EP2845309A2 - Procédé et dispositif de positionnement d'un entraînement électrique sans balai - Google Patents

Procédé et dispositif de positionnement d'un entraînement électrique sans balai

Info

Publication number
EP2845309A2
EP2845309A2 EP13725270.6A EP13725270A EP2845309A2 EP 2845309 A2 EP2845309 A2 EP 2845309A2 EP 13725270 A EP13725270 A EP 13725270A EP 2845309 A2 EP2845309 A2 EP 2845309A2
Authority
EP
European Patent Office
Prior art keywords
phase
current
phase windings
rotor
sum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13725270.6A
Other languages
German (de)
English (en)
Inventor
Johannes Schwarzkopf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brose Fahrzeugteile SE and Co KG
Original Assignee
Brose Fahrzeugteile SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brose Fahrzeugteile SE and Co KG filed Critical Brose Fahrzeugteile SE and Co KG
Publication of EP2845309A2 publication Critical patent/EP2845309A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping

Definitions

  • the invention is in the field of electrical engineering, especially in the field of electric drives, and deals with brushless drives.
  • Electric motors are widely used in the field of electric drives, in which a rotor rotates in the magnetic field of a stator, the rotor having rotor windings which can be acted upon by alternating current intensities for exciting a rotor field.
  • the electric current is supplied to the rotor windings via an electromechanical commutator device with current-carrying brushes, which brush during the rotation of the rotor rotor-side commutator.
  • At least one Hall sensor for measuring the magnetic field strength, which is arranged on the stator and registers the movement and position of the magnetic poles of the rotor.
  • the phases in the phase windings can be
  • a particularly difficult task is to determine at very low speeds or at rest without the use of sensors, the position of the drive and / or in particular to bring the rotor in a desired starting position.
  • the present invention has the object in this context to provide a method and a device which allow a reliable and fast rest positioning of a brushless electric drive.
  • the invention thus relates to a method for positioning a brushless electric drive with a stator which has at least one phase winding which can be acted upon by a voltage signal and with a rotor equipped with magnetic poles.
  • a reliable positioning and rapid deceleration of the rotor is achieved according to the invention with the following steps.
  • a voltage signal is applied, which generates a magnetic field through the current flowing in the phase winding, which causes alignment of the rotor.
  • the voltage signal is controlled in dependence on the current intensity of the current induced in the at least one phase winding by the rotor movement in such a way that the induced current is amplified.
  • the invention is based on the insight that in the basically known orientation of a drive by application of a voltage vector, the rotor continues to move in the resulting stator magnetic field until it reaches a rest position, and that in this case by the residual movement of the rotor into the phase. senwindlungen a current is induced, which basically counteracts the rest of motion dampening.
  • the inventive control of the voltage signal or a plurality of phase voltage signals, the movement decelerating induced currents are amplified, so that the damping and thus the deceleration of the movement of the rotor is accelerated.
  • care must be taken to ensure that the currents in the phase windings remain within a current range still sufficient to cause the drive / rotor to align, but not so high as to cause drive of the rotor.
  • An advantageous embodiment of the method according to the invention in a stator which has at least two phase windings therefore, provides that the sum and the difference of the current strengths in the individual phase windings are determined and regulated.
  • a particularly advantageous embodiment of the invention provides in this connection in an electric drive with a stator which has at least two phase windings which can be acted upon by a phase voltage signal that the two phase windings are subjected to a voltage vector which contains at least two phase voltage signals and an orientation of the rotor causes.
  • the phase voltage signals are controlled in such a way that the current flowing in the phase windings lies in a desired range with respect to the sum of the current strengths in the phase windings, and that at the same time the difference between the currents prevailing in the phase windings current strengths is amplified.
  • the method makes sense that the difference in the current intensities in the individual phase winding is continuously recorded and amplified. Furthermore, it can be advantageously provided that the difference in the current strengths in the individual phase windings is supplied to a proportional controller. The output of the proportional controller then acts on the phase voltage signals supplied to the individual phase windings.
  • a further advantageous embodiment of the invention provides that the sum of the current strengths in the individual phase windings is detected and regulated within a desired current range.
  • an integral controller is used.
  • a proportional regulator in the regulation of the sum of the currents. It may be particularly advantageous to use a combined proportional / integral controller.
  • phase voltage signals applied to the phase windings are advantageously used. These can advantageously together form a time-dependent voltage vector and be designed as pulse-width-modulated signals, so that the control of these signals can be effected by targeted change of the frequency or the pulse width.
  • the invention relates in addition to a method for positioning a brushless electric drive on a device for carrying out such a method for a brushless electric drive with at least two acted upon by a phase voltage signal phase windings.
  • the tion has a first means for determining the sum of the currents through the two phase windings and a second means for determining the difference in the current through the two phase windings and a control device that holds the sum of the currents in a desired range and amplifies the difference of the currents.
  • the device according to the invention has a proportional controller and / or a combined proportional / integral controller.
  • FIG. 1 shows schematically an equivalent circuit diagram of a stator with three star-connected phase windings
  • Fig. 3 shows an exemplary control device
  • Fig. 4 time-resolved a diagram of the movement of a rotor until it reaches a rest position with and without damping.
  • a star connection of an electric drive with three phase windings U, V, W is shown schematically with a star point 1.
  • the individual phase windings are each shown in the form of an equivalent circuit diagram, each having an inductance 2, an ohmic resistance 3 and a voltage (EMF, EMF) represented by a circle 4, which is induced by the movement of the rotor.
  • the respective voltage drop across a phase winding U, V, W is represented by the arrows 26, 27, 28 and results in each case as the sum of the voltage drops across the inductance 2, the ohmic resistance 3 and the induced voltage.
  • Each of the total voltage drop 26, 27, 28 including the induced voltage generates a respective phase current through the respective phase winding U, V, W.
  • Such, operated in star connection brushless electric drive can be controlled for example via a so-called W6 circuit through which in rapid time sequence to each of the phase windings U, V, W either a higher DC level or a lower DC level, in particular ground potential can be applied.
  • W6 circuit through which in rapid time sequence to each of the phase windings U, V, W either a higher DC level or a lower DC level, in particular ground potential can be applied.
  • the speed, the power and the direction of rotation can be controlled.
  • the control takes place via a pulse-width modulated voltage signal, in which the frequency and the pulse width are basically variable in order to control the intensity of the magnetic field generated in each case.
  • phase W By means of a semiconductor switch bridge, which is shown in more detail in FIG. 2, a single phase, for example phase W, can thus be connected by means of two switches 7, 8 via a phase connection 9 of the phase winding W either to a higher DC voltage potential 6 or to a lower DC voltage potential 5 , in particular ground potential, are connected.
  • the switch 7 is closed and the switch 8 is opened, the terminal 9 of the phase winding W is connected to the higher voltage potential. If the terminal 7 is opened and the terminal 8 is closed, the terminal 9 of the phase winding W is connected to the ground potential.
  • a switching logic prevents the switches 7, 8 are closed simultaneously. Depending on the switching position of the individual switches 7, 8, the phase winding W can thus be subjected to two different voltage levels. By a rapid change of the switching states can thus be applied to the phase winding W a pulse width modulated signal.
  • the switches 7, 8, which correspond, for example, to the switches shown in FIG. 1, are suitably implemented as MOSFETs, which can respectively switch through or block, and which can be controlled by a control voltage with respect to their switching state via control voltage inputs 10, 11.
  • MOSFETs MOSFETs
  • By appropriate control of the control voltage inputs 10, 1 1 can thus at a Phase winding of a circuit, such as a star connection of an electric drive, but also a delta connection or other possible circuits, either a DC voltage pulse of a higher voltage level or a lower voltage level or ground potential can be applied. This allows for one or more phase windings of a brushless electric drive control with pulse width modulated signals.
  • a voltage vector can be applied to the drive.
  • the individual phase windings can be acted on by certain defined voltage signals which do not cause a rotary drive of the rotor, but generate a magnetic field of the stator in which the poles of the rotor align themselves.
  • one of the phase windings can be connected to ground potential and a pulse-width-modulated signal can be applied to each of the other two phase windings. It is also conceivable to apply a DC potential or other signal forms to the other two phases.
  • the rotor is not yet at rest, so this oscillates, for example, in a torsional vibration around a potential minimum around, so the current induced by the residual motion in the phase windings in principle counteracts the movement, so dampening.
  • the oscillation can continue for several seconds until it is dissipatively attenuated until it reaches the rest position.
  • first the individual voltage signals of the voltage vector are set in such a way that the rotor starts to align itself.
  • the phase winding U is connected to ground potential, while the phase windings V and W with a suitable pulse width modulated signal are applied.
  • Other constellations of voltage vectors are also conceivable.
  • the currents of the currents in the phases or phase windings V and W are measured continuously.
  • the measured currents are input to a controller 30 for the voltage signals applied to the phase windings V and W.
  • the control device 30 which is shown by way of example in FIG. 3, follows two specifications:
  • the sum of the currents of the currents in the phase windings V and W is kept within a desired range, so that on the one hand the rotor can align itself in the stator field, and on the other hand, no rotary drive of the rotor takes place.
  • the control process should be carried out until a termination criterion is met, which may be given, for example, by falling below a certain threshold of the induced current or the induced voltage.
  • the control device 30 shown in FIG. 3 initially has three inputs 12, 13, 14.
  • the input 12 the current measured in the phase winding V
  • the input 13 the current measured in the phase winding W
  • the input 14 a target value to be reached as a termination criterion Ausrichtstromschreibnchel.
  • This current intensity is reached when the deviation of the current strengths measured in the phase windings U, V, W is minimized from the current intensity to be expected by the applied voltage signals, so that the influence of the induced currents lies below a defined threshold.
  • a first adder 15 the current value of the phase (phase winding) V is added to the inverse current value of the phase (phase winding) W, and it finds accordingly As a result, a difference of the two currents instead.
  • the second adder 16 the current intensities in the phase windings V and W are added and inverted and the inverted value is added to the desired value at the input 14, so that a total difference between the current total in the two phase windings V, W on the one hand and the target current am Input 14 on the other hand takes place.
  • the output of the first adder 15 is supplied to a first amplifier 17 which thus amplifies the difference between the currents and the phases (phase windings) V and W with a gain factor.
  • the gain of the first amplifier 17 may be either preselected or dynamically adjusted during the alignment process by determining the resistance of the phase winding from the alignment current and the alignment voltage and then maximizing the gain considering the tolerances and timing of the overall arrangement.
  • the output of the second adder 16 is supplied to a second amplifier 8 and a third amplifier 19, wherein the second amplifier 18, an integrator 20 is connected downstream.
  • the output of integrator 20, as well as the output of amplifier 19, is connected to a third adder 21.
  • the control device 30 thus takes place a combination of the integrating controller with a proportional controller for controlling the sum of the currents in the phase windings V and W.
  • the magnitude applied to the output of the amplifier 17 represents a difference in the currents detected in the two phase windings V, W
  • the output of the third adder 21 represents a magnitude equal to the sum of the currents of the currents flowing in the phase windings V, W related.
  • the quantities representing the sum and the difference of the current strengths are added in parallel in a fourth adder 22 and subtracted from one another in a fifth adder 23 or added after inversion of an input.
  • the signals are decoupled via the two parallel adders 22, 23, so that independent arrangements for the output 22a and the output 23a are generated which carry the input signals for the generation of the phase voltage signals for the phases (phase windings) V and W.
  • pulse width modulated signals can be generated.
  • the structure of the controller is based on the formulaic representation of the basic two control tasks, namely on the one hand to regulate the current for the orientation of the rotor within a desired range and on the other hand to reinforce the damping current components, shown below:
  • an actual regulator in particular the lower indicator, is fed to the control device 30 from FIG. B.
  • a Pl controller It follows:
  • FIG. 4 shows measurement data of the movement behavior of a rotor in one orientation. There, two motion curves are shown in the diagram, the time being plotted on the x-axis and the angular position on the y-axis.
  • a first curve 24 shows the movement behavior in a passively damped electric drive, in which the damping takes place essentially by the currents induced in the phase windings. It shows the expected course with a substantially expotential attenuation. The decay of the movement typically takes a few seconds.
  • the second curve 25 shows the movement behavior in an electric drive, in which the method according to the invention is used by means of a device according to the invention. After a first peak 25a hardly any further deflections can be seen. The damping is terminated by reaching the idle state after one or two oscillation cycles.
  • a brushless electric drive can be driven very quickly, i. can be aligned within fractions of a second and brought into a rest position, so that a defined start of the drive after a short time is possible.
  • termination criterion of the method according to the invention for positioning the drive can be selected in the simplest case, the expiration of a fixed period of time, according to experience, the rotor has come to rest in any case.
  • Another criterion is the consideration of the current intensity difference in two phase windings, since these determine the size of the induced current and thus the motion. speed of the rotor represents. If the current difference falls below a defined threshold for a defined measuring period, then the method can be ended. Alternatively, the square of the current intensity difference can be observed over a predefined period of time and compared with a threshold.
  • the threshold may in each case depend on the initial value of the current intensity difference or a phase voltage signal difference, so that changes in the system properties due to temperature changes and the like can be taken into account. It can be passed as a termination criterion and the current strength difference of the currents in two phase windings through a low-pass filter whose output is monitored to see whether the output falls below a threshold.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un procédé de positionnement d'un entraînement électrique sans balai présentant un stator, qui comporte au moins un enroulement de phase (U, V, W) pouvant être excité par un signal de tension, et un rotor pourvu de pôles magnétiques. Selon ledit procédé, un signal de tension est appliqué à l'enroulement ou aux enroulements de phase (U, V, W), ce signal de tension générant à travers le courant s'écoulant dans l'enroulement de phase (U, V, W) un champ magnétique qui provoque un alignement du rotor, et, tant que le rotor est en mouvement, le signal de tension est modifié en fonction de la puissance du courant induit dans le ou les enroulements de phase (U, V, W) par le mouvement du rotor, de sorte que le courant induit soit augmenté.
EP13725270.6A 2012-05-02 2013-05-02 Procédé et dispositif de positionnement d'un entraînement électrique sans balai Withdrawn EP2845309A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012008883 2012-05-02
PCT/EP2013/001299 WO2013164093A2 (fr) 2012-05-02 2013-05-02 Procédé et dispositif de positionnement d'un entraînement électrique sans balai

Publications (1)

Publication Number Publication Date
EP2845309A2 true EP2845309A2 (fr) 2015-03-11

Family

ID=48534307

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13725270.6A Withdrawn EP2845309A2 (fr) 2012-05-02 2013-05-02 Procédé et dispositif de positionnement d'un entraînement électrique sans balai

Country Status (5)

Country Link
US (1) US9473051B2 (fr)
EP (1) EP2845309A2 (fr)
KR (1) KR101657610B1 (fr)
CN (1) CN104303413B (fr)
WO (1) WO2013164093A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016222015A1 (de) * 2016-11-09 2018-05-09 Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Würzburg Elektrischer Antrieb und Verfahren zum Betrieb eines Elektromotors

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
US5656897A (en) * 1994-09-30 1997-08-12 Sgs-Thomson Microelectronics, Inc. Current sensing and control in brushless DC motors
US7410123B2 (en) * 2000-05-15 2008-08-12 Nunnally William C Aircraft and hybrid with magnetic airfoil suspension and drive
JP2002291288A (ja) * 2001-03-29 2002-10-04 Railway Technical Res Inst 永久磁石同期電動機及び多接点同時短絡接触器
JP2004343862A (ja) 2003-05-14 2004-12-02 Matsushita Electric Ind Co Ltd モータ制御装置
JP4280573B2 (ja) 2003-07-31 2009-06-17 トヨタ自動車株式会社 負荷駆動装置
JP4906369B2 (ja) * 2006-02-28 2012-03-28 株式会社日立製作所 同期モータの制御方法および装置
JP5556845B2 (ja) * 2012-04-26 2014-07-23 株式会社デンソー ３相回転機の制御装置

Non-Patent Citations (1)

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Title
See references of WO2013164093A2 *

Also Published As

Publication number Publication date
KR101657610B1 (ko) 2016-09-19
WO2013164093A2 (fr) 2013-11-07
WO2013164093A3 (fr) 2014-08-07
US20150054436A1 (en) 2015-02-26
CN104303413A (zh) 2015-01-21
KR20150013231A (ko) 2015-02-04
CN104303413B (zh) 2017-08-15
US9473051B2 (en) 2016-10-18

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