Power tool including conduction angle control
Systems and methods described herein provide for controlling a conduction angle applied to a motor, such as a power tool motor. Operations for controlling the conduction angle includes receiving by a motor controller, a desired speed signal, and monitoring a speed of the power tool motor. The operation further includes a motor controller determining an error value between the desired speed signal and the monitored speed and determining a conduction angle signal based on the error value. The operation also includes the motor controller determining whether the conduction angle signal is greater than the error value and increasing a conduction angle of the power tool motor in response to the conduction angle signal being determined to be greater than the error value.
1. A power tool, comprising:
a motor;
a power switching network configured to drive the motor; and
a motor controller in communication with the power switching network and including an electronic processor and a memory, and the motor controller configured to:
receive a desired speed signal,
monitor a speed of the motor,
generate an error value signal between the desired speed signal and the monitored speed, wherein the error value signal is a linear signal,
determine a conduction angle signal based on the error value signal using a piecewise polynomial function, wherein the conduction angle signal is a non-linear signal,
determine whether the conduction angle signal is greater than the error value, and
increase a conduction angle output by the power switching network in response to the conduction angle signal being determined to be greater than the error value.
2. The power tool of claim 1 , wherein the motor controller is further configured to decrease the conduction angle output by the power switching network in response to the conduction angle signal being determined to be less than the error value signal.
3. The power tool of claim 1 , wherein the motor controller is further configured to:
determine whether the conduction angle is less than a maximum threshold value; and
maintain the conduction angle in response to determining that the conduction angle is not less than the maximum threshold value.
4. The power tool of claim 3 , wherein the maximum threshold value is 180°.
5. The power tool of claim 1 , wherein the motor controller is further configured to:
determine whether the conduction angle is greater than a lower limit threshold in response to determining that the conduction angle signal is not greater than the error signal,
decrease the conduction angle in response to determining that the conduction angle is greater than the lower limit threshold, and
maintain the conduction angle in response to determining that the conduction angle is not greater than the lower limit threshold.
6. The power tool of claim 5 , wherein the lower limit threshold is 140°.
7. The power tool of claim 1 , wherein the conduction angle signal is a splined conduction angle signal.
8. A power tool, comprising:
a motor;
a power switching network configured to drive the motor; and
a motor controller in communication with the power switching network and including an electronic processor and a memory, and the motor controller configured to:
receive a desired speed signal,
monitor a speed of the motor,
generate an error value signal between the desired speed signal and the monitored speed,
generate a conduction angle signal based on the generated error value signal, wherein the conduction angle signal is a splined conduction angle signal,
determine whether the conduction angle signal is greater than the error value signal,
increase a conduction angle output by the power switching network in response to the conduction angle signal being determined to be greater than the error value signal,
decrease the conduction angle output by the power switching network in response to the conduction angle signal being determined to be less than the error value signal,
determine whether the conduction angle is less than a maximum threshold value, and
maintain the conduction angle in response to determining that the conduction angle is not less than the maximum threshold value.
9. The power tool of claim 8 , wherein the maximum threshold value is 180°.
10. The power tool of claim 8 , wherein the motor controller is further configured to:
determine whether the conduction angle is greater than a lower limit threshold in response to determining that the conduction angle signal is not greater than the error value signal,
decrease the conduction angle in response to determining that the conduction angle is greater than the lower limit threshold, and
maintain the conduction angle in response to determining that the conduction angle is not greater than the lower limit threshold.
11. The power tool of claim 8 , wherein the splined conduction angle signal is determined using a piecewise polynomial function.
12. A power tool, comprising:
a motor;
a power switching network configured to drive the motor; and
a motor controller in communication with the power switching network and including an electronic processor and a memory, and the motor controller configured to:
receive a desired speed signal,
monitor a speed of the motor,
generate an error value signal between the desired speed signal and the monitored speed, wherein the error value signal is a linear signal,
determine a conduction angle signal based on the error value signal, wherein the conduction angle signal is a splined conduction angle signal,
determine whether the conduction angle signal is greater than the error value, and
increase a conduction angle output by the power switching network in response to the conduction angle signal being determined to be greater than the error value.
13. The power tool of claim 12 , wherein the motor controller is further configured to decrease the conduction angle output by the power switching network in response to the conduction angle signal being determined to be less than the error value signal.
14. The power tool of claim 12 , wherein the motor controller is further configured to:
determine whether the conduction angle is less than a maximum threshold value; and
maintain the conduction angle in response to determining that the conduction angle is not less than the maximum threshold value.
15. The power tool of claim 14 , wherein the maximum threshold value is 180°.
16. The power tool of claim 12 , wherein the motor controller is further configured to:
determine whether the conduction angle is greater than a lower limit threshold in response to determining that the conduction angle signal is not greater than the error signal,
decrease the conduction angle in response to determining that the conduction angle is greater than the lower limit threshold, and
maintain the conduction angle in response to determining that the conduction angle is not greater than the lower limit threshold.
17. The power tool of claim 16 , wherein the lower limit threshold is 140°.