CN103812404B - Electric tool and its operation method - Google Patents
Electric tool and its operation method Download PDFInfo
- Publication number
- CN103812404B CN103812404B CN201310545004.3A CN201310545004A CN103812404B CN 103812404 B CN103812404 B CN 103812404B CN 201310545004 A CN201310545004 A CN 201310545004A CN 103812404 B CN103812404 B CN 103812404B
- Authority
- CN
- China
- Prior art keywords
- motor
- duty ratio
- duration
- electric tool
- controlled
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000010586 diagram Methods 0.000 description 17
- 238000006243 chemical reaction Methods 0.000 description 10
- 239000002918 waste heat Substances 0.000 description 7
- 230000005855 radiation Effects 0.000 description 4
- 244000025254 Cannabis sativa Species 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
- H02P7/291—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation with on-off control between two set points, e.g. controlling by hysteresis
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to a kind of method for running electric tool, the motor of the electric tool is controlled by means of pulsewidth modulation.Here, the motor is alternately controlled with the first duty ratio and the second duty ratio.
Description
Technical field
The method and a kind of electric tool that the present invention relates to a kind of for running electric tool.
Background technique
By prior art discloses the electric tools having for driving the motor of movable member.It discloses, it is electronic
The motor of tool is run according to pulse duration modulation method.In this approach, the voltage on motor is applied to change to have
The quick order of duty ratio (duty ratio) be alternatively switched on and pipeline section, depend on the effective of duty ratio to apply to motor
Voltage.But the energy for frequently switching on the radiation for bringing electromagnetic interference ray and waste heat form of power switch used herein
The shortcomings that amount loss.
Summary of the invention
Task of the invention lies in provide a kind of improved method for running electric tool.The task passes through this hair
Bright method solves.Another task of the invention is, provides a kind of improved electric tool.The task is through the invention
Electric tool solves.
In the method for running electric tool of the invention, the motor of the electric tool is by means of pulsewidth modulation
To control.Here, the motor is alternately controlled with the first duty ratio and the second duty ratio.It is advantageous in the method
It is that mechanical low-pass filter can be used as by the inertia of the mechanical system of motor drive, passes through the mechanical low-pass filter
Fluctuation caused by different torques when motor is run with the first duty ratio and the second duty ratio through motor output is whole
It is flat.
In an embodiment of this method, first duty ratio is 100%.Thus it is preferred in motor with
One duty ratio is not necessarily to the conversion of power switch during running, thus in motor to export seldom during the operation of the first duty ratio
Electromagnetic interference (EMI) emissions do not export electromagnetic interference (EMI) emissions and generate minimal amount of waste heat.
In an embodiment of this method, second duty ratio is 0%.Thus it is preferred in motor with second
It is thus dry to reduce electromagnetism during the operation of the second duty ratio in motor without the conversion of power switch during duty ratio operation
Disturb the output of radiation and the generation of waste heat.
In an embodiment of this method, first duty ratio and second duty ratio are mutually with repetition rate
Alternately.Here, the repetition rate is less than 1kHz.Advantageously, this opposite between the first duty ratio and the second duty ratio
Slowly conversion only results in the low transmitting of interference radiation and due to generating little power loss caused by waste heat.
In an embodiment of this method, the motor is during the first duration by with first duty
Rate is controlled and is controlled during the second duration with second duty ratio.Here, the length of the first duration with
The length of first duration and the second duration and the ratio between formed third duty ratio.Here, the third duty ratio can be
Change on time.Advantageously, the method allows to control the power by motor output by changing third duty ratio.
In an embodiment of this method, one mechanical system of motor drive.Here, when in the mechanical system
When the kinetic energy stored in system is more than the minimum value that one determines, the method is applied.Advantageously, the inertia of the mechanical system
Cause the leveling of fluctuation, the fluctuation is produced by the time change of the power by motor output and the torque by motor output
Raw, the fluctuation is caused by motor with the alternate run of the first duty ratio and the second duty ratio.
In an embodiment of this method, the minimum value of the determination is 500J.Advantageously, this has proved to be
Suitable minimum value.
In an embodiment of this method, dc motor is controlled.Especially it is possible that, brushless direct current motor
It is controlled.Advantageously, this motor (or motor) is suited well for using in electric tool.
Electric tool of the invention includes motor and for the device by means of motor described in pulse width modulation controlled.?
This, the electric tool is configured to the method according to the invention operation.Advantageously, thus the electric tool has drop
The transmitting of low interference electromagnetic radiation and the generation for reducing waste heat caused by as leading to the conversion process lost.
Detailed description of the invention
The present invention is elaborated by means of attached drawing now.It is shown here:
Fig. 1 is the schematic diagram of electric tool；
Fig. 2 is the first control diagram；With
Fig. 3 is the second control diagram.
Specific embodiment
Fig. 1 shows the very schematical block diagram of electric tool 100.The electric tool 100 has motor 130, institute
It states motor and is arranged for one mechanical system 140 of driving.Particularly, the motor 130 is arranged for making the machine
Tool system 140 moves, such as it is rotated.
The mechanical system 140 can have big quality.The electric tool 100 for example can be grass trimmer.The machine
Tool system 140 then includes the rotary cutting knife of the grass trimmer.If the movable member of the mechanical system 140 has big matter
Amount, then when the movable member of the mechanical system 140 is in movement, the movable member stores high kinetic energy.Grass trimmer
Rotary cutting knife can for example have the kinetic energy in the 1kJ order of magnitude.
The motor 130 of the electric tool 100 is preferably dc motor.Such as the motor 100 can be nothing
Brush dc motor, such as three-phase brushless DC motor.
The electric tool 100 further includes the device 120 for pulsewidth modulation.The device 120 for pulsewidth modulation
It is arranged for controlling the motor 130 by means of the pulse duration modulation method as disclosed in the prior art.The pulsewidth modulation side
Method allows to control through the power exported of motor 130 or the torque exported by motor 130.
Fig. 2 shows schematic first control diagrams 200 for illustrating pulse duration modulation method.In first control diagram
What is recorded on 200 trunnion axis is the time 201.Being supplied to for recording in the vertical axes of first control diagram 200 is electronic
The electrical power 202 of the motor 130 of tool 100.
First control diagram 200 is shown, and is supplied to the power 202 of motor 130 with the passage period of time 201
Converted between minimum power 203 and maximum power 204 to property.During short time pulse period 240, supplied to motor 130
Maximum power 240.During remaining time, minimum power 203 is supplied to motor 130.The minimum power 203 is especially
It can have 0 value, so that any power not be supplied during time of the motor 130 between pulse 240.
Maximum power 204 is supplied to motor 130 during pulse 240, the pulse was respectively provided with for the first duration
210.Interval between the pulse 240 was respectively provided with for the second duration 220.The arteries and veins mutually followed on two times as a result,
Punching 240 is spaced from each other by period 1 length 230 in time, and the cycle length corresponded to for the first duration 210
The sum of with the second duration 220.The repetition rate of the pulse 240 may be in the range of several kHz.For example, described
The repetition rate of pulse 240 can be 20kHz.Period 1 length 230 is then, for example, 50 μ s.
By alternately supplying maximum power 204 and minimum power 203,130 activity of motor is given in the time is average
Mean power between the maximum power 204 and the minimum power 203.The value of the mean power depends on duty
Than the duty ratio is defined as the quotient of the first duration 210 and period 1 length 230.If the duty ratio is close
In value 0%, then effective supply is to the mean power of motor 130 close to the minimum power 203.If the duty ratio connects
It is bordering on value 100%, then is supplied to the mean power of motor 130 close to the maximum power 204.
It is preferred that the device 120 for pulsewidth modulation allows to control the motor 130 with 100% duty ratio.
Be supplied to the power 202 of motor 130 with the time 201 passage maximum power 204 and minimum power 203 it
Between conversion can for example be changed by time of the voltage being applied on motor 130 and realize.Then in 240 phase of pulse
Between, maximum voltage is applied on motor 130.It is then minimum voltage between pulse 240 or absolutely not voltage is applied to electricity
In motivation 130.The inductance of motor 130 for example may be used as low-pass filter and cause to be applied in the time is average electronic
The leveling of voltage on machine 130.
The conversion for being applied to the voltage on motor 130 can for example be carried out by power switch.But the power switch
Cause the power loss in power switch with the frequent transitions of the repetition rate of pulse 240, consequent is to generate waste heat.This
Outside, the periodic switch of power switch can cause the electromagnetic interference (EMI) emissions with such as frequency of pulse 240.
Therefore, electric tool 100 has additional control device 110.The control device 110 is arranged for described in control
Device 120 for pulsewidth modulation.Here, the control device 110 uses the second control diagram 300 below by way of Fig. 3
The method of elaboration.
What is recorded on the trunnion axis of the second control diagram 300 is the time 301.In the vertical axes of the second control diagram 300
Upper record is duty ratio 302.Duty ratio 302 is the power that motor 130 is supplied to by the device 120 for pulsewidth modulation
The duty ratio of 202 pulse 240, that is, the quotient of the first duration 210 and period 1 length 230.
The duty ratio 302 selected by the device 120 for pulsewidth modulation is as the passage of time 301 is lower
It is converted between first duty ratio 303 and higher second duty ratio 304.First duty ratio 303 is preferably 0% duty ratio.The
Two duty ratios 304 are preferably 100% duty ratio.
Second duty ratio 304 is used during the third duration 310.Then, the second duty ratio 304 is being reused
Before, the first duty ratio 303 is used during the 4th duration 320.As a result, the third duration 310 and the 4th continue when
Between the sum of 320 formed second round length 330, the second round length provide between the period that two mutually follow when
Between be spaced, in the period use the second duty ratio 304.It is preferred that the second round length 330 is greater than 1ms, to make
It obtains repetition rate (operation with the second duty ratio 304 is repeated with the repetition rate) and is less than 1kHz.The second round is long
Degree 330 for example can be 5ms, this corresponds to the repetition rate of 200Hz.
The control device 110 of electric tool 100 has the device 120 for pulsewidth modulation, in the first duty ratio 303 and the
It is converted between two duty ratios 304.As a result, in the time is average, motor 130 is with the operation of average duty ratio, the average duty
The value of rate is between the value of the first duty ratio 303 and the value of the second duty ratio 304.The value of average duty ratio depends on the herein
Three duty ratios, the third duty ratio are defined as the quotient of third duration 310 and second round length 330.If described
Third duty ratio is close to value 0%, then averagely duty ratio is close to the first duty ratio 303.If third duty ratio is close to value
100%, then averagely duty ratio is close to the second duty ratio 304.
The variation of third duty ratio allows the control for the mean power for being supplied to motor 130 and to also permit as a result,
Perhaps the control of the average torque exported by motor 130.Here, the first duty ratio 303 and the second duty ratio 304 can when
Between on keep constant.
The torque exported as motor 130 by fluctuation caused by relatively large second round length 330 can by by
The inertia of the mechanical system 140 of motor drive is decayed.The quality of mechanical system 140 and in the fortune of the mechanical system 140
The kinetic energy stored in dynamic is bigger, then attenuating is higher.Therefore, the inertia of the mechanical system 140 is used as mechanical low-pass filtering
Device.
In one embodiment, the power control of motor 130 illustrated by means of the second control diagram 300 in Fig. 3
System is only when the kinetic energy being stored in the mechanical system 140 is more than determining minimum value just by by the third duration
310 and second round length 330 constitute third duty ratio quotient change.The minimum value of the determination for example can be
500J.If the kinetic energy stored in mechanical system 140 is smaller, when the power control of motor 130 by first by being continued
Between 210 and the variation of quotient of duty ratio that is formed of period 1 length 230 realized according to the first control diagram 200 of Fig. 2.
If the first duty ratio 303 of the second control diagram 300 be 0% and second control diagram 300 the second duty
Rate 304 is 100%, then does not all need during the third duration 310 and during the 4th duration 320 for controlling motor
The conversion of 130 power switch.Only just needed when the transition period between the second duty ratio 304 and the first duty ratio 303
The conversion of power switch.Since second round length is more much bigger than period 1 length 230, according to the second control diagram
Conversion when 300 control motor 130 is much rarer than conversion when controlling motor 130 according to the first control diagram 200.By
This can reduce the radiation of the waste heat generated in power switch and interference ray.
Claims (7)
1. one kind is for the method that runs electric tool (100), wherein the motor (130) of the electric tool (100) by
Controlled in pulsewidth modulation, wherein the motor (130) by with the first duty ratio (303) and the second duty ratio (304) alternately
Ground control, wherein first duty ratio (303) is 100%, and second duty ratio (304) is 0%, first duty
Rate (303) and second duty ratio (304) are mutually replaced with repetition rate, wherein and the repetition rate is less than 1kHz, thus
So that can be used as mechanical low-pass filter by the inertia of the mechanical system of motor drive, pass through the mechanical low-pass filter
Fluctuation caused by different torques when motor is run with the first duty ratio and the second duty ratio through motor output is whole
It is flat.
2. according to the method described in claim 1, wherein, the motor (130) during the first duration (310) by with
First duty ratio (303) controls and during the second duration (320) by with second duty ratio (304) control
System, wherein the length of the first duration (310) and the first duration (310) and the length of the second duration (320) and
The ratio between (330) third duty ratio is formed, wherein the third duty ratio can change in time.
3. method according to claim 1 or 2, wherein the motor (130) drives a mechanical system (140),
In, when the kinetic energy stored in the mechanical system (140) is more than the minimum value that one determines, the method is applied.
4. according to the method described in claim 3, wherein, the minimum value of the determination is 500J.
5. method according to claim 1 or 2, wherein dc motor is controlled.
6. according to the method described in claim 5, wherein, brushless direct current motor is controlled.
7. a kind of electric tool (100), with motor (130) and for by means of motor described in pulse width modulation controlled
(130) device (120), wherein the electric tool (100) is configured to according to as described in one of the claims
Method operation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012220223.4 | 2012-11-07 | ||
| DE201210220223 DE102012220223A1 (en) | 2012-11-07 | 2012-11-07 | Method for operating electric power tool e.g. lawn mower, involves controlling electric motor by pulse width modulation, and driving electric motor alternately with preset duty cycle and specific duty cycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103812404A CN103812404A (en) | 2014-05-21 |
| CN103812404B true CN103812404B (en) | 2019-06-14 |
Family
ID=50489788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310545004.3A Active CN103812404B (en) | 2012-11-07 | 2013-11-06 | Electric tool and its operation method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103812404B (en) |
| DE (1) | DE102012220223A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071723B (en) * | 2015-06-16 | 2018-08-03 | 吉林大学 | The brushed DC motor composite control method of three-step approach design |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1189256A (en) * | 1996-04-16 | 1998-07-29 | 菲利浦电子有限公司 | Soft switching PWM controller and method for reducing torque ripple in multiphase DC motor |
| JP2005312292A (en) * | 2004-04-20 | 2005-11-04 | Minebea Co Ltd | Brushless electric motor controlling method and brushless electric motor |
| JP2006042442A (en) * | 2004-07-23 | 2006-02-09 | Sony Corp | Motor drive apparatus and method |
| CN101594049A (en) * | 2008-05-30 | 2009-12-02 | 艾默生网络能源有限公司 | Interleaved parallel PFC control circuit and control method |
-
2012
- 2012-11-07 DE DE201210220223 patent/DE102012220223A1/en active Pending
-
2013
- 2013-11-06 CN CN201310545004.3A patent/CN103812404B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1189256A (en) * | 1996-04-16 | 1998-07-29 | 菲利浦电子有限公司 | Soft switching PWM controller and method for reducing torque ripple in multiphase DC motor |
| JP2005312292A (en) * | 2004-04-20 | 2005-11-04 | Minebea Co Ltd | Brushless electric motor controlling method and brushless electric motor |
| JP2006042442A (en) * | 2004-07-23 | 2006-02-09 | Sony Corp | Motor drive apparatus and method |
| CN101594049A (en) * | 2008-05-30 | 2009-12-02 | 艾默生网络能源有限公司 | Interleaved parallel PFC control circuit and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103812404A (en) | 2014-05-21 |
| DE102012220223A1 (en) | 2014-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102014102512A1 (en) | A method of controlling a rectifier / inverter and vehicle having the same | |
| RU2013120411A (en) | CURRENT WORKING MACHINE | |
| JP4958718B2 (en) | Electric vehicle control device | |
| CN104506092A (en) | Switched reluctance motor current hysteresis control method based on inductance Fourier decomposition | |
| CN103248309B (en) | For controlling the method for frequency converter | |
| CN103812404B (en) | Electric tool and its operation method | |
| Mohammad et al. | Implementation of a three phase inverter for BLDC motor drive | |
| CN102694482A (en) | Ultrasonic motor control circuit | |
| EP2713501A3 (en) | PWM control method and driving system of AC motor | |
| Jacobina et al. | Current control for induction motor drives using random PWM | |
| DE102009033228A1 (en) | Plastic processing machine and method for operating such | |
| EP3492304A1 (en) | Method for adjusting power electronics | |
| Uddin et al. | Hybrid Fuzzy and PID controller based inverter to control speed of AC induction motor | |
| CN104518729A (en) | Method and arrangement for operating a pump | |
| CN202424571U (en) | Ultrasonic motor control circuit | |
| CN104410347B (en) | A kind of method for driving compressor and the device for driving compressor | |
| Karunadasa et al. | Development of a programmable mechanical motor loading unit using a DC motor | |
| CN108512434A (en) | A kind of ultrasonic bonding supply frequency fuzzy self-adaption chases after frequency method | |
| EP2888812A2 (en) | Method and device for controlling an electric motor of a hand-held power tool | |
| CN103840665B (en) | Speed-regulating switch realizes the circuit structure of frequency reducing | |
| CN101212195A (en) | Chopped AC power generation control method | |
| CN204748195U (en) | Frequency conversion controlling device for be used for double column planing machine cutter advance and retreat | |
| Ali et al. | Microcontroller based variable frequency power inverter | |
| CN103372626A (en) | Method for operating a riveting device | |
| CN101173726A (en) | Electromagnetic valve driving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |