US 11,855,561 B2
System and method for motor control through improved location measurement
Emil V. Popov, Independence, KY (US); and Ivaylo N. Sotirov, Mason, OH (US)
Assigned to Insight Automation, Inc., Erlanger, KY (US)
Filed by Insight Automation, Inc., Erlanger, KY (US)
Filed on Feb. 16, 2022, as Appl. No. 17/673,425.
Claims priority of provisional application 63/149,907, filed on Feb. 16, 2021.
Prior Publication US 2022/0263446 A1, Aug. 18, 2022
Int. Cl. G01P 3/487 (2006.01); H02P 23/14 (2006.01); H02P 27/06 (2006.01)
CPC H02P 23/14 (2013.01) [H02P 27/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A motor system comprising:
a motor including a rotor and a stator;
a plurality of sensors positioned in the motor for defining a plurality of electrical sectors of the motor through which the motor will rotate;
control circuitry for operating the motor and controlling the motor, the control circuitry configured for:
determining if the motor is rotating at a steady state velocity;
at the steady state velocity, using the sensors and measuring the duration that the motor spends rotating within each of the plurality of electrical sectors;
using a plurality of the measured durations within electrical sectors and determining the duration of a complete mechanical rotation of the motor through all of the electrical sectors;
determining a value of a ratio of the measured duration of the motor in a particular sector to the duration of the complete mechanical rotation of the motor;
storing the determined ratio values of sector duration to complete mechanical rotation duration;
determining the time the motor spends in a particular sector using at least one of the determined sector ratio values; and
controlling the motor using the determined time the motor spends in the particular sector.
 
9. A controller for controlling a motor including a rotor, a stator and a plurality of sensors positioned in the motor for defining a plurality of electrical sectors of the motor through which the motor will rotate;
the controller configured for:
determining if a motor is rotating at a steady state velocity;
at the steady state velocity, using sensors of the motor and measuring the duration that the motor spends rotating within each of the plurality of electrical sectors;
using a plurality of the measured durations within electrical sectors and determining the duration of a complete mechanical rotation of the motor through all of the electrical sectors;
determining a value of a ratio of the measured duration of the motor in a particular sector to the duration of the complete mechanical rotation of the motor;
storing the determined ratio values of sector duration to complete mechanical rotation duration;
determining the time the motor spends in a particular sector using at least one of the determined sector ratio values; and
controlling the motor using the determined time in the particular.
 
17. A controller for controlling a motor including a rotor, a stator and a plurality of sensors positioned in the motor for defining a plurality of electrical sectors of the motor through which the motor will rotate;
the controller configured for:
using sensors of the motor and measuring the duration that the motor spends rotating within each of the plurality of electrical sectors;
determining the duration of a complete mechanical rotation of the motor through all of the electrical sectors;
determining, for each sector, a value of a ratio of the measured duration of the motor in the particular sector to the duration of the complete mechanical rotation of the motor;
storing, for each sector, the determined ratio values of sector duration to complete mechanical rotation duration;
determining at least one of a time the motor spends in a particular sector using at least one of the determined sector ratio values or an electrical angle of a particular electrical sector using at least one of the determined sector ratio values;
controlling the motor using the at least one of the determined time in the particular sector or the determined electrical angle of the particular electrical sector.