US006018225A

United States Patent [ 19 ] [ 11] Patent N u m b er : 6, 018, 225

G ar c es [ 4 5] Date o f Patent: J an. 25, 2000
[ 54 ] METHOD AN D APPARATUS FOR Pr im ar y Ex am iner Ro b er t E. N ap p i
RECON N ECTIN G A ROTATIN G MOTOR TO
A MOTOR DRIVE
Assistant Ex am iner Rina I. Du da
Atto r ney , Ag ent, o r Fir m David G . L u ettg en; J o h n M.
Mil l er ; J o h n J . Ho r n
[ 7 5] Invento r : L u is J . G ar c es, Meq u o n, W is.
[ 57 ] ABSTRACT
[ 7 3 ] Assig nee: Al l en- Br adl ey Co m p any , L L C,
Mil wau kee, W is' A m o to r is r ec o nnec ted to a m o to r dr ive b y ex c iting th e
m o to r to indu c e a b ac k EMF, deter m ining a sp eed o f r o tatio n
[ 21] APPL N O: 09 / 021, 008 o f th e m o to r b ased o n th e indu c ed b ac k EMF indu c ed, and
_ r ec o nnec ting th e m o to r dr ive to th e m o to r b ased o n th e sp eed
[ 22] Fl l ed: Feb 9 19 9 8 deter m ined. In o r der to indu c e th e b ac k EMF, c u r r ent W h ic h
[ 51] Int. c 1. 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . H02P 5/ 28 ?o ws th r o u g h th e m o to r is Co ntr o l l ed u sing ?r st and sec o nd
[ 52] US. Cl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 18/ 7 9 8; 3 18/ 805 r eg u l ato r s Th e Ou tp u ts o f th e ?r st and se f o h d Cu r r ent
[ 58] Fiel d Of Sear c h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 18/ 609 , 610, r eg u l at? ar e sip ar ated. f r o m eac h o th er . 1 Ph as? b y
3 18/ 7 9 8_ 811 ap p r o x im atel y 9 0 . A p o sitive f eedb ac k l o o p is estab l ish ed
b y u sing th e o u tp u t o f o ne o f th e ?r st and sec o nd r eg u l ato r s
[ 56] Ref er enc es Cited to g ener ate an inp u t f o r th e o th er o ne o f th e ?r st and sec o nd
r eg u l ato r s. Th e p o sitive f eedb ac k l o o p advantag eo u sl y
U. S. PATEN T DOCUMEN TS c au ses th e b ac k EMF to c o ntinu al l y inc r ease as th e m o to r
Re. 3 3 , 519 1/ 19 9 1 Ib o r i et al . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 18/ 7 7 8 Co nnnu es to b e ex c l ted o r at l east no t dec ay so r ap l dl y . th at
4 7 3 617 7 9 1 11/ 19 82 Pl u nkc tt ~ ~ ~ ~ ~ ~ n 3 18/ 7 23 th e sp eed o f th e m o to r c anno t b e ac c u r atel y deter m ined.
4 , 680, 69 5 7 / 19 87 K er km an et al . . . . . . . . . . . . . . . . . . . . . . . . 3 63 / 160 g l if l tl o h ah y t0 deter m l g eg h e sp eed o f dth e m o to h th e b ac k
4 , 689 , 54 2 8/ 19 87 Ib o r i et a1_ _ m ay e m easu r e y c o m m an m g a c u r r ent at a
4 , 7 3 4 , 63 4 3 / 19 88 K ito et a1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 18/ 7 7 8 c u r r ent c o m m and inp u t o f a c u r r ent r eg u l ato r , and th en
4 , 83 9 , 589 6/ 19 89 Heinl e . . . . . . . . . . . 3 24 / 166 ex am ining th e vo l tag e c o m m and o u tp u t o f th e c u r r ent r eg u
5, 03 2, 7 7 1 7 / 19 9 1 K er km an et a1- - 3 18/ 52 l ato r . Bec au se th e vo l tag e c o m m and o u tp u t is deter m ined b y
57 14 024 8 8/ 19 9 2 Ro wan et ah 3 18/ 811 th e c u r r ent r eg u l ato r ( e. g . , in ?r m W ar e o r in so f twar e) , th er e
f l er km ar tl et 11' 1' is no r eq u ir em ent f o r additio nal h ar dW ar e to p er f o r m th e
, , u r am a su e a. 5, 53 7 , 3 08 7 / 19 9 6 G r itter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 63 / 9 5 Vo l tag e m easu r em ent
5, 654 , 624 8/ 19 9 7 Sc h r o der u s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 22/ 3 9
5, 659 , 23 1 8/ 19 9 7 Svar o vsky et a1. . . . . . . . . . . . . . . . . . . . . . 3 18/ 3 68 24 Cl aim s, 6 Dr awing Sh eets
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U. S. Patent J an. 25, 2000 Sh eet 2 0f 6 6, 018, 225
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RECON N ECTION - S10
FIG . 2
U. S. Patent J an. 25, 2000 Sh eet 4 0f 6 6, 018, 225
FIG . 4
U. S. Patent J an. 25, 2000 Sh eet 6 0f 6 6, 018, 225
FIG 6
6, 018, 225
1
METHOD AN D APPARATUS FOR
RECON N ECTIN G A ROTATIN G MOTOR TO
A MOTOR DRIVE
BACK G ROUN D OF THE IN VEN TION
1. Fiel d o f th e Inventio n
Th is inventio n r el ates to a m eth o d and ap p ar atu s f o r
r ec o nnec ting a m o to r to a m o to r dr ive. In p ar tic u l ar , th e
p r esent inventio n r el ates to a m eth o d and ap p ar atu s f o r
r ec o nnec ting a r o tating m o to r to a m o to r dr ive in W h ic h o ne
o r m o r e vo l tag e c o m m ands p r o du c ed b y th e m o to r dr ive ar e
u sed to p r o vide an indic atio n o f th e sp eed and dir ec tio n o f
r o tatio n o f th e m o to r . Th e p r esent inventio n al so r el ates to a
m eth o d and ap p ar atu s f o r r ec o nnec ting a r o tating m o to r to a
m o to r dr ive in W h ic h a m o to r is ex c ited u sing p o sitive
f eedb ac k so th at a vo l tag e indu c ed in th e m o to r m ay b e
m easu r ed m o r e ac c u r atel y .
2. Desc r ip tio n o f Rel ated Ar t
Du r ing no r m al o p er atio n o f a m o to r , th e m o to r m ay
b ec o m e disc o nnec ted f r o m a m o to r dr ive W h ic h dr ives th e
m o to r ( m eaning th at th e p o W er su p p l y to th e m o to r is
inter r u p ted, no t nec essar il y th at th e el ec tr ic al c o nnec tio n
b etW een th e m o to r dr ive and th e m o to r is inter r u p ted) . Th er e
ar e a var iety o f r easo ns W h y th is m ig h t o c c u r . Fo r ex am p l e,
th er e m ay b e a su dden tem p o r ar y p o W er l o ss at th e p o W er
so u r c e th at su p p l ies p o W er to th e m o to r and m o to r dr ive.
Al ter nativel y , it m ay sim p l y b e th e c ase th at th er e ar e tim es
W h en it is no t nec essar y to o p er ate th e m o to r , and so p o W er
is no t su p p l ied to th e m o to r du r ing th ese tim es.
W h en a m o to r dr ive b ec o m es disc o nnec ted f r o m a m o to r ,
it eventu al l y b ec o m es nec essar y to r ec o nnec t th e m o to r
dr ive to th e m o to r . In o r der to p er f o r m th e r ec o nnec tio n, it
is nec essar y f o r th e m o to r dr ive to c atc h th e m o to r , th at is,
to deter m ine th e sp eed ( and p r ef er ab l y al so th e dir ec tio n) o f
r o tatio n o f th e m o to r , b ef o r e th e m o to r dr ive is r ec o nnec ted
to th e m o to r . Th e f ac t th at th e m o to r dr ive is disc o nnec ted
f r o m th e m o to r do es no t p r event th e m o to r f r o m c o ntinu ing
to r o tate. Fo r ex am p l e, if th e m o to r is u sed in c o nj u nc tio n
W ith a f an in an air c o nditio ning sy stem , a dr af t in th e air
c o nditio ning sy stem m ay dr ive th e m o to r at an u nkno W n
sp eed and in an u nkno W n dir ec tio n. Sim il ar l y , if th e m o to r
is u sed in a c o nvey o r sy stem , th e f o r c e o f g r avity ac ting o n
th e m o to r b y W ay o f th e c o nvey ed ar tic l es and f r ic tio n m ay
dr ive th e m o to r at an u nkno W n sp eed and in an u nkno W n
dir ec tio n.
If th e sp eed and dir ec tio n o f th e m o to r ar e no t deter m ined
b ef o r e r ec o nnec tio n, th en th e m o to r dr ive m u st assu m e an
initial sp eed o f Zer o W h en r ec o nnec ting to th e m o to r . Th is
o f ten r esu l ts in sever e tr ansients du e to a h ig h initial sl ip and
du e to th e ef f ec ts o f th e m o to r - indu c ed b ac k EMF o n th e
c u r r ent r eg u l ato r s o r l im iter s in th e m o to r dr ive. Th e tr an
sients ar e esp ec ial l y sever e W h en th e initial m o to r sp eed is
h ig h and W h en th e m o to r is r o tating in a r ever se dir ec tio n as
c o m p ar ed to th at c o m m anded b y th e m o to r dr ive. If th e
c u r r ent c o ntr o l c ir c u itr y o r c u r r ent l im iting c ir c u itr y o f th e
m o to r dr ive is no t f ast eno u g h , th e m o to r dr ive c an f au l t du e
to an o ver c u r r ent c o nditio n.
In o r der to avo id u ndesir ab l e tr ansients and o ver c u r r ent
c o nditio ns u p o n r ec o nnec tio n o f th e m o to r dr ive, var io u s
ap p r o ac h es h ave b een devel o p ed f o r c atc h ing a m o to r . By
c atc h ing th e m o to r , th e f r eq u enc y and p h ase o f th e vo l tag e
su p p l ied b y th e m o to r dr ive m ay b e sy nc h r o niZed to th e
sp eed and dir ec tio n o f r o tatio n o f th e m o to r W h en th e m o to r
dr ive is r ec o nnec ted. Th is r edu c es th e initial sl ip and th er e
f o r e r edu c es tr ansients u p o n r ec o nnec tio n.
Ac c o r ding to a ?r st ap p r o ac h , a m ec h anic al senso r is
u til iZed. Th e m ec h anic al senso r , su c h as an enc o der o r
10
15
25
3 5
4 5
55
65
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r eso l ver , is u sed to dir ec tl y m easu r e th e sp eed and dir ec tio n
o f r o tatio n o f th e m o to r . Th e disadvantag e o f th is ap p r o ac h
is th at it r eq u ir es additio nal h ar dW ar e and th er ef o r e inc r eases
th e c o st o f th e sy stem .
Ac c o r ding to a sec o nd ap p r o ac h , vo l tag e f eedb ac k is
u til iZed. Th e f r eq u enc y and p h ase o f th e b ac k EMF p r o
du c ed b y th e m o to r p r o vides a dir ec t indic atio n o f th e sp eed
and dir ec tio n o f r o tatio n. One disadvantag e o f th e vo l tag e
f eedb ac k ap p r o ac h es W h ic h h ave b een p r o vided th u s f ar is
th at th ey r eq u ir e additio nal h ar dW ar e ( i. e. , th e h ar dW ar e
nec essar y to p er f o r m th e vo l tag e m easu r em ent) .
Ano th er disadvantag e o f m o st vo l tag e f eedb ac k
ap p r o ac h es p r o vided th u s f ar is th at th ey do no t W o r k
satisf ac to r il y in c o nj u nc tio n W ith indu c tio n m o to r s, esp e
c ial l y sm al l indu c tio n m o to r s ( l ess th an ?ve o r ten
h o r sep o W er ) . Unl ike DC m o to r s and sy nc h r o no u s m o to r s,
W h ic h al W ay s p r o du c e a b ac k EMF vo l tag e W h en dr iven
m ec h anic al l y , indu c tio n m o to r s do no t p r o du c e a b ac k EMF
u nl ess sp ec ial m easu r es ar e taken to ex c ite a ?el d in th e
indu c tio n m o to r . Al th o u g h a b ac k EMF c an b e indu c ed in an
indu c tio n m o to r , f o r ex am p l e, b y ap p l y ing c u r r ent p u l ses to
th e m o to r as th e m o to r r o tates, th is do es no t W o r k W el l if th e
m o to r is l ar g e ( b ec au se it is ver y dif ?c u l t to ex c ite th e m o to r
in a sh o r t am o u nt o f tim e) o r sm al l ( b ec au se th e indu c ed
vo l tag e to dec ay s to o r ap idl y to b e ac c u r atel y m easu r ed) .
Al ter nativel y , th e r em anenc e vo l tag e o f th e indu c tio n m o to r
c an al so b e u til iZed f o r vo l tag e f eedb ac k. Ho W ever , th is
al ter native is o nl y u sab l e in c o nj u nc tio n W ith l ar g e indu c tio n
m o to r s, b ec au se th e am p l itu de o f th e r em anenc e vo l tag e
p r o du c ed b y sm al l indu c tio n m o to r s is no t su f ?c ient to
p er m it th e sp eed to b e ac c u r atel y deter m ined.
Indu c tio n m o to r s, and esp ec ial l y sm al l indu c tio n m o to r s,
th er ef o r e p r esent a u niq u e p r o b l em . Unl ike al l o th er ty p es o f
m o to r s, indu c tio n m o to r s do no t au to m atic al l y p r o du c e a
b ac k EMF vo l tag e. Th er ef o r e, th e p r ef er r ed ap p r o ac h f o r
deter m ining th e sp eed o f an indu c tio n m o to r is u su al l y
m ec h anic al f eedb ac k. Ho W ever , sm al l indu c tio n m o to r s tend
to b e m o r e c o st- sensitive and th e inc r ease in c o st asso c iated
W ith th e u se o f m ec h anic al f eedb ac k is o f ten u nac c ep tab l e.
Ac c o r ding to a th ir d ap p r o ac h , f r eq u enc y sW eep ing is
u til iZed. Fr eq u enc y sW eep ing is u sed p r im ar il y in c o nj u nc
tio n W ith indu c tio n m o to r s. Ac c o r ding to th is ap p r o ac h , th e
m o to r is ex c ited W ith a sm al l c u r r ent h aving a f r eq u enc y
W h ic h is sW ep t do W nW ar d f r o m a m ax im u m f r eq u enc y . If th e
ex c itatio n f r eq u enc y is h ig h er th an th e sp eed o f th e m o to r ,
th en th e m o to r ac ts as a m o to r ; o th er W ise, th e m o to r ac ts as
a g ener ato r . Th e sp eed o f th e m o to r c an th er ef o r e b e detec ted
b y detec ting th e r ever sal in p o W er W h ic h o c c u r s W h en th e
ex c itatio n f r eq u enc y c r o sses th e sp eed o f th e m o to r .
Th e disadvantag e o f th is ap p r o ac h is th at th e f r eq u enc y
sW eep ing c an take sever al sec o nds to c o m p l ete. In m any
ap p l ic atio ns, it is desir ab l e to r ec o nnec t to th e m o to r dr ive
as q u ic kl y as p o ssib l e, su c h as in th e r ang e o f 3 00 500
m il l isec o nds. Fo r ex am p l e, W h en th er e is a tem p o r ar y p o W er
l o ss to a m o to r W h ic h dr ives a c o nvey o r b el t, it is desir ab l e
f o r o p er atio n to c o ntinu e as sm o o th l y as p o ssib l e W ith o u t
j o stl ing th e ar tic l es o n th e c o nvey o r b el t. Henc e, in m any
ap p l ic atio ns, th e sever al sec o nds r eq u ir ed to p er f o r m th e
r ec o nnec tio n is u nac c ep tab l e.
In sh o r t, al th o u g h var io u s ap p r o ac h es h ave b een devel
o p ed f o r deter m ining th e sp eed and dir ec tio n o f r o tatio n o f
a m o to r b ef o r e r ec o nnec tio n, th ese ap p r o ac h es al l su f f er
f r o m o ne o r m o r e o f th e ab o ve- m entio ned dr aW b ac ks. It
W o u l d b e h ig h l y advantag eo u s if an ap p r o ac h c o u l d b e
p r o vided W h ic h do es no t su f f er th ese dr aW b ac ks. N am el y ,
W h at is needed is an ap p r o ac h W h ic h do es no t r eq u ir e
6, 018, 225
3
additio nal h ar dwar e, W h ic h is ab l e to r ec o nnec t a m o to r in
a sh o r t am o u nt o f tim e, and W h ic h is u sab l e in c o nj u nc tio n
W ith al l ty p es o f m o to r s, and esp ec ial l y in c o nj u nc tio n W ith
indu c tio n m o to r s.
SUMMARY OF THE IN VEN TION
In o r der to o ver c o m e th ese dr awb ac ks o f th e p r io r ar t, th e
p r esent inventio n p r o vides a m eth o d and ap p ar atu s f o r
r ec o nnec ting a m o to r W h ic h do es no t r eq u ir e additio nal
h ar dW ar e, W h ic h is ab l e to r ec o nnec t a m o to r in a sh o r t
am o u nt o f tim e, and W h ic h is u sab l e in c o nj u nc tio n W ith al l
ty p es o f m o to r s, and esp ec ial l y in c o nj u nc tio n W ith indu c
tio n m o to r s.
Ac c o r ding to o ne asp ec t o f th e inventio n, a m o to r is
r ec o nnec ted to a m o to r dr ive b y ex c iting th e indu c tio n m o to r
to indu c e a b ac k EMF, deter m ining a sp eed o f r o tatio n o f th e
m o to r b ased o n th e indu c ed b ac k EMF indu c ed, and r ec o n
nec ting th e m o to r dr ive to th e m o to r b ased o n th e sp eed
deter m ined. In o r der to indu c e th e b ac k EMF, c u r r ent W h ic h
?o W s th r o u g h th e indu c tio n m o to r is c o ntr o l l ed u sing ?r st
and sec o nd r eg u l ato r s. Th e o u tp u ts o f th e ?r st and sec o nd
r eg u l ato r s ar e sep ar ated f r o m eac h o th er in p h ase b y
ap p r o x im atel y 9 0 . A p o sitive f eedb ac k l o o p is estab l ish ed
b y u sing th e o u tp u t o f o ne o f th e ?r st and sec o nd r eg u l ato r s
to g ener ate an inp u t f o r th e o th er o f th e ?r st and sec o nd
r eg u l ato r s. Th e p o sitive f eedb ac k l o o p advantag eo u sl y
c au ses th e b ac k EMF to c o ntinu al l y inc r ease as th e m o to r
c o ntinu es to b e ex c ited, o r at l east no t dec ay so r ap idl y th at
th e sp eed o f th e m o to r c anno t b e ac c u r atel y deter m ined.
Mo r eo ver , b ec au se th e inventio n do es no t u se f r eq u enc y
sW eep ing , th e inventio n is ab l e to r ec o nnec t th e m o to r in a
sh o r t am o u nt o f tim e.
Ac c o r ding to ano th er asp ec t o f th e inventio n, in o r der to
deter m ine th e sp eed o f th e m o to r , th e b ac k EMF is m easu r ed
b y c o m m anding a c u r r ent ( su c h as Zer o c u r r ent) at a c u r r ent
c o m m and inp u t o f a c u r r ent r eg u l ato r , and th en ex am ining
th e vo l tag e c o m m and o u tp u t o f th e c u r r ent r eg u l ato r .
Bec au se th e vo l tag e c o m m and o u tp u t is deter m ined b y th e
c u r r ent r eg u l ato r ( e. g . , in ?r m W ar e o r in so f tW ar e) , th er e is
no r eq u ir em ent f o r additio nal h ar dW ar e to p er f o r m th e
vo l tag e m easu r em ent. An anal o g o u s p r o c ess m ay al so b e
u sed to deter m ine th e dir ec tio n o f r o tatio n o f th e m o to r .
Oth er o b j ec ts, f eatu r es, and advantag es o f th e p r esent
inventio n W il l b ec o m e ap p ar ent to th o se skil l ed in th e ar t
f r o m th e f o l l o W ing detail ed desc r ip tio n and ac c o m p any ing
dr aW ing s. It sh o u l d b e u nder sto o d, h o W ever , th at th e detail ed
desc r ip tio n and sp ec i?c ex am p l es, W h il e indic ating p r e
f er r ed em b o dim ents o f th e p r esent inventio n, ar e g iven b y
W ay o f il l u str atio n and no t l im itatio n. Many m o di?c atio ns
and c h ang es W ith in th e sc o p e o f th e p r esent inventio n m ay
b e m ade W ith o u t dep ar ting f r o m th e sp ir it th er eo f , and th e
inventio n inc l u des al l su c h m o di?c atio ns.
BRIEF DESCRIPTION OF THE DRAW IN G S
A p r ef er r ed ex em p l ar y em b o dim ent o f th e inventio n is
il l u str ated in th e ac c o m p any ing dr aW ing s in W h ic h l ike
r ef er enc e nu m er al s r ep r esent l ike p ar ts th r o u g h o u t, and in
W h ic h :
FIG . 1 is a b l o c k diag r am o f a m o to r dr ive W h ic h c atc h es
a r o tating m o to r in ac c o r danc e W ith an em b o dim ent o f th e
p r esent inventio n;
FIG . 2 is a ?o W c h ar t desc r ib ing th e o p er atio n o f th e m o to r
dr ive il l u str ated in FIG . 1 to c atc h a r o tating m o to r ;
FIG . 3 is an o sc il l o g r am W h ic h il l u str ates p r e- ex c itatio n
and ex c itatio n o f a r o tating m o to r du r ing th e p r o c ess il l u s
tr ated in FIG . 2;
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FIG . 4 is an o sc il l o g r am W h ic h il l u str ates th e m o to r dr ive
o f FIG . 1 c atc h ing a r o tating m o to r ;
FIG . 5 is an o sc il l o g r am W h ic h il l u str ates th e m o to r dr ive
o f FIG . 1 c atc h ing a m o to r th at is r o tating at a r el ativel y l o W
sp eed; and
FIG . 6 is an o sc il l o g r am W h ic h il l u str ates th e m o to r dr ive
o f FIG . 1 c atc h ing a m o to r th at is r o tating in a dir ec tio n
o p p o site a c o m m anded dir ec tio n.
DETAIL ED DESCRIPTION OF THE
PREFERRED EMBODIMEN TS
Ref er r ing no W to FIG . 1, a b l o c k diag r am o f a m o to r dr ive
10 W h ic h c atc h es an el ec tr ic m o to r 12 is il l u str ated. Th e
m o to r 12 in th e il l u str ated em b o dim ent is an indu c tio n
m o to r , f o r ex am p l e, a ten h o r sep o W er o r l ess indu c tio n
m o to r . As detail ed b el o W , h o W ever , th e inventio n c an al so b e
u sed in c o nj u nc tio n W ith o th er ty p es o f m o to r s.
Th e m o to r dr ive 10 inc l u des a m ic r o p r o c esso r - b ased
c o ntr o l sy stem 14 , an AC to DC p o W er c o nver ter 16, and a
PW M ( Pu l se W idth Mo du l atio n) vo l tag e inver ter 18. Th e
c o ntr o l sy stem 14 , th e p o W er c o nver ter 16 and th e vo l tag e
inver ter 18 c o o p er ate so as to dr ive th e m o to r 12 u sing
p o W er su p p l ied b y a th r ee p h ase AC p o W er so u r c e 19 .
Th e c o ntr o l sy stem 14 r eg u l ates th e c u r r ent th r o u g h th e
m o to r 12 b y g ener ating vo l tag e c o m m ands Va* , Vb * and
VC* b ased o n c u r r ent c o m m ands Id* and If . ( Her ein, th e
su p er sc r ip ted aster isk deno tes a c o m m and sig nal . ) Of
c o u r se, sinc e c u r r ent and vo l tag e ar e dir ec tl y r el ated, th e f ac t
th at c u r r ent is c o ntr o l l ed m eans th at vo l tag e is sim u l ta
neo u sl y al so c o ntr o l l ed, and vic e ver sa. Th e c o ntr o l sy stem
14 u ses a ?el d- o r iented c o ntr o l sc h em e to c o ntr o l th e sp eed
and to r q u e o f th e m o to r 12. As su c h , th e stato r c u r r ent is
r eso l ved into a to r q u e- p r o du c ing o r q - ax is c o m p o nent o f
c u r r ent, Iq , and a ?el d- p r o du c ing o r d- ax is c o m p o nent o f
c u r r ent, Id. Th e q - ax is l eads o r l ag s th e d- ax is b y 9 0 in
p h ase dif f er enc e. As detail ed b el o W , c o nver ter s ar e u sed to
tr ansf o r m c u r r ent and vo l tag e p ar am eter s b ac k and f o r th
b etW een th e tW o - p h ase d- q f r am e o f r ef er enc e f r am e and th e
th r ee- p h ase r o to r f r am e o f r ef er enc e.
Th e c o ntr o l sy stem 14 inc l u des a c o ntr o l l er 15 W h ic h
g ener ates th e c u r r ent c o m m ands Id* and If , as W el l as a
f r eq u enc y c o m m and 006* . Du r ing no r m al c o nnec ted
o p er atio n, th e c o ntr o l l er 15 g ener ates th e c o m m ands I 61* , I q *
and 006* b ased o n a sp eed c o m m and r ec eived at a u ser inp u t
( no t il l u str ated) . W h il e th e m o to r dr ive 10 is c atc h ing th e
m o to r 12, th e c o ntr o l l er 15 g ener ates th e c o m m ands I 61* , I 61*
and 006* in a m anner W h ic h is desc r ib ed in g r eater detail
b el o W in c o nj u nc tio n W ith FIG . 2.
Th e c o ntr o l sy stem 14 inc l u des tW o c u r r ent r eg u l ato r s 20
and 22 W h ic h ar e r esp ec tivel y f o r m ed o f PI ( p r o p o r tio nal
integ r al ) f eedb ac k c o ntr o l l o o p s and W h ic h r eg u l ate th e Ho w
o f c u r r ent th r o u g h th e m o to r 12 b ased o n th e c u r r ent
c o m m ands Id* and 1; . Feedb ac k sig nal s IdFb k and Iq Fb k
f o r th e c u r r ent r eg u l ato r s 20 and 22, r esp ec tivel y , ar e p r o
vided b y a 3 - to - 2 p h ase tr ansf o r m b l o c k 24 . Th e tr ansf o r m
b l o c k 24 c o nver ts th e th r ee- p h ase var iab l es IaFb k and ICFb k
to th e tW o - p h ase sy nc h r o no u s d- q r ef er enc e f r am e.
Th e o u tp u ts o f th e c u r r ent r eg u l ato r s 20 and 22 ar e th e
vo l tag e c o m m ands Vd* and Vq k. Th e vo l tag e c o m m ands
Vd* and V; ar e r ec eived at a 2- to - 3 p h ase tr ansf o r m b l o c k
26. Th e tr ansf o r m b l o c k 26 c o nver ts th e tW o - p h ase vo l tag e
c o m m ands Vd* and V; into th e th r ee- p h ase vo l tag e c o m
m ands Va* , Vb * and VC* . Th e tr ansf o r m b l o c k 26 ( as W el l
as th e tr ansf o r m b l o c k 24 ) r ec eives a r o tatio n ang l e y , W h ic h
is a p ar am eter o f th e 3 - to - 2 and 2- to - 3 p h ase tr ansf o r m s,
f r o m an integ r ato r 29 . Du r ing no r m al c o nnec ted o p er atio n,
6, 018, 225
5
th e r o tatio n ang l e y is c o m p u ted b ased o n th e f r eq u enc y
c o m m and 006* W h ic h is inp u t to th e integ r ato r 29 . Du r ing th e
r ec o nnec tio n p r o c ess, th e f r eq u enc y c o m m and 006* and th e
r o tatio n ang l e y ar e b o th set eq u al to Zer o .
Th e vo l tag e c o m m ands Va* , V; and VC* ar e r ec eived b y
th e PW M vo l tag e inver ter 18, W h ic h g ener ates PW M c o ntr o l
sig nal s b ased o n th e vo l tag e c o m m ands Va* , Vb * and VC* .
Th e PW M vo l tag e inver ter 18 inc l u des a netW o r k o f six so l id
state sW itc h es ( no t il l u str ated) W h ic h ar e sW itc h ed o n and o f f
in ac c o r danc e W ith th e PW M c o ntr o l sig nal s. Th e so l id state
sW itc h es c o nver t th e l o W p o W er PW M c o ntr o l sig nal s to
h ig h p o W er c u r r ent p u l ses to dr ive th e m o to r 12 u sing p o W er
su p p l ied b y th e th r ee- p h ase AC so u r c e 19 via th e AC- DC
p o W er c o nver ter 16. Th e PW M vo l tag e inver ter 18 al so
inc l u des a c o nventio nal PW M dead tim e c o m p ensatio n
c ir c u it ( no t il l u str ated) to c o m p ensate f o r th e dead tim e
nec essar y b etW een PW M p u l ses to p r event sh o r t c ir c u iting
th e p o W er su p p l y .
Final l y , th e c o ntr o l sy stem 14 al so inc l u des a c o nstant
m u l tip l ier 27 and a ?l ter 28. Th e m u l tip l ier 27 and ?l ter 28
inc r ease th e m ag nitu de and r edu c e r ip p l e vo l tag e,
r esp ec tivel y , in th e vo l tag e c o m m and Vq * . Th e c o nstant
m u l tip l ier 27 and ?l ter 28 estab l ish a p o sitive f eedb ac k l o o p
W h ic h , as desc r ib ed in g r eater detail in c o nj u nc tio n W ith
FIG . 2, inc r eases o r at l east m aintains th e ex c itatio n in th e
m o to r 12 W h il e th e m o to r dr ive 10 is b eing r ec o nnec ted.
Ref er r ing no W to FIG . 2, a ?o W c h ar t desc r ib ing th e
o p er atio n o f th e m o to r dr ive 10 to c atc h th e m o to r 12 is
il l u str ated. Initial l y , it is assu m ed th at th e m o to r dr ive 10 h as
b een disc o nnec ted f r o m th e m o to r 12 m eaning , f o r ex am p l e,
th at th e tr ansisto r s in th e inver ter 18 c o ntinu al l y r em ain in an
o f f state. Th e sp eed and dir ec tio n o f r o tatio n o f th e m o to r
12, as W el l as th e am o u nt o f tim e th at th e m o to r dr ive 10 h as
b een disc o nnec ted, ar e assu m ed to b e u nkno W n.
At step S1, an initial deter m inatio n is m ade as to W h eth er
th e m o to r 12 is p r o du c ing b ac k EMF. Th is deter m inatio n is
m ade b ec au se, dep ending o n W h eth er a b ac k EMF al r eady
ex ists, it m ay o r m ay no t b e nec essar y to indu c e a b ac k EMF
b y p er f o r m ing p r e- ex c itatio n step s S3 and S4 .
Advantag eo u sl y , th e deter m inatio n is m ade in a m anner
W h ic h do es no t r eq u ir e additio nal h ar dW ar e to p er f o r m a
vo l tag e m easu r em ent. N am el y , th e c u r r ent r eg u l ato r s 20 and
22 ar e initial iZed b y setting th e c u r r ent c o m m ands I 61* and
I 61* eq u al to Zer o , and th e r esu l tant vo l tag e c o m m ands Vd*
and V; ar e anal y Zed to deter m ine W h eth er a b ac k EMF
ex ists.
Sp ec i?c al l y , setting th e c u r r ent c o m m ands Id* and I;
eq u al to Zer o p er m its th e ex istenc e o f a b ac k EMF to b e
deter m ined in th e f o l l o W ing m anner . W h en th e c u r r ent
c o m m ands Id* and I; ar e set eq u al to Zer o , th e c o ntr o l
sy stem 14 deter m ines th e vo l tag e c o m m ands Vd* and Vq * ,
and th er ef o r e th e vo l tag e c o m m ands Va* , Vb * and VC* , su c h
th at no c u r r ent ?o W s th r o u g h th e m o to r 12. In o r der f o r Zer o
c u r r ent to Ho w th r o u g h th e m o to r 12, th e vo l tag e c o m m ands
Va* , Vb * and VC* m u st b e an ex ac t im ag e o f th e ac tu al
m o to r vo l tag es Va, Vb and V6. If th e vo l tag e c o m m ands Va* ,
Vb * and VC* W er e no t an ex ac t im ag e o f th e ac tu al m o to r
vo l tag es, th en th e vo l tag e dif f er enc e W o u l d c r eate a c u r r ent
?o W . Ho W ever , su c h a c u r r ent Ho w is ( at l east su b stantial l y )
p r evented b y th e c u r r ent r eg u l ato r s 20 and 22, sinc e th e
c u r r ent c o m m ands I 61* and I q * ar e set eq u al to Zer o .
Th er ef o r e, sinc e th e vo l tag e c o m m ands Va* , Vb * and VC* ,
ar e an im ag e o f th e ac tu al m o to r vo l tag es and ar e deter m ined
in th e ?r m W ar e/ so f tW ar e ex ec u ted b y th e c o ntr o l sy stem 14 ,
a deter m inatio n m ay b e m ade W h eth er a b ac k EMF ex ists
W ith o u t p er f o r m ing a sep ar ate vo l tag e m easu r em ent.
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6
In additio n to c u r r ent c o m m ands I 61* and I 61* W h ic h
c o m m and a c u r r ent o f Zer o , o th er c u r r ent c o m m ands c o u l d
b e u sed. N o c u r r ent, o r at l east a DC c u r r ent, is esp ec ial l y
W el l - su ited f o r u se b ec au se th e f r eq u enc y c o m p o nent o f th e
r esu l ting vo l tag e c o m m and Vd* o r V; is entir el y attr ib u t
ab l e to th e sp eed o f th e m o to r . Ho W ever , any c u r r ent
c o m m and W h ic h al l o W s th e sp eed o f th e m o to r to b e
deter m ined b ased o n th e r esu l ting vo l tag e c o m m ands m ay
b e u sed.
At step S2, it is deter m ined W h eth er th e m ag nitu de o f th e
vo l tag e c o m m ands is l ar g er th an a p r edeter m ined th r esh o l d.
Th is c o m p u tatio n m ay b e p er f o r m ed b y c o m p u ting th e
sq u ar e r o o t o f th e su m o f th e sq u ar es o f th e vo l tag e c o m
m ands Vd* and
and deter m ining W h eth er th is val u e is l ar g er th an 7 . 5% o f th e
r ated vo l tag e o f th e m o to r 12. Al ter nativel y , th e vo l tag e
c o m m ands Va* , Vb * and VC* c o u l d al so b e u sed.
If th e c o nditio n in step S2 is no t m et, th en at step s S3 and
S4 , c u r r ent p u l ses ar e ap p l ied to th e m o to r 12 in o r der to
attem p t to indu c e a b ac k EMF. In p r ac tic e, it h as b een f o u nd
th at ap p l y ing o ne p o sitive p u l se and o ne neg ative p u l se to
th e m o to r 12 is m o st ef f ec tive at indu c ing a b ac k EMF.
Th er ef o r e, at step S3 , th e c u r r ent c o m m and I 61* is set eq u al
to a p r edeter m ined l evel ( e. g . , tW o tim es th e no l o ad c u r r ent
f o r th e indu c tio n m o to r ) f o r sh o r t p er io d o f tim e ( e. g . , 7 5
m s) . In step S4 , th e c u r r ent c o m m and If is p u l sed in th e
o p p o site dir ec tio n ( e. g . , neg ative tW o tim es th e no l o ad
c u r r ent) f o r an additio nal sh o r t p er io d o f tim e ( e. g . , an
additio nal 7 5 m s) .
Of c o u r se, if th e m o to r 12 is no t r o tating , th en th e p u l ses
ap p l ied in step s S3 and S4 do no t indu c e a b ac k EMF. As
detail ed b el o W , th e c o ntr o l sy stem 14 eventu al l y assu m es
th at th e l ac k o f an indu c ed b ac k EMF m eans th at th e m o to r
is no t r o tating and, in th is c ase, th e m o to r dr ive 10 is
r ec o nnec ted u sing Zer o sp eed initial c o nditio ns. In th e
inter im , h o W ever , th e c o ntr o l sy stem 14 attem p ts to p er f o r m
th e inter m ediate step s sinc e it is no t kno W n f o r c er tain
W h eth er o r no t th e m o to r 12 is r o tating .
If th e c o nditio n in step S2 is m et, th en a b ac k EMF al r eady
ex ists in th e m o to r 12. Sinc e th e ?el d in an indu c tio n m o to r
g ener al l y dec ay s W ith in a f eW sec o nds af ter p o W er is
r em o ved ( and l ess f o r a sm al l indu c tio n m o to r ) , th is c o ndi
tio n b eing m et im p l ies th at th e m o to r dr ive 10 h as b een
disc o nnec ted f o r o nl y a sh o r t p er io d o f tim e. In th is event,
it is no t nec essar y to indu c e a b ac k EMF, and step s S3 and
S4 m ay b e skip p ed al to g eth er .
It m ay b e r ec al l ed th at step s S3 and S4 eac h take seventy
?ve m il l isec o nds to p er f o r m , and th at th e to tal am o u nt o f
tim e r eq u ir ed to c atc h th e r o tating m o to r sh o u l d b e in th e
r ang e o f ab o u t 3 00 500 m il l isec o nds. Th er ef o r e, skip p ing
step s S3 and S4 r edu c tio n is esp ec ial l y c r itic al W h er e th e
m o to r 12 h as b een disc o nnec ted f o r o nl y a sh o r t p er io d o f
tim e ( as is th e c ase W h en step S2 is m et) , b ec au se it
f ac il itates r etu r ning th e m o to r to f u l l sp eed so q u ic kl y th at
th e disc o nnec tio n is no t p er c ep tib l e.
At step S5, th e dir ec tio n o f r o tatio n o f th e m o to r 12 is
deter m ined. In o r der to deter m ine th e dir ec tio n o f r o tatio n,
th e b ac k EMF is ag ain m easu r ed u sing th e tec h niq u e
desc r ib ed in c o nj u nc tio n W ith step S1, nam el y , setting If
and I; eq u al to Zer o . Th e f o l l o W ing r el atio ns ar e th en
u til iZed:
6, 018, 225
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W h er e Vd and Vq ar e th e ac tu al m o to r vo l tag es ( in th e
statio nar y r ef er enc e f r am e) , V is th e m ag nitu de o f th e m o to r
vo l tag es Vd and Vq , and we is th e sp eed o f th e r o tating
m ag netic ?el d in th e m o to r 12. By taking th e der ivative o f
Eq . ( 1a) , and m u l tip l y ing th e der ivative o f Eq . ( 1a) b y Eq .
( 1b ) , th e f o l l o W ing r el atio n is o b tained:
dvd
dz
( 2)
* Vq : we * | V| 2c o s2( w, , z)
It m ay b e no ted th at th e | V| 2 and c o s2( u ) et) ter m s ar e al W ay s
p o sitive; th er ef o r e, th e
ter m is neg ative if and o nl y if th e we ter m is neg ative.
Th er ef o r e, b y m easu r ing th e vo l tag es Vd and Vq ( u sing th e
vo l tag e c o m m ands V; and V; ) and c o m p u ting
dVd
*
th e dir ec tio n o f r o tatio n o f th e m o to r m ay b e deter m ined.
As p r evio u sl y indic ated, th e vo l tag es Vd and Vq ar e
m easu r ed b y ex am ining th e V; and V; o u tp u ts o f th e
c u r r ent r eg u l ato r s 20 and 22. Being p r o p o r tio nal - integ r al
c o ntr o l l o o p s, th e c u r r ent r eg u l ato r s 20 and 22 eac h h ave a
vo l tag e c o m m and o u tp u t and an integ r ato r vo l tag e
c o m m and o u tp u t W h ic h ar e added to g eth er to f o r m th e to tal
vo l tag e c o m m and o u tp u t V; o r V; . In p r ac tic e, it h as b een
f o u nd th at th e dir ec tio n c o m p u tatio n em b o died b y Eq . ( 2)
m ay b e im p r o ved b y u sing o nl y th e integ r ato r o u tp u ts o f th e
c u r r ent r eg u l ato r s 20 and 22 to r ep r esent th e vo l tag e c o m
m ands V; and V; , r esp ec tivel y . Th e vo l tag es Vd and Vq
tend to b e ver y no isy and th is no ise c an, f o r ex am p l e, c au se
th e
ter m to b e neg ative even th o u g h th e ac tu al dir ec tio n o f
r o tatio n is p o sitive. Sinc e an integ r ato r ac ts as a ?l ter , th e u se
o f th e integ r ato r o u tp u ts p r events th is no ise f r o m c au sing an
er r o neo u s deter m inatio n o f th e dir ec tio n o f r o tatio n o f th e
m o to r .
At step S6, th e sp eed o f r o tatio n is deter m ined. In o r der
to m o r e ac c u r atel y deter m ine th e sp eed o f r o tatio n, p o sitive
f eedb ac k is u sed to inc r ease th e m ag netic ?el d and th er ef o r e
th e b ac k EMF indu c ed in th e m o to r 12. Th e p o sitive
f eedb ac k inc r eases th e m ag nitu de o f th e ?el d indu c ed in th e
m o to r , o r at l east p r events th e ?el d f r o m dec ay ing so q u ic kl y
th at it is im p o ssib l e to m easu r e th e b ac k EMF.
Sp ec i?c al l y , th e p o sitive f eedb ac k is c r eated b y u sing th e
vo l tag e c o m m and o f o ne ax is ( V; ) to g ener ate th e c u r r ent
c o m m and f o r th e o th er ax is ( 1; ) . Po sitive f eedb ac k is
c r eated b ec au se th e vo l tag e c o m m and V; is 9 0 o u t o f
p h ase W ith th e vo l tag e c o m m and V; , and b ec au se th e
vo l tag e c o m m and V; h as th e sam e f r eq u enc y as th e f r e
q u enc y o f r o tatio n. As a r esu l t, sinc e th e vo l tag e c o m m and
V; is u sed to g ener ate th e c u r r ent c o m m and I ; , th e c u r r ent
c o m m and I; sh ar es th e sam e p r o p er ties as th e vo l tag e
c o m m and V; . N am el y , th e c u r r ent c o m m and I; and vo l t
10
15
20
25
4 0
4 5
55
60
65
8
ag e c o m m and V; ar e 9 0 o u t o f p h ase, and th e c u r r ent
c o m m and I; h as th e sam e f r eq u enc y as th e f r eq u enc y o f
r o tatio n. Th er ef o r e, su b stantial l y al l o f th e ener g y del iver ed
to th e m o to r 12 b y th e c u r r ent I; is tr ansf er r ed to th e
m ag netic ?el d instead o f b eing dissip ated as h eat. Mo r eo ver ,
th e b ac k EMF and th e c u r r ent c o m m and I; f eed eac h o th er
and b o th inc r ease as th e m o to r c o ntinu es to b e ex c ited.
To c l ar if y u nder standing , it is h el p f u l to c o nsider th e
r esu l t if th e c u r r ent I d h as th e sam e f r eq u enc y b u t is no t 9 0
o u t o f p h ase W ith th e vo l tag e Vd. In th is c ase, th e ener g y
su p p l ied b y th e c u r r ent I d is no t tr ansf er r ed entir el y to th e
m ag netic ?el d o f th e m o to r . Rath er , at l east so m e o f th e
ener g y is dissip ated as h eat. Th is is b ec au se th e m o to r 12 is
p ar tial l y an indu c to r and p ar tial l y a r esisto r . Sinc e th e
c u r r ent Id is no t 9 0 o u t o f p h ase W ith th e vo l tag e Vd, p ar t
o f th e vo l tag e dr o p p r o du c ed b y th e c u r r ent I d o c c u r s o ver
th e r esistive p o r tio n o f th e m o to r 12 and is dissip ated as h eat.
It m ay al so b e no ted th at, if th e c u r r ent I d is b etW een 180
and 3 60 o u t o f p h ase W ith th e vo l tag e Vd, th en no t o nl y is
at l east so m e o f th e ener g y dissip ated as h eat, b u t th e
r em aining ener g y W h ic h is no t dissip ated as h eat ac tu al l y
de- ex c ites th e ?el d in th e m o to r 12. ( Fo r th is r easo n, it is
im p o r tant to c o r r ec tl y deter m ine th e dir ec tio n o f r o tatio n in
step S5. ) If th e c u r r ent I d h as a dif f er ent f r eq u enc y th an th e
sp eed o f r o tatio n o f th e m o to r , th en th er e is a c o m b inatio n
o f th e ab o ve ef f ec ts, i. e. , so m e o f th e ener g y su p p l ied b y th e
c u r r ent Id ex c ites th e ?el d in th e m o to r , b u t so m e o f th e
ener g y su p p l ied b y th e c u r r ent de- ex c ites th e ?el d in th e
m o to r and th e r em aining ener g y is dissip ated as h eat.
In o r der to deter m ine th e f r eq u enc y and p h ase o f th e b ac k
EMF indu c ed in th e m o to r 12, a p r edeter m ined nu m b er o f
Zer o c r o ssing s o f o ne o f th e p h ases o f th e b ac k EMF m ay b e
detec ted, and th e tim ing o f th e Zer o c r o ssing m ay b e u sed in
c o nventio nal f ash io n to deter m ine f r eq u enc y and p h ase. In
th e em b o dim ent il l u str ated in FIG . 2, th r ee Zer o c r o ssing s
ar e detec ted.
At step S7 , it is deter m ined W h eth er th e m o to r 12 h as
sto p p ed r o tating . If a p r edeter m ined am o u nt o f tim e h as
el ap sed ( 3 00 m s in th e il l u str ated em b o dim ent) and th e
p r edeter m ined nu m b er o f Zer o c r o ssing s h ave no t y et b een
detec ted, th en it is assu m ed th at th e m o to r h as sto p p ed
r o tating . As a r esu l t, at step S8, initial c o nditio ns ar e set in
th e m o to r dr ive 10 W h ic h c o r r esp o nd to th e m o to r b eing
sto p p ed. At step S10, af ter th e initial c o nditio ns ar e set, th e
m o to r dr ive 10 is r ec o nnec ted.
If th e m o to r h as no t sto p p ed r o tating at step S8, th en at
step S9 initial c o nditio ns ar e set in th e m o to r dr ive 10 W h ic h
c o r r esp o nd to th e m easu r ed sp eed o f th e m o to r . Th e initial
c o nditio ns m ay inc l u de, f o r ex am p l e, th e m ag nitu de, f r e
q u enc y and p h ase o f th e vo l tag e c o m m ands V; and V; .
Th en, at step S10, th e m o to r dr ive 10 is r ec o nnec ted.
If th e m o to r 12 is no t an indu c tio n b u t instead is ano th er
ty p e o f m o to r , su c h as a DC m o to r o r a sy nc h r o no u s m o to r ,
th en an ab b r eviated ver sio n o f th e p r o c ess il l u str ated in FIG .
2 m ay b e u til iZed. As p r evio u sl y desc r ib ed, DC m o to r s and
sy nc h r o no u s m o to r s g ener ate a b ac k EMF au to m atic al l y ,
W ith o u t th er e b eing a need to indu c e a b ac k EMF b y th e
ap p l ic atio n o f a c u r r ent to g ener ate a ?el d. Th er ef o r e, it is
no t nec essar y to ex c ite th e m o to r as desc r ib ed in c o nj u nc tio n
W ith step s S3 S6. Ho W ever , th e b ac k EMF o f a DC o r
sy nc h r o no u s m o to r m ay stil l b e detec ted b y setting th e
c u r r ent c o m m ands to Zer o in th e m anner desc r ib ed in
c o nj u nc tio n W ith step S1. In th is m anner , an im ag e o f th e
b ac k EMF m ay b e o b tained W ith o u t u sing additio nal h ar d
W ar e to p er f o r m a vo l tag e m easu r em ent. Th en, th e sp eed o f
r o tatio n m ay b e deter m ined in step S6, th e initial c o nditio ns
o f th e m o to r dr ive 10 set in step s S7 S9 , and th e m o to r dr ive
r ec o nnec ted at step S10.
6, 018, 225
Ref er r ing no W al so to FIG S. 3 6, var io u s o sc il l o g r am s
W h ic h sh o w th e o p er atio n o f th e m o to r dr ive 10 u nder in
dif f er ent o p er ating c o nditio ns ar e il l u str ated. Ref er r ing ?r st
to FIG . 3 , an o sc il l o g r am sh o W ing p r e- ex c itatio n and ex c i
tatio n o f a r o tating m o to r is il l u str ated. Th e o sc il l o g r am
inc l u des tr ac es 3 1, 3 2a, 3 2b and 3 2c . Tr ac e 3 1 r ep r esents th e
c u r r ent in o ne o f th e p h ases o f th e m o to r 12. Th e r em aining
tr ac es 3 2a, 3 2b and 3 2c ar e th e vo l tag e c o m m ands Va* , Vb *
and VC* , r esp ec tivel y .
Th e tr ac e 3 1 h as a p o sitive p u l se 3 3 and a neg ative p u l se
3 4 W h ic h c o r r esp o nd to th e p u l ses ap p l ied in step s S3 and
S4 , r esp ec tivel y . Af ter th e initial p u l ses 3 3 and 3 4 ar e
ap p l ied, and th e dir ec tio n o f r o tatio n is deter m ined, th e
p o sitive f eedb ac k l o o p is estab l ish ed. Th e c u r r ent W h ic h is
su p p l ied to th e m o to r c au ses th e b ac k EMF to inc r ease,
W h ic h in tu r n c au ses th e m ag nitu de o f th e vo l tag e c o m m and
V; to inc r ease, W h ic h in tu r n c au ses m o r e c u r r ent to b e
su p p l ied to th e m o to r , th e additio nal c u r r ent su p p l ied to th e
m o to r c au ses a f u r th er inc r ease in th e b ac k EMF, and so o n.
Th e p o sitive f eedb ac k is r ep r esented b y a r eg io n 3 6 f o r th e
c u r r ent tr ac e 3 1, and b y r eg io ns 3 7 a, 3 7 b and 3 7 c f o r th e
vo l tag e tr ac es 3 2a, 3 2b and 3 2c .
One additio nal b ene?t o f th e p o sitive f eedb ac k is th at it
inc r eases th e m ag netic ?el d in th e m o to r 12 p r io r to r ec o n
nec tio n. Sinc e th e m o to r 12 m u st b e r e- ener g iZed b ef o r e th e
m o to r 12 c an r etu r n to f u l l sp eed, th e f ac t th at th e m ag netic
?el d is inc r eased r edu c es th e am o u nt o f tim e r eq u ir ed to
r etu r n th e m o to r 12 to f u l l sp eed.
Ref er r ing no W to FIG . 4 , an o sc il l o g r am sh o W ing th e
m o to r dr ive 10 c atc h ing a r o tating m o to r is il l u str ated. Th e
o sc il l o g r am inc l u des tr ac es 4 1, 4 2 and 4 3 W h ic h r esp ec tivel y
c o r r esp o nd to th e c u r r ent in o ne o f th e p h ases o f th e m o to r
12, th e sp eed o f th e m o to r as estim ated b y th e m o to r dr ive
10, and th e ac tu al sp eed o f th e m o to r ( m easu r ed u sing a
tac h o m eter ) .
Ag ain, th e tr ac e 4 1 h as a p o sitive p u l se 4 4 and a neg ative
p u l se 4 5 W h ic h c o r r esp o nd to th e p u l ses ap p l ied du r ing step s
S3 and S4 , r esp ec tivel y . Af ter th e initial p u l ses 4 4 and 4 5 ar e
ap p l ied, and th e dir ec tio n o f r o tatio n is deter m ined, th e
p o sitive f eedb ac k l o o p is estab l ish ed and th e c u r r ent tr ac e 4 1
ex p er ienc es a p o sitive f eedb ac k r eg io n 4 6 in W h ic h th e
c u r r ent inc r eases. It m ay b e no ted th at, in c o ntr ast to th e
em b o dim ent o f FIG . 2, th e c o ntr o l sy stem 14 W aits m o r e
th an th r ee h al f p er io ds b ef o r e c o m p u ting th e sp eed o f th e
m o to r . Th e nu m b er o f h al f p er io ds u sed m ay o f c o u r se b e
var ied to ac h ieve o p tim al r esu l ts.
As indic ated b y tr ac e 4 3 , th e sp eed o f th e m o to r 12
steadil y dec r eases W h en th e m o to r dr ive 10 is disc o nnec ted
u ntil an in?ec tio n p o int 4 7 is r eac h ed. Th e in?ec tio n p o int 4 7
c o r r esp o nds to th e instant at W h ic h step S10 is c o m p l eted
and th e m o to r dr ive 10 is r ec o nnec ted to th e m o to r 12.
Th er eaf ter , th e m o to r dr ive 10 b eg ins to dr ive th e m o to r 12,
c au sing a p h ase r ever sal in th e c u r r ent tr ac e 4 1, and th e
sp eed o f th e m o to r b eg ins to inc r ease.
Ref er r ing no W to FIG . 5, an o sc il l o g r am sh o W ing th e
m o to r dr ive 10 c atc h ing a r o tating m o to r is il l u str ated. Th e
o sc il l o g r am inc l u des tr ac es 51, 52 and 53 W h ic h ar e de?ned
in th e sam e m anner as th e tr ac es 4 1, 4 2 and 4 3 , r esp ec tivel y ,
in FIG . 4 .
Th e p r im ar y dif f er enc e b etW een FIG . 5 and FIG . 4 is th at
th e m o to r 12 is r o tating at a sl o W er sp eed in FIG . 5 as
c o m p ar ed to FIG . 4 . W h er eas th e sp eed o f th e m o to r 12 is
ab o ve 1000 RPM in FIG . 4 , th e sp eed o f th e m o to r is W el l
b el o W 1000 RPM in FIG . 5. Fo r th is r easo n, th e m o to r
c u r r ent tr ac e 51 in FIG . 5 h as a f r eq u enc y W h ic h is sm al l er
th an th e f r eq u enc y o f th e m o to r c u r r ent tr ac e 4 1 in FIG . 4 .
Bec au se o f th e m o to r 12 is r o tating at a sl o W er sp eed in
FIG . 5, th e p o sitive f eedb ac k ef f ec ts ar e no t as dr am atic as
10
15
20
25
3 0
3 5
4 0
4 5
50
55
60
65
10
c o m p ar ed to FIG . 4 . At th e l o W er f r eq u enc y , th e r esistive
p o r tio n o f th e m o to r 12 do m inates o ver th e indu c tive
p o r tio n, and th e c u r r ent r eg u l ato r 20 is u nab l e to m aintain
th e 9 0 p h ase sep ar atio n b etW een th e c u r r ent c o m m and I 61*
and th e vo l tag e c o m m and Vd* . N ever th el ess, al th o u g h th e
b ac k EMF do es no t inc r ease, it al so do es no t dec ay as it
W o u l d W ith o u t th e p o sitive f eedb ac k. Advantag eo u sl y ,
th er ef o r e, th e p o sitive f eedb ac k p r events th e b ac k EMF f r o m
dec ay ing so r ap idl y th at it is im p o ssib l e to ac c u r atel y
m easu r e.
Ref er r ing no W to FIG . 6, an o sc il l o g r am sh o W ing th e
m o to r dr ive 10 c atc h ing a r o tating m o to r is il l u str ated. Th e
o sc il l o g r am inc l u des tr ac es 61, 62 and 63 W h ic h ar e de?ned
th e sam e as th e tr ac es 4 1, 4 2 and 4 3 , r esp ec tivel y , in FIG . 4 .
Th e p r im ar y dif f er enc e b etW een FIG . 6 and FIG . 4 is th at,
in FIG . 6, th e m o to r 12 is initial l y r o tating in a dir ec tio n
W h ic h is o p p o site a c o m m anded dir ec tio n, and th e sp eed
tr ac e 63 is initial l y neg ative. Th e o p er atio n o f th e m o to r
dr ive 10 to r ec o nnec t is th e sam e u nder th is c o nditio n.
Sp ec i?c al l y , c u r r ent p u l ses ar e ap p l ied, th e sp eed and dir ec
tio n o f r o tatio n o f th e m o to r ar e deter m ined, and th e m o to r
dr ive 10 is r ec o nnec ted to th e m o to r 12 at an instant T1.
Th e m o to r dr ive 10 th en b r ing s th e m o to r 12 to th e
c o m m anded sp eed. Af ter th e m o to r dr ive 10 is r ec o nnec ted,
th e m o to r dr ive 10 initial l y sl o W s do W n th e m o to r 12
( c au sing th e sp eed o f th e m o to r 12 to b ec o m e l ess neg ative) .
Eventu al l y , th e sp eed o f th e m o to r 12 p asses th r o u g h Zer o ,
at W h ic h m o m ent th er e is a p h ase r ever sal in th e m o to r
c u r r ent tr ac e 61. Th er eaf ter , th e m o to r dr ive 10 c o ntinu es to
inc r ease th e sp eed o f th e m o to r in th e p o sitive dir ec tio n.
Al th o u g h th e to tal am o u nt o f tim e r eq u ir ed to b r ing th e
m o to r 12 to th e c o m m anded sp eed is sever al sec o nds, th e
r ec o nnec tio n p r o c ess itsel f takes l ess th an 4 00 m s. Th is
c o m p ar es to th e at l east sever al sec o nds r eq u ir ed f o r r ec o n
nec tio n if f r eq u enc y sW eep ing W er e u til iZed.
Th e p r esent inventio n th er ef o r e ex h ib its nu m er o u s advan
tag es o ver p r io r ar t ap p r o ac h es f o r r ec o nnec ting a m o to r
dr ive to a m o to r . Fir st, th e p r esent inventio n do es no t r eq u ir e
any additio nal h ar dW ar e. Th e p r esent inventio n o b tains an
indic atio n o f th e sp eed o f th e m o to r b y ex am ining th e
o u tp u ts o f th e m o to r dr ive. Th ese o u tp u ts ar e g ener ated b y
th e m o to r dr ive, and th er ef o r e th eir val u es m ay b e
deter m ined, f o r ex am p l e, b y deter m ining th e val u e o f a
var iab l e in so f tW ar e o r ?r m W ar e. Th er e is no need to p r o vide
a c ir c u it f o r p er f o r m ing a sep ar ate vo l tag e m easu r em ent o r
a m ec h anic al senso r to dir ec tl y m easu r e th e sp eed o f th e
m o to r .
Sec o nd, th e p r esent inventio n c an b e u sed in c o nj u nc tio n
W ith indu c tio n m o to r s, as W el l as in c o nj u nc tio n W ith o th er
ty p es o f m o to r s. As p r evio u sl y no ted, indu c tio n m o to r s
p r esent th e sp ec ial p r o b l em th at th ey do no t p r o du c e a b ac k
EMF au to m atic al l y W h en m ec h anic al l y dr iven. Th e p r esent
inventio n u til iZes p o sitive f eedb ac k to indu c e a m ag netic
?el d in th e m o to r W h ic h inc r eases as th e m o to r c o ntinu es to
b e ex c ited, o r W h ic h at l east do es no t dec ay so r ap idl y th at
th e sp eed o f th e m o to r c anno t b e ac c u r atel y deter m ined ( in
th e event th at th e m o to r is o nl y sl o W l y r o tating ) . W h il e th e
p o sitive f eedb ac k m akes th e p r esent inventio n esp ec ial l y
advantag eo u s f o r u se in c o nj u nc tio n W ith sm al l indu c tio n
m o to r s, th e inventio n c an al so b e u sed in c o nj u nc tio n W ith
o th er ty p es o f m o to r s.
Final l y , th e p r esent inventio n is ab l e to r ec o nnec t th e
m o to r dr ive in a ver y sh o r t am o u nt o f tim e. As desc r ib ed
ab o ve, th e p r esent inventio n is ab l e to r ec o nnec t a m o to r
dr ive to a m o to r in a f r ac tio n o f th e am o u nt o f tim e r eq u ir ed
b y so m e p r io r ar t ap p r o ac h es. Th e ab il ity to r ec o nnec t th e
m o to r dr ive in a ver y sh o r t am o u nt o f tim e m akes it p o ssib l e
6, 018, 225
11
to r ec o ver f r o m a tem p o r ar y p o wer o u tag e so q u ic kl y th at
th e p o W er o u tag e b ec o m es im p er c ep tib l e.
Many c h ang es and m o di?c atio ns m ay b e m ade to th e
p r esent inventio n W ith o u t dep ar ting f r o m th e sp ir it th er eo f .
Fo r ex am p l e, vo l tag e r eg u l ato r s c o u l d b e u sed instead o f 5
c u r r ent r eg u l ato r s in th e m o to r dr ive to c o ntr o l th e vo l tag e
and c u r r ent th r o u g h th e m o to r . Th e sc o p e o f th ese and o th er
c h ang es W il l b ec o m e ap p ar ent f r o m th e ap p ended c l aim s.
I c l aim :
1. A m eth o d o f r ec o nnec ting an indu c tio n m o to r to a
m o to r dr ive, th e m eth o d c o m p r ising :
( A) ex c iting th e indu c tio n m o to r to indu c e a b ac k EMF in
th e indu c tio n m o to r , th e ex c iting step inc l u ding
( 1) c o ntr o l l ing c u r r ent W h ic h ?o W s th r o u g h th e indu c
tio n m o to r u sing ?r st and sec o nd r eg u l ato r s, an 15
o u tp u t o f th e ?r st r eg u l ato r b eing sep ar ated in p h ase
f r o m an o u tp u t o f th e sec o nd c u r r ent r eg u l ato r b y
ap p r o x im atel y 9 0 , and
( 2) estab l ish ing a p o sitive f eedb ac k l o o p , inc l u ding
u sing th e o u tp u t o f o ne o f th e ?r st and sec o nd
r eg u l ato r s to g ener ate an inp u t f o r th e o th er o f th e
?r st and sec o nd r eg u l ato r s;
( B) deter m ining a sp eed o f r o tatio n o f th e indu c tio n m o to r
b ased o n th e b ac k EMF indu c ed du r ing step ( A) ; and
( C) r ec o nnec ting th e m o to r dr ive to th e indu c tio n m o to r
b ased o n th e sp eed deter m ined du r ing step 2. A m eth o d to c l aim 1,
W h er ein th e ?r st r eg u l ato r is a ?r st c u r r ent r eg u l ato r and
a r eg u l ates a to r q u e- p r o du c ing c u r r ent;
W h er ein th e sec o nd r eg u l ato r is a sec o nd c u r r ent r eg u l ato r
and a r eg u l ates a ?el d- p r o du c ing c u r r ent; and
W h er ein th e inp u t o f th e sec o nd c u r r ent r eg u l ato r is
g ener ated b ased u p o n th e o u tp u t o f th e ?r st c u r r ent
r eg u l ato r .
3 . A m eth o d ac c o r ding to c l aim 1,
W h er ein th e o u tp u ts o f th e ?r st and sec o nd r eg u l ato r s ar e
vo l tag e c o m m and o u tp u ts, and
W h er ein, du r ing step ( B) , th e b ac k EMF is m easu r ed b y
ex am ining th e vo l tag e c o m m and o u tp u t o f at l east o ne
o f th e ?r st and sec o nd r eg u l ato r s.
4 . A m eth o d o f r ec o nnec ting an el ec tr ic m o to r to a m o to r
dr ive, th e m eth o d c o m p r ising :
( A) deter m ining a sp eed o f r o tatio n o f th e m o to r , inc l u d
ing
( 1) c o ntr o l l ing a c u r r ent W h ic h ?o W s th r o u g h th e m o to r
u sing a c u r r ent r eg u l ato r , th e c u r r ent r eg u l ato r p r o
du c ing a vo l tag e c o m m and o u tp u t b ased o n a c u r r ent
c o m m and inp u t,
( 2) c o m m anding a c u r r ent at th e c u r r ent c o m m and
inp u t o f th e c u r r ent r eg u l ato r , and
( 3 ) ex am ining th e vo l tag e c o m m and o u tp u t p r o du c ed
b y th e c u r r ent r eg u l ato r in r esp o nse to th e c u r r ent
c o m m and inp u t, th e vo l tag e c o m m and o u tp u t b eing
ex am ined to deter m ine th e sp eed o f th e m o to r ; and
( B) r ec o nnec ting th e m o to r dr ive to th e m o to r b ased o n
th e sp eed deter m ined du r ing step
5. A m eth o d ac c o r ding to c l aim 4 ,
W h er ein th e m o to r is an indu c tio n m o to r ,
W h er ein th e c u r r ent r eg u l ato r is a ?r st c u r r ent r eg u l ato r
and th e vo l tag e c o m m and o u tp u t is a ?r st vo l tag e
c o m m and o u tp u t,
W h er ein c u r r ent W h ic h ?o W s th r o u g h th e m o to r is al so
c o ntr o l l ed u sing a sec o nd c u r r ent r eg u l ato r , th e sec o nd
c u r r ent r eg u l ato r p r o du c ing a sec o nd vo l tag e c o m m and
o u tp u t b ased o n a sec o nd c u r r ent c o m m and inp u t, th e
10
25
3 5
4 5
55
65
12
sec o nd vo l tag e c o m m and o u tp u t b eing sep ar ated in
p h ase f r o m th e ?r st vo l tag e c o m m and o u tp u t b y
ap p r o x im atel y 9 0 , and
W h er ein th e deter m ining step f u r th er c o m p r ises ex c iting
th e m o to r to indu c e a b ac k EMF, th e ex c iting step
inc l u ding estab l ish ing a p o sitive f eedb ac k l o o p , inc l u d
ing u sing th e vo l tag e c o m m and o u tp u t f o r o ne o f th e
?r st and sec o nd c u r r ent r eg u l ato r s to g ener ate th e
c u r r ent c o m m and inp u t f o r th e o th er o ne o f th e ?r st and
sec o nd c u r r ent r eg u l ato r s.
6. A m eth o d ac c o r ding to c l aim 5, f u r th er c o m p r ising
deter m ining a dir ec tio n o f r o tatio n o f th e m o to r , inc l u ding
( 1) c o m m anding a c u r r ent at th e c u r r ent c o m m and inp u ts
o f th e ?r st and sec o nd c u r r ent r eg u l ato r s, and
( 2) ex am ining th e vo l tag e c o m m and o u tp u ts o f th e ?r st
and sec o nd c u r r ent r eg u l ato r s in r esp o nse to th e c u r r ent
c o m m and inp u ts, th e vo l tag e c o m m and o u tp u ts b eing
ex am ined to deter m ine th e dir ec tio n o f r o tatio n o f th e
m o to r .
7 . A m eth o d ac c o r ding to c l aim 6, W h er ein th e step o f
ex am ining th e vo l tag e c o m m and o u tp u ts to deter m ine th e
dir ec tio n o f r o tatio n f u r th er c o m p r ises m u l tip l y ing a sig nal
W h ic h is r ep r esentative o f o ne o f th e vo l tag e c o m m and
o u tp u ts W ith a sig nal W h ic h is r ep r esentative o f th e o th er o ne
o f th e vo l tag e c o m m and o u tp u ts, th e p r o du c t o f th e m u l ti
p l ic atio n h aving a sig n W h ic h indic ates th e dir ec tio n o f
r o tatio n.
8. A m eth o d ac c o r ding to c l aim 4 W h er ein, du r ing step
( A) ( 2) , a c u r r ent o f Zer o am p er es is c o m m anded.
9 . A sy stem c o m p r ising :
an indu c tio n m o to r ; and
a m o to r dr ive, th e m o to r dr ive b eing c o u p l ed to th e
indu c tio n m o to r , th e m o to r dr ive inc l u ding a c o ntr o l
sy stem W h ic h c o ntr o l s c u r r ent th r o u g h th e m o to r , th e
c o ntr o l sy stem inc l u ding
a ?r st c u r r ent r eg u l ato r W h ic h c o ntr o l s a ?r st c o m p o
nent o f th e c u r r ent th r o u g h th e m o to r and th e ?r st
c u r r ent r eg u l ato r h aving a vo l tag e c o m m and o u tp u t,
a sec o nd c u r r ent r eg u l ato r W h ic h c o ntr o l s a sec o nd
c o m p o nent o f th e c u r r ent th r o u g h th e m o to r , th e
sec o nd c u r r ent r eg u l ato r h aving a c u r r ent c o m m and
inp u t, and th e ?r st and sec o nd c o m p o nents b eing
sep ar ated in p h ase b y ap p r o x im atel y 9 0 , and
a p o sitive f eedb ac k l o o p W h ic h c o nnec ts th e vo l tag e
c o m m and o u tp u t o f th e ?r st c u r r ent r eg u l ato r to th e
c u r r ent c o m m and inp u t o f th e sec o nd c u r r ent
r eg u l ato r , th e p o sitive f eedb ac k l o o p ex c iting th e
m o to r to indu c e a b ac k EMF W h en th e m o to r dr ive
is b eing r ec o nnec ted to th e m o to r .
10. A sy stem ac c o r ding to c l aim 9 , W h er ein th e indu c tio n
m o to r is no m o r e th an a ten h o r sep o W er m o to r .
11. A sy stem ac c o r ding to c l aim 10, W h er ein th e indu c tio n
m o to r is a th r ee- p h ase indu c tio n m o to r .
12. A sy stem ac c o r ding to c l aim 9 , W h er ein th e m o to r
dr ive f u r th er c o m p r ises an AC- DC p o W er c o nver ter and a
PW M vo l tag e inver ter , th e PW M vo l tag e inver ter c o ntr o l
l ing th e su p p l y o f p o W er f r o m th e AC- DC p o W er c o nver ter
to th e indu c tio n m o to r b ased o n c o ntr o l sig nal s r ec eived
f r o m th e ?r st and sec o nd c u r r ent r eg u l ato r s.
13 . A m eth o d o f r ec o nnec ting an indu c tio n m o to r to a
m o to r dr ive, th e m eth o d c o m p r ising :
( A) c o ntr o l l ing c u r r ent W h ic h ?o W s th r o u g h th e m o to r
u sing ?r st and sec o nd c u r r ent r eg u l ato r s, th e ?r st c u r
r ent r eg u l ato r c o ntr o l l ing a ?r st c o m p o nent o f th e
c u r r ent th r o u g h th e m o to r , and th e ?r st c u r r ent r eg u l a
to r g ener ating a ?r st vo l tag e c o m m and o u tp u t b ased o n
6, 018, 225
13
a ?r st c u r r ent c o m m and inp u t, and th e sec o nd c u r r ent
r eg u l ato r c o ntr o l l ing a sec o nd c o m p o nent o f th e c u r r ent
th r o u g h th e m o to r , th e sec o nd c u r r ent r eg u l ato r g ener
ating a sec o nd vo l tag e c o m m and o u tp u t b ased o n a
sec o nd c u r r ent c o m m and inp u t, th e ?r st and sec o nd
c o m p o nents b eing sep ar ated in p h ase b y ap p r o x im atel y
( B) deter m ining a dir ec tio n o f r o tatio n o f th e indu c tio n
m o to r , inc l u ding
( 1) c o m m anding a c u r r ent at th e ?r st and sec o nd
c u r r ent c o m m and inp u ts o f th e ?r st and sec o nd
c u r r ent r eg u l ato r s, r esp ec tivel y , and
( 2) ex am ining at l east o ne o f th e ?r st and sec o nd
vo l tag e c o m m and o u tp u ts to deter m ine th e dir ec tio n
o f r o tatio n o f th e indu c tio n m o to r ;
( C) deter m ining a sp eed o f r o tatio n o f th e indu c tio n
m o to r , inc l u ding
( 1) estab l ish ing p o sitive f eedb ac k f o r th e sec o nd c u r
r ent r eg u l ato r , inc l u ding u sing th e ?r st vo l tag e c o m
m and o u tp u t to g ener ate th e sec o nd c u r r ent inp u t,
su c h th at th e sec o nd c u r r ent c o m m and inp u t is
ap p r o x im atel y 9 0 o u t o f p h ase W ith th e sec o nd
vo l tag e c o m m and o u tp u t and h as a f r eq u enc y W h ic h
ap p r o x im atel y c o r r esp o nds to th e sp eed o f th e indu c
tio n m o to r ,
( 2) ex c iting th e indu c tio n m o to r W ith a c u r r ent c o n
tr o l l ed b y th e sec o nd c u r r ent r eg u l ato r , and
( 3 ) ex am ining at l east o ne o f th e ?r st and sec o nd
vo l tag e c o m m and o u tp u ts to deter m ine th e sp eed o f
r o tatio n o f th e indu c tio n m o to r ; and
( D) r ec o nnec ting th e indu c tio n m o to r b ased o n th e sp eed
deter m ined du r ing step 14 . A m eth o d ac c o r ding to c l aim 13 , f u r th er c o m p r ising
( A) deter m ining , b ef o r e th e dir ec tio n o f r o tatio n is
deter m ined, th at th e indu c tio n m o to r is no t p r o du c ing
b ac k EMF, th e deter m ining step inc l u ding
( 1) c o m m anding a c u r r ent at th e ?r st and sec o nd
c u r r ent c o m m and inp u ts, and
( 2) ex am ining at l east o ne o f th e vo l tag e c o m m and
o u tp u ts o f th e ?r st and sec o nd c u r r ent r eg u l ato r s to
deter m ine th at th e indu c tio n m o to r is no t p r o du c ing
b ac k EMF;
( B) p r e- ex c iting th e indu c tio n m o to r to indu c e a b ac k
EMF in r esp o nse to deter m ining th at th e indu c tio n
m o to r is no t p r o du c ing b ac k EMF.
15. A m eth o d ac c o r ding to 14 , W h er ein p r e- ex c iting th e
indu c tio n m o to r c o m p r ises ap p l y ing ?r st and sec o nd c u r r ent
p u l ses, o ne o f th e ?r st and sec o nd c u r r ent p u l ses b eing a
p o sitive c u r r ent p u l se and th e o th er o ne o f th e ?r st and
sec o nd c u r r ent p u l ses b eing a neg ative c u r r ent p u l se.
16. A m eth o d ac c o r ding to c l aim 13 , W h er ein deter m ining
th e dir ec tio n o f r o tatio n o f th e indu c tio n m o to r c o m p r ises
m u l tip l y ing a sig nal W h ic h r ep r esents a vo l tag e c o m m and
o u tp u t o f o ne o f th e ?r st and sec o nd c u r r ent r eg u l ato r s W ith
a sig nal th at r ep r esents a der ivative o f a vo l tag e c o m m and
o u tp u t o f th e o th er o ne o f th e ?r st and sec o nd c u r r ent
r eg u l ato r s.
17 . A m eth o d o f r ec o nnec ting an indu c tio n m o to r to a
m o to r dr ive, th e m eth o d c o m p r ising :
( A) ex c iting th e indu c tio n m o to r to indu c e a b ac k EMF in
th e indu c tio n m o to r , th e ex c iting step inc l u ding
( 1) c o ntr o l l ing c u r r ent W h ic h ?o W s th r o u g h th e indu c
tio n m o to r u sing ?r st and sec o nd r eg u l ato r s, an
o u tp u t o f th e ?r st r eg u l ato r b eing sep ar ated in p h ase
f r o m an o u tp u t o f th e sec o nd c u r r ent r eg u l ato r b y
ap p r o x im atel y 9 0 , and
10
15
20
3 0
3 5
4 0
4 5
55
60
65
14
( 2) estab l ish ing a p o sitive f eedb ac k l o o p , inc l u ding
u sing th e o u tp u t o f o ne o f th e ?r st and sec o nd
r eg u l ato r s to g ener ate an inp u t f o r th e o th er o f th e
?r st and sec o nd r eg u l ato r s;
( B) deter m ining a f r eq u enc y o f th e b ac k EMF in th e
indu c tio n m o to r ; and
( C) r ec o nnec ting th e m o to r dr ive to th e indu c tio n m o to r
b ased o n th e f r eq u enc y deter m ined du r ing step 18. A m eth o d ac c o r ding to c l aim 17 ,
W h er ein th e ?r st r eg u l ato r is a ?r st c u r r ent r eg u l ato r and
r eg u l ates a to r q u e- p r o du c ing c u r r ent;
W h er ein th e sec o nd r eg u l ato r is a sec o nd c u r r ent r eg u l ato r
and r eg u l ates a ?el d- p r o du c ing c u r r ent; and
W h er ein th e inp u t o f th e sec o nd c u r r ent r eg u l ato r is
g ener ated b ased u p o n th e o u tp u t o f th e ?r st c u r r ent
r eg u l ato r .
19 . A m eth o d ac c o r ding to c l aim 17 ,
W h er ein th e o u tp u ts o f th e ?r st and sec o nd r eg u l ato r s ar e
vo l tag e c o m m and o u tp u ts, and
W h er ein, du r ing step ( B) , th e f r eq u enc y o f th e b ac k EMF
is deter m ined b y ex am ining th e vo l tag e c o m m and
o u tp u t o f at l east o ne o f th e ?r st and sec o nd r eg u l ato r s.
20. Am eth o d o f r ec o nnec ting an el ec tr ic m o to r to a m o to r
dr ive, th e m eth o d c o m p r ising :
( A) deter m ining a f r eq u enc y o f a b ac k EMF in th e m o to r ,
inc l u ding
( 1) c o ntr o l l ing a c u r r ent W h ic h ?o W s th r o u g h th e m o to r
u sing a c u r r ent r eg u l ato r , th e c u r r ent r eg u l ato r p r o
du c ing a vo l tag e c o m m and o u tp u t b ased o n a c u r r ent
c o m m and inp u t,
( 2) c o m m anding a c u r r ent at th e c u r r ent c o m m and
inp u t o f th e c u r r ent r eg u l ato r , and
( 3 ) ex am ining th e vo l tag e c o m m and o u tp u t p r o du c ed
b y th e c u r r ent r eg u l ato r in r esp o nse to th e c u r r ent
c o m m and inp u t, th e vo l tag e c o m m and o u tp u t b eing
ex am ined to deter m ine th e f r eq u enc y o f th e b ac k
EMF; and
( B) r ec o nnec ting th e m o to r dr ive to th e m o to r b ased o n
th e f r eq u enc y deter m ined du r ing step 21. A m eth o d ac c o r ding to c l aim 20,
W h er ein th e m o to r is an indu c tio n m o to r ,
W h er ein th e c u r r ent r eg u l ato r is a ?r st c u r r ent r eg u l ato r
and th e vo l tag e c o m m and o u tp u t is a ?r st vo l tag e
c o m m and o u tp u t,
W h er ein c u r r ent W h ic h ?o W s th r o u g h th e m o to r is al so
c o ntr o l l ed u sing a sec o nd c u r r ent r eg u l ato r , th e sec o nd
c u r r ent r eg u l ato r p r o du c ing a sec o nd vo l tag e c o m m and
o u tp u t b ased o n a sec o nd c u r r ent c o m m and inp u t, th e
sec o nd vo l tag e c o m m and o u tp u t b eing sep ar ated in
p h ase f r o m th e ?r st vo l tag e c o m m and o u tp u t b y
ap p r o x im atel y 9 0 , and
W h er ein th e deter m ining step f u r th er c o m p r ises ex c iting
th e m o to r to indu c e th e b ac k EMF, th e ex c iting step
inc l u ding estab l ish ing a p o sitive f eedb ac k l o o p , inc l u d
ing u sing th e vo l tag e c o m m and o u tp u t f o r o ne o f th e
?r st and sec o nd c u r r ent r eg u l ato r s to g ener ate th e
c u r r ent c o m m and inp u t f o r th e o th er o ne o f th e ?r st and
sec o nd c u r r ent r eg u l ato r s.
22. A m eth o d ac c o r ding to c l aim 21, f u r th er c o m p r ising
deter m ining a dir ec tio n o f r o tatio n o f th e m o to r , inc l u ding
( 1) c o m m anding a c u r r ent at th e c u r r ent c o m m and inp u ts
o f th e ?r st and sec o nd c u r r ent r eg u l ato r s, and
( 2) ex am ining th e vo l tag e c o m m and o u tp u ts o f th e ?r st
and sec o nd c u r r ent r eg u l ato r s in r esp o nse to th e c u r r ent
6, 018, 225
15
c o m m and inp u ts, th e vo l tag e c o m m and o u tp u ts b eing
ex am ined to deter m ine th e dir ec tio n o f r o tatio n o f th e
m o to r .
23 . A m eth o d ac c o r ding to c l aim 22, W h er ein th e step o f
ex am ining th e vo l tag e c o m m and o u tp u ts to deter m ine th e
dir ec tio n o f r o tatio n f u r th er c o m p r ises m u l tip l y ing a sig nal
W h ic h is r ep r esentative o f o ne o f th e vo l tag e c o m m and
o u tp u ts W ith a sig nal W h ic h is r ep r esentative o f th e o th er o ne
5
16
o f th e vo l tag e c o m m and o u tp u ts, th e p r o du c t o f th e m u l ti
p l ic atio n h aving a sig n W h ic h indic ates th e dir ec tio n o f
r o tatio n.
24 . A m eth o d ac c o r ding to c l aim 20 W h er ein, du r ing step
( A) ( 2) , a c u r r ent o f Zer o am p er es is c o m m anded.