# Patent

## Title
Method for controlling a permanently excited synchronous motor

## Abstract

A method for controlling a permanently excited synchronous motor, in particular a brushless direct-current motor, having a permanently magnetized rotor and a number of stationary Stator windings to which an alternating voltage of predetermined amplitude and frequency is applied, wherein the frequency of the alternating voltage is determined by the speed of the motor and a phase difference results between the alternating voltage and the alternating current for each Stator winding. Accordingly, current is applied to the Stator windings in such a way that between alternating voltage (UPhase) and alternating current (IPhase) arises a phase angle (ΨTarget, Ψ′Target), which is selected according to speed (ω), motor inductance (L), and the power received by the motor.

## Background
CROSS REFERENCE TO RELATED APPLICATION
The present application is a 371 U.S. national phase application of PCT Application No. PCT/EP2012/068292, filed Sep. 18, 2012, which claims the filing benefit of German Application No. 10 2011 113 780.0, filed Sep. 19, 2011.
FIELD OF THE INVENTION
The invention relates to a method for controlling a permanently excited synchronous motor, in particular a brushless direct-current motor as well as a control designed such that it executes the method.
BACKGROUND OF THE INVENTION
With known brushless direct-current motors, energizing the Stator windings is performed via an inverter. The permanently magnetized rotor follows the revolving field. In order to regulate to predetermined values, data are obtained from the drive, the inverter and/or the upstream voltage transformer and are processed in the control logic in connection with a speed value to be used to drive the motor, into signals controlling the inverter, so that the inverter is able to generate the required alternating voltage to be applied to the windings.
In order for the rotor to be able to follow a voltage curve at a predetermined speed in the best possible manner, a certain phase angle must exist between voltage and current, the voltage is ahead of the current, which requires a different angle depending on the load. If, in consideration of the load to be driven by the motor, adjustment is made strictly to this angle, then electronics must be configured for the high idle current resulting from the maximum load, requiring component expenditures.
From EP 2 133 991 B1, a centrifugal pump aggregate with an electric drive motor and a control device comprising a frequency converter for speed regulation is known. The control device is designed such that a weakening of the drive motor's field is generated in a predetermined control range, so that the drive motor's speed is increased.
U.S. Pat. No. 6,965,212 describes the operation of an electrical drive motor utilizing field weakening. Field weakening facilitates a minimizing of the voltage necessary to energize the motor at a specific speed.
SUMMARY OF THE INVENTION
It is the purpose of the invention to improve the method as well as the control executing the method according to the preamble of claim 1, specifically in view of the expenditure related to technical components.
This purpose is met by the characteristic features indicated in patent claim 1, respectively 6.



BRIEF DESCRIPTION OF THE DRAWINGS
FIGS. 1 and 2 show the vector of voltage U, as well as phase angle Ψ between current I and voltage U on one level; and
FIG. 3 shows a control according to the invention for a brushless direct-current motor.



DESCRIPTION OF THE PREFERRED EMBODIMENTS
The invention provides that the phase angle between phase current and phase voltage is computed with output fed into the inverter, the phase voltage at the inverter, current speed and the value of motor inductance. Therefore adjustment is made for the angle between current and voltage, and not—as otherwise customary—for the angle between BEMF/rotor position and voltage.
The invention records the direct-current and voltage intake, the direction of the current and the phase voltage provided by the inverter. The corresponding phase current is computed by means of these values in a manner subsequently illustrated. This is advantageous in that the BEMF must be recorded as unknown.
Based upon space vector modulation, the following applies to maximum phase voltage Umax, which can be generated by the inverter from direct voltage UDC:

Umax=UDC/√3

If U is greater than Umax, then phase voltage is limited to UPhase=Umax. In this context, U is the voltage output by the modulator in order to reach the target angle.
The phase current resulting from the available phase voltage is determined by the direct voltage output, which is the product of the values from the direct current and direct voltage, fed into the inverter. It is therefore approximated that the following applies to phase current IPhase:

IPhase=1⁄3×(IDC×UDC)/(UPhase×COS Ψ)

Thus it is:













UPhase
Phase voltage


UDC
Direct voltage value


IDC
Direct current value


Ψ
The phase angle between phase voltage and phase current









Therefore at a small angle Ψ, the following applies to approximated phase current:

IPhase=1⁄3×(IDC×UDC)/(UPhase)

It is taken advantage of the fact that for lesser values of approximated Ψ applies:

cos Ψ≈1

In order to minimize idle current, load angle Ψ ILoad is defined as follows:

ΨLoad=arc sin(IPhase×ω×L)/(UPhase))

For small angle Ψ ILoad then applies:

ΨLoad=(IPhase×ω×L)/UPhase 

whereby advantage is taken of the fact that for smaller angles of approximated ΨLast, applies:

arc sin(IPhase×ω×L)/UPhase))≈(IPhase×ω×L)/UPhase 

In this case ω is the frequency, motor speed,
L the motor's inductance.
As far as values are concerned, phase voltage UPhase was less than Umax in the aforementioned illustrated case. Target angle ΨTarget, for which adjustment is made, is in this case:

ΨLoad=ΨLoad for U≦Umax 

If U is greater than Umax, then the target angle is modified by adding field weakening angle Ψ to ΨLoad.

ΨLoad+ΨField Weakening

This modified angle, for which an adjustment is made, results in a reduction in voltage. Therefore for target angle 105 Target, for which adjustment is made, applies:

ΨTarget=ΨLoad+ΨField Weakening for U>max 

The target angle is therefore adjusted such that it is maintained with the available voltage.
For the field weakening angle applies:

ΨField Weakening=(Umax−U)/(IPhase×ω×L)

Generally target angle ΨTarget is therefore selected as follows in the execution of the invention:















ΨTarget = ΨLoad + ΨField Weakening



with
ΨField Weakening = 0
for U ≧ Umax, and



ΨField Weakening = (Umax − U)/(Iphase × ω × L)
for U > Umax









For the value of phase current IPhase, the approximate value illustrated further above is used, whereby IPhase=1⁄3((IDC×UDC)/(UPhase).
Target angle ΨTarget, for which adjustment is made according to the invention, is therefore only a value, which depends on the existing direct-voltage and direct-current values (power received), motor speed and motor inductance.
FIGS. 1 and 2 show the vector of voltage U, as well as phase angle Ψ between current I and voltage U on one level. In this case the vector of voltage U is the sum of the Back-EMF, the voltage drop at the Ohmic resistance of winding R×I as well as the vector positioned vertically thereto Lω×I, thus the vector product of current I and speed ω.
The situation illustrated in FIG. 1 indicates no field weakening, i.e. for the value of the voltage, applies U≦Umax. In this case ΨTarget=ΨLoad is selected, and ΨLoad is calculated as previously explained.
FIG. 2 shows a case in which by means of field weakening in selecting an accordingly greater phase angle ΨTarget, the value of voltage U can be limited to U=Umax (if U>Umax). This corresponds to the situation for which Ψ′Target=ΨLoad+ΨField Weakening is selected. ΨLoad and ΨField Weakening are computed as indicated.
FIG. 3 shows a control according to the invention for a brushless direct-current motor. Motor 1 depicts a permanently magnetized rotor and Stator windings in an inherently known and not further illustrated manner. The Stator windings are energized by means of inverter 2. Inverter 2 is supplied with direct current IDC and direct voltage UDC by means of a voltage transformer not further illustrated.
Control 3 receives signals corresponding to the values of direct-current lDC and direct-voltage UDC input, in other words giving an account of power received. In addition, the control is supplied with a signal by phase voltage UPhase, which is indicated in the figure. Finally, control 3 receives a signal corresponding to speed ω to which the motor is to be set. According to the demonstrated method of calculation, inverter 2 now performs the Stator windings' energizing such that target angle ΨTarget holds a predetermined value between phase voltage U Phase and phase current IPhase.
As has already been illustrated, this target angle ΨTarget, is determined by the direct-current power received, the speed, the voltage value as well as the predetermined value for motor inductance L. The case of voltage limitation U=Umax results in field weakening by a value ΨField Weakening, determined as previously shown.










Reference symbols


















UDC
Direct voltage



IDC
Direct current



U
Voltage specification modulator



UPhase
Phase voltage



IPhase
Phase current



L
Motor inductance



ω
Speed



ΨLoad
Phase angle Load



ΨTarget, Ψ'Target
Phase angle Target



ΨField Weakening
Angle Field Weakening



Motor




Inverter




Control

## Claims

1. A method for controlling a permanently excited synchronous motor, said method comprising:
providing a motor having a permanently magnetized rotor and a number of stationary stator windings to which an alternating voltage of predetermined amplitude and frequency is applied:
determining the frequency of the alternating voltage by the speed of the motor and a phase difference results between the alternating voltage and the alternating current for each stator winding; and
applying the current to the stator windings in such a way that, between alternating voltage (UPhase) and alternating current (IPhase), a phase angle (ΨTarget, Ψ′Target) arises, which is selected according to speed (ω), motor inductance (L) and the power received by the motor.

2. A method according to claim 1, wherein the motor comprises a brushless direct-current motor, and wherein the power received by the motor is determined by the direct-current and voltage values (IDC, UDC) supplied to the inverter.

3. A method according to claim 2, wherein the phase angle (ΨTarget), which is selected depending on the speed, is determined by ΨTarget=(IPhase×ω×L)/UPhase, with IPhase=1⁄3×(IDC×UDC)/(UPhase), whereby L is motor inductance and UPhase is the phase voltage in contact with the stator winding.

4. A method according to claim 3, comprising limiting voltage U predetermined by a modulator to a maximum value Umax, which results in field weakening by value (ΨField Weakening) toward phase angle (ΨTarget).

5. A method according to claim 4, wherein a value (ΨField Weakening) predetermined for field weakening is computed as ΨField Weakening=(Umax−U)/(IPhase×ω×L).

6. A method according to claim 1, wherein the phase angle (ΨTarget), which is selected depending on the speed, is determined by ΨTarget=(IPhase×ω×L)/UPhase, with IPhase=1⁄3×(IDC×UDC)/(UPhase), whereby L is motor inductance and Uphase is the phase voltage in contact with the stator winding.

7. A method according to claim 6, comprising limiting voltage U predetermined by a modulator to a maximum value Umax, which results in field weakening by value (ΨField Weakening) toward phase angle (ΨTarget).

8. A method according to claim 7, wherein a value (ΨField Weakening) predetermined for field weakening is computed as ΨField Weakening=(Umax−U)/(IPhase×ω×L).

9. A control for a permanently excited synchronous motor, with a permanently magnetized rotor and a number of stationary stator windings, which can be subjected to alternating current of a preset amplitude and frequency by means of an inverter, whereby the predetermined speed to operate the motor can be preselected for the inverter, wherein the control is connected to the inverter and is supplied with a signal corresponding to the power received by the motor and also speed (ω) as well as phase voltage (UPhase) in contact with the stator winding, whereby this phase voltage causes the generation of phase angle (ΨTarget, Ψ′Target), which is selected depending on speed (ω), motor inductance (L) and the power received by the motor, between alternating voltage (UPhase) and alternating current (IPhase) by means of the inverter.

10. A control according to claim 9, wherein the control is able to receive signals corresponding to direct-current and direct-voltage values (IDC, UDC).