CONTROLLER FOR A MOTOR AND A METHOD OF CONTROLLING THE MOTOR
A pumping apparatus for a jetted-fluid system includes a pump having an inlet connectable to the drain, and an outlet connectable to the return. The pump is adapted to receive the fluid from the drain and jet fluid through the return. The apparatus includes a motor coupled to the pump to operate the pump, a sensor configured to generate a signal having a relation to a parameter of the motor, and a switch coupled to the motor and configured to control at least a characteristic of the motor. The apparatus also includes a microcontroller coupled to the sensor and the switch. The microcontroller includes a model observer configured to receive a first value based on the signal and to generate a second value representative of at least one of a modeled flow or a modeled pressure based on the first value. The microcontroller is configured to control the motor based on the second value.
1 . A pumping apparatus for a jetted-fluid system comprising a vessel for holding a fluid, a drain, and a return, the pumping apparatus being connectable to a power source and comprising:
a pump including an inlet connectable to the drain, and an outlet connectable to the return, the pump adapted to receive the fluid from the drain and jet fluid through the return;
a motor coupled to the pump to operate the pump;
a sensor configured to generate a signal having a relation to a parameter of the motor;
a switch coupled to the motor and configured to control at least a characteristic of the motor; and
a microcontroller coupled to the sensor and the switch, the microcontroller including a model observer configured to receive a first value based on the signal and to generate a second value representative of at least one of a modeled flow or a modeled pressure based on the first value, the microcontroller configured to control the motor based on the second value.
2 . The pumping apparatus of claim 1 , wherein the sensor includes a voltage sensor configured to generate a first signal having a relation to a voltage applied to the motor, and a current sensor configured to generate a second signal having a relation to a current applied to the motor, and wherein the microcontroller is configured to generate the first value based on the first signal and the second signal.
3 . The pumping apparatus of claim 1 , wherein the sensor includes a voltage sensor and a current sensor, and wherein the first value includes a motor power value.
4 . The pumping apparatus of claim 1 , wherein first value includes a motor torque value.
5 . The pumping apparatus of claim 1 , wherein the model observer includes a model that simulates the pumping apparatus.
6 . The pumping apparatus of claim 1 , wherein the model observer includes a model that simulates at least part of the jetted-fluid system.
7 . The pumping apparatus of claim 1 , wherein the microcontroller is further configured to monitor the second value,
determine whether the monitored second value indicates an undesired flow of fluid through the pump, and
control the motor to cease operation of the pump when the determination indicates an undesired flow of fluid through the pump and zero or more other conditions exist.
8 . A pumping apparatus for a jetted-fluid system comprising a vessel for holding a fluid, a drain, and a return, the pumping apparatus being connectable to a power source and comprising:
a pump including an inlet connectable to the drain, and an outlet connectable to the return, the pump adapted to receive the fluid from the drain and jet fluid through the return;
a motor coupled to the pump to operate the pump;
a sensor configured to generate a signal having a relation to a parameter of the motor;
a switch coupled to the motor and configured to control at least a characteristic of the motor; and
a microcontroller coupled to the sensor and the switch, the microcontroller including a model observer configured to receive a first value based on the signal and to generate a second value representative of a modeled pressure based on the first value, the microcontroller configured to control the motor based on the second value.
9 . The pumping apparatus of claim 8 , wherein the sensor includes a voltage sensor configured to generate a first signal having a relation to a voltage applied to the motor, and a current sensor configured to generate a second signal having a relation to a current applied to the motor, and wherein the microcontroller is configured to generate the first value based on the first signal and the second signal.
10 . The pumping apparatus of claim 8 , wherein the sensor includes a voltage sensor and a current sensor, and wherein the first value includes a motor power value.
11 . The pumping apparatus of claim 8 , wherein first value includes a motor torque value.
12 . The pumping apparatus of claim 8 , wherein the model observer includes a model that simulates the pumping apparatus.
13 . The pumping apparatus of claim 8 , wherein the model observer includes a model that simulates at least part of the jetted-fluid system.
14 . The pumping apparatus of claim 8 , wherein the microcontroller is further configured to monitor the second value,
determine whether the monitored second value indicates an undesired flow of fluid through the pump, and
control the motor to cease operation of the pump when the determination indicates an undesired flow of fluid through the pump and zero or more other conditions exist.