text:
Oliver Buys a Farm
Green Acres (1965–1971)A New York attorney and his wife try to live as genteel farmers in the bizarre community of Hooterville. Stars: Eddie Albert, Eva Gabor and Tom Lester. These episodes are from Hulu - sorry about the commercials.
back to Uncle Earl's Classic TV Channel


text:
[ Source: gff2aplot ]
Package: gff2aplot (2.0-7)
Links for gff2aplot
Debian Resources:
Download Source Package gff2aplot:
- Debian Med Packaging Team (QA Page, Mail Archive)
- Nelson A. de Oliveira (QA Page)
- Andreas Tille (QA Page)
External Resources:
- Homepage [genome.imim.es]
Similar packages:
pair-wise alignment-plots for genomic sequences in PostScript
A program to visualize the alignment of two genomic sequences together with their annotations. From GFF-format input files it produces PostScript figures for that alignment. The following menu lists many features of gff2aplot:
* Comprehensive alignment plots for any GFF-feature. Attributes are defined separately so you can modify only whatsoever attributes for a given file or share same customization across different data-sets. * All parameters are set by default within the program, but it can be also fully configured via gff2ps-like flexible customization files. Program can handle several of such files, summarizing all the settings before producing the corresponding figure. Moreover, all customization parameters can be set via command-line switches, which allows users to play with those parameters before adding any to a customization file. * Source order is taken from input files, if you swap file order you can visualize alignment and its annotation with the new input arrangement. * All alignment scores can be visualized in a PiP box below gff2aplot area, using grey-color scale, user-defined color scale or score-dependent gradients. * Scalable fonts, which can also be chosen among the basic PostScript default fonts. Feature and group labels can be rotated to improve readability in both annotation axes. * The program is still defined as a Unix filter so it can handle data from files, redirections and pipes, writing output to standard-output and warnings to standard error. * gff2aplot is able to manage many physical page formats (from A0 to A10, and more -see available page sizes in its manual-), including user-defined ones. This allows, for instance, the generation of poster size genomic maps, or the use of a continuous-paper supporting plotting device, either in portrait or landscape. * You can draw different alignments on same alignment plot and distinguish them by using different colors for each. * Shape dictionary has been expanded, so that further feature shapes are now available (see manual). * Annotation projections through alignment plots (so called ribbons) emulate transparencies via complementary color fill patterns. This feature allows to show color pseudo-blending when horizontal and vertical ribbons overlap.
Other Packages Related to gff2aplot
- dep: libc0.1 (>= 2.7) [kfreebsd-amd64, kfreebsd-i386]
- Вбудовуванні бібліотеки GNU Сі — спільні бібліотеки
also a virtual package provided by libc0.1-udeb
- dep: libc6 (>= 2.13) [s390x]
- Вбудовуванні бібліотеки GNU Сі — спільні бібліотеки
also a virtual package provided by libc6-udeb
- dep: libc6 (>= 2.13-28) [armhf]
- dep: libc6 (>= 2.7) [not armhf, ia64, kfreebsd-amd64, kfreebsd-i386, s390x]
- dep: libc6.1 (>= 2.7) [ia64]
- Вбудовуванні бібліотеки GNU Сі — спільні бібліотеки
also a virtual package provided by libc6.1-udeb
- dep: perl
- Мова Практичного Видобування та Побудування Звітів Лари Уолла (Larry Wall)
- sug: gff2ps
- produces PostScript graphical output from GFF-files
- sug: postscript-viewer
- virtual package provided by evince, evince-gtk, ghostscript, gv, okular, zathura-ps
Download gff2aplot
|Package Size
|Installed Size
|320.7 kB
|633.0 kB
|[list of files]
|326.1 kB
|632.0 kB
|[list of files]
|321.1 kB
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|322.6 kB
|633.0 kB
|[list of files]
|325.1 kB
|636.0 kB
|[list of files]

subset: commoncrawl


text:
All Android applications categories
All Android games categories
by: Ngo Luyen | 322
A huge collection of Hubble images: planets, stars, nebulae, galaxies and more.
Hubble is one of the largest and most versatile, and is well-known as both a vital research tool and a public relations boon for astronomy.
Go to menu to set image as wallpaper
kw: hubble, star, galaxy, nebulae, planet
Tags: hubble space photos , apk space education , hubble images , space images.apk , hubble space images , fond décran gratuit hubble , hubble images to , hubble zoom apk , space images apk
from 322 reviews


text:
Safariland 333 Competition Speedloader Holder Colt Python, Ruger GP100, S&W L-Frame Laminate Black
Product #: 358965 Safariland #: 333-3-2-175 UPC #: 781602047395
- Information
Features external clips and molded loader cups for ultra-quick access. Holds three speedloaders. Security Six, Service Six, K-Frame fits C-2 models. Python, GP100, L-Frame fits C-3. Fits belts up to 1-3/4". Black.
Technical Information
Material: Leather with plastic molded loader cups
Style: Competition Speedloader Holder
Colt Python
Ruger GP100
Smith & Wesson L-Frame
Holds 3 speedloader.
Designed for ultra-quick access and heavy use.
Will fit belts 1-3/4" wide.
Technical Information
Material: Leather with plastic molded loader cups
Style: Competition Speedloader Holder
Delivery Information
The total weight of the product, including the product's packaging as it sits on our shelf. Since some products ship directly from the Manufacturer, their weight may be unavailable. Because of variations in the manufacturing process, similar products may have differing weights. Unless the product is designated as "Ships Alone", Shipping Weight does not include the shipping box or packing materials associated with your order.
Product ships from MidwayUSA, separate from any other products on your order due to its size. Products that are Shipped Alone incur separate "Per Order" and "Per Pound" shipping charges.
Product is regulated by the US Department of Transportation (DOT) and cannot be shipped via USPS or air shipping methods. DOT-Regulated products must ship UPS Ground.
Product is restricted by shipping carriers and cannot be shipped to certain locations or via certain shipping methods.
Additional shipping charge for HazMat products. Carriers charge extra to ship packages with products they consider hazardous, such as reloading powder and primers.
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The statements and opinions expressed within Customer Reviews reflect each author's personal perspective and do not imply endorsement by MidwayUSA, its Employees or any other organization. Customers should in no way infer that MidwayUSA has validated review information as safe, accurate or appropriate.
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text:
DLP Chips
Our new, factory-direct DLP Chips work in most Mitsubishi, Samsung, and Toshiba DLP TV models. Repair the "white dots" or vertical lines on your TV with these DLP Chips. We offer them at the lowest price and best warranty online!
TV Stands
Our Universal TV Stands fit thousands of flat-screen TVs between 26" - 70" and look great with LCD, LED, and Plasma TV models in all brands. Each Universal TV Stand also comes with a 180-day warranty and FREE shipping!
DLP Lamps
The best selection of original, factory-direct DLP lamps and bulbs - including Philips, Osram, and Neolux - at the lowest prices online. We offer DLP replacement lamps with housing and bare bulbs for every DLP TV make and model!
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TV Repair Video Tutorials
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DLP TV White Dots RepairWatch Our TV Repair Videos on YouTube >
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DLP TV White Dots RepairWatch Our TV Repair Videos on YouTube >
ShopJimmy TV Repair & Share Success Stories
Replaced DLP chip - Henry on October 9th, 2015
With the help of shop jimmy, my 15 year old son and I were able to diagnose our tv problem. We ordered the part from shop jimmy, and with only two tries my son repaired the tv. The picture is as clear as it was when it was new. Thanks shop jimmy.
- TV Model: Toshiba 65HM167
- TV Symptoms: White Dots
Toshiba DLP bulb - James on October 9th, 2015
Pretty slick - tech at store helped me search for part and it was easy to replace. A couple more years out of this one, and a free TV from a friend. Looks as good as new!
- TV Model: Toshiba 52HM84
- TV Symptoms: No Picture
T-con board UN60EH300FXZA - Kayleigh on October 8th, 2015
My Samsung 60" went black (back light still worked) and I researched what the problem could be (shop Jimmy YouTube page) sure enough it was a bad T con board, I also purchased the main and power board just incase I misdiagnosed. Thanks shop jimmy!!!
- TV Model: Samsung UN60EH6003FXZA
- TV Symptoms: No Picture
Missing TV stand - Khanh on October 8th, 2015
We've been experiencing neck pain from our TV mounted too high. Could not find the TV stands. Found them at ShopJimmy.com. Saved a lot on the shipping cost. The staff were very helpful and efficient. The stands fitted just right.
- TV Model: Other
- TV Symptoms: Broken/Missing TV Stand
Attachment of universal base stand to Magnavox model nr. 42MF438B/F7 TV - William on October 7th, 2015
The base stand contained the screws needed for attachment to the TV. Instructions were well written complete with drawings. One written step was omitted, (part "W" gasket) but was shown in the drawings. Assembly was quick and easy.
- TV Model: Other
- TV Symptoms: Broken/Missing TV Stand


text:
Bed & Breakfast Butterfly
No prices found through our partners. Please contact the business directly or check some of our recommended alternatives.
Travelers also recommend:
TripAdvisor Reviews Bed & Breakfast Butterfly Lucca
Travel Blogs from Lucca
Chapter 13 - Lucca and the San Ranieri Festival
... has been covered with flickering candles. The photos cannot do it justice.
At eleven sharp the firework display starts. Fabulous! Thirty minutes of colour and explosions. A truly memorable evening. This will be our equivalent celebration for the 4th. of July.
On the way home we stop at Campo de Miracoli, and find the Tower of Pisa beautifully illuminated. It is only illuminated like this once a year on this feast day. How's that for icing on the ...
Florence to Lucca
... brand new, manual, left hand drive in busy traffic was a challenge. Many "move to the left" remarks in various tones & wording were used! Managed to find the exit off the A11. Thank goodness for the car GPS! Traffic jammed going into Lucca. There was a gentleman in a car behind continually tooting. He stopped once he saw the blue light ahead. Found our way by accident to the train station. Decided to find a park ...
Our Private Villa in Tuscany
... enchanted forest" and we all enjoyed discovering various flowers and lizards that were very different to what we might have seen in Australia. Just as we were about to give up, the end of the road appeared, and so did the restaurant. So we booked for dinner later in the week, and enjoyed our walk back, job done. It was perfect pool weather, so back in the pool for the afternoon, and then got ready to head off to see a certain leaning tower, late ...
Exploring lucca
... rapid growth, however Lucca's walls were still in very good condition so they decided to preserve them and spent a lot of time, money and energy to bring them up to the standard we still see today... and so we walked these wide walls on our first ...
Funny Stories & highlights Barga and Lucca
... though it is much larger than Barga. We rented bikes and rode the top perimeter of the wall which was both good fun and some exercise. We saw a lot of very upscale and expensive shops in the area. We enjoyed our "happy hour" by sharing a bottle of chianti and a warm ciabatta sandwich combined with some interesting people watching before making our way home. Brent and Diane were the cooks, ...


text:
MP, Shipley
Philip Davies is a Conservative MP, and so on the vast majority of issues votes the same way as other Conservative MPs.
However, Philip Davies sometimes differs from their party colleagues, such as:
We have lots more plain English analysis of Philip Davies's voting record on issues like health, welfare, taxation and more. Visit Philip Davies's full vote analysis page for more.
Philip Davies quite often rebelled against their party in this parliament
To ask the Secretary of State for the Home Department, what estimate the Government made (a) before and (b) after 7 July 2005 of the likely security costs for the London 2012 Olympic and Paralympic Games.
To ask the Secretary of State for Justice, how much has been spent on purchasing clothing for prisoners in the latest period for which figures are available; and how much of that cost will be recovered from prisoners.
To ask the Secretary of State for Culture, Media and Sport, what proportion of the UK's gross domestic product is accounted for by tourism.
More of Philip Davies's recent appearancesRSS feed (?)
Conservative MP for Shipley
Entered the House of Commons on 5 May 2005 — General election
Expenses data for MPs is available from 2004 onwards split over several locations. At the moment we don't have the time to convert it to a format we can display on the site so we just have to point you to where you can find it.
Please note that numbers do not measure quality. Also, representatives may do other things not currently covered by this site.
More about this
Last updated: 28 Sep 2015.
View the history of this MP's entries in the Register
Please feel free to use the data on this page, but if you do you must cite TheyWorkForYou.com in the body of your articles as the source of any analysis or data you get off this site.
This data was produced by TheyWorkForYou from a variety of sources. Voting information from Public Whip.


text:
Softball event raises funds to fight substance abuse
8:48 PM, Jul. 14, 2013
Email this article
Softball event raises funds to fight substance abuse
Besides raising money during a day of games and family fun activities, a softball benefit held Saturday also helped to raise awareness in the community that substance abuse is an issue in the area.
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text:
Flat for family holidays
from £68 /night help Price for guests, Nights
17 reviews
from £68 /night help Price for guests, Nights
Estimated nightly price based on a weekly stay. Excludes fees (if applicable). Enter your dates to see the total cost.
Apartment / 2 bedrooms / sleeps 8 Home 284628
Availability Your dates are available
Apartment / 2 bedrooms / sleeps 8
|Key Info
With excellent transport links into Central London, this bright two bedroom flat is ideal for family holidays and short city breaks in London. Just an hour from Folkstone, it is perfect for guests arriving from Europe by car via the Channel Tunnel or ferry. The journey time from Gatwick Airport is 45 minutes by train; Luton Airport 65 minutes by train; Heathrow and Stanstead an hour by taxi or an hour and a half by train. For UK guests we are under 15 minutes from junction 3 of the M25, or 10 minutes from the Blackwall Tunnel. The flat is equipped with families in mind, but is equally suitable for people of any age sharing a holiday in London together, or for business travellers. Sleeping arrangements are very flexible.
Opposite the family home home of Edith Nesbit, author of The Railway Children, Pegley Gardens is a short walk from the centre of Grove Park, which is dominated by its Victorian railway station. It is on the South-eastern mainline which runs from Hastings to Charing Cross so there are regular express services into central London. Stations served include Lewisham (8 mins) - for the Docklands Light Railway, London Bridge (15 mins) - for the London Underground, Waterloo East (20 mins) - for the South Bank, Charing Cross (25 mins) - for the West End, and Cannon Street (23 mins) - for the City of London. Night bus N136 leaves Trafalgar Square for Grove Park every 30 minutes throughout the night week nights and every 20 minutes weekend nights - but be warned, it is not fast!
Grove Park also has a post office, several small supermarkets, cafés, shops and restaurants. For shopping we recommend a trip to Oxford Street, and for a good restaurant or wine bar take a taxi or bus to Blackheath.
The flat has a small double bedroom, a large bedroom with a bunk bed and twin beds, a spacious lounge/dining room with a double sofabed, modern kitchen with breakfast bar and a new white suite bathroom. Sleeping capacity is eight, however, we recommend it is suitable for no more than 6 guests as it only has one bathroom; we charge slightly more for groups of 7 and 8 guests.
Other benefits include high speed broadband, WiFi throughout, TV with DVD player, washing machine and a private garden.
The accommodation is basic but clean and well equipped.
Check in 3pm or later, check out 11am or earlier, we can store bags.
|Sleeps up to 8, 2 bedrooms
|Check in time:
|Check out time:
|Car not necessary
|Nearest travel links
|Nearest airport: Gatwick Airport 60 km, Nearest railway: Grove Park 500 m
|Family friendly
|Suitable for children over 5
|No pets allowed, No smoking at this property
Features and Facilities
|Internet access, DVD player
|Central heating, TV, Wi-Fi available
|Kettle, Toaster, Iron, Hair dryer
|Dishwasher, Cooker, Microwave, Fridge, Freezer, Washing machine
|2 bedrooms, 1 bathrooms of which 1 Family bathrooms
|1 Sofa beds, Double beds (1), Single beds (4), Dining seats for 6, Lounge seats for 7
|Linen provided, Towels provided
|Private garden
|Parking, Not suitable for wheelchair users
The London region
The region is known for its countryside, which include the North Downs and the Chiltern Hills as well as two national parks: New Forest National Park and South Downs National Park. The River Thames flows through the region and its basin is known as the Thames Valley. It is also the location for a number of internationally-renowned places of interest, some of which include Cliveden in Buckinghamshire, Thorpe Park and RHS Wisley in Surrey, Blenheim Palace in Oxfordshire, Windsor Castle in Berkshire, Leeds Castle, the White Cliffs of Dover and Canterbury Cathedral in Kent, Brighton Pier in East Sussex, and Wakehurst Place in West Sussex. The region has several universities, the most famous being the University of Oxford, with its iconic buildings and boating on the Thames.
South East England is host to various sporting events and venues, including the annual Henley Royal Regatta, Royal Ascot and the Epsom Derby. Wentworth Golf Club and Brands Hatch are also in the South East of England. Some of the events of the 2012 Summer Olympics were held in the South East, including the rowing at Eton Dorney in Buckinghamshire and part of the cycling road race in the Surrey Hills.
South East London
The south-east corner of London is one of its richest areas to explore, in part because until 1750 the only fixed crossing spanning the River Thames was at London Bridge. If you enter the area here and walk through the dense streets of Southwark, running east from Bankside to Rotherhithe, you'll discover an atmospheric jumble of venerable churches, towering warehouses, gentrified wharves and cobbled lanes leading to defiantly surviving pubs. Life is not stuck in the past, though - there is also an immense energy here, fuelled by floods of daily commuters and a spirit of renewal epitomised by Renzo Piano's Shard, the 72-storey "vertical city" now arising at London Bridge to become the tallest building in Western Europe.
There's more, for this is a place where cultural powerhouses and landmark attractions are lined up like dazzling jewels. There are the hugely popularly galleries of Tate Modern, the revitalised Southbank Centre, the consistently rewarding National Theatre, the confidently spinning London Eye – how much time can you spare?
The south east is also where London's love affair with the Thames and all waters beyond comes alive at Greenwich. A magnificent World Heritage Site graced with an elegant ensemble of regal and naval buildings dating from the 17th century, it includes the Royal Observatory where Greenwich Mean Time begins. Stretching south from Waterloo to Crystal Palace, east from Brixton to Woolwich, the south east has good transport connections – an essential stop for anyone looking for the best of London.
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9 Oct 2013
"Great base for seeing London"
We loved this place! It was perfectly located to enjoy London :) Very clean and tidy and modern inside - a little cramped for eight of us, but not too bad. The owners were helpful and friendly and really lovely. Would totally recommend this place, and would love to stay here again next time we visit London!
8 adults in two bedrooms with just one bathroom was a first for my flat. It worked because I discussed with the group how they might manage bathroom times so some showered in the mornings and others in the evenings. However, just as important was the fact that the group were prepared to be flexible with each other. I do not usually recommend this flat for more than six guests, especially if the guests are all adults. However, as this group has shown, it can work for larger groups, especially if everyone is prepared for the space to be a little cramped. Tom Crispin - October 2013
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Based in United Kingdom
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Please visit our recently launched site http://www.highpeakinternational.com/
In line with our expansion plans, we are focused on providing the best customized services available to suit the needs of every client in both the sale and rental of luxurious residential homes and prime commercial properties in Cebu, as well as islands, and other high-end properties throughout the Philippines.
We are committed to being the best and our aim is to provide a full in-house service to all of our clients. We will shortly be adding a 'Recommended Partners' page featuring goods and services of companies, that we believe, provide the same high standards that our clients deserve and expect, whether it be helping a client find a maid or building their dream home, our mission is to provide and cater to any and all of our client's requirements.
We will consider any good and services ,that we consider fulfill our criteria, and invite companies in Cebu to apply, by sending a brief outline of their goods/services for consideration to firstname.lastname@example.com, please include your name and contact details.
(Please do not call us, any application by phone will not be considered for this program)
If you have an interest in becoming a 'Recommended Partner' kindly contact us so we can discuss the mutual benefits of this program further.
Please visit the new site at your earliest convenience and feel free to share any comments with us.
We hope you enjoy our new site. More properties and services will be added shortly, if you have any specific requirements or questions please do not hesitate to get in touch.
# # #
High Peak International is a fast growing real estate company based in Cebu City, Central Visayas in the Philippines. We are focused on providing the best customized services available, to suit every clients needs.


text:
Jessica McDonald is a health reporter for WHYY, Philadelphia's public radio station. She is also a former SciFri intern.
by Sherry Turkle
This honeycomb-like array is helping scientists on their search for dark matter.
An excerpt from A is for Arsenic, by Kathryn Harkup.
Researchers have developed a method to build tiny structures out of DNA based on 3-D polygonal shapes created with a computer.
These picturesque clouds reveal a particular kind of turbulence in the atmosphere.
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Science Friday® is produced by the Science Friday Initiative, a 501(c)(3) nonprofit organization.
Science Friday® and SciFri® are registered service marks of Science Friday, Inc. Site design by Pentagram; engineering by Mediapolis.


text:
The TanneryJuly 20, 2013Apparel • Cambridge, United States
Unbelievable. Don't expect good customer service here unless you look like you're ready to drop a G. I'll take my money elsewhere, thanks.
Unbelievable. Don't expect good customer service here unless you look like you're ready to drop a G. I'll take my money elsewhere, thanks.
Very beautiful decor. Cuisine is northeastern Thai, which was an unexpected surprise. Food ended up being too spicy for us (and we usually go for 3 to 5 *), but still very tasty!
If you're ordering online and need rush delivery, call ahead of time.
Convenient location, friendly service and impeccable quality. This place kicks Obasan in the balls.
Great place to not get work done, fall asleep and wake up to find that your belongings have been stolen.
:( premier pharmacie que je ne recommande pas. Les gens sont méchants. Ils m'ont attaqué!
Bar à bobo. Les cocktails sont trop cher... Le Bar est mieux et juste à côté.
The worst customer service I have ever experienced in Paris. And that's saying a lot. Waitstaff is remarkably slow, do not understand the concept of being friendly & often forget orders. Never again.
4,70€ pour un café. Un peu cher mais très confortable.
Astroblonde. That is all.
If you've ever had Vietnamese bun bo hue, you need to try vegan bun bo hue at Loving Hut. It tastes like the original soup, but comes with crunchy tofu. So tasty.
Try the roasted walnut spread at Bean & Bagel. So yummy!


text:
Satellite images show scale of NKorea's anniversary parade
Satellite imagery shows tent city, hundreds of vehicles assembled for NKorea military parade
Tribune Media considering sale of landmarked headquarters
Tribune Media considering sale of landmarked headquarters, development of surrounding property
Handmade at Amazon Might Unravel Etsy
Handmade at Amazon launched Thursday, and the new marketplace could replace Etsy, which has already had a rough year.
Netflix raising US price for most popular video plan by $1
Netflix boosting US price of top video plan by $1 to cover rising programming costs
Snyder supports switching Flint water system back to Detroit
Snyder supports switching Flint back to Detroit water supply amid health concerns over lead
Daniel Craig Is a Flip-Flopper on Shooting More Bond Films
Daniel Craig seems to be on the fence about appearing in more James Bond films. For now, he's not keen on suiting up again.
Latin America rolls out red carpet for once-scorned IMF
With crisis looming, Latin America rolls out red carpet for once-scorned IMF
Unlicensed 'doctor' in Vegas says he's self-taught sovereign
Ex-con accused of practicing medicine without license in Vegas says he's self-taught sovereign
A Brief History Of The Classic Cardinals-Cubs Rivalry
The St. Louis Cardinals and the Chicago Cubs will face off in the NLDS starting Friday.
High-tech firm's plans to make drones in NY spark questions
CEO of firm planning solar-powered drones in NY is mum on links to high-tech Web companies
Oklahoma Inmate Was Given Wrong Drug During Execution
The Oklahoman reports death row inmate Charles Warner was given the wrong drug during his execution, according to state records.
Former US Rep. John Dingell, 89, getting heart pacemaker
Former US Rep. John Dingell having pacemaker placed in heart, in 'good spirits,' wife says
The Latest: Palestinians meet UN official to protest attacks
The Latest: Palestinians, UN groups express 'outrage' to UN official at Israeli attacks
Man who says he killed wife to stop suffering given 15 years
Kentucky man sentenced to 15 years in wife's shooting death says it was a mercy killing
Gun found during drifters' arrest in tantra teacher's death
Authorities find gun during arrest of 3 drifters in California tantra yoga teacher's death
Kevin McCarthy Drops Out Of House Speaker Race
The No. 2 House Republican was widely favored to replace current House Speaker John Boehner.
Beyond 'Like:' 5 ways you might soon emote on Facebook
Facebook hopes users in Spain and Ireland will 'love' their new emotion buttons
Court: Hot yoga's sequence of poses can't be copyrighted
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Tissue Salts for Healthy Living
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Preview (read now) Add to my own site Give this ebook to a friend Add to my wishlist Author's page Publisher's page
moreTissue Salts are a group of 12 minerals that should be present in our bodies to ensure good health and well-being. These salts are found naturally in the earth's rocks and soil, and are present in food grown organically in mineral-rich soils. This fascinating book explains how the 12 tissue salts (each presented in its own chapter) can be used to supplement our diet, not only to promote good health but also to treat specific ailments. It details how we can boost our intake of these salts both with tablets or drops, and by eating appropriate fruit and vegetables. The book ends with an 'Ailment chart' for quick referencing. In her easy, down-to-earth manner, Margaret Roberts laces her advice with case studies and personal anecdotes. For anyone interested in boosting or maintaining their health by natural means, this is an indispensable guide. less
Penguin Random House South Africa; August 2011
116 pages; ISBN 9781431700509
Read online, or download in secure EPUB or secure PDF format
Title: Tissue Salts for Healthy Living
Author: Margaret Roberts
116 pages; ISBN 9781431700509
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Title: Tissue Salts for Healthy Living
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text:
|Publication number
|Publication type
|Application number
|Publication date
|Mar 7, 2000
|Filing date
|Feb 5, 1998
|Priority date
|Feb 5, 1997
|Fee status
|Also published as
|Publication number
|John H. Boyd, Gerald Duncan, Michael Thomas George Perry
|Original Assignee
|Fisher & Paykel Limited
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (23), Referenced by (117), Classifications (14), Legal Events (4)
|External Links: USPTO, USPTO Assignment, Espacenet
This invention relates to electronically controlled brushless DC motors (having permanent magnet rotors) and in particular, but not solely, to three winding motors for fractional horsepower applications such as in home appliances and healthcare equipment.
Methods of controlling electronically commutated brushless DC motors have been disclosed in U.S. Pat. No. 4,495,450 (Tokizaki et al) and for use in home appliances and in particular laundry washing machines in U.S. Pat. No. 4,540,921 (Boyd et al), U.S. Pat. No. 4,857,814 (Duncan et al). Some of the basic electronically controlled motor (ECM) concepts described in these patents is summarised below with reference to FIGS. 1 and 2.
An ideal tree phase (or winding) DC motor is shown in FIG. 1 with commutation switches which would normally be power FETs. By turning on upper switch 1 for phase A and lower switch 2 for phase B, a static magnetic field will be created in the stator. By turning off lower switch 2 for phase B and turning on lower switch 3 for phase C, this magnetic field will move in a clockwise direction. Turning off upper switch 1 for phase A and turning on upper switch 4 for phase B will cause the magnetic field to continue to move in the clockwise direction. By repeating this "rotation" of the commutation switches the magnetic field in the stator will rotate at the same speed as the switching of the switches. A fill pattern of switch states for clockwise rotation is shown in FIG. 2.
Counter-clockwise rotation of the motor is achieved by reversing the switching pattern sequence of the commutation switches.
In the method described for creating a rotating field in the stator, only two phases have current intentionally flowing in them at once. This leaves the third winding with no intentional current flowing through it. In the cited patents this temporarily unused winding is sensed for any voltage induced by the rotating permanent magnet rotor to provide an indication of rotor position. The induced voltage is due to back electromotive force (BEMF).
The sensed BEMF waveform is cyclical and varies between trapezoidal and a near sinusoid. The "zero crossings" of this waveform are due to the edge of the permanent magnet poles and provide a consistent point on the rotor to track its rotational position.
When such a DC brushless motor is running, each commutation needs to be synchronous with the position of the rotor. As soon as the BEMF signal described above passes through zero, a decision is made to commutate to the next switching pattern to ensure continued rotation is accomplished. Switching must only occur when the rotor is in an appropriate angular position. This results in a closed loop feedback system for controlling speed.
Acceleration or de-acceleration of the rotor is accomplished by either increasing or decreasing the strength of the rotating magnetic field in the stator (by pulse width modulation (PWM) techniques) since the force on the rotor is proportional to the strength of the magnetic field. The commutation frequency will keep pace with the rotor due to the closed loop feedback from the BEMF sensor.
Maintaining a pre-determined speed under constant load involves controlling the strength of the magnetic field in the stator to ensure that the desired commutation rate is maintained. To maintain a pre-determined speed of rotation under varying loads requires corresponding alteration of the strength of the magnetic field in the stator to compensate for changes in the load on the rotor.
The ECM technology disclosed in U.S. Pat. Nos. 4,540,921 and 4,857,814 requires the use of dedicated current limiting circuitry to limit the current which can flow through the switching FETs to safe values. Such protection circuitry increases the expense of the ECM system and precludes its use in lower power, less expensive applications. Furthermore, as motor current varies in direct proportion to motor load, it would be desirable to use a measure of motor current to control appliance behaviour in response to events which cause load changes. With the cited prior art technology such load sensing would require further expensive hardware.
The use of BEMF sensing to determine rotor position has many advantages but has a problem that the output requires filtering using expensive components to eliminate transients which occur on commutation of the stator windings. In addition, ECM systems of this type generally do not run at optimum motor efficiency due to the motor current leading the BEMF.
It is therefore an object of the present invention and/or one or more of the preferred embodiments of the invention to provide an electronically controlled motor system which goes some way towards overcoming the above disadvantages.
Accordingly the present invention consists in an electronically commutated brushless DC motor wherein at any instant one motor winding is unpowered and used to detect back EMF zero-crossings which information is used to initiate winding commutations, wherein pulse width modulation of the signals controlling the commutation devices is used to control motor acceleration and uni-directional current devices are connected in parallel with the commutation devices characterised in that the duration of the current pulse produced in this winding due to dissipation of stored energy by said uni-directional current devices after supply of current has been removed from this winding is used to provide a measure of motor current.
In a second aspect the invention consists in an electronically commutated brushless DC motor wherein at any instant one motor winding is unpowered and used to detect back EMF zero-crossings which information is used to initiate winding commutations, wherein pulse width modulation of the signals controlling the commutation devices is used to control motor acceleration and uni-directional current devices are connected in parallel with the commutation devices characterised in that the duration of the current pulse produced in this winding due to dissipation of stored energy by said unidirectional current devices after supply of current has been removed from this winding is measured, the instance of commutation of current in the motor windings is delayed beyond the occurrence of each back EMF zero-crossing to reduce the phase angle between die motor current and the back EMF to thereby maximise motor efficiency, said delay being calculated as a function of the time between the previous commutations and said current pulse duration.
In a further aspect the invention consists in an electronically commutated motor system comprising:
a brushless DC motor having a rotor and a stator with at least one phase winding,
a commutation circuit including a direct current power supply, switching devices connected to said power supply to supply current to said at least one winding or to selected pairs of stator windings and unidirectional current devices which supply a current path to dissipate energy stored in each winding after supply of current through a switching device has terminated,
a digitiser circuit which senses the voltage on said at least one winding and compares said voltage to A reference signal voltage to thereby detect zero-crossings of the back EMF induced in said at least one winding by rotation of the rotor,
a programmed digital processor including memory and input-output ports, a first port being connected to the output of said digitiser circuit and a second group of ports being connected to said commutation circuit to supply switching control signals thereto,
software stored in said memory to cause said processor to generate said switching control signals, said software including:
(a) a table which stores (i) a sequence of combinations of states for each switching device in said commutation circuit which if applied sequentially and cyclically to said switching devices will cause the stator winding to produce a rotating magnetic field, (ii) a sequence of the possible output states of said digitiser circuit for predetermined angular positions of said rotor which each correspond to one said combination of switching device states which will produce torque in the rotor to ensure continuing rotation when the rotor is in the corresponding predetermined position,
(b) a routine for selecting from said table each stored state combination and producing digital switching control signals for each switching device having logic levels corresponding to the states of the particular combination selected at any given time,
(c) a routine for pulse width modulating said switching control signals to thereby control the RMS current in the stator windings,
(d) a routine for setting the duty cycle of the pulse width modulation in accordance with a stored duty cycle value,
(e) a position determining routine which reads the output of said digitiser and determines therefrom the angular position of the rotor,
(f) a routine for calling said selecting routine to select the stored state combination corresponding to each sensed rotor position for continuing rotation thereof,
(g) a speed determining routine which reads the output of said digitiser and determines therefrom the angular speed of said rotor,
(h) a table for storing values of desired rotor speeds,
(i) a routine for comparing the determined rotor speed with the value of the desired rotor speed to produce a speed error value,
(j) a routine for receiving said speed error value and updating said stored duty cycle value so as to increase it when rotor speed is less than desired speed and decrease it when rotor speed is higher than desired speed,
(k) a pulse duration determining routine which reads the output of said digitiser and determines therefrom the duration of the pulse produced in each phase winding during dissipation of stored energy after supply of current to each winding through a switching device has been terminated,
(l) a routine for comparing the so determined pulse duration with a stored predetermined maximum value of pulse duration to produce a value for setting said stored duty cycle value to a reduced value if the so determined duration is greater than said maximum value, and
(m) a routine which reads said decrementing value and updates the currently stored duty cycle value.
FIG. 1 is a circuit diagram of an electronically commutated 3 winding brushless DC motor,
FIG. 2 shows the sequence of states for the commutation switches to cause clockwise rotation of the motor of FIG. 1,
FIG. 3 is a block circuit diagram of a brushless DC motor and controller according to the present invention,
FIG. 4 is a waveform diagram showing the voltage across a phase of the motor of FIG. 3,
FIG. 5 is a part-circuit diagram showing motor current paths through the windings,
FIG. 6 is a graph of motor performance at different motor currents, and
FIG. 7 is a waveform diagram showing motor winding current and back EMF.
FIG. 8 is a circuit diagram for the back EMF digitiser shown in FIG. 3.
FIG. 3 shows the motor control system of the present invention in block diagram form. The main hardware blocks are a permanent magnet three winding motor 21, motor winding commutation circuit 22, switched mode DC power supply 23, back EMF digitiser 24 and microcomputer 25. The blocks within microcomputer 25 represent functions executed by software routines which will be described below.
The present ECM system is described in relation to a motor having a stator with three windings (or phases) A, B and C and six salient poles. Other stator configurations could be used. The motor has a four pole permanent magnet rotor, although a different number of poles could be adopted. The windings A, B and C are connected together in star configuration in this embodiment as indicated in FIG. 3.
Commutation circuit 22 includes pairs of switching devices in the form of power field effect transistors (FETs) which are connected across the direct current power supply 23 to commutate each of windings A, B and C in the manner already described with reference to FIGS. 1 and 2. Each of the six switching devices mating up the upper and lower switches for each motor phase is switched by gate signals a+, a-, b+, b-, c+, c- produced by microcomputer 25. Switched mode power supply 23 supplies the DC voltage which is applied across each switching device pair.
BEMF digitiser 24 receives input signals from the switched end of each of the motor phases A, B and C for the purposes of monitoring the back EMF induced by the rotor. The output from the motor winding which at any given time is not being supplied with current from commutation circuit 22 is used for this purpose. The back EMF sensing used is as already described with reference to FIGS. 1 and 2. BEMF digitiser 24 supplies at its output a composite digital signal representative of the analogue signals at its three inputs and derives these logic levels by known comparator techniques. The output signal will include logic transitions which correspond to the "zero crossings" of the individual analogue BEMF voltages as a rotor pole passes a winding pole associated with that phase. This output also contains other information as will be described below.
A suitable circuit for the BEMF digitiser 24 is shown in FIG. 8. A comparator 51 is provided with a reference voltage Vref on input 56 and back EMF voltages from the three motor windings A, B and C on input 55. When the level of the composite winding voltage signal at input 55 exceeds Vref (to establish a zero-crossing point) the output 57 of the comparator changes state and thereby digitises sufficiently large excursions of the winding voltage signal.
Resistors 52 to 54 combine the winding voltages and the output of the comparator is therefore determined by the voltage across all three windings. The two state output 57 of the comparator is fed to microprocessor port 27. As already mentioned it is the voltage across the winding which is not being commutated which is useful for rotor position and other control purposes, but since commutation is determined by die microprocessor it is known at any given time which winding is not carrying motor current and thus a time window is established which determines which winding voltage is reflected in the digitiser output in any given interval of time.
In the start up routine the magnitude of the back EMF in the unused winding is insufficient to change the state of the comparator 51 and closed loop feedback control of commutation cannot be used. The value of Vref (which may not be constant) and the value of resistor 58 are chosen to set the hysteresis of the digitiser such that zero-crossing state transitions will appear at the output 57 at the desired rotor speed for switching to closed loop control. This could typically be 330 rpm for some applications.
Motor control in the present invention is performed by a single programmed microprocessor 25 which supplies the switching signals for commutation circuit 22 directly without the need for additional logic or "current steering" circuitry. The required pulse width modulation of the current in the motor windings is also performed by micro-processor 25.
Microprocessor 25 is typically an 8-bit single chip CPU and a suitable type is Texas Instruments TMS370. The microprocessor hardware components such as CPU, bus, clock, RAM and ROM are not shown in FIG. 3, since these essential components of microcomputers are well known. Rather, to assist explanation the blocks shown within microcomputer 25 each represent a control function to be performed by a software routine executed by microprocessor 25 or alternatively represent a data table or data storage location in memory.
Commutation switching patterns as shown in FIG. 2 are stored in a table 28 along with a second sequence of switching patterns for producing anti-clockwise rotation of the motor. Control pulses for the commutation switches are synthesised by the commutation control pulse generator routine 29 which includes a pointer value which points to the location of the switching state pattern in table 28 which is required to produce the next commutation for the particular direction of rotation required of motor 21. Six commutation drive signals are required to be synthesised although only two of these change state on each commutation.
A startup routine 30 in an initial phase essentially "clocks" pointer 29 through a switching pattern sequence with a constant low frequency (or a low but slowly increasing frequency). This commutates the stator phases to produce a rotating magnetic field at a speed high enough to overcome the hysteresis of the digitiser 24. The permanent magnet rotor follows the rotating stator field.
When the motor is rotating at a speed sufficient to produce a digital back EMF signal at input port 27 from each unused phase winding, the motor starting routine branches from the open loop control mode described to a closed loop control mode. This involves causing a position sensing routine 31 to read the composite digital BEMF signal at input port 27 and by using information on which phases arc instantaneously being commutated determine the transitions due to the back EMF in the unused phase and to produce a parallel pattern or digital word following each "zero crossing" in each phase and to pass this pattern to routine 29. By accessing a look-up table within table 28 this routine locates the commutation switching pattern in table 28 which is appropriate to be applied to ensure efficient continued rotation of the motor having regard to the rotor position as indicated by the pattern supplied by routine 31. Thus the position of the rotor determines commutation of the stator phases.
The synthesised commutation control pulses are pulse width modulated when being supplied to the commutation circuit 22. That is, a routine 32 imposes a duty cycle on the pulses which are synthesised by routine 29 appropriate to the commutation devices through which motor current is to flow in accordance with the present value of duty cycle held in location 33. The duty cycle is varied to accelerate and decelerate motor 21 and to accommodate varying loads on the rotor since rotor torque is proportional to motor current and this is determined by the duty cycle of the pulse width modulation (PWM).
A speed sensing routine 34 reads the BEMF zero crossing patterns and in association with a timer routine 36 determines a value representative of the angular speed of the rotor. Routine 37 compares this value with a predetermined value of speed, n, stored in table 38. If the calculated rotor speed is less than n the duty cycle value held in location 33 will be incremented (say by 1%) and if the calculated rotor speed is greater than n the duty cycle value at 33 will be decremented (by say 1%). The predetermined speed value selected from table 38 will depend on the motor application at any particular time. In an example discussed below a typical predetermined operational speed is 3000 rpm.
To protect the commutation circuit switching devices, a current limiting function must be imposed. As will be described in further detail below with reference to FIG. 6, the applicants have discovered that the RMS motor current (that is, a current in any pair of connected phases at any given time) is directly proportional to the time duration of the freewheeling current which flows in each winding after supply from a commutation switch has been terminated. This current is of course due to the well known property of inductors to store energy and the need to dissipate that energy on removal of the applied voltage. As is well known in the art, "freewheel" diodes are connected in parallel with the commutation switching devices to facilitate such current flow.
Based on this discovery, the current pulse which occurs in each unused winding is extracted from the output of BEMF digitiser 24 by routine 40 which in conjunction with timer 36 determines the time duration of each freewheel current pulse. A first decision routine 41 ascertains whether the pulse width CP is greater than a predetermined value T1 stored in location 42, which corresponds to a value of motor current which is at the critical maximum limit for the commutation devices. If so a value 43 is set in location 33 which establishes a PWM duty cycle having a minimal ON time. In the example discussed below this might typically be 17%. If the pulse width is less than T1, a second decision routine 50 ascertains whether the current pulse width exceeds the duration of a further lower predetermined value T2 stored at location 49 and corresponding to normal maximum safe operating current and, if so, a value 44 is used to decrement the PWM duty cycle value 33. A typical decrement might be 5%. If the current pulse duration is less than T2 then no current limiting is required and PWM duty cycle control is passed to speed decision routine 37.
In many applications the degree of load on the motor 21 or an increase in load may constitute useful information for the control of the process in which the ECM system is used. Any change in rotor load will be reflected in a change in motor current and the current pulse measuring routine 40 can be used to provide such sensing information. A load monitoring routine 45 is passed the value of the currently determined current pulse width by routine 41 and by ascertaining sudden changes in pulse width or by determining that pulse width has reached a predetermined threshold useful outputs can be supplied to an external controller via output ports 46. For example, where the motor is used in a dishwasher to drive a wash liquid pump water level can be ascertained by detecting the sudden increase in motor current when the pump begins to induct water on the suction side.
In ECM systems of the type described, maximum running efficiency of the motor 21 is not achieved owing to the phase current leading the BEMF so that current and voltage peaks do not coincide. This is remedied in the present invention by computing a time used to delay the switching of phases after the detection of the zero-crossing. Thus a delay algorithm 47 (described in more detail below) introduces a delay in commutation to cause the voltage and current peaks in the motor windings to coincide, to thereby optimise the efficiency of the motor.
The output signal from BEMF digitiser 24 contain transients coincident with the occurrence of commutation. Instead of using hardware filters, in the present invention these transients are filtered out in software. Routine 48 reads the signals on input ports 27 but interrupts the read function at each commutation occurrence using timing information on commutation from routine 29.
The operation of specific routines outlined above is described in more detail in the following sections.
Motor Starting Routine
Motor starting is conducted in two steps by routine 30. The first step involves starting rotation of the magnetic field in the stator. This is achieved by stepping through the switching patterns (FIG. 2) for either clockwise or counter-clockwise rotation. The permanent magnet rotor will follow the rotating field in the stator. In this step the system is open loop.
The end speed of the rotating magnetic field at the completion of this first step is determined by the minimum BEMF required for the digitiser 24 to detect rotation of the rotor. BEMF magnitude is directly related to the speed of rotation of the rotor. If there is no rotation, then BEMF is zero. Alternatively, the faster the rotation the greater BEMF. However, there is a point where the open loop speed of the rotating field in the stator will be too fast for the rotor to "catch up". This will result in the motor never properly starting. This upper speed limit is determined by the inertia of the rotor. In one application of the preferred embodiment the initial startup speed maximum is 330 rpm.
At 330 rpm enough BEMF is generated to allow closed loop operation. As outlined in the discussion of the prior art, the software will now only change to the next stored switch pattern in response to the BEMF. FIG. 4 shows how the voltage across phase B varies during each switch pattern. The position of the rotor is determined when the BEMF waveform crosses a reference voltage Vref for the digitiser 24. The software then decides the optimum time to change to the next switch pattern. When the speed of the rotor is under feedback control a commutation will not occur until a BEMF "reference crossing" has occurred.
The second step in the start up routine involves increasing the speed of the rotor up to the desired speed of operation by increasing the PWM duty cycle as outlined in the description of the prior art.
Speed Control
Under closed loop control commutations will "follow" the rotor. In one application of the preferred embodiment 3000 rpm is the desired speed of rotation. This equates to 0.02 seconds per revolution of the rotor. In one embodiment the motor system is intended to control a motor having a four pole rotor and a six pole stator. With such a motor two "electrical" revolutions or complete BEMF cycles are required to rotate the rotor one mechanical revolution. Each electrical revolution requires six commutations. This means the time between commutations is 1.667 msec. To increase the speed of rotation from the initial starting speed of 330 rpm to 3000 rpm, the current in the stator must be increased until the commutation rate equals 1.667 msec.
Once the rotor is at operational speed, any variation in load on the rotor will affect its speed. These changes in speed are compensated for by varying the PWM duty cycle in the manner already described to ensure that the desired speed of rotation is always maintained.
The software will alter the value of the PWM duty cycle in two different step sizes. For example:
1. If the speed of the motor is within 10% of the desired speed, then the PWM rate is altered by 1%.
2. If the speed of the motor is not within 10%, the PWM rate is altered by 5%. The speeds referred to exemplify one application of the invention. Much higher speeds may be selected for other applications.
Freewheel Current Pulse
Routines 40, 41, 50 for limiting switching device current make use of the freewheel current pulse. This is explained with reference to FIG. 5 (which is a simplified version of FIG. 1) and FIG. 4. FIG. 5 shows current flowing in phases A and C. This corresponds to phase A upper switch (A+) and phase C lower switch 3 (C-) being on. This current is represented by the solid arrow.
The dotted arrow represents the current flowing due to the switching pattern of the previous commutation. The previous commutation had switch 1 (A+) and 2 (B-) on (see FIG. 2). When power switch 2 (B-) was turned off and switch 3 (C-) turned on, the current in the inductor of phase B could not instantaneously reduce to zero. The inductor keeps the current flowing. This raises the voltage at the end of phase B until freewheel diode 5 in parallel with the upper switch 4 starts to conduct. At this point the "end of phase" voltage is clamped to V+0.6 volts and the current flows out of the phase B inductor. This "freewheeling" current occurs every time a switch is turned off. When the current has reduced to zero, the diode stops conducting and the voltage across phase B is solely due to the BEMF. The freewheel current pulses for phase B are designated "CP" in FIG. 4.
When current is flowing in a phase the BEMF cannot be sensed. The freewheeling current causes a discontinuity in the sensing of the BEMF. This is referred to here as the "current pulse". The phase B voltage waveform is shown in FIG. 4 and the current pulses can clearly be seen.
Current Control
The current through the commutation switches must be limited to safe levels appropriate to the switching devices used. In the preferred embodiment the limits for the FETs used as the switching devices are 2 amps steady state and 4 amps continuously pulsed. Maximum current in each winding is determined by the difference between the rail voltage and the BEMF generated in the winding divided by the resistance of the winding. ##EQU1## The rate of rise of current is determined by the inductance in the winding. ##EQU2##
To ensure that the peak current through the commutation devices at start-up is always below 4 amps, the PWM duty cycle is kept to a minimum value. This minimum value also sets the maximum torque allowed at start-up. The inertia of the rotor and connected lead must be low enough to ensure that the maximum torque allowed at start-up can start the motor.
The initial PWM value is selected to ensure that there is enough starting torque to overcome the inertia of the rotor and any initial load. This value is altered on a commutation by commutation basis according to four criteria.
1. Limit PWM to a pre-defined "safe" value if motor current becomes critical.
2. Decrease PWM if motor current approaches the critical limit.
3. Increase PWM if motor under speed.
4. Decrease PWM if motor over speed.
FIG. 6 shows graphs indicative of motor performance in the system already described. The hyperbolic curves are torque versus rotor speed graphs for different PWM duty cycles (e.g. 9%, 18%, 27%, etc). The more or less horizontal curves are plots of switching device RMS current at given PWM duty cycle percentage and rotor speed. These graphs show:
1. A linear relationship between the PWM duty cycle and motor output torque ##EQU3##
At a constant speed (say 314 rad/sec or 3000 rpm) VBEMF will stay constant. Variation in Imotor (via different PWM duty cycles) will cause the torque of the motor to vary in a reasonably linear relationship. This means that for a given speed, the relationship between PWM duty cycle and load variation is linear.
2. Minimum PWM duty cycle to ensure that motor current does not exceed 4 Amps. All of the PWM duty cycle curves of 30% or less never cross the 4 Amp horizontal line. This means that irrespective of rotor speed, the motor current will not exceed 4 Amps for these duty cycles. This determines a maximum PWM value at start-up and under motor fault conditions.
3. Normal operation will not cause tie motor current to exceed 2 Amps RMS. At a speed of 314 rad/sec (3000 rpm) and a PWM duty cycle of 100%, the graphs show that the current in the motor does not exceed 2 Amps RMS.
FIG. 6 also shows a graph of RMS motor current (right hand Y axis--measured in Amps) versus the duration of the current pulse (measured in msecs). This graph shows that the duration of the current pulse is directly proportional to the RMS current in the motor. This allows RAMS current in the motor to be determined by measuring the duration of the current pulse. This in turn allows the elimination of dedicated hardware current limit circuitry which typifies prior art ECMs.
Current Limit
Current limit is achieved by limiting tie PWM duty cycle value 33 to 17% under any fault or starting conditions. A fault condition is established when routine 50 ascertains from the data passed from routine 40 that the current pulse duration is longer than 1 msec. This corresponds to approx 3 Amps RMS flowing through the FETs. If this condition is detected, the duty cycle value is immediately limited to 17% and the software will try to restore the motor to full speed. If a predetermined number of attempts fail to restore the motor to full speed the software will flag an error to the user.
Current Trip
Current trip is facilitated by the switch mode power supply (SMPS) 23. If the current in the primary inductor rises above 2.25-3.15 Amps then the top switch turns off until the next cycle of the SMPS is initiated. This limits the amount of energy that can be transferred to the secondary.
The typical fault that will cause this condition to occur is an upper and a lower FET being on at the same time due to loss of software control or a hardware fault. The amount of current that will flow through the FETs is reliant on how much energy is in the secondary inductor of the transformer and the smoothing capacitor across the 40 V rail. The peak energy that the N channel FETs in particular can handle before being damaged is 30 mJoules.
Optimising Motor Efficiency
The function of algorithm 47 is to keep the BEMF and current waveforms in phase to optimise motor efficiency, as is appreciated from the equation for motor power:
Powermotor -VBEMF �Imotor �cos(phase angle)
To keep the phase angle as small as possible involves delaying every commutation an amount of time that is specific to the previous commutation.
The equation for calculating this dynamic commutation delay is: ##EQU4##
This equation can be derived graphically. FIG. 7 shows two traces. The sinusoidal trace is the BEMF induced in the winding of the stator as the permanent magnet spins around. The trapezoidal trace Iphase is the current flowing through a given winding. The aim is to make t1 =t6. This ensures that the current waveform is centered with respect to the BEMF waveform, to minimise the phase angle. ##EQU5##
This algorithm is dynamically executed with each commutation. However in applications of substantially constant speed operation delay time values may be pre-calculated and pre-loaded in microprocessor 25 to be applied during each motor operating mode. The calculation in this case uses a value of time between commutations based on desired commutation rate and a value of current pulse duration determined by computer modelling or assumption.
The present motor system is able to be implemented with relatively low PWM rates and can achieve low noise operation. Using large inductance motors (salient pole for example) facilitate the use of low PWM rates.
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|U.S. Classification
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|International Classification
|Cooperative Classification
|European Classification
|May 4, 1998
Owner name: FISHER & PAYKEL LIMITED, NEW ZEALAND
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BOYD, JOHN H.;DUNCAN, GERALD;PERRY, MICHAEL THOMAS GEORGE;REEL/FRAME:009159/0311
Effective date: 19980319
|Aug 14, 2003
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