Granted Patent B2

US 10,564,221 · App. 14/540,077 · Granted Feb 18, 2020

Inventors: Jairo T. Moura (Marlboro, MA); Nathan Spiker (Boston, MA); Aaron Gawlik (Burlington, MA); Jayaraman Krishnasamy (Billerica, MA)

Assignee: BROOKS AUTOMATION, INC.

G01R31/34G01L3/22

Abstract

Claims (24)

1. A variable reluctance motor load mapping apparatus comprising:

a frame;

an interface disposed on the frame configured for mounting a variable reluctance motor;

a static load cell mounted to the frame separate and distinct from the variable reluctance motor and coupled to the variable reluctance motor so as to react motor torque of the variable reluctance motor; and

a controller communicably coupled to the static load cell and the variable reluctance motor, the controller being configured to select at least one motor phase of the variable reluctance motor, energize the at least one motor phase, and receive, from the static load cell, motor operational data from at least a static load cell static reaction of the motor torque of the variable reluctance motor for mapping and generating an array of motor operational data look up tables.

2. The apparatus of claim 1 , wherein the controller is configured to receive motor operational data from the static load cell and the variable reluctance motor where the motor operational data includes at least one of a static motor torque, a respective phase current for each of the at least one respective motor phase and a motor rotor position.

3. The apparatus of claim 1 , wherein the controller is configured to generate from the motor operational data constant torque values as a function of rotor position and phase currents for adjacent motor phases.

4. The apparatus of claim 3 , wherein the controller is configured to generate minimum power values associated with each constant torque value and provide the minimum power values in a look up table.

5. The apparatus of claim 1 , wherein the controller is configured to generate motor operational data look up tables where each motor operational data look up table includes an array of constant torque values and corresponding phase currents for a given rotor position.

6. The apparatus of claim 1 , wherein the controller is configured to, for each predetermined rotor position and a predetermined first motor phase current, vary an additional motor phase current or any suitable combinations of additional phase currents.

7. The apparatus of claim 1 , wherein the controller is configured to generate torque values from the resultant static torque and map the torque values and associated phase current combinations for each predetermined rotor position to form the array of motor operational data look up tables.

8. A variable reluctance motor load mapping apparatus comprising:

a frame;

an interface disposed on the frame configured for mounting a variable reluctance motor;

a static load cell mounted to the frame separate and distinct from the variable reluctance motor and coupled to the variable reluctance motor; and

a controller communicably coupled to the static load cell and the variable reluctance motor, the controller being configured to select at least one motor phase of the variable reluctance motor, energize the at least one motor phase, and register with the controller a static motor torque, generated by the energized at least one motor phase of the variable reluctance motor, statically reacted by and at the static load cell corresponding to a section of the at least one motor phase so as to describe a relation between values of the static motor torque, with respect to a motor rotor position and a respective phase current for each of the selected at least one motor phase of the variable reluctance motor in operation.

9. The apparatus of claim 8 , wherein at least the static load cell generates motor operational data, including at least one of the static motor torque, the respective phase current for each of the at least one respective motor phase and the motor rotor position, for mapping and generating motor operational data look up tables.

10. The apparatus of claim 9 , wherein the controller receives the motor operational data from at least the static load cell for mapping and generating the motor operational data look up tables.

11. The apparatus of claim 8 , wherein the controller is configured to receive motor operational data from the static load cell and the variable reluctance motor where the motor operational data includes at least one of the static motor torque, the respective phase current for each of the at least one respective motor phase and the motor rotor position.

12. The apparatus of claim 8 , wherein the controller is configured to generate from motor operational data constant torque values as a function of the motor rotor position and phase currents for adjacent motor phases.

13. The apparatus of claim 12 , wherein the controller is configured to generate minimum power values associated with each constant torque value and provide the minimum power values in a look up table.

14. The apparatus of claim 8 , wherein the controller is configured to generate motor operational data look up tables where each motor operational data look up table includes an array of constant torque values and corresponding phase currents for a given rotor position.

15. The apparatus of claim 8 , wherein the controller is configured to, for each predetermined motor rotor position and a predetermined first motor phase current, vary an additional motor phase current or any suitable combinations of additional phase currents.

16. The apparatus of claim 8 , wherein the controller is configured to generate torque values from the resultant static torque and map the torque values and associated phase current combinations for each predetermined motor rotor position to form an array of motor operational data look up tables.

Assignments (9)