下步骤：将一个或多个交替信号叠加到驱动波形上，以便在定子线圈中产生一个或多个振荡电流; 监测振荡电流大小的变化，从而确定转子位置。 通常，相反地施加两个交替信号，以便对由驱动波形施加的转矩没有净影响。 使用这种技术可以在从静止和低速到中速启动时获得转子位置估计。 该方法可用于在未知负载条件下需要快速电机启动的应用中，并可用于检测转子何时已经通过与换向实例一致的特定位置。

公开(公告)号：US20110074327A1

公开(公告)日：2011-03-31

申请号：US12887410

申请日：2010-09-21

申请人： Christian Paintz ,  Thomas Freitag

发明人： Christian Paintz ,  Thomas Freitag

IPC分类号： H02P6/18

CPC分类号： H02P6/182 ,  H02P25/03

摘要： In response to the determination or estimation of a back EMF zero crossing event for the phase, a time T1 is calculated, T1 being representative of the desired absolute maximum value of the phase current. Current samples are taken by the current sampling unit symmetrically centred around T1. The values of the samples CS[1] to CS[10] are then input into the error function to calculate an error function value. The calculated error function value is input to the lead angle control unit which calculates a value for lead_angle. The value of lead_angle is calculated to be the adjustment in phase angle of the driving voltage profile that will minimise the absolute value of the error function. In generating and adjusting the driving voltage profile the driving voltage generation unit takes into account both lead_angle and the output of the position and speed estimation unit. The estimated motor speed may be used additionally in an outer speed control loop involving speed controller to adjust the amplitude (AMP) of the effective driving voltage.

摘要翻译： 响应于该相位的反电动势过零事件的确定或估计，计算时间T1，T1表示相电流的期望绝对最大值。 当前采样采用当前采样单元对称地以T1为中心。 然后将样本CS [1]到CS [10]的值输入到误差函数中以计算误差函数值。 将计算出的误差函数值输入到计算lead_angle的值的引导角控制部。 lead_angle的值被计算为将使误差函数的绝对值最小化的驱动电压分布的相位角的调整。 在产生和调整驱动电压分布时，驱动电压产生单元考虑到引线角和位置和速度估计单元的输出。 可以在涉及速度控制器的外部速度控制回路中另外使用估计的电动机速度来调节有效驱动电压的幅度（AMP）。

公开(公告)号：US08461789B2

公开(公告)日：2013-06-11

申请号：US12887410

申请日：2010-09-21

申请人： Christian Paintz ,  Thomas Freitag

发明人： Christian Paintz ,  Thomas Freitag

IPC分类号： H02P6/00 ,  H02P27/04 ,  G05B11/36

CPC分类号： H02P6/182 ,  H02P25/03

摘要： In response to the determination or estimation of a back EMF zero crossing event for the phase, a time T1 is calculated, T1 being representative of the desired absolute maximum value of the phase current. Current samples are taken by the current sampling unit symmetrically centered around T1. The values of the samples CS[1] to CS[10] are then input into the error function to calculate an error function value. The calculated error function value is input to the lead angle control unit which calculates a value for lead_angle. The value of lead_angle is calculated to be the adjustment in phase angle of the driving voltage profile that will minimize the absolute value of the error function. In generating and adjusting the driving voltage profile the driving voltage generation unit takes into account both lead_angle and the output of the position and speed estimation unit. The estimated motor speed may be used additionally in an outer speed control loop involving speed controller to adjust the amplitude (AMP) of the effective driving voltage.

摘要翻译： 响应于该相的反电动势过零事件的确定或估计，计算时间T1，其表示相电流的期望绝对最大值。 当前采样采用当前采样单元对称地以T1为中心。 然后将样本CS [1]到CS [10]的值输入到误差函数中以计算误差函数值。 将计算出的误差函数值输入到计算lead_angle的值的引导角控制部。 lead_angle的值被计算为将使误差函数的绝对值最小化的驱动电压分布的相位角的调整。 在产生和调整驱动电压分布时，驱动电压产生单元考虑到引线角和位置和速度估计单元的输出。 可以在涉及速度控制器的外部速度控制回路中另外使用估计的电动机速度来调节有效驱动电压的幅度（AMP）。