Sensorless lost/found rotor detection for permanent magnet motors
View Patent ↗Various methods of detecting a found rotor, a lost rotor, a locked rotor and a caught rotor after a power disruption using flux estimates are disclosed. Also disclosed are permanent magnet motor controllers and assemblies suitable for performing one or more of these methods.
1. A method of controlling a permanent magnet motor having a rotor, the method comprising:
estimating flux of the motor;
monitoring power to a drive for the motor;
detecting when the power to the drive returns to a defined level after falling below the defined level;
after the power to the drive returns to the defined level, determining whether the estimated flux has substantially converged toward an actual flux of the motor; and
if the estimated flux is determined to have substantially converged toward the actual flux, using the estimated flux to generate control signals for the motor.
2. The method of claim 1 wherein determining includes determining whether the estimated flux has substantially converged toward the actual flux as the rotor is coasting down in speed.
3. The method of claim 1 further comprising, in response to determining the estimated flux has not substantially converged toward the actual flux, allowing the rotor to stop.
4. The method of claim 3 further comprising restarting the motor after the rotor is allowed to stop.
5. The method of claim 1 further comprising removing the power to the drive when the power falls below the defined level, and reapplying the power to the drive when the power returns to the defined level.
6. The method of claim 1 wherein determining includes estimating a value of another motor operating parameter frame using the estimated flux, and comparing the estimate of said motor operating parameter with a measured value of said motor operating parameter.
7. The method of claim 6 wherein comparing includes producing an error signal from the estimated and measured values of said motor operating parameter, and processing the error signal to determine whether the estimated flux has substantially converged toward the actual flux.
8. The method of claim 7 wherein said motor operating parameter is current flow.
9. The method of claim 7 wherein processing includes producing statistical information for the error signal.
10. The method of claim 9 wherein the statistical information includes mean, variance and/or standard deviation.
11. The method of claim 9 wherein processing includes processing the error signal with a digital filter to produce the statistical information.
12. The method of claim 11 wherein processing includes incrementing and/or decrementing a counter according to an output of the digital filter.
13. The method of claim 12 wherein the output of the digital filter is a recursive rolling mean for the error signal.
14. The method of claim 12 wherein processing includes incrementing and/or decrementing the counter according to a set of counter rules and the output of the digital filter.
15. The method of claim 14 wherein the counter rules depend on the operating state of the motor.
16. The method of claim 1 wherein flux includes magnet flux and flux linkage terms.
17. The method of claim 1 wherein estimating includes estimating the flux value using an observer.
18. The method of claim 1 wherein the motor does not include a rotor position sensor.
19. The method of claim 1 wherein using includes estimating a value of another motor operating parameter using the estimated flux, and using the estimated value of said motor operating parameter to control the motor.
20. The method of claim 19 wherein said motor operating parameter is electrical angle or speed.
21. The method of claim 1 wherein using includes using the estimated flux to control motor current or motor flux.
22. The method of claim 1 wherein estimating includes estimating the flux using measured or demanded phase currents and/or phase voltages of the motor.