Electric motors and methods of controlling thereof
Electric motors and methods of controlling electric motors are described herein. The electric motors include a mobile component having at least one permanent magnet coupled thereto and a stator spaced apart from the mobile component. The stator includes at least one stator pole having a ferromagnetic core and a coil wrapped around the ferromagnetic core. The ferromagnetic core is naturally attracted to the at least one permanent magnet. The motors also include a magnetic position control system configured to monitor a position of the at least one permanent magnet relative to the stator and controllably deliver an electric pulse to the coil of each stator pole to generate a repulsive magnetic flux on the ferromagnetic core to cancel an attraction force between the ferromagnetic core and the at least one permanent magnet to control movement of the mobile component.
1 . A method of controlling an electric motor, the motor having a stator having at least one independent pole or pole circuit generally equally spaced along the stator, the independent pole or pole circuit being alternating around a periphery of the stator, the method comprising:
initiating movement of a mobile component of the electric motor by controllably delivering a first modulated electric pulse to an electric coil surrounding a ferromagnetic core of a first stator pole of the stator when the ferromagnetic core is opposed to and magnetically attracted to a permanent magnet coupled to the mobile component of the electric motor; and
as the permanent magnet rotates away from the first stator pole towards a second stator pole of the electric motor, the permanent magnet being attracted by a ferromagnetic pole of the second stator pole, controllably delivering a second modulated electric pulse to an electric coil surrounding a ferromagnetic core of the second stator pole when the permanent magnet reaches is aligned with the second stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the second stator pole to overcome an attraction force between the permanent magnet and the ferromagnetic core of the second stator pole, the permanent magnet being attracted to a subsequent unenergized stator pole of the stator, the subsequent unenergized stator pole being positioned in a direction of movement of the mobile component.
2 . The method of claim 1 further comprising, after initiating movement of the mobile component by controllably delivering a first modulated electric pulse to an electric coil surrounding a ferromagnetic core of a first stator pole, controllably delivering one or more subsequent modulated electric pulses to the electric coil surrounding the ferromagnetic core of the first stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the first stator pole to promote movement of the permanent magnet away from the first stator pole.
3 . The method of claim 1 further comprising, as the permanent magnet rotates away from the second stator pole towards a third stator pole, the permanent magnet being attracted by a ferromagnetic pole of the third stator pole, controllably delivering a third modulated electric pulse to the ferromagnetic core of the third stator pole when the permanent magnet reaches the third stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the third stator pole to cancel an attraction force between the permanent magnet and the ferromagnetic core of the third stator pole.
4 . The method of claim 1 further comprising, as the permanent magnet rotates away from the second stator pole towards a third stator pole, controllably delivering a modulated electric pulse to the ferromagnetic core of the second stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the second stator pole to generate a repulsion force between the permanent magnet and the second stator pole to push the permanent magnet towards the third stator pole.
5 . A method of controlling an electric motor having a stator having at least one independent pole or pole circuit of stator poles generally equally spaced along the stator, the independent pole or pole circuits alternating around a periphery of the stator, the method comprising:
initiating rotation of the electric motor by applying an external torque or force to the rotor and/or shaft; and
as a permanent magnet of the rotor rotates away from a first stator pole towards a second stator pole of the electric motor, the permanent magnet being attracted by a ferromagnetic pole of the second stator pole, controllably delivering a second modulated electric pulse to an electric oil surrounding a ferromagnetic core of the second stator pole when the permanent magnet is aligned with the second stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the second stator pole to overcome an attraction force between the permanent magnet and the ferromagnetic core of the second stator pole, the permanent magnet being attracted to a subsequent unenergized stator pole of the stator the subsequent unenergized stator pole being positioned in a direction of movement of the mobile component.
6 . The method of claim 5 further comprising, as the permanent magnet rotates away from the second stator pole towards a third stator pole, the permanent magnet being attracted by a ferromagnetic pole of the third stator pole, controllably delivering a third modulated electric pulse to the ferromagnetic core of the third stator pole when the permanent magnet reaches the third stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the third stator pole to cancel an attraction force between the permanent magnet and the ferromagnetic core of the third stator pole.
7 . The method of claim 5 further comprising, as the permanent magnet rotates away from the second stator pole towards a third stator pole, controllably delivering a modulated electric pulse to the ferromagnetic core of the second stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the second stator pole to generate a repulsion force between the permanent magnet and the second stator pole to push the permanent magnet towards the third stator pole.
8 . A method of controlling an electric motor having a stator having at least one independent pole or pole circuit of stator poles generally equally spaced along the stator, the at least one independent pole or pole circuit alternating around a periphery of the stator, the method comprising:
when each permanent magnet of the rotor is aligned with a ferromagnetic core of a respective stator pole of the stator, each stator pole having an electric coil surrounding the ferromagnetic core, initiating rotation of the rotor by controllably delivering a first modulated electric pulse to the electric coil of each stator pole;
when each respective permanent magnet of the rotor is positioned between its respective stator pole and a respective adjacent stator pole, de-energizing each of the electric coils of each stator pole; and
as each respective permanent magnet of the rotor is aligned with an adjacent stator pole, controllably delivering a second modulated electric pulse to the electric coil of each adjacent stator pole to generate a repulsive magnetic flux of the ferromagnetic core to cancel overcome an attraction force between each respective permanent magnet and the ferromagnetic core of its respective adjacent stator pole, each respective permanent magnet being attracted to a subsequent unenergized stator pole of the stator, the subsequent unenergized stator pole being positioned in a direction of movement of the mobile component.
9 . The method of claim 8 further comprising, as the permanent magnet rotates away from the second stator pole towards a third stator pole, the permanent magnet being attracted by a ferromagnetic pole of the third stator pole, controllably delivering a third modulated electric pulse to the ferromagnetic core of the third stator pole when the permanent magnet reaches the third stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the third stator pole to cancel an attraction force between the permanent magnet and the ferromagnetic core of the third stator pole.
10 . The method of claim 8 further comprising, as the permanent magnet rotates away from the second stator pole towards a third stator pole, controllably delivering a modulated electric pulse to the ferromagnetic core of the second stator pole to generate a repulsive magnetic flux of the ferromagnetic core of the second stator pole to generate a repulsion force between the permanent magnet and the second stator pole to push the permanent magnet towards the third stator pole.