Catch spin method for permanent magnet synchronous motor with sensorless field oriented control

A catch spin method of starting a permanent magnet synchronous motor (PMSM) with sensorless Field Oriented Control (FOC) while the PMSM rotates, the catch spin method comprising:

• measuring, while the PMSM rotates, a counter electro motive force (CEMF) or a back electro motive force (BEMF) of the PMSM;
• generating a measurement signal based on the measured CEMF or the measured BEMF;
• extracting an amplitude of the measured CEMF or the measured BEMF from the measurement signal;
• generating control signals for driving the PMSM;
• performing a catch spin sequence for restarting the PMSM while rotating based on the measurement signal, including initializing a Q-axis current component Proportional-Integral compensator by the amplitude upon entering into the catch spin sequence and initializing a D-axis current component Proportional-Integral compensator by zero upon entering into the catch spin sequence;
• supplying, by a multi-phase inverter, multiple phase voltages to the PMSM based on the control signals;
• and
• matching an output voltage of the multi-phase inverter to the measured CEMF or the measured BEMF while performing the catch spin sequence.

A motor control actuator configured to drive a permanent magnet synchronous motor (PMSM) with sensorless Field Oriented Control (FOC), the motor control actuator comprising:

• a sampling circuit configured to measure a counter electro motive force (CEMF) or a back electro motive force (BEMF) of the PMSM, while the PMSM rotates, and generate a measurement signal based on the measured CEMF or the measured BEMF;
• a phase-locked loop (PLL) configured to receive the measurement signal and extract a frequency and an angle of the measured CEMF or the measured BEMF from the measurement signal;
• and
• a motor controller comprising a current controller configured to generate control signals for driving the PMSM, the current controller configured to perform a catch spin sequence for restarting the PMSM while rotating, the catch spin sequence including an open loop control followed by a closed loop control,
• wherein the motor controller is configured to calculate an initial rotor angle based on the frequency and the angle,
• wherein, during the open loop control, the motor controller is configured to generate the control signals based on the initial rotor angle, and
• wherein, during the closed loop control, the motor controller is configured to measure each phase current of the motor, calculate a second rotor angle based on each measured phase current, and generate the control signals based on the second rotor angle,
• wherein the PLL is configured to receive the measurement signal and extract the frequency, the angle, and an amplitude of the measured CEMF or the measured BEMF from the measurement signal,
• wherein the current controller includes a Q-axis current component Proportional-Integral compensator that is initialized by the amplitude upon entering into the catch spin sequence and a D-axis current component Proportional-Integral compensator that is initialized by zero upon entering into the catch spin sequence.

A catch spin method of starting a permanent magnet synchronous motor (PMSM) with sensorless Field Oriented Control (FOC) while the PMSM rotates, the catch spin method comprising:

• measuring, while the PMSM rotates, a counter electro motive force (CEMF) or a back electro motive force (BEMF) of the PMSM;
• generating a measurement signal based on the measured CEMF or the measured BEMF;
• extracting a frequency and an angle of the measured CEMF or the measured BEMF from the measurement signal;
• generating, by a current controller, control signals for driving the PMSM;
• performing, by the current controller, a catch spin sequence for restarting the PMSM while rotating, the catch spin sequence including an open loop control followed by a closed loop control;
• calculating an initial rotor angle based on the frequency and the angle,
• extracting an amplitude of the measured CEMF or the measured BEMF from the measurement signal;
• initializing a Q-axis current component Proportional-Integral compensator of the current controller by the amplitude upon entering into the catch spin sequence;
• and
• initializing a D-axis current component Proportional-Integral compensator of the current controller by zero upon entering into the catch spin sequence,
• wherein, performing the catch spin sequence during the open loop control includes generating the control signals based on the initial rotor angle, and
• wherein, performing the catch spin sequence during the closed loop control includes measuring each phase current of the motor, calculating a second rotor angle based on each measured phase current, and generating the control signals based on the second rotor angle.

A motor control actuator configured to drive a permanent magnet synchronous motor (PMSM) with sensorless Field Oriented Control (FOC), the motor control actuator comprising:

• a sampling circuit configured to measure a counter electro motive force (CEMF) or a back electro motive force (BEMF) of the PMSM, while the PMSM rotates, and generate a measurement signal based on the measured CEMF or the measured BEMF;
• a motor controller comprising a current controller configured to generate control signals for driving the PMSM, the current controller configured to receive the measurement signal and perform a catch spin sequence for restarting the PMSM while rotating based on the measurement signal;
• and
• a multi-phase inverter configured to supply multiple phase voltages to the PMSM based on the control signals,
• wherein the motor controller is configured to match an output voltage of the multi-phase inverter to the measured CEMF or the measured BEMF during the catch spin sequence;
• wherein the current controller includes a first phase-locked loop (PLL) configured to receive the measurement signal and extract an angle and at least one of a frequency or an amplitude of the measured CEMF or the measured BEMF from the measurement signal,
• wherein the motor controller is configured to match the output voltage of the multi-phase inverter to the measured CEMF or the measured BEMF based on the angle and at least one of the frequency or the amplitude of the measured CEMF or the measured BEMF,
• wherein the current controller includes a second PLL configured to estimate a rotor angle and a motor speed of the PMSM from a rotor magnet flux of the PMSM, the second PLL being different from the first PLL, wherein the second PLL is initialized by the angle extracted from the measurement signal by the first PLL.