Method and apparatus for determining position for a permanent magnet elevator motor
A system for determining the angular position of a synchronous motor includes an encoder with a friction wheel engaging a rotating surface of the motor. The friction wheel is spun by the rotation of the motor, and the encoder generates a signal corresponding to the angular position of the friction wheel. An independent, sensor is provided to generate a pulse once per revolution of the motor. The independent sensor detects the presence of a target on the rotating surface of the motor and generates the pulse when the target is proximate to the sensor. A controller receives the signal corresponding to the angular position of the friction wheel as well as the pulse generated by the independent sensor to determine the angular position of the motor. The controller compensates the angular position of the motor each time the pulse is generated, correcting accumulated position error.
1. A system for determining an angular position of a permanent magnet (PM) motor controlling an elevator cab, the PM motor including a rotor having at least one external rotating surface, the system comprising:
a friction wheel configured to engage one of the at least one external rotating surfaces to cause rotation of the friction wheel responsive to rotation of the rotor;
an encoder operatively connected to the friction wheel and configured to generate at least one signal corresponding to the rotation of the friction wheel;
a target located on one of the at least one external rotating surfaces;
a non-contact sensor mounted to the PM motor and configured to generate a signal corresponding to the target being located within a detection distance from the non-contact sensor; and
a motor drive configured to control the PM motor, the motor drive including:
a first input configured to receive the at least one signal corresponding to the rotation of the friction wheel,
a second input configured to receive the signal from the non-contact sensor,
a memory device configured to store a program, and
a processor configured to execute the program to:
determine an uncompensated angular position of the PM motor as a function of the at least one signal corresponding to the rotation of the friction wheel, and
determine a compensated angular position of the PM motor as a function of the uncompensated angular position and of the signal from the non-contact sensor.
2. The system of claim 1 wherein the target is located at a reference position, the reference position is stored in the memory device, and the uncompensated angular position of the PM motor is further determined as a function of the reference position.
3. The system of claim 1 wherein the target is integrally formed with the rotating surface.
4. The system of claim 1 wherein the non-contact sensor is selected from one of a magnetic proximity sensor and an optical proximity sensor.
5. The system of claim 1 wherein the friction wheel has a first diameter, the rotating surface of the synchronous motor has a second diameter, and the processor is further configured to determine the uncompensated angular position of the PM motor as a function of a ratio between the first diameter and the second diameter.
6. A system for determining an angular position of a synchronous motor, the system comprising:
an encoder having a friction wheel operatively coupled to the encoder, wherein the encoder is configured to generate a signal corresponding to an angular position of the friction wheel and wherein an outer surface of the friction wheel is configured to engage a rotating member of the synchronous motor;
a target on the rotating member of the synchronous motor;
a sensor fixedly mounted proximate to the rotating member of the synchronous motor and configured to generate a pulse when the target passes the sensor; and
a motor drive configured to control operation of the synchronous motor, the motor drive including:
a first input configured to receive the signal from the encoder,
a second input configured to receive the pulse from the sensor,
a memory device configured to store a program, and
a processor configured to execute the program to determine the angular position of the synchronous motor as a function of the signal from the encoder and to compensate the angular position of the synchronous motor when the pulse is received at the second input.
7. The system of claim 6 wherein the sensor is a non-contact sensor configured to generate the pulse when the target is located within a detection distance from the sensor.
8. The system of claim 7 wherein the sensor is selected from one of a magnetic proximity sensor and an optical proximity sensor.
9. The system of claim 6 wherein the friction wheel has a first diameter, the rotating member of the synchronous motor has a second diameter, and the processor is further configured to determine the angular position of the synchronous motor as a function of a ratio between the first diameter and the second diameter.
10. The system of claim 6 wherein the target is located at a reference position and the angular position of the synchronous motor is further determined as a function of the reference position.
11. The system of claim 6 wherein the target is integrally formed with the rotating member.
12. A method of compensating for position error in a motor drive configured to control a synchronous motor, the method comprising the steps of:
mounting an encoder having a friction wheel to the synchronous motor such that the friction wheel engages a rotating surface of the synchronous motor;
mounting a sensor proximate to the rotating surface of the synchronous motor;
affixing a target to the rotating surface of the synchronous motor such that the target passes the sensor once per revolution of the synchronous motor,
generating a signal with the encoder corresponding to an angular position of the friction wheel;
transmitting the signal to a processor in the motor drive;
generating a pulse with the sensor each time the target passes the sensor;
transmitting the pulse to the processor in the motor drive;
determining an angular position of the synchronous motor in the processor as a function of the signal from the encoder; and
compensating the angular position of the synchronous motor in the processor each time the pulse is received from the sensor.
13. The method of claim 12 wherein the sensor is a non-contact sensor configured to generate the pulse when the target is located within a detection distance from the sensor.
14. The method of claim 13 wherein the sensor is selected from one of a magnetic proximity sensor and an optical proximity sensor.
15. The method of claim 12 wherein the friction wheel has a first diameter, the rotating surface of the synchronous motor has a second diameter, and the angular position of the synchronous motor is determined also as a function of a ratio between the first diameter and the second diameter.
16. The method claim 12 wherein the target is located at a reference position and the angular position of the synchronous motor is determined also as a function of the reference position.