Patent ID: 8552674

Claim:
Method for control of synchronous electrical motor, characterized with this, that resistances R, inductances L and the time constants τ=L/R of the motor windings are determined and stored in a memory; a value of a supply voltage E of the motor is measured and stored in the memory; durations of time intervals t OFF1 and t OFF2 when the respective windings are short-circuited, and durations of time intervals t ON1 and t ON2 when the respective windings are connected to the supply source, between each two consecutive crossings of the currents in the windings of their set values are measured and stored in the memory; the set values I 11 and I 21 of the currents in the respective windings at the beginning of the time intervals when they are short-circuited, and the set values I 12 and I 22 of the currents in the respective windings at the end of the time intervals when they are connected to the supply source, are also stored in the memory; from all the stored values and based on the following formulas the values of the induced in the motor windings back-electromotive force voltages u bemf1 and u bemf2 are calculated: u bemf ⁢ ⁢ 1 = E ⁡ ( 1 - ⅇ - t ON ⁢ ⁢ 1 / τ ) + RI 11 ⁢ ⅇ - ( t ON ⁢ ⁢ 1 + t OFF ⁢ ⁢ 1 ) / τ - RI 12 1 - ⅇ - ( t ON ⁢ ⁢ 1 + t OFF ⁢ ⁢ 1 ) / τ u bemf ⁢ ⁢ 2 = E ⁡ ( 1 - ⅇ - t ON ⁢ ⁢ 2 / τ ) + RI 21 ⁢ ⅇ - ( t ON ⁢ ⁢ 2 + t OFF ⁢ ⁢ 2 ) / τ - RI 22 1 - ⅇ - ( t ON ⁢ ⁢ 2 + t OFF ⁢ ⁢ 2 ) / τ from the calculated values of the back-electromotive force voltages u bemf1 and u bemf2 , instantaneous values of motor load angle θ and angular rotor speed ω are calculated based on the following formulas: u bemf1 =U m cos β= k ω cos β u bemf2 =U m sin β= k ω sin β θ=α−β where U m is the amplitude of u bemf1 and u bemf2 , κ is a motor constant that is determined from the datasheet parameters of the motor, β is the angular position of the rotor with respect to the rotor zero position, α is the angular position of the vector of the stator magnetic field with respect to the rotor zero position; based on the calculated motor load angle θ and angular rotor speed ω a closed-loop control of the motor is executed.