CA1282455C - Reluctance motor with electronically connected stator windings - Google Patents
Reluctance motor with electronically connected stator windingsInfo
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- CA1282455C CA1282455C CA000506219A CA506219A CA1282455C CA 1282455 C CA1282455 C CA 1282455C CA 000506219 A CA000506219 A CA 000506219A CA 506219 A CA506219 A CA 506219A CA 1282455 C CA1282455 C CA 1282455C
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Abstract
ABSTRACT
In an electric motor having a stator with phase windings selectively energized to produce a progressively moving electromagnetic field and a magnetized rotor which seeks a minimum reluctance position within that field, energy withdrawn from a phase winding after de-energization so as to collapse the field produced by that winding passes from one end of the winding through a first connection to a capacitor where it is stored and re-applied through an alternative connection to the other end of the winding when it is next energized whereby to provide fast rise and fall of current in the winding without restricting the current which can intermediately be drawn by the winding from a principal power supply.
In an electric motor having a stator with phase windings selectively energized to produce a progressively moving electromagnetic field and a magnetized rotor which seeks a minimum reluctance position within that field, energy withdrawn from a phase winding after de-energization so as to collapse the field produced by that winding passes from one end of the winding through a first connection to a capacitor where it is stored and re-applied through an alternative connection to the other end of the winding when it is next energized whereby to provide fast rise and fall of current in the winding without restricting the current which can intermediately be drawn by the winding from a principal power supply.
Description
32~5~
FI~.LD OF TH~: INVENTION
This invention relates to electric motors operating on the reluctance principle, this term being used in a broad sense to refer to motors in which a changing electromag-netic field is generated by a stator, and poles of a nor-mally unwound ferromagnetic rotor move in that field towards a minimum reluctance position whose angular loca-tion is progressively altered by the changing electro-magnetic field so as to produce continuous rotation of the rotor. In principle, the functions of the rotor and and stator can be interchanged, but in practice it is usually more satisfactory for the electromagnetic field to be produced by the stator since this eliminates the necessity for slip rings or commutators, and ~his arrange-ment will be assumed in the following specification andclaims. The polarization of the rotor may be induced in soft magnetic matexial by the stator electromagnetic field, as is usually the case in reluctance motors as commonly so called, or the rotor poles may be permanently polarized by permanent magnets comprised by the rotor, as in most stepper motors and many forms of brushless direct current motor.
BACKGROUND OF THE ~NVENTION
Most electric motors have traditionally been provided with both stator and rotor windings, even though in many induc-tion motors the latter may be simplified to a "squirrelcage", and rely upon either conduction through commutators or slip rings, or upon induction, to energize the rotor.
Induction motors normally require an alternating supply for their operation, and are not in general well adapted to variable speed operation since their optimum operating speed is intimately xelated to the velocity of the rotat-ing field generated by the alternating supply. Direct : current motors on the other hand require some form of com-; mutative switching of the supply to the rotor to pro ~de ~2~ 455 continuous rotation, and such commutators are expensive to build and maintain, as well as a source of undesirable broadband electrical interference. Control of such motors where accuxate speeds or displacement con~rol i5 required remains complex and difficult.
As a result, attention has been giventfor a wide range of potential applications ranging from motors for consumer electronic equipment to large appliance, traction and industrial motors,to motors of the reluctance type in which the current through stator windings is switched, ; usually in modern designs by solid state devices, so as to produce a changing electromagnetic field which will ; result in pr~gressive angular movement of poles of a sta-tor as it seeks a minimum reluctance position within the field. This movement may be in the form of discrete steps, i~dividually controlled, as in a stepper motox, ~r the movement of the rotor may be sensed by some suitable means to switch the current through the stator windings so as to provide a free running mode in which successive steps or impulses run together to provide continuous ro~ation.
Reyardless of the mode employed, the inductance of the windings provides difficulties as they are progressively switched, since it limits the rate of increase of the cur-rent upon energization and the rate at which magnetic Pnergy can be dispersed w~en no longer required, particu-lar~y if excessive potentia~6 are not be induced in the wlndlng~ .
One widely used approach to the second of the above prob-lems has been to utilize so-called "free-wheeling" diodes connected across the various windings. When external cur-rent to a winding is interrupted, the diode provides an alternative path for the current induced in the winding by the collapsing magnetic field, and the current thus recir-culates until the field is fully collapsed, giving a slow all in current. The rate of collapse can be increased by x~
incorporating a resistive element in the circuit, but this reduces efficiency. Such a resistive element can also be used to assist rapid build up of the field, by acting as a current limiting device which permits application of higher energization potentials than would otherwise be possible. In many actual or potential applications of such motors, efficient operation and high torque over a wide range of speeds is required, and to attain these objectives it is necessary to achieve rapid current rise and fall times in the windings without unnecessary dissi-pation of energy as heat so that the fields of the stator and rotor can be maintained in optimum relationship. If rise and fall times are too slow, there will either be overlap with different windings producing opposing fields at some stages in the cycle, or the speed and/or torque obtainable will be limited.
One approach to the prob~em of obtaining rapid fall times has been to regenerate current from the stator windings to the supply. Thus in United States Patent No. 4,229,685 issued to Meier, the freewheeling diodes are supplemented by diodes which divert current through a regulator circuit and back to the supply thus rQcovering the energy stored by the field generated by a winding following de-energization of the latter whi~st assisting in rapid col-lapse of the field. In order to promote rapid build upof the magnetic field, however, Meier utilizes a ch~pping current regulator to limit current through the motor winding, which also serves to select a particular winding, together with a secondary switch which takes the free-wheeling diode out of circuit except when that winding isenergized. Such a system requires that the supply poten-tial to the motor be high enough to provide the desired rate of current build up in the windings, and also ; requires the use of chopping regulators capable of sus-taining the supply potential. The Meier patent refers to a stepping motor which can be operated in free running ~ 2~245S
mode. A somewhat similar arrangement is described in U. S. Patent No. 4,459,519 i~sued to Erdman. This relates to a motor with a permanent magnet rotor apparently pri-marily intended for refrigeration systems, and whilst a different system is used for regulating the current in the windings, the rate of current build up is still limited by the supply potential~ Yet further similar arrangements as applied to various configurations of motor having mag-netic rotors of both homopolar and heteropolar construc-tions are described in U. S. Patent No. 3,826,966 issued to Nagasaka et al. Yet a further arrangement operating upon this principle is shown in U. S. Patent No. 3,748,554 issued to McDonald.
A further problem which frequently arises in the design of brushless DC motors is that of turning off the switchingsemiconductors utilized to provide control of the current ~ supplied to the field windings. The most readily avail-; able and economical semiconductors for the purpose are thy-ristors which have a controlled turn on ability but usually can only be turned off by reducing the current through the device to near zero. Furthermore, when turn off is achieved, stored energy in the inductive circuits being controlled can give rise to high potential spike~ which can destroy the semiconductors if not properly controlled.
For this reason commutation circuits have been developed for use in such applications which are essentially of ring counter configuration in that the turn on of the device controlling one winding is utilized to discharge one plate of a capacitor connected to the supply to the previously turned on device so as momentarily to divert the current to that device to the other plate of the capacitor and thus interrupt the current flow through the device for long enough that it switches off. Once it is switched off, recharging of the capacitor occurs, thus taking up some of the energy from the collapsing field of the associated winding.
1~8Z~5 Although the capacitors used in ~uch circuits can contri-bute to the transfer of surplus ener~y from one winding to the next, this is not their primary purpose, and the arrangement is only useful in cases where the supply to a following winding can be turned on before ~hat to a pre-vious winding is terminated. Examples of such arrangements may be found in Vnited States Patents Nos. 3,611,081 issued to Watson, and 4,445,077 issued to Kirschner.
In United States Patent No. 3,444,447 issued to Newell, an arrangemen~ is described for improving the rise and fall times of currents in the windings of a step motor. Firstly, the supply is utilized to charge capacitors associated with control circuits for each winding, ~he circuit beinq arranged and the capacitor being switched so that its charge potential is added to the supply potential when the associated winding is energized, thus initially boosting the supply potential and improving the current rise time.
Additionally, as described with reference ~o Figures 7 to 9, an arrangement using diodes and/or autotransformers is utilized ~o transfer energy from the collapsing field of a winding which has just been turned off to boost the po-tential applied to a winding that has just been turned on, thus improving both rise and fall times and improving efficiency. The first of the techni~ues disclosed by Newell provides a degree of boost which is substantially constant regardless of operating conditions, whilst the second technique is applicable only where the turning on of one winding is simultaneous with the turning off of another.
30 In United Sta~es Patent No. 3,486,096, issued to Van ; Cleave, windings of a stepper motor are transformer coupled in pairs, and the switching means for each winding is operative to block current flow in a forward direction only. One or more diodes are placed in series with a D.C.
supply so that current can flow from the supply in a forward 1~3X4~5 direction only, and unswitched ends of the windings, or pairs of them, are connected to a capacitor or capaci~ors whose other plates are grounded. When forward current through a winding i8 interrupted, a current in the reverse dixection is induced in the winding coupled thereto, and charges the associated capacitors to a high potential, whilst the field produced by the original winding rapidly collapses. When a switching device again permits forward current through a winding connected to the capacitor, the high potential charge on the capacitors assists rapid cur-rent build up in that winding. The primary purpose o the arrangement is to speed up operation and protect the switching device; efficiency is evidently not a concern since resistors are placed in series with the supply to limit current. Moreover, the de~ice is applicable only to motors having a suitable winding arrangement so that transformer action may be utilized to reverse the direc-tion of curren~ flow in the windings during energy recovery.
A group of related United States Patents, ~os. 3,560,817 20 and 3,560,818 issued to Amato, 3,560,820, 3,697,839 and 3,714,533 issued to Unnewehr, and 3,697,840 issued to Koch, and all assigned to Ford Motor Company, relate to various configurations of control circuits for reluctance type motors, in each of which a tuned circuit comprising capacitors and induc~ors (which may be or comprise the motor winding) are used in conjunction with solid state switching elements, utilizing resonance effects to increase the effective potentials available to provi~e fast rise and fall times, and to reverse the polarity of charge ; 30 received from the circuit when a primary supply is cut off. Although there are differences between the arrange-ments described in these various Ford patents their general principle of operation relies on drawing current from the primary supply in pulses of approximately half-sine wave form. Since the period of the pulses is set at a ~8Z~
substantially constant magnitude by the reactive components in the circuit, provision for differen* motor speeds is provided by varying the numher of pulses delivered during each energization phase of a winding, substantial continu-ity of current flow in the winding between pulses beingobtained both by freewheeling effects and by charge rever-sal and re-applica~ion of energy recovered during field collapse. In some of the arrangements, the circuit is operated so as to build up potential on a capacitor to a level much greater than the supply, which potential is applied so as to augment the magnitude of the current pulses from the supply. In the Unnewehr Patent No.
3,714,533, it is disclosed that surplus energy from this capacitor may be tapped off by suitably timed firing of an SCR and returned to the supply if not required to drive ; the motor. ~arious methods for controlling the various motors disclosed are discussed, in general invol~ing air-ly complex control of the firing sequence of the several controlled rectifiers associated wi~h each winding. In each case, it appears that operation requires an inductor in series with the supply additional to the motor winding, and that the operating parameters of the circuit are critically dependen~ upon the value of this inductor and - also thoseofan energy storage capacitor. These same ele-ments also limit the rate at which energy can be drawn from the supply, since the resonant characteristics of the load limit both the periods over which current can be drawn from the supply and ~he rate of supply current rise and fall.
30 United States Patent No. 4,025,831 disc~oses a motor having in one embodiment plural stator windings and a permanent magnet homopolar rotor in a physical arrangement somewhat resembling the physical arrangement of the preferred em-bodiment of the motor described hereinbelow. The control system of the motor is however quite different, as is the mode of operation, no special provision being made for -- 8 - ~ Z ~2 45~
improving current rise and ~all times in the stator windings, or for recovering energy from collapsing stator fields.
An object of the present invention is to provide a motor of the general claæs discussed in which rapid rise and fall of winding current can be obtained at timings approp-riate to ensure effective developmen~ of motor torque over a ~ide range of motor speeds, without the necessity for expedients which are wasteful of energy (such as added series resistance), without unduly restricting the rate at which energy can be drawn from the supply to meet tor-que demands, and without the necessity for highly sophis-ticated control means for matching motor characteri.stics to load requirements.
According to the invention an electric motor, of the type having a stator with multiple sequentially energizable phase windings and a rotor magnetized to seek a minimum reluctance position within a progressively moving electro-:~ magnetic field produced by said phase windings, first con-trolled switching means in sexies relative to a D.C. power ,~
~ supply with at least a ~ of each phase winding~, and 1A~ means to control said first switching means to produce said progressively moving electromagnetic field, the im-provement wherein ~a) a charge storage capacitor is pro-~ 25 vided or each such phase winding, with one terminal of i said capacitor connected by a 1QW impedance path to said supply, and the other terminal having ~irst and second connections establishing al~ernative low impedance paths to the w.inding, the first such connection being estab-lished through first diode means oriented to permit low impedance passage to said capacitor from the winding of forward current generated by collapse of ~he field pro-: duced by said winding after turn-off of the switching means, and the second such connection being established through second controlled switching means, (b) means are provided to turn on said second switching means 9 ~3Z455 substantially simultaneously with said first switching means to provide low impedance passage of curren~ from said capacitor in the forward direction through said winding to said fir~t controlled switching means, and (c) second diode means are provided between the supply and the çonnection to the winding from the second con-trolled switching means, such as to presen a low imped-ance path for fo~ward current from tne supply but a high impedance to reverse current.
lo As compared to the Van Cleave arrangement the present in-vention does not require any special arrangement or oper-ating sequence o~ the motor windings to utilize the energy recovered bv the capacitor, nor does the primary switclling device need bidirectional current carrying capabilities, and the ability to withstand, in blocking condition, the additional potential applied by transformer action in the winding~.
As compared to the Ford patents discussed above, the values of reactive ~omponents in the present invention ; 20 limit neither the maximum current which can bo~ drawn fr~m - the supply, nor the proportion of th~ active period of a phase winding during which current may be drawn if neces-sary. Essentially, the value of the capacitor in relation to the inductance ~f the associated winding determines the rates of current rise and ~all which can be achieved in the ~inding, and the proportion of the active period of a phase winding during which it is necessary for cur-rent to be drawn from the supply. Under normal operation, the current to energize a winding is supplied from the capacitor, and current is only drawn from the supply in the latter part of the period during which the primary switching means is switched on, this current draw provid-ing make-up for energy output to a load or dissipated by motor losses. The charge on the capacitor can be tapped by a suitable circuit so that the motor can operate as a D.C. to D.C. up-converter, or energy recovery or ~ 10 - ~2~2d~55 regeneration braking under overrun conditions. Under such overrun or braking conditions the energy stored in the capacitor will be i~excess of that required to maintain rotation of the motor and the excess may be recovered by drawing current from the capacitor when its potential exceeds a certain level.
Further features of ~he invention, and further explana-tion of its construction will become apparent from the following description of an exemplary embodiment with reference to the accompanying drawings.
Figure 1 is a front elevation of the stator and rotor of apparatus embodying the invention;
Figure 2 is a section taken along line 2-2 in Figure l;
Figures 3a and 3b ar~ views similar to Figure 2 showing various positions of the rotor and stator and useful in explai.ning the operation o the apparatus;
Figure 4 is a circuit diagram useful in explaining the switching operation that takes place in the practice of the present invention;
Figure 5 is a circuit diagram of trigger pulse generating and switching circuitry that may be used in practicing the invention; and i Figure 6 is a circuit diagram showing an arrangement ; alternative to ~hat shown in Figure 4.
Referring to Figure 1, and sometimes to Figure 2 apparatus embodying the present invention includes a rotor 10 which, in the embodiment shown, includes a rotatable shaft 11 on which a permanent magnet 12 is mounted and fixed, e.g. by keying or by any other suitable means, and on which two, spaced apart toothed wheels 13 and 14 are mounted and fixed, again by keying or by any other suitable means.
The ~oothed wheels are identical to each other and, in the embodiment shown, each have six teeth spaced 60 apart.
This is not critical, however, and th~ number of teeth may vary widely. The toothed wheels are mounted with respect to each other on shaft 11 50 that the teeth of the toothed wheels align with each other.
Each toothed wheel is made of a magnetizable material, i.e., a ferromagnetic material, e g., steel, and thus each tooth of each toothed wheel constitutes either a north ox a south pole, all of the teeth on one toothed wheel being of the same polarity and all of the te~th on the other toothed wheel also being of the same polarity but of oppo-site polarity to that of the teeth of the first-mentioned toothed wheel. In Figure 2 the six teeth of toothed wheel 14 are shown as north poles Nl ~o N6 inclusive.
Many varia~ions in the rotor are possible. For example, individual permanent magnets may be employed in place of one permanent magnet and ferromagnetic toothed wheels, or the rotor may be magnetized by fields produced by windings on the stator. Moreover, heteropolar a~ well as homopolar rotor pole configurations may be ~tilized with suitable stator winding configurations. In the example described, however, the rotor will have permanent magnet means mounted on and fixea to a rotatable shaft, the permanent magnet means having a plurality of spaced apart north poles and a plurality of spaced apart south poles, and both homopolar sets of poles will be movable in two circular paths, one of which is shown at 15 in Figure 2.
In the embodiment of the invention shown, the stator 16 consists of two spaced apart stationary plates 17 and 18 that happen to be of square configuration and that are held in fixed, parallel relationship with respect to each other by suitable spacers ox fastening devices 19; four electro-magnets 20a, 20b, 20c and 20d; and holders 24 for the ; electromagnets.
1~, i7d ~3;2 4L 5 ~;
Plates 17 and 18 may be made of aluminum, for example, as may holders 24 and spacers or fastening devices 19. Other suitable materials that are ~on-ferromagnetic also may be employed.
Each electromagne~ 20a, 20b, 20c and 20d consists of a ferromagnetic core 21a, 21b, 21c and 21d respectively and a coil 22a, 22b, 22c and 22d respectively. Holders 24 are secured to plates 17 and 18 and cores 21a-21d fit into openings provided in holders 24.
The number of electromagnets may be varied without depart-ing from thls invention, but sufficient electromagnets must be employed to make it possible to creast a progres-sively charging magnetic field which, through interaction with the permanent magnets of rotor 10, causes rotation of rotor 10.
Electromagnets 20a - 20d are evenly spaced apart from each other (at 90 in the illustrated embodiment) and, as best shown in Figure 2, are mounted sufficiently close to the circular paths travelled by the north and south poles of rotor 10 that the pole~ are capable of inducing voltages in the coils of the electromagnets and the electromagnets are capable of magnetically attracting and/or repelling the poles as the latter rotate past the electromagnets.
It will be understood, of course, that plates 17 and 18 carry bearings for shaft 11, and shaft 11 may be coupled to any rotary equipment that is to be dri~en thereby.
Mounted on shaft 11 is an apertured timing wheel 25 on opposite sides of which are light sources 26 and photo-detectors 27. These compon~nts constitute a source of trigger pulses or timing pulses. Light sources 26 and photodetectors 27 are mounted on a holder which can be : rotated relative to the apertures in timing wheel 25 to ~282~
- 13 ~
vaxy the phasing of the trigger pulses.
It will be appreciated, of course, that many other types of devices may be used for generating trigger pulses with-out departing from the present invention. For example, a S microswitch contacted by a projection on shaft 11 could be used.
Referring now to Figure 5, the trigger pulse generating and switching circuitry for coils 22a and 22c and for coils 22b and 22d is shown along with electrical energy utilization circuitry. Only the switching circuitry and electrical energy utilization circuitry for coils 22a and 22c is shown in Figure 4. The switching circuitry and electrical energy utilization circuitry for coils 22b and 22d is the same as that shown in Figure 4, as will Se evident from Figure 5.
Since the trigger pulse generating circuitry, switching circuitry and electrical utilization circuitry~ is the same for the two sets of coils, it will be described in detail only for coils 22a and 22c.
Shown within line 28 is a standard trigger pulse generating circuit that provides trigger pulses on conductors 29 and 30, the former being connected to the gate electrode of a gate turn off device GTOl and the latter being con~ected via a transformer to the gate electrode of a silicon con-trolled rectifier SCRl.
A D.C. power supply (represented by B and ground) isprovided with B+ being connected via a diode Dl, coils 22a and 22c and a protection diode D2 to the anode of gate turn off device GT~l, the cathode thereof being grounded.
Provided that the pulse generating circuit is suitably modified to provide appropriate switching waveforms and potentials, the gate turn off devices may be replaced by 82a~5 bipolar or field efect transist~xs.
Also associated with coils 22a and 22c is an electrical energy storage device which, in the embodiment shown in Figures 4 and S, is simply a capacitor Cl.
One plate of the capacitor is connectea to a terminal of the supply; in the example shown this is the B~ ~erminal.
Any connection is acceptable that will provide a low im-pedance source or sink for capacitor charging and dis-charging currents required to accommodate changes in potential of the other plates. This other plate is pro-vided with two alternative connections to opposite ends of the phase winding comprising the coils 22a and 22c (in the example shown in Figure 4). The first connection is to that end of the winding electrically adjacent the switching means provided by the gate turn off device GT01 and i~s associated pro~ection diode D2, and incorporates the diode D3so that this connection can only accommodate charging currents tending to increase the potential on the associated plate of capacitor Cl. The second connection is made to the other end of the winding via a thyristor SCRl, which when triggered on will pass discharging cur-rents from the associated plate of capacitor Cl. The diode Dl prevents the thyristor from appearing when turned on as a short circuit across capacitor Cl, and permits the other end of the winding to rise to a potential above B .
Referring to Figure 5, the left and right halves of the circuit shown are identical and essentially independent except for sharing one bias circuit as a matter of con-venience, and except that in the example shown they receive input from separate sets of light sources 26 and photo-detectors 27, spaced 90 apart in relation to the timing wheel 25 so that they operate 90 out of phase with one another, and the left half of the circuit incorporates the coils 22a, 22c whereas the right half incorporates ~ ~Z~5 - 15 ~
the coils 22b, 22d.
Each triyger circuit 28 has an input amplifier Al connected to a bridge formed by resistors R2, R3 and R4 (R3 and R4 being common to both amplifiers)and a phbtotransistvr forming the photodetector 27. When apertures in the wheel 25 permit light from a light emitting diode fed through resistor Rl and forming the light 26 to fall off the photodetector, the collector to emitter resistance of the latter falls and reverses the direction of imbalanc~ of the bridge, thus causing the comparator Al to apply a switching transition to the conventional push-pull output circuit fo.rmed by complementary transistors TRl and TR2 and associated bias componentsR5, R6, R7, ~8, R9 and zener diodes 21 and Z2. The output of this circuit is appli~d via a current limiting protection resistor R10 to the device GTOl via line 29, and via a differentiating capaci-tor C2, a pulse transformer Tl, and a current limiting protection resistor Rll to the gate of thyristor ~1. A
small inductance ~1 is located in series with the cathode of the thyristor to limit. the rate of current increase through the thyristor to within its specifications. This inductance, and other components alrea~y mentioned, and ~k~ r~sistor R12, capacitor C3 and diode D4 associated with the gate turn off device GTOl,whose purpose is solely ~e protection of associated components, do not signifi-cantly alter the operating mode of the circuit, and they will not be further discussed. The actual values of the components utilized, and the se~ection of the semiconduc-tors to be utilized, is heavily dependent upon the size of the motor and the supply potential utilized, and the necessity to operate within the specifications of the available semiconductors under all anticipated operating conditions.
The operation of the apparatus can best be understood by referring to Figures 3a and 3b.
1~824L55 For purposes of explanation it will be assumed that the poles of toothed wheel 14 are north poles and thus that the poles of toothed wheel 13 are south poles. It will also be assumed that rotation of rotor 10 in a counter-clockwise direction, as shown by arrow 33, has alreadystarted.
When taothed wheel 14 is in the position shown in Figure 3a, silicon controlled rectifier SCRl and gate turn off switch device GTOl are of and no current from the D.C.
power supply flows through coils 22a and 22c. As a con-sequence, electromagnets 20a and 20c are de-energized.
Nevertheless, cores 21a and 21c attract poles Nl and N4 respectively of toothed wheel 14 as these seek a minimum reluctance position. This attraction coupled with the in-ertia of rotor 10 carries rotor 10 to the posi~ion shownin Figure 3bo As poles Nl and N4 mo~e past de-energized coils 22a and 22c respectively from the position shown in Figure 3a to the position shown in Figure 3b, currents are induced in the coils as a result of movement of poles Nl and N4 past them. The induced current is in a sense such as to charge capacitor Cl through its first connec-tion via diode D3.
Once the position of Figure 3b has been assumed, an aper-ture in wheel 25 passes diode 26 resulting in a trigger pulse on conductor 29 which triggers gate turn off device GTOl into conduction. At the same time a trigger pulse on conductor 30 triggers silicon controlled rectifier SCR1 into conduction. Initially the charge on capacitor Cl will be sufficiently large that diode Dl will be reverse biased and capacitor C1 discharges via thyristor SCRl through coils 22a and 22c and gate turn off device GTOl.
Eventually the charge on capacitor Cl may decrease suffi-ciently that diodé Dl will no longer be reverse biased and current from the D.C. power supply flows in coils 22a and 22c. The current, first from capacitor Cl and then from the supply causes ~1e poles of electromagnets 20a and 20c that are adjacent poles Nl and N4 to become north poles. The resulting magnetic repulsion between electro-magnet 20a and pole Nl and between electromagnet ~ 20c and pole N4 causes continued counterclockwise rotation of rotor lO. Silicon controlled rectifier SCRl turns off in this period as the discharge current from the capacitor falls to zero. After poles Nl and N4 have rotated a pre-determined amount beyond electromagnets 20a and 20c res-pectively, the wheel 25 shuts off light ~alling on photo-transistor 27 from diode 26, applying a negative potential to line 29 and turning off the device GTOl. This results in the D.C. power supply being disconnected from coils 20a and 20c, whereupon a similar cycle is repeated but this time with poles N6 and N3 interacting with electromagnets 20a and 20c respectively. Intermediately, a similar cycle occurs, involving the lower half of the circuit of Figure 5, the poles N2 and N5 and the electromagnets 2~b and 20d respectively. In addition, the same cycle will have ~een repeated previously but with poles N3 and N6 and electro-magnets 20~ and 20d respectively.
Of course the same sequence of events is occurring with respect to toothed wheel 13 and elec~romagnets 20a - 20d except that the opposite poles of electromagnets 20a - 20d adjacent toothed wheel 13 are alternately energized to form south poles rather than north poles.
In general, the poles on the rotor wil~ always tend to seek positions such as to minimize the reluctance of the may-netic circuits set up between the rotor and the stator.
3~ This reluctance will be a minimum in the case of poles adjacent de-energized electromagnets when the poles and magnets are angularly aligned. However, when all of the electromagnets are de-energized, the seeking forces will tend to cancel each other out because of the relative configurations of the rotor and stator. In the case ~8~5S
already des~ribed of electromagnets energized so that their poles have the same polarity as adjacent poles of the rotor and therefore repel one another, the reluctance will be a minimum when the electromagnet pole is midway between two rotor poles. In the case o~ electromagnets energized so that their poles have the opposite polarity to adjacent poles of the rotor and therefore attract one another, the reluctance will again be a minimum when the electromagnet pole is aligned with a rotor pole. The lC connection of the coils 22a, 22b, 22c, 22d may be oriented for operation in either of these two modes, i.e. ei~her repulsion operation or attraction operation. By providing duplicate sets o~ coils on each electromagnet, with a first winding on a particular magnet in series or parallel with a second winding on an adjacent magnet, both modes may ~e used simultaneously to obtain greater torque from a given motor configuration. Whilst the sense of the con-nections to the coils and the orientation of the disc 25 may be altered to accommodate th~se various modes of oper-ation, the mode of operation of ~he circuit of Figures 4and 5 remains substantially the same.
In order to maximize the mean torque available from thQ
motor and minimize losses, it is desirable that the electromagnets be energized only when the rotor poles adjacent the electromagnet poles are moving towards a minimum reluctance position. If thP magnets are energized during a period when the adjacent rotor poles are moving away from a minimum reluctance position, a countertorque will be produced during this period. This condition is typical for example of a stepper motor operated in a dis-crete stepping mode, in which the interaction of the rotor and stator produces in each step first an accelerat-ing torque as the rotor moves towards a new minimum reluc-tance position, and then a holding torque as it reaches and moves through this position. It is however undesir-able in a motor intended for continuous running.
~282455 Correct energi~ation of the electromagnets is not merely a matter of correctly timing the switching of current to the electromagnet windings since the latter posses sub-stantial inductance, which moreover varies with the reluctance o~ the magnetic circuit with which they are associated. As a result, the rate of build up of current in the winding, and thus the rate of energization, is determined by the value of this inductance and the poten-tial applied to the winding. As the current builds up, so does the energy sto~ed in the magnetic circuit. In order to de-energize the magnet, it is not sufficient merely to interrupt the current through the winding, since the stored energy must also be removed in some man-ner. For efficient operation this energy should be recovered and used productively. Furthermore, to obtain a high specific power output from the mo~or, in the form of good torque at high speeds of rotation, it is necessary that both energization and de-energization of the magnets be as rapid as possible.
In the arrangement described, and referring to Figure 4, let it be assumed as a convenient starting point that the switching device GTOl is switched on and current is pass-ing (using the positive to negative current flow conven-tion) from the supply B+ through diode Dl, coils 22a and 22c, diode D2 and device GTOl to the supply ground. The current in the coils 22a and 22c results in a correspond-ing magnetic flux in the maynetic circuits associated with the coils . Device GTOl is now turned of f, interrupting the cir~uit through the supply. The tendency of the flux in the magnetic circuits to collapse induces potentials in the coils such as to tend to oppose this collapse, and these potentials result in the forward current in the coils continuing through the alternative path provided by the diode D3, the capacitor Cl, and the diode Dl. This 35 forward current continues until the potential across the capacitor Cl equals that induced across the coils, by which 2~5 _ 20 --time most of the available energy from the collapsing magnetic field has been transferred to the capacitor Cl.
Assuming that thyristor SCRl remains in a blocking condi-tion, the capacitor will then remain charged since it can-not discharge thxough the diodes Dl and 33. The timerequired for this transfer of energy to the capacitor is determined by the resonant frequency of the tuned circuit formed by the windings 22a, 22c and the capacitor Cl, being rather less than the period o~ one half cycle.
Oscillation of the circuit is suppressed by the diodes Dl and D3, and therefore by suitable choice of capacitance and inductance value, very rapid de-energization of the magnets can be obtained, whilst the capacitor Cl can be charged to a potential much greater than the supply potential.
When energization of the coils 22a and 22c is again re-quired, device GTOl is again switched on, and thyristor SCRl is simultaneously switched on. If the potential at the lower plate of Cl exceeds B , as will normally be the case, diode Dl will be reversed biased, and current will endeavour to flow from Cl and SCRl through coils 22a and 22c and device GTO2 to ground. ~he rate o~ build up of current through the coils will depend on the potential available at the lower plate of Cl, provided that its upper plate has a low impedance path to ground, in this case through a terminal of the supply. Since this avail-able potential will usually be much greater than the supply potential, the rate of current build up on the coils will in turn be much greater than wou].d be the case were only the regular supply potential available to produce this build up.
The interaction o the rotor and stator to seek minimum re-luctance position is an attempt to minimize the energy stored : in the ~agnetic circuits, the energy released upon result-ing relative movement ~eing available as mechanical energy ~ 32455 (di~regarding iron, copper and frictional losses). When the motor is running, energy will be required from the supply to supplement that available from the capacitor Cl only to make up losses and to replace mechanical energy delivered by the motor to a load. Each time the device GTOl is switched on, current to the windings will be initially supplied from the capacitor Cl. Whe~ the poten-tial on the lower plate of Cl drops bel~w the supply potential, make up current will then pass from the supply through diode Dl until the device GTOl is switched off.
Under overrun conditions, the back EMF generated in the coils may be such that potential on lower plate of Cl never drops low enough to allow diode Dl to become forward biased.
In the arrangement shown, the upper plate of capacitor Cl draws current from the supply during its discharge, and in effect appears, so far as the coils are concerned, in series with the load. 1~ the upper plate (as shown in Figure 4) is connected to ground then it will draw no current from the supply during discharge, but will draw current during charging. Either of these connections may be utilized, or any other connection which provides a low impedance path between the upper plate and the supply.
For various reasons, it may be desirable to withdraw : 25 energy from the capacitor Cl. Firstly, it may be necessary to ~void the build up of excessive potentials across the capacitor which might cause breakdown of the associated : semiconductor devices or the capacitor itself. Seondly, such withdrawal enables energy recovery from the motor during overrun conditions or if the motor is being driven to form a genera~or. Thirdly, it enables a measure of speed control to be exercised by increasing the rise time of the current in the windinys. Finally, it enables the motor to be utilized as a step-up DC to DC converter, since the output potential which can he o~tained can be 4~5 considerably higher than the supply potential. A possible means for achieving such energy withdrawal is il~ustrated in Figure 4 in broken lines, in the form of a suitably controlled thyristor SCR2, having its anode connected to the lower plate of Cl, and its cathode connected to a load RL.
The timing of the trigger signals applied to the primary switching devices such as GTOl and the secondary switching devices such as SCRl is important to the attainment of maximum power output. Some adjustment of the theore*ical optimum positions is desirable in order to ensure a par-ticular sense of rotation, and in order to facilitate starting.
In practice, with apparatus of the type shown in Figure 2 operating in the mode first described, successful results have been achieved by energizing the coil of each electro-magnet to repel its associated pole of toothed wheel 14 about 7.5 past top dead centre and maintaining its coil energized until the pole in questions has reached about 22.5 past top dead centre. These figures are exemplary only and should not be construed as limiting. For example, by delaying turn off of a winding, the rotor will be sub-jected to a countertor~ue as it moves past its minimum reluc-tance position, reducing the net transfe~ of kinetic e~ergy by the rotor and thus reducing motor speed for a gi~en load.
It should be noted that as rotor 10 speeds up (for example as result of increasing the voltage of the D.C. power supply), it is necessary, in order to obtain energization and de-energization at these angles, to move both photo-cell 27 and light sources 26 relative to timing wheel25 so that photocell 27 is activated earlier in the cycle. This is because of the finite time required for the triggering current to build up. Movement of these components can be effected manually or automatically. In ~245`~
the latter case the holder for the photocell and light source can be driven by a motor whose output shaft posi-tion is responsive to changes in the speed of shaft 11.
While preferred embodiments of this invention have been described herein, the invention is not limited thereto, and those skilled in the art will appreciate that changes may be made therein withvut departing from the spirit and scope of the invention as defined in the appended claims.
Thus, although in the embodiment described and in the following claims, the connection to the capacitor Cl are described as being made to the ends of the phase winding, it is intended that functionally equivalent arrangements be comprised wi~hin the scope of the invention. Thus the connections to the capacitor could be made from an addi-tional portion of the winding}transformer coupled to the remainder.
:, An example o~ such an arrangement is illustrated in Figure 6, showing the essentials of an alternative circuit which may replace the circui~ of Figure 4. A number of the com-ponents whose function is the same have been allotted the same reference numerals. The windings 22a and 22c have been represented simply by the reference 22, which may represent either a pair of diametrically opposed stator windings or a single winding accordiny to the configura-tion of the motor. The gate turn off device has been shown replaced by a switching transistor TR10 which will operate similarly but requires a continuous signal at its base electrode during the time that it is turned on. The capacitor Cl has been shown with its alternative connec-tion to ground rather than B~.
The abave changes essentially merely illustrate possible ^~
~'~a2~55 variants already discussed above. The most significant difference between Figures 4 and 6 is the use of a secon~
dary winding or windings 23 to derive the chargîng cur-rent for capacitor Cl. This winding (or windings) 23 is pre~erably bifilar wound with the winding(.s~ 22 to pro-vide clo~e coupling (although a closely coupled step-up con~iguration could be used) and is isolated from the primary windings. One end of the winding 23 is connected to diode Dl which provides a unidirectional path from B~
through winding 23 to capacitor Cl. Although ~he other plate of capacitor Cl may be connected to either B~ or to ground, as in the case of the embodiment of Figure 4, the other end of the winding 23 should be connected to B+, either directly or through diode Dl, rather than to ground, since otherwise a potential equal to the supply potential must be developed across winding 23 be~ore the capacitor can begin to charge.
FI~.LD OF TH~: INVENTION
This invention relates to electric motors operating on the reluctance principle, this term being used in a broad sense to refer to motors in which a changing electromag-netic field is generated by a stator, and poles of a nor-mally unwound ferromagnetic rotor move in that field towards a minimum reluctance position whose angular loca-tion is progressively altered by the changing electro-magnetic field so as to produce continuous rotation of the rotor. In principle, the functions of the rotor and and stator can be interchanged, but in practice it is usually more satisfactory for the electromagnetic field to be produced by the stator since this eliminates the necessity for slip rings or commutators, and ~his arrange-ment will be assumed in the following specification andclaims. The polarization of the rotor may be induced in soft magnetic matexial by the stator electromagnetic field, as is usually the case in reluctance motors as commonly so called, or the rotor poles may be permanently polarized by permanent magnets comprised by the rotor, as in most stepper motors and many forms of brushless direct current motor.
BACKGROUND OF THE ~NVENTION
Most electric motors have traditionally been provided with both stator and rotor windings, even though in many induc-tion motors the latter may be simplified to a "squirrelcage", and rely upon either conduction through commutators or slip rings, or upon induction, to energize the rotor.
Induction motors normally require an alternating supply for their operation, and are not in general well adapted to variable speed operation since their optimum operating speed is intimately xelated to the velocity of the rotat-ing field generated by the alternating supply. Direct : current motors on the other hand require some form of com-; mutative switching of the supply to the rotor to pro ~de ~2~ 455 continuous rotation, and such commutators are expensive to build and maintain, as well as a source of undesirable broadband electrical interference. Control of such motors where accuxate speeds or displacement con~rol i5 required remains complex and difficult.
As a result, attention has been giventfor a wide range of potential applications ranging from motors for consumer electronic equipment to large appliance, traction and industrial motors,to motors of the reluctance type in which the current through stator windings is switched, ; usually in modern designs by solid state devices, so as to produce a changing electromagnetic field which will ; result in pr~gressive angular movement of poles of a sta-tor as it seeks a minimum reluctance position within the field. This movement may be in the form of discrete steps, i~dividually controlled, as in a stepper motox, ~r the movement of the rotor may be sensed by some suitable means to switch the current through the stator windings so as to provide a free running mode in which successive steps or impulses run together to provide continuous ro~ation.
Reyardless of the mode employed, the inductance of the windings provides difficulties as they are progressively switched, since it limits the rate of increase of the cur-rent upon energization and the rate at which magnetic Pnergy can be dispersed w~en no longer required, particu-lar~y if excessive potentia~6 are not be induced in the wlndlng~ .
One widely used approach to the second of the above prob-lems has been to utilize so-called "free-wheeling" diodes connected across the various windings. When external cur-rent to a winding is interrupted, the diode provides an alternative path for the current induced in the winding by the collapsing magnetic field, and the current thus recir-culates until the field is fully collapsed, giving a slow all in current. The rate of collapse can be increased by x~
incorporating a resistive element in the circuit, but this reduces efficiency. Such a resistive element can also be used to assist rapid build up of the field, by acting as a current limiting device which permits application of higher energization potentials than would otherwise be possible. In many actual or potential applications of such motors, efficient operation and high torque over a wide range of speeds is required, and to attain these objectives it is necessary to achieve rapid current rise and fall times in the windings without unnecessary dissi-pation of energy as heat so that the fields of the stator and rotor can be maintained in optimum relationship. If rise and fall times are too slow, there will either be overlap with different windings producing opposing fields at some stages in the cycle, or the speed and/or torque obtainable will be limited.
One approach to the prob~em of obtaining rapid fall times has been to regenerate current from the stator windings to the supply. Thus in United States Patent No. 4,229,685 issued to Meier, the freewheeling diodes are supplemented by diodes which divert current through a regulator circuit and back to the supply thus rQcovering the energy stored by the field generated by a winding following de-energization of the latter whi~st assisting in rapid col-lapse of the field. In order to promote rapid build upof the magnetic field, however, Meier utilizes a ch~pping current regulator to limit current through the motor winding, which also serves to select a particular winding, together with a secondary switch which takes the free-wheeling diode out of circuit except when that winding isenergized. Such a system requires that the supply poten-tial to the motor be high enough to provide the desired rate of current build up in the windings, and also ; requires the use of chopping regulators capable of sus-taining the supply potential. The Meier patent refers to a stepping motor which can be operated in free running ~ 2~245S
mode. A somewhat similar arrangement is described in U. S. Patent No. 4,459,519 i~sued to Erdman. This relates to a motor with a permanent magnet rotor apparently pri-marily intended for refrigeration systems, and whilst a different system is used for regulating the current in the windings, the rate of current build up is still limited by the supply potential~ Yet further similar arrangements as applied to various configurations of motor having mag-netic rotors of both homopolar and heteropolar construc-tions are described in U. S. Patent No. 3,826,966 issued to Nagasaka et al. Yet a further arrangement operating upon this principle is shown in U. S. Patent No. 3,748,554 issued to McDonald.
A further problem which frequently arises in the design of brushless DC motors is that of turning off the switchingsemiconductors utilized to provide control of the current ~ supplied to the field windings. The most readily avail-; able and economical semiconductors for the purpose are thy-ristors which have a controlled turn on ability but usually can only be turned off by reducing the current through the device to near zero. Furthermore, when turn off is achieved, stored energy in the inductive circuits being controlled can give rise to high potential spike~ which can destroy the semiconductors if not properly controlled.
For this reason commutation circuits have been developed for use in such applications which are essentially of ring counter configuration in that the turn on of the device controlling one winding is utilized to discharge one plate of a capacitor connected to the supply to the previously turned on device so as momentarily to divert the current to that device to the other plate of the capacitor and thus interrupt the current flow through the device for long enough that it switches off. Once it is switched off, recharging of the capacitor occurs, thus taking up some of the energy from the collapsing field of the associated winding.
1~8Z~5 Although the capacitors used in ~uch circuits can contri-bute to the transfer of surplus ener~y from one winding to the next, this is not their primary purpose, and the arrangement is only useful in cases where the supply to a following winding can be turned on before ~hat to a pre-vious winding is terminated. Examples of such arrangements may be found in Vnited States Patents Nos. 3,611,081 issued to Watson, and 4,445,077 issued to Kirschner.
In United States Patent No. 3,444,447 issued to Newell, an arrangemen~ is described for improving the rise and fall times of currents in the windings of a step motor. Firstly, the supply is utilized to charge capacitors associated with control circuits for each winding, ~he circuit beinq arranged and the capacitor being switched so that its charge potential is added to the supply potential when the associated winding is energized, thus initially boosting the supply potential and improving the current rise time.
Additionally, as described with reference ~o Figures 7 to 9, an arrangement using diodes and/or autotransformers is utilized ~o transfer energy from the collapsing field of a winding which has just been turned off to boost the po-tential applied to a winding that has just been turned on, thus improving both rise and fall times and improving efficiency. The first of the techni~ues disclosed by Newell provides a degree of boost which is substantially constant regardless of operating conditions, whilst the second technique is applicable only where the turning on of one winding is simultaneous with the turning off of another.
30 In United Sta~es Patent No. 3,486,096, issued to Van ; Cleave, windings of a stepper motor are transformer coupled in pairs, and the switching means for each winding is operative to block current flow in a forward direction only. One or more diodes are placed in series with a D.C.
supply so that current can flow from the supply in a forward 1~3X4~5 direction only, and unswitched ends of the windings, or pairs of them, are connected to a capacitor or capaci~ors whose other plates are grounded. When forward current through a winding i8 interrupted, a current in the reverse dixection is induced in the winding coupled thereto, and charges the associated capacitors to a high potential, whilst the field produced by the original winding rapidly collapses. When a switching device again permits forward current through a winding connected to the capacitor, the high potential charge on the capacitors assists rapid cur-rent build up in that winding. The primary purpose o the arrangement is to speed up operation and protect the switching device; efficiency is evidently not a concern since resistors are placed in series with the supply to limit current. Moreover, the de~ice is applicable only to motors having a suitable winding arrangement so that transformer action may be utilized to reverse the direc-tion of curren~ flow in the windings during energy recovery.
A group of related United States Patents, ~os. 3,560,817 20 and 3,560,818 issued to Amato, 3,560,820, 3,697,839 and 3,714,533 issued to Unnewehr, and 3,697,840 issued to Koch, and all assigned to Ford Motor Company, relate to various configurations of control circuits for reluctance type motors, in each of which a tuned circuit comprising capacitors and induc~ors (which may be or comprise the motor winding) are used in conjunction with solid state switching elements, utilizing resonance effects to increase the effective potentials available to provi~e fast rise and fall times, and to reverse the polarity of charge ; 30 received from the circuit when a primary supply is cut off. Although there are differences between the arrange-ments described in these various Ford patents their general principle of operation relies on drawing current from the primary supply in pulses of approximately half-sine wave form. Since the period of the pulses is set at a ~8Z~
substantially constant magnitude by the reactive components in the circuit, provision for differen* motor speeds is provided by varying the numher of pulses delivered during each energization phase of a winding, substantial continu-ity of current flow in the winding between pulses beingobtained both by freewheeling effects and by charge rever-sal and re-applica~ion of energy recovered during field collapse. In some of the arrangements, the circuit is operated so as to build up potential on a capacitor to a level much greater than the supply, which potential is applied so as to augment the magnitude of the current pulses from the supply. In the Unnewehr Patent No.
3,714,533, it is disclosed that surplus energy from this capacitor may be tapped off by suitably timed firing of an SCR and returned to the supply if not required to drive ; the motor. ~arious methods for controlling the various motors disclosed are discussed, in general invol~ing air-ly complex control of the firing sequence of the several controlled rectifiers associated wi~h each winding. In each case, it appears that operation requires an inductor in series with the supply additional to the motor winding, and that the operating parameters of the circuit are critically dependen~ upon the value of this inductor and - also thoseofan energy storage capacitor. These same ele-ments also limit the rate at which energy can be drawn from the supply, since the resonant characteristics of the load limit both the periods over which current can be drawn from the supply and ~he rate of supply current rise and fall.
30 United States Patent No. 4,025,831 disc~oses a motor having in one embodiment plural stator windings and a permanent magnet homopolar rotor in a physical arrangement somewhat resembling the physical arrangement of the preferred em-bodiment of the motor described hereinbelow. The control system of the motor is however quite different, as is the mode of operation, no special provision being made for -- 8 - ~ Z ~2 45~
improving current rise and ~all times in the stator windings, or for recovering energy from collapsing stator fields.
An object of the present invention is to provide a motor of the general claæs discussed in which rapid rise and fall of winding current can be obtained at timings approp-riate to ensure effective developmen~ of motor torque over a ~ide range of motor speeds, without the necessity for expedients which are wasteful of energy (such as added series resistance), without unduly restricting the rate at which energy can be drawn from the supply to meet tor-que demands, and without the necessity for highly sophis-ticated control means for matching motor characteri.stics to load requirements.
According to the invention an electric motor, of the type having a stator with multiple sequentially energizable phase windings and a rotor magnetized to seek a minimum reluctance position within a progressively moving electro-:~ magnetic field produced by said phase windings, first con-trolled switching means in sexies relative to a D.C. power ,~
~ supply with at least a ~ of each phase winding~, and 1A~ means to control said first switching means to produce said progressively moving electromagnetic field, the im-provement wherein ~a) a charge storage capacitor is pro-~ 25 vided or each such phase winding, with one terminal of i said capacitor connected by a 1QW impedance path to said supply, and the other terminal having ~irst and second connections establishing al~ernative low impedance paths to the w.inding, the first such connection being estab-lished through first diode means oriented to permit low impedance passage to said capacitor from the winding of forward current generated by collapse of ~he field pro-: duced by said winding after turn-off of the switching means, and the second such connection being established through second controlled switching means, (b) means are provided to turn on said second switching means 9 ~3Z455 substantially simultaneously with said first switching means to provide low impedance passage of curren~ from said capacitor in the forward direction through said winding to said fir~t controlled switching means, and (c) second diode means are provided between the supply and the çonnection to the winding from the second con-trolled switching means, such as to presen a low imped-ance path for fo~ward current from tne supply but a high impedance to reverse current.
lo As compared to the Van Cleave arrangement the present in-vention does not require any special arrangement or oper-ating sequence o~ the motor windings to utilize the energy recovered bv the capacitor, nor does the primary switclling device need bidirectional current carrying capabilities, and the ability to withstand, in blocking condition, the additional potential applied by transformer action in the winding~.
As compared to the Ford patents discussed above, the values of reactive ~omponents in the present invention ; 20 limit neither the maximum current which can bo~ drawn fr~m - the supply, nor the proportion of th~ active period of a phase winding during which current may be drawn if neces-sary. Essentially, the value of the capacitor in relation to the inductance ~f the associated winding determines the rates of current rise and ~all which can be achieved in the ~inding, and the proportion of the active period of a phase winding during which it is necessary for cur-rent to be drawn from the supply. Under normal operation, the current to energize a winding is supplied from the capacitor, and current is only drawn from the supply in the latter part of the period during which the primary switching means is switched on, this current draw provid-ing make-up for energy output to a load or dissipated by motor losses. The charge on the capacitor can be tapped by a suitable circuit so that the motor can operate as a D.C. to D.C. up-converter, or energy recovery or ~ 10 - ~2~2d~55 regeneration braking under overrun conditions. Under such overrun or braking conditions the energy stored in the capacitor will be i~excess of that required to maintain rotation of the motor and the excess may be recovered by drawing current from the capacitor when its potential exceeds a certain level.
Further features of ~he invention, and further explana-tion of its construction will become apparent from the following description of an exemplary embodiment with reference to the accompanying drawings.
Figure 1 is a front elevation of the stator and rotor of apparatus embodying the invention;
Figure 2 is a section taken along line 2-2 in Figure l;
Figures 3a and 3b ar~ views similar to Figure 2 showing various positions of the rotor and stator and useful in explai.ning the operation o the apparatus;
Figure 4 is a circuit diagram useful in explaining the switching operation that takes place in the practice of the present invention;
Figure 5 is a circuit diagram of trigger pulse generating and switching circuitry that may be used in practicing the invention; and i Figure 6 is a circuit diagram showing an arrangement ; alternative to ~hat shown in Figure 4.
Referring to Figure 1, and sometimes to Figure 2 apparatus embodying the present invention includes a rotor 10 which, in the embodiment shown, includes a rotatable shaft 11 on which a permanent magnet 12 is mounted and fixed, e.g. by keying or by any other suitable means, and on which two, spaced apart toothed wheels 13 and 14 are mounted and fixed, again by keying or by any other suitable means.
The ~oothed wheels are identical to each other and, in the embodiment shown, each have six teeth spaced 60 apart.
This is not critical, however, and th~ number of teeth may vary widely. The toothed wheels are mounted with respect to each other on shaft 11 50 that the teeth of the toothed wheels align with each other.
Each toothed wheel is made of a magnetizable material, i.e., a ferromagnetic material, e g., steel, and thus each tooth of each toothed wheel constitutes either a north ox a south pole, all of the teeth on one toothed wheel being of the same polarity and all of the te~th on the other toothed wheel also being of the same polarity but of oppo-site polarity to that of the teeth of the first-mentioned toothed wheel. In Figure 2 the six teeth of toothed wheel 14 are shown as north poles Nl ~o N6 inclusive.
Many varia~ions in the rotor are possible. For example, individual permanent magnets may be employed in place of one permanent magnet and ferromagnetic toothed wheels, or the rotor may be magnetized by fields produced by windings on the stator. Moreover, heteropolar a~ well as homopolar rotor pole configurations may be ~tilized with suitable stator winding configurations. In the example described, however, the rotor will have permanent magnet means mounted on and fixea to a rotatable shaft, the permanent magnet means having a plurality of spaced apart north poles and a plurality of spaced apart south poles, and both homopolar sets of poles will be movable in two circular paths, one of which is shown at 15 in Figure 2.
In the embodiment of the invention shown, the stator 16 consists of two spaced apart stationary plates 17 and 18 that happen to be of square configuration and that are held in fixed, parallel relationship with respect to each other by suitable spacers ox fastening devices 19; four electro-magnets 20a, 20b, 20c and 20d; and holders 24 for the ; electromagnets.
1~, i7d ~3;2 4L 5 ~;
Plates 17 and 18 may be made of aluminum, for example, as may holders 24 and spacers or fastening devices 19. Other suitable materials that are ~on-ferromagnetic also may be employed.
Each electromagne~ 20a, 20b, 20c and 20d consists of a ferromagnetic core 21a, 21b, 21c and 21d respectively and a coil 22a, 22b, 22c and 22d respectively. Holders 24 are secured to plates 17 and 18 and cores 21a-21d fit into openings provided in holders 24.
The number of electromagnets may be varied without depart-ing from thls invention, but sufficient electromagnets must be employed to make it possible to creast a progres-sively charging magnetic field which, through interaction with the permanent magnets of rotor 10, causes rotation of rotor 10.
Electromagnets 20a - 20d are evenly spaced apart from each other (at 90 in the illustrated embodiment) and, as best shown in Figure 2, are mounted sufficiently close to the circular paths travelled by the north and south poles of rotor 10 that the pole~ are capable of inducing voltages in the coils of the electromagnets and the electromagnets are capable of magnetically attracting and/or repelling the poles as the latter rotate past the electromagnets.
It will be understood, of course, that plates 17 and 18 carry bearings for shaft 11, and shaft 11 may be coupled to any rotary equipment that is to be dri~en thereby.
Mounted on shaft 11 is an apertured timing wheel 25 on opposite sides of which are light sources 26 and photo-detectors 27. These compon~nts constitute a source of trigger pulses or timing pulses. Light sources 26 and photodetectors 27 are mounted on a holder which can be : rotated relative to the apertures in timing wheel 25 to ~282~
- 13 ~
vaxy the phasing of the trigger pulses.
It will be appreciated, of course, that many other types of devices may be used for generating trigger pulses with-out departing from the present invention. For example, a S microswitch contacted by a projection on shaft 11 could be used.
Referring now to Figure 5, the trigger pulse generating and switching circuitry for coils 22a and 22c and for coils 22b and 22d is shown along with electrical energy utilization circuitry. Only the switching circuitry and electrical energy utilization circuitry for coils 22a and 22c is shown in Figure 4. The switching circuitry and electrical energy utilization circuitry for coils 22b and 22d is the same as that shown in Figure 4, as will Se evident from Figure 5.
Since the trigger pulse generating circuitry, switching circuitry and electrical utilization circuitry~ is the same for the two sets of coils, it will be described in detail only for coils 22a and 22c.
Shown within line 28 is a standard trigger pulse generating circuit that provides trigger pulses on conductors 29 and 30, the former being connected to the gate electrode of a gate turn off device GTOl and the latter being con~ected via a transformer to the gate electrode of a silicon con-trolled rectifier SCRl.
A D.C. power supply (represented by B and ground) isprovided with B+ being connected via a diode Dl, coils 22a and 22c and a protection diode D2 to the anode of gate turn off device GT~l, the cathode thereof being grounded.
Provided that the pulse generating circuit is suitably modified to provide appropriate switching waveforms and potentials, the gate turn off devices may be replaced by 82a~5 bipolar or field efect transist~xs.
Also associated with coils 22a and 22c is an electrical energy storage device which, in the embodiment shown in Figures 4 and S, is simply a capacitor Cl.
One plate of the capacitor is connectea to a terminal of the supply; in the example shown this is the B~ ~erminal.
Any connection is acceptable that will provide a low im-pedance source or sink for capacitor charging and dis-charging currents required to accommodate changes in potential of the other plates. This other plate is pro-vided with two alternative connections to opposite ends of the phase winding comprising the coils 22a and 22c (in the example shown in Figure 4). The first connection is to that end of the winding electrically adjacent the switching means provided by the gate turn off device GT01 and i~s associated pro~ection diode D2, and incorporates the diode D3so that this connection can only accommodate charging currents tending to increase the potential on the associated plate of capacitor Cl. The second connection is made to the other end of the winding via a thyristor SCRl, which when triggered on will pass discharging cur-rents from the associated plate of capacitor Cl. The diode Dl prevents the thyristor from appearing when turned on as a short circuit across capacitor Cl, and permits the other end of the winding to rise to a potential above B .
Referring to Figure 5, the left and right halves of the circuit shown are identical and essentially independent except for sharing one bias circuit as a matter of con-venience, and except that in the example shown they receive input from separate sets of light sources 26 and photo-detectors 27, spaced 90 apart in relation to the timing wheel 25 so that they operate 90 out of phase with one another, and the left half of the circuit incorporates the coils 22a, 22c whereas the right half incorporates ~ ~Z~5 - 15 ~
the coils 22b, 22d.
Each triyger circuit 28 has an input amplifier Al connected to a bridge formed by resistors R2, R3 and R4 (R3 and R4 being common to both amplifiers)and a phbtotransistvr forming the photodetector 27. When apertures in the wheel 25 permit light from a light emitting diode fed through resistor Rl and forming the light 26 to fall off the photodetector, the collector to emitter resistance of the latter falls and reverses the direction of imbalanc~ of the bridge, thus causing the comparator Al to apply a switching transition to the conventional push-pull output circuit fo.rmed by complementary transistors TRl and TR2 and associated bias componentsR5, R6, R7, ~8, R9 and zener diodes 21 and Z2. The output of this circuit is appli~d via a current limiting protection resistor R10 to the device GTOl via line 29, and via a differentiating capaci-tor C2, a pulse transformer Tl, and a current limiting protection resistor Rll to the gate of thyristor ~1. A
small inductance ~1 is located in series with the cathode of the thyristor to limit. the rate of current increase through the thyristor to within its specifications. This inductance, and other components alrea~y mentioned, and ~k~ r~sistor R12, capacitor C3 and diode D4 associated with the gate turn off device GTOl,whose purpose is solely ~e protection of associated components, do not signifi-cantly alter the operating mode of the circuit, and they will not be further discussed. The actual values of the components utilized, and the se~ection of the semiconduc-tors to be utilized, is heavily dependent upon the size of the motor and the supply potential utilized, and the necessity to operate within the specifications of the available semiconductors under all anticipated operating conditions.
The operation of the apparatus can best be understood by referring to Figures 3a and 3b.
1~824L55 For purposes of explanation it will be assumed that the poles of toothed wheel 14 are north poles and thus that the poles of toothed wheel 13 are south poles. It will also be assumed that rotation of rotor 10 in a counter-clockwise direction, as shown by arrow 33, has alreadystarted.
When taothed wheel 14 is in the position shown in Figure 3a, silicon controlled rectifier SCRl and gate turn off switch device GTOl are of and no current from the D.C.
power supply flows through coils 22a and 22c. As a con-sequence, electromagnets 20a and 20c are de-energized.
Nevertheless, cores 21a and 21c attract poles Nl and N4 respectively of toothed wheel 14 as these seek a minimum reluctance position. This attraction coupled with the in-ertia of rotor 10 carries rotor 10 to the posi~ion shownin Figure 3bo As poles Nl and N4 mo~e past de-energized coils 22a and 22c respectively from the position shown in Figure 3a to the position shown in Figure 3b, currents are induced in the coils as a result of movement of poles Nl and N4 past them. The induced current is in a sense such as to charge capacitor Cl through its first connec-tion via diode D3.
Once the position of Figure 3b has been assumed, an aper-ture in wheel 25 passes diode 26 resulting in a trigger pulse on conductor 29 which triggers gate turn off device GTOl into conduction. At the same time a trigger pulse on conductor 30 triggers silicon controlled rectifier SCR1 into conduction. Initially the charge on capacitor Cl will be sufficiently large that diode Dl will be reverse biased and capacitor C1 discharges via thyristor SCRl through coils 22a and 22c and gate turn off device GTOl.
Eventually the charge on capacitor Cl may decrease suffi-ciently that diodé Dl will no longer be reverse biased and current from the D.C. power supply flows in coils 22a and 22c. The current, first from capacitor Cl and then from the supply causes ~1e poles of electromagnets 20a and 20c that are adjacent poles Nl and N4 to become north poles. The resulting magnetic repulsion between electro-magnet 20a and pole Nl and between electromagnet ~ 20c and pole N4 causes continued counterclockwise rotation of rotor lO. Silicon controlled rectifier SCRl turns off in this period as the discharge current from the capacitor falls to zero. After poles Nl and N4 have rotated a pre-determined amount beyond electromagnets 20a and 20c res-pectively, the wheel 25 shuts off light ~alling on photo-transistor 27 from diode 26, applying a negative potential to line 29 and turning off the device GTOl. This results in the D.C. power supply being disconnected from coils 20a and 20c, whereupon a similar cycle is repeated but this time with poles N6 and N3 interacting with electromagnets 20a and 20c respectively. Intermediately, a similar cycle occurs, involving the lower half of the circuit of Figure 5, the poles N2 and N5 and the electromagnets 2~b and 20d respectively. In addition, the same cycle will have ~een repeated previously but with poles N3 and N6 and electro-magnets 20~ and 20d respectively.
Of course the same sequence of events is occurring with respect to toothed wheel 13 and elec~romagnets 20a - 20d except that the opposite poles of electromagnets 20a - 20d adjacent toothed wheel 13 are alternately energized to form south poles rather than north poles.
In general, the poles on the rotor wil~ always tend to seek positions such as to minimize the reluctance of the may-netic circuits set up between the rotor and the stator.
3~ This reluctance will be a minimum in the case of poles adjacent de-energized electromagnets when the poles and magnets are angularly aligned. However, when all of the electromagnets are de-energized, the seeking forces will tend to cancel each other out because of the relative configurations of the rotor and stator. In the case ~8~5S
already des~ribed of electromagnets energized so that their poles have the same polarity as adjacent poles of the rotor and therefore repel one another, the reluctance will be a minimum when the electromagnet pole is midway between two rotor poles. In the case o~ electromagnets energized so that their poles have the opposite polarity to adjacent poles of the rotor and therefore attract one another, the reluctance will again be a minimum when the electromagnet pole is aligned with a rotor pole. The lC connection of the coils 22a, 22b, 22c, 22d may be oriented for operation in either of these two modes, i.e. ei~her repulsion operation or attraction operation. By providing duplicate sets o~ coils on each electromagnet, with a first winding on a particular magnet in series or parallel with a second winding on an adjacent magnet, both modes may ~e used simultaneously to obtain greater torque from a given motor configuration. Whilst the sense of the con-nections to the coils and the orientation of the disc 25 may be altered to accommodate th~se various modes of oper-ation, the mode of operation of ~he circuit of Figures 4and 5 remains substantially the same.
In order to maximize the mean torque available from thQ
motor and minimize losses, it is desirable that the electromagnets be energized only when the rotor poles adjacent the electromagnet poles are moving towards a minimum reluctance position. If thP magnets are energized during a period when the adjacent rotor poles are moving away from a minimum reluctance position, a countertorque will be produced during this period. This condition is typical for example of a stepper motor operated in a dis-crete stepping mode, in which the interaction of the rotor and stator produces in each step first an accelerat-ing torque as the rotor moves towards a new minimum reluc-tance position, and then a holding torque as it reaches and moves through this position. It is however undesir-able in a motor intended for continuous running.
~282455 Correct energi~ation of the electromagnets is not merely a matter of correctly timing the switching of current to the electromagnet windings since the latter posses sub-stantial inductance, which moreover varies with the reluctance o~ the magnetic circuit with which they are associated. As a result, the rate of build up of current in the winding, and thus the rate of energization, is determined by the value of this inductance and the poten-tial applied to the winding. As the current builds up, so does the energy sto~ed in the magnetic circuit. In order to de-energize the magnet, it is not sufficient merely to interrupt the current through the winding, since the stored energy must also be removed in some man-ner. For efficient operation this energy should be recovered and used productively. Furthermore, to obtain a high specific power output from the mo~or, in the form of good torque at high speeds of rotation, it is necessary that both energization and de-energization of the magnets be as rapid as possible.
In the arrangement described, and referring to Figure 4, let it be assumed as a convenient starting point that the switching device GTOl is switched on and current is pass-ing (using the positive to negative current flow conven-tion) from the supply B+ through diode Dl, coils 22a and 22c, diode D2 and device GTOl to the supply ground. The current in the coils 22a and 22c results in a correspond-ing magnetic flux in the maynetic circuits associated with the coils . Device GTOl is now turned of f, interrupting the cir~uit through the supply. The tendency of the flux in the magnetic circuits to collapse induces potentials in the coils such as to tend to oppose this collapse, and these potentials result in the forward current in the coils continuing through the alternative path provided by the diode D3, the capacitor Cl, and the diode Dl. This 35 forward current continues until the potential across the capacitor Cl equals that induced across the coils, by which 2~5 _ 20 --time most of the available energy from the collapsing magnetic field has been transferred to the capacitor Cl.
Assuming that thyristor SCRl remains in a blocking condi-tion, the capacitor will then remain charged since it can-not discharge thxough the diodes Dl and 33. The timerequired for this transfer of energy to the capacitor is determined by the resonant frequency of the tuned circuit formed by the windings 22a, 22c and the capacitor Cl, being rather less than the period o~ one half cycle.
Oscillation of the circuit is suppressed by the diodes Dl and D3, and therefore by suitable choice of capacitance and inductance value, very rapid de-energization of the magnets can be obtained, whilst the capacitor Cl can be charged to a potential much greater than the supply potential.
When energization of the coils 22a and 22c is again re-quired, device GTOl is again switched on, and thyristor SCRl is simultaneously switched on. If the potential at the lower plate of Cl exceeds B , as will normally be the case, diode Dl will be reversed biased, and current will endeavour to flow from Cl and SCRl through coils 22a and 22c and device GTO2 to ground. ~he rate o~ build up of current through the coils will depend on the potential available at the lower plate of Cl, provided that its upper plate has a low impedance path to ground, in this case through a terminal of the supply. Since this avail-able potential will usually be much greater than the supply potential, the rate of current build up on the coils will in turn be much greater than wou].d be the case were only the regular supply potential available to produce this build up.
The interaction o the rotor and stator to seek minimum re-luctance position is an attempt to minimize the energy stored : in the ~agnetic circuits, the energy released upon result-ing relative movement ~eing available as mechanical energy ~ 32455 (di~regarding iron, copper and frictional losses). When the motor is running, energy will be required from the supply to supplement that available from the capacitor Cl only to make up losses and to replace mechanical energy delivered by the motor to a load. Each time the device GTOl is switched on, current to the windings will be initially supplied from the capacitor Cl. Whe~ the poten-tial on the lower plate of Cl drops bel~w the supply potential, make up current will then pass from the supply through diode Dl until the device GTOl is switched off.
Under overrun conditions, the back EMF generated in the coils may be such that potential on lower plate of Cl never drops low enough to allow diode Dl to become forward biased.
In the arrangement shown, the upper plate of capacitor Cl draws current from the supply during its discharge, and in effect appears, so far as the coils are concerned, in series with the load. 1~ the upper plate (as shown in Figure 4) is connected to ground then it will draw no current from the supply during discharge, but will draw current during charging. Either of these connections may be utilized, or any other connection which provides a low impedance path between the upper plate and the supply.
For various reasons, it may be desirable to withdraw : 25 energy from the capacitor Cl. Firstly, it may be necessary to ~void the build up of excessive potentials across the capacitor which might cause breakdown of the associated : semiconductor devices or the capacitor itself. Seondly, such withdrawal enables energy recovery from the motor during overrun conditions or if the motor is being driven to form a genera~or. Thirdly, it enables a measure of speed control to be exercised by increasing the rise time of the current in the windinys. Finally, it enables the motor to be utilized as a step-up DC to DC converter, since the output potential which can he o~tained can be 4~5 considerably higher than the supply potential. A possible means for achieving such energy withdrawal is il~ustrated in Figure 4 in broken lines, in the form of a suitably controlled thyristor SCR2, having its anode connected to the lower plate of Cl, and its cathode connected to a load RL.
The timing of the trigger signals applied to the primary switching devices such as GTOl and the secondary switching devices such as SCRl is important to the attainment of maximum power output. Some adjustment of the theore*ical optimum positions is desirable in order to ensure a par-ticular sense of rotation, and in order to facilitate starting.
In practice, with apparatus of the type shown in Figure 2 operating in the mode first described, successful results have been achieved by energizing the coil of each electro-magnet to repel its associated pole of toothed wheel 14 about 7.5 past top dead centre and maintaining its coil energized until the pole in questions has reached about 22.5 past top dead centre. These figures are exemplary only and should not be construed as limiting. For example, by delaying turn off of a winding, the rotor will be sub-jected to a countertor~ue as it moves past its minimum reluc-tance position, reducing the net transfe~ of kinetic e~ergy by the rotor and thus reducing motor speed for a gi~en load.
It should be noted that as rotor 10 speeds up (for example as result of increasing the voltage of the D.C. power supply), it is necessary, in order to obtain energization and de-energization at these angles, to move both photo-cell 27 and light sources 26 relative to timing wheel25 so that photocell 27 is activated earlier in the cycle. This is because of the finite time required for the triggering current to build up. Movement of these components can be effected manually or automatically. In ~245`~
the latter case the holder for the photocell and light source can be driven by a motor whose output shaft posi-tion is responsive to changes in the speed of shaft 11.
While preferred embodiments of this invention have been described herein, the invention is not limited thereto, and those skilled in the art will appreciate that changes may be made therein withvut departing from the spirit and scope of the invention as defined in the appended claims.
Thus, although in the embodiment described and in the following claims, the connection to the capacitor Cl are described as being made to the ends of the phase winding, it is intended that functionally equivalent arrangements be comprised wi~hin the scope of the invention. Thus the connections to the capacitor could be made from an addi-tional portion of the winding}transformer coupled to the remainder.
:, An example o~ such an arrangement is illustrated in Figure 6, showing the essentials of an alternative circuit which may replace the circui~ of Figure 4. A number of the com-ponents whose function is the same have been allotted the same reference numerals. The windings 22a and 22c have been represented simply by the reference 22, which may represent either a pair of diametrically opposed stator windings or a single winding accordiny to the configura-tion of the motor. The gate turn off device has been shown replaced by a switching transistor TR10 which will operate similarly but requires a continuous signal at its base electrode during the time that it is turned on. The capacitor Cl has been shown with its alternative connec-tion to ground rather than B~.
The abave changes essentially merely illustrate possible ^~
~'~a2~55 variants already discussed above. The most significant difference between Figures 4 and 6 is the use of a secon~
dary winding or windings 23 to derive the chargîng cur-rent for capacitor Cl. This winding (or windings) 23 is pre~erably bifilar wound with the winding(.s~ 22 to pro-vide clo~e coupling (although a closely coupled step-up con~iguration could be used) and is isolated from the primary windings. One end of the winding 23 is connected to diode Dl which provides a unidirectional path from B~
through winding 23 to capacitor Cl. Although ~he other plate of capacitor Cl may be connected to either B~ or to ground, as in the case of the embodiment of Figure 4, the other end of the winding 23 should be connected to B+, either directly or through diode Dl, rather than to ground, since otherwise a potential equal to the supply potential must be developed across winding 23 be~ore the capacitor can begin to charge.
Claims (10)
1. In an electric motor having a stator with multiple sequentially energizable phase windings and a rotor mag-netized to seek a minimum reluctance position within a progressively moving electromagnetic field produced by said phase windings, first controlled switching means in series relative to a D.C. power supply with at least a part of each phase windings, and means to control said first switching means to produce said progressively mov-ing electromagnetic field, the improvement wherein (a) a charge storage capacitor is provided for each such phase winding, with one terminal of said capacitor con-nected by a low impedance path to said supply, and the other terminal having first and second connections estab-lishing alternative low impedance paths to the winding, the first such connection being established through first diode means oriented to permit low impedance passage to said capacitor from the winding of forward current gener-ated by collapse of the field produced by said winding after turn-off of the switching means, and the second such connection being established through second control-led switching means, (b) means are provided to turn on said second switching means substantially simultaneously with said first switching means to provide low impedance passage of current from said capacitor in the forward direction through said winding to said first controlled switching means, and (c) second diode means are pro-vided between the supply and the connection to the wind-ing from the second controlled switching means such as to present a low impedance path for forward current from the supply but a high impedance to reverse current.
2. A motor according to Claim 1, wherein the rotor has a homopolar rotor configuration.
3. A motor according to Claim 2, wherein the rotor is permanently magnetized.
4. A motor according to Claim 3, wherein the rotor includes a rotatable shaft and permanent magnet means mounted on and fixed to said shaft and having a plurality of spaced apart north poles and a plurality of spaced apart south poles, said poles being movable in two circu-lar paths, the stator includes a plurality of spaced apart electromagnets each including at least one coil comprised by one of said phase windings and mounted so that energization of the coils comprised by different phase windings produces minimum reluctance of the magnetic circuits linking the rotor and the stator at different angular positions of the rotor, and wherein the means to control said first switching means is responsive to rota-tion of said rotor for generating control signals turning the first switching means in series with each phase wind-ing on as the rotor moves towards a minimum reluctance position and turning said first switching means off be-fore the rotor passes said minimum reluctance position.
5. Apparatus according to Claim 4, wherein said first switching means are turned on for permitting energizing current to flow in said coils in a predetermined sequence to create a magnetic field that repels said poles of said permanent magnet means after said permanent magnet means have rotated past said electromagnets.
6. Apparatus according to Claim 5, wherein said first switching means are turned on for permitting energizing current to flow in said coils in a predetermined sequence to create a magnetic field that attracts said permanent magnet means as said permanent magnet means rotate to-wards said electromagnets.
7. Apparatus according to Claim 4, wherein said first switching means are turned on for permitting energizing current to flow in said coils in a predetermined sequence to create a magnetic field that attracts said permanent magnet means as said permanent magnet means rotate to-ward said electromagnets.
8. Apparatus according to Claim 1, wherein said first coupling is established by direct connection of said first diode means to that end of the winding connected to the first switching means, and the second switching means is connected to the other end of the winding.
9. Apparatus according to Claim 1, wherein said phase windings comprise a primary winding connected between said second diode means and said first controlled switch-ing means, and a secondary winding closely coupled to the primary winding, said secondary winding being connected to charge said capacitor through said first diode means.
10. Apparatus according to Claim 1, wherein one end of said secondary winding is connected to said first diode means and the other end is connected to the supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000506219A CA1282455C (en) | 1986-04-09 | 1986-04-09 | Reluctance motor with electronically connected stator windings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000506219A CA1282455C (en) | 1986-04-09 | 1986-04-09 | Reluctance motor with electronically connected stator windings |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1282455C true CA1282455C (en) | 1991-04-02 |
Family
ID=4132844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000506219A Expired - Lifetime CA1282455C (en) | 1986-04-09 | 1986-04-09 | Reluctance motor with electronically connected stator windings |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1282455C (en) |
-
1986
- 1986-04-09 CA CA000506219A patent/CA1282455C/en not_active Expired - Lifetime
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