Importance

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Abstract

The invention provides a controller for specifying a drive voltage for synchronous motors relative to a desired speed profile. The controller senses motor current and optionally senses motor rotational position. A motor torque reference is first determined to balance (a) an estimated motor load torque, (b) the reference speed profile, and (c) a filtered incremental friction. A reference torque is then determined for the operating speed, and a reference current is determined to produce the reference torque. A primary voltage module then determines a primary voltage as a function of the calculated motor torque and the reference motor current to create a reference current at the operating speed. An incremental voltage module determines an incremental voltage based on an incremental resistance and an incremental back EMF of the motor. The primary and incremental voltages are then summed specify the applied voltage to drive the motor to the reference speed profile. The speed profile can be stored, manually input to the controller, or it can be injected in real time into the control system. The controller also provides for adaptive control and for Sensor-less control.

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First Claim