Method and system for measuring a parameter of motor operation

Claim 1

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the current that is controlled during the controlling step (A) is a first current, the current regulator is a first current regulator, the voltage command output is a first voltage command output, and the current command input is a first current command input; wherein the method further comprises (1) controlling a second current which flows through the motor using a second current regulator, the second current regulator producing a second voltage command output based on a second current command input, and (2) commanding a current at the second current command input of the second current regulator; wherein, during the acquiring step (C), a plurality of back EMF measurements are acquired each different instant in time, including a first back EMF measurement acquired by monitoring the first voltage command output of the first current regulator and a second back EMF measurement acquired by monitoring the second voltage command output of the second current regulator; and wherein the determining step (D) includes comparing the first and second back EMF measurements.

Claim 2

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the current that is controlled during the controlling step (A) is a first current, the current regulator is a first current regulator, the voltage command output is a first voltage command output, and the current command input is a first current command input; wherein the method further comprises (1) controlling a second current which flows through the motor using a second current regulator, the second current regulator producing a second voltage command output based on a second current command input, and (2) commanding a current at the second current command input of the second current regulator; wherein, during the acquiring step (C), a plurality of back EMF measurements are acquired each different instant in time, including a first back EMF measurement acquired by monitoring the first voltage command output of the first current regulator and a second back EMF measurement acquired by monitoring the second voltage command output of the second current regulator; and wherein the determining step (D) includes comparing the first and second back EMF measurements.

Claim 6

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein determining the frequency of the back EMF comprises (1) determining an angular difference between the back EMF phase angle determined at a first one of the instants in time and the back EMF phase angle determined at a second one of the instants in time, (2) determining a temporal difference between the first and second instants in time, and (3) determining the frequency of the back EMF as a function of the angular difference and the temporal difference.

Claim 7

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein determining the frequency of the back EMF comprises (1) determining an angular difference between the back EMF phase angle determined at a first one of the instants in time and the back EMF phase angle determined at a second one of the instants in time, (2) determining a temporal difference between the first and second instants in time, and (3) determining the frequency of the back EMF as a function of the angular difference and the temporal difference.

Claim 12

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein, at each instant in time, more than one back EMF measurement is acquired.

Claim 13

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein, at each instant in time, more than one back EMF measurement is acquired.

Claim 17

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the current that is controlled during the controlling step (A) is a first current and the current regulator is a first current regulator; wherein the method further comprises (1) controlling a second current which flows through the motor using a second current regulator, the second current regulator producing a voltage command output based on a current command input, (2) commanding a current at the second current command input of the second current regulator, and (3) exciting the motor by generating the current command input for one of the first and second current regulators as a function of the voltage command output of the other one of the first and second current regulators.

Claim 18

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the current that is controlled during the controlling step (A) is a first current and the current regulator is a first current regulator; wherein the method further comprises (1) controlling a second current which flows through the motor using a second current regulator, the second current regulator producing a voltage command output based on a current command input, (2) commanding a current at the second current command input of the second current regulator, and (3) exciting the motor by generating the current command input for one of the first and second current regulators as a function of the voltage command output of the other one of the first and second current regulators.

Claim 23

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; (G) determining angle changes between various ones of the back EMF phase angles determined during step (D); and (H) determining a direction of rotation by determining whether the angle changes are positive or negative.

Claim 24

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; (G) determining angle changes between various ones of the back EMF phase angles determined during step (D); and (H) determining a direction of rotation by determining whether the angle changes are positive or negative.

Claim 25

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the frequency of the back EMF is determined based on back EMF phase angles that are determined based on measurements acquired during a time interval that is less than or equal to approximately twenty milliseconds.

Claim 26

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the frequency of the back EMF is determined based on back EMF phase angles that are determined based on measurements acquired during a time interval that is less than or equal to approximately twenty milliseconds.

Claim 27

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the frequency of the back EMF is determined based on back EMF phase angles that are determined based on measurements acquired during a time interval that is less than or equal to approximately one hundred fifty milliseconds.

Claim 28

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; wherein the frequency of the back EMF is determined based on back EMF phase angles that are determined based on measurements acquired during a time interval that is less than or equal to approximately one hundred fifty milliseconds.

Claim 29

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements, including determining a trigonometric relationship which is a function of the back EMF measurement at each instant in time; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time, including (1) determining an angular difference between the back EMF phase angle determined at a first one of the instants in time and the back EMF phase angle determined at a second one of the instants in time, (2) determining a temporal difference between the first and second instants in time, and (3) determining the frequency of the back EMF as a function of the angular difference and the temporal difference; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; and wherein the frequency of the back EMF is determined during step (E) based on back EMF phase angles that are determined during step (D) based on measurements acquired during step (C) during a time interval that is less than or equal to approximately one hundred fifty milliseconds.

Claim 30

A method of reconnecting a motor to a motor drive comprising: (A) controlling a current which flows through the motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements, including determining a trigonometric relationship which is a function of the back EMF measurement at each instant in time; (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time, including (1) determining an angular difference between the back EMF phase angle determined at a first one of the instants in time and the back EMF phase angle determined at a second one of the instants in time, (2) determining a temporal difference between the first and second instants in time, and (3) determining the frequency of the back EMF as a function of the angular difference and the temporal difference; and (F) reconnecting the motor drive to the motor based on the frequency of the back EMF; and wherein the frequency of the back EMF is determined during step (E) based on back EMF phase angles that are determined during step (D) based on measurements acquired during step (C) during a time interval that is less than or equal to approximately one hundred fifty milliseconds.

Claim 31

A system comprising: (A) a motor; and (B) a motor drive, including (1) a first current regulator, the first current regulator having a first voltage command output, (2) a second current regulator, the second current regulator having a second voltage command output, (3) a frequency determining system, the frequency determining system receiving a first voltage command output of the first current regulator and a second voltage command output of the second current regulator, the frequency determining system performing a first comparison of the first and second voltage commands at a first instant in time and a second comparison of the first and second voltage commands at a second in time and determining the frequency of the back EMF of the motor on the basis of the first and second comparisons; and wherein the motor drive is at least partially implemented by a microprocessor executing firmware.

Claim 32

A system comprising: (A) a motor; and (B) a motor drive, including (1) a first current regulator, the first current regulator having a first voltage command output, (2) a second current regulator, the second current regulator having a second voltage command output, (3) a frequency determining system, the frequency determining system receiving a first voltage command output of the first current regulator and a second voltage command output of the second current regulator, the frequency determining system performing a first comparison of the first and second voltage commands at a first instant in time and a second comparison of the first and second voltage commands at a second in time and determining the frequency of the back EMF of the motor on the basis of the first and second comparisons; and wherein the motor drive is at least partially implemented by a microprocessor executing firmware.

Claim 33

A method of reconnecting a motor to a motor drive comprising: (A) controlling a first current which flows through the motor using a first current regulator, the first current regulator producing a first voltage command output based on a first current command input; (B) commanding a first current at the first current command input of the first current regulator; (C) controlling a second current which flows through the motor using a second current regulator, the second current regulator producing a second voltage command output based on a second current command input; (D) commanding a second current at the current command input of the second current regulator; (E) acquiring a first back EMF measurement at different instants in time by monitoring the first voltage command output of the first current regulator; (F) acquiring a second back EMF measurement at the different instants in time by monitoring the second voltage command output of the second first current regulator; (G) determining a first back EMF phase angle at a first one of the instants in time, including comparing the first back EMF measurement acquired at the first one of the instants in time and the second back EMF measurement acquired at the first one of the instants in time; (H) determining a second back EMF phase angle at a second one of the instants in time, including comparing the first back EMF measurement acquired at the second one of the instants in time and the second back EMF measurement acquired at the second one of the instants in time; (I) determining a frequency of the back EMF based on the back EMF phase angles determined at the first and second instants in time; and (J) reconnecting the motor drive to the motor based on the frequency of the back EMF.

Claim 34

A method of reconnecting a motor to a motor drive comprising: (A) controlling a first current which flows through the motor using a first current regulator, the first current regulator producing a first voltage command output based on a first current command input; (B) commanding a first current at the first current command input of the first current regulator; (C) controlling a second current which flows through the motor using a second current regulator, the second current regulator producing a second voltage command output based on a second current command input; (D) commanding a second current at the current command input of the second current regulator; (E) acquiring a first back EMF measurement at different instants in time by monitoring the first voltage command output of the first current regulator; (F) acquiring a second back EMF measurement at the different instants in time by monitoring the second voltage command output of the second first current regulator; (G) determining a first back EMF phase angle at a first one of the instants in time, including comparing the first back EMF measurement acquired at the first one of the instants in time and the second back EMF measurement acquired at the first one of the instants in time; (H) determining a second back EMF phase angle at a second one of the instants in time, including comparing the first back EMF measurement acquired at the second one of the instants in time and the second back EMF measurement acquired at the second one of the instants in time; (I) determining a frequency of the back EMF based on the back EMF phase angles determined at the first and second instants in time; and (J) reconnecting the motor drive to the motor based on the frequency of the back EMF.

Claim 41

A method comprising: (A) acquiring back EMF measurements at different instants in time; (B) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; and (C) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and wherein, at each instant in time, more than one back EMF measurement is acquired.

Claim 42

A method comprising: (A) acquiring back EMF measurements at different instants in time; (B) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; and (C) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and wherein, at each instant in time, more than one back EMF measurement is acquired.

Claim 50

A method of reconnecting a motor to a motor drive comprising: (A) acquiring back EMF measurements at different instants in time; (B) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (C) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time, including (1) determining an angular difference between the back EMF phase angle determined at a first one of the instants in time and the back EMF phase angle determined at a second one of the instants in time, (2) determining a temporal difference between the first and second instants in time, and (3) determining the frequency of the back EMF as a function of the angular difference and the temporal difference; and (D) reconnecting the motor drive to the motor based on the frequency of the back EMF.

Claim 51

A method of reconnecting a motor to a motor drive comprising: (A) acquiring back EMF measurements at different instants in time; (B) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; (C) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time, including (1) determining an angular difference between the back EMF phase angle determined at a first one of the instants in time and the back EMF phase angle determined at a second one of the instants in time, (2) determining a temporal difference between the first and second instants in time, and (3) determining the frequency of the back EMF as a function of the angular difference and the temporal difference; and (D) reconnecting the motor drive to the motor based on the frequency of the back EMF.

Claim 56

A method comprising: (A) controlling a current which flows through a motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; and (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and wherein, at each instant in time, more than one back EMF measurement is acquired.

Claim 57

A method comprising: (A) controlling a current which flows through a motor using a current regulator, the current regulator producing a voltage command output based on a current command input; (B) commanding a current at the current command input of the current regulator; (C) acquiring back EMF measurements at different instants in time by monitoring the voltage command output of the current regulator; (D) determining back EMF phase angles for a plurality of the instants in time based on a respective plurality of the back EMF measurements; and (E) determining a frequency of the back EMF based on the back EMF angles determined for the plurality of instants in time; and wherein, at each instant in time, more than one back EMF measurement is acquired.