CN106411221B - Current detection and control device for wide speed of motor - Google Patents
Current detection and control device for wide speed of motor Download PDFInfo
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- CN106411221B CN106411221B CN201610899137.4A CN201610899137A CN106411221B CN 106411221 B CN106411221 B CN 106411221B CN 201610899137 A CN201610899137 A CN 201610899137A CN 106411221 B CN106411221 B CN 106411221B
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- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
- H02P25/188—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays wherein the motor windings are switched from series to parallel or vice versa to control speed or torque
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Abstract
The invention discloses a current detection and control device for the wide speed of a motor, which comprises a PWM modulation and power driving module, a current detection module and a symmetrical winding motor, wherein the PWM modulation and power driving module comprises a plurality of driving units, at least one driving unit is connected with the symmetrical winding motor after passing through the current detection module, and the current detection module is an induction type current detector or a resistance type current detector. The invention can realize accurate current measurement, and multiply expand the high-efficiency rotating speed area of the motor, thereby greatly improving the performance of the motor and improving the energy utilization rate.
Description
Technical Field
The invention relates to the field of motors and control thereof, in particular to a current detection and control device for the wide speed of a motor.
Background
As is well known, in the control of the motor, the motor can operate more efficiently and stably by fast and accurate current control; the rotating speed range of the motor is widened, and the running efficiency of the motor can be improved.
In the current detection in the prior art, a resistor with a fixed resistance value is connected in series between the phase lines, and then the current in the phase lines is calculated according to U ═ I × (voltage ═ current ═ R) by measuring the voltage at the two ends of the resistor R. For example, in chinese patent No. CN103076482A entitled "motor current detection device and motor current detection method using bridge arm resistors", a sampling resistor is connected in series between an emitter of an IGBT on a lower bridge arm of each of three bridge arms of a frequency converter connected to a motor and a DCN, a voltage drop across the resistor is amplified and transmitted to a next-stage circuit for calculating a current, thereby detecting a drain current of the IGBT of the lower bridge arm, and after currents flowing through the three bridge arms are respectively acquired, a three-phase current of the motor is calculated by a software algorithm. However, in the moving process of the motor, the phase current in the motor is constantly changed, and when the current is small, if the resistance value of the serially connected resistor is small, the voltage at the two ends of the resistor is also small. Since the voltage measuring device has low measurement accuracy in a measurement range where the voltage is small, the current measurement accuracy is lowered.
In addition, the domestic inventors made many efforts and attempts to widen the rotational speed range of the motor. For example, the application numbers in the domestic patent documents are: 201510508099.0 entitled "permanent magnet synchronous machine winding switching device" and having application number: 201510508843.7 entitled "switching strategy based on permanent magnet synchronous machine winding switching device". Both patents mention a switching method of a permanent magnet synchronous motor, namely, a winding switching device of the permanent magnet synchronous motor is provided with n sets of windings, corresponds to n main loop units, and realizes the series-parallel switching of the n sets of windings through the combined action of 4n-4 switches. The windings are connected in series for operation, and if the rotating speed reaches a switching condition, the windings are switched from series connection to parallel connection; and the windings run in parallel, if the rotating speed reaches the switching condition, the voltage is reduced until the voltage switching condition is met, and the windings are switched from parallel connection to series connection. By adopting the technical scheme, the operation efficiency of the motor can be improved to a certain extent, the speed regulation range of the motor is expanded, and the requirement on the capacity of the main loop is reduced.
However, the above technical solutions have the following disadvantages:
1. n independent power sources are required to supply power, which is costly and complex in real-world applications. In particular, in a battery power supply system, a plurality of battery packs are used, which is a great trouble in both charging and battery management.
2. The battery pack needs to be switched in parallel by the switch, if the battery supplies power to a system, the voltage of the battery cannot be completely equal due to individual difference, the internal resistance of the battery is very small, and the switch is easily damaged due to very large impact current in the parallel connection process, so that the system is not reliable.
3. For the condition of windings with n larger than 2, the windings can only be in two states of all parallel connection or all serial connection, and have no intermediate transition state, so that the motor is unsmooth to switch. Under the condition of more n, because the windings are all connected in series, the induced electromotive forces of the windings are all added, and the speed range of the motor working in the full series connection is narrowed, the purpose of widening the rotating speed range of the motor cannot be realized.
Therefore, the present inventors have earnestly demanded to conceive a new technology to improve the problems thereof.
Disclosure of Invention
The invention aims to provide a current detection and control device for the wide speed of a motor, which can realize accurate current measurement, multiply expand the high-efficiency rotating speed area of the motor, greatly improve the performance of the motor and improve the energy utilization rate.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a current sensing device for wide speed motors comprising: the PWM modulation and power driving module comprises a plurality of driving units, at least one driving unit is connected with the symmetrical winding motor after passing through the current detection module, and the current detection module is an induction type current detector or a resistance type current detector.
Preferably, the power supply module, the grid driving power supply module and the series-parallel switching module are further included, wherein the PWM modulation and power driving module is respectively connected with the grid driving power supply module and the series-parallel switching module; the grid driving power supply module comprises M paths of output ends, the series-parallel connection switching module comprises N switching units, a first port of each switching unit is connected with the anode of the power supply module, a second port of each switching unit is connected with the cathode of the power supply module, and a third port of each switching unit is connected with the PWM modulation and power driving module; wherein M is more than or equal to 1, and N is more than or equal to 1.
Preferably, each switching unit comprises a first switch, a second switch and a third switch, wherein an S port of the first switch is connected with a negative electrode of the power supply module, and a D port of the first switch is connected with an S port of the second switch and the PWM modulation and power driving module; and the D port of the second change-over switch is connected with the S port of the third change-over switch, and the D port of the third change-over switch is connected with the positive pole of the power supply module.
Preferably, the system further comprises a signal processing and logic control module, which is respectively connected with the series-parallel switching module, the PWM modulation and power driving module, the current detection module and the symmetrical winding motor.
Preferably, each driving unit comprises an anode common end, a cathode common end and a gate driving power supply input end, and the anode common end is connected with the anode of the power supply module or the fourth port of a switching unit; the negative electrode common end is connected with the negative electrode of the power supply module or a third port of a switching unit; the input end of the grid driving power supply is connected with one output end of the grid driving power supply module.
Preferably, the driving unit is a full-bridge driving circuit or a multi-path half-bridge driving circuit.
Preferably, the first and/or second and/or third diverter switch is a mechanical contact switch or an electronic switch.
Preferably, the gate driving power module further comprises a first common terminal and a second common terminal, wherein the first common terminal is connected with the positive electrode of the power supply module, and the second common terminal is connected with the negative electrode of the power supply module.
Preferably, the gate driving power module further includes a first common terminal and a second common terminal, wherein the first common terminal and the second common terminal are connected to an external power source.
By adopting the technical scheme, the invention at least comprises the following beneficial effects:
the current detection and control device for the wide speed of the motor can realize accurate current measurement, and the high-efficiency rotating speed area of the motor is multiplied, so that the performance of the motor is greatly improved, and the energy utilization rate is improved.
Drawings
FIG. 1a is a schematic structural diagram of a current detection and control device for a wide speed of a motor according to the present invention;
FIG. 1b is a schematic structural diagram of a current detection and control device for the wide speed of a motor according to the present invention;
FIG. 2a is a schematic circuit diagram of the current detection and control device for the wide speed of the motor according to the present invention;
FIG. 2b is a schematic circuit diagram of the current detecting and controlling device for the wide speed of the motor according to the present invention;
FIG. 3a is a schematic circuit diagram of a PWM modulation and power driving module according to the present invention;
FIG. 3b is a schematic circuit diagram of the PWM modulation and power driving module according to the present invention;
FIG. 4a is a schematic circuit diagram of a single transformer multi-way isolation voltage-stabilized power supply;
FIG. 4b is a schematic circuit diagram of a multi-transformer multi-way isolated voltage regulator;
FIGS. 5a-5c are schematic diagrams of equivalent circuits in a fully series state;
FIGS. 6a-6c are schematic diagrams of equivalent circuits in a fully parallel state;
FIGS. 7a-7c are schematic equivalent circuit diagrams for the 2-in-2 series state;
fig. 8 is a handover flow chart.
Wherein: 1. the device comprises a power supply module, a signal processing and logic control module, a series-parallel connection switching module, a PWM (pulse width modulation) and power driving module, a grid driving power supply module, a current detection module, a symmetrical winding motor, a magnetic ring and a current Hall sensor, wherein the power supply module 2, the signal processing and logic control module, the series-parallel connection switching module 3, the PWM and power driving module 4, the grid driving power supply module 5, the current detection module 6, the.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1a and 1b, the current detecting and controlling device for the wide speed of the motor according to the present invention comprises: the PWM and power driving circuit comprises a PWM modulation and power driving module 4, a current detection module 6 and a symmetrical winding motor 7, wherein the PWM modulation and power driving module 4 comprises a plurality of driving units, at least one driving unit is connected with the symmetrical winding motor 7 after passing through the current detection module 6, and the current detection module 6 is an induction type current detector or a resistance type current detector.
As is well known, the hall effect defines the relationship between the magnetic field and the induced voltage, and is quite different from the conventional induced effect. When current passes through a conductor located in a magnetic field, the magnetic field generates a force on electrons in the conductor perpendicular to the direction of movement of the electrons, thereby creating a voltage difference across the conductor. The Hall current sensor is a sensor which converts primary large current into secondary tiny voltage signals by utilizing Hall effect, has high measurement precision and quick response, and is particularly suitable for multi-winding motors which run at high speed and have various series-parallel connection modes.
In a preferred embodiment, as shown in fig. 2a, the system further includes a power module 1, a gate driving power module 5, and a serial-parallel switching module 3, wherein the PWM modulation and power driving module 4 is respectively connected to the gate driving power module 5 and the serial-parallel switching module 3; the grid driving power supply module 5 comprises M output ends, the series-parallel connection switching module 3 comprises N switching units, a first port of each switching unit is connected with the anode of the power supply module 1, a second port of each switching unit is connected with the cathode of the power supply module 1, and a third port of each switching unit is connected with the PWM modulation and power driving module; wherein M is more than or equal to 1, and N is more than or equal to 1. In another preferred embodiment, as shown in fig. 2b, a gate power source is provided in each driving unit of the PWM modulation and power driving module 4.
Preferably, each of the driving units includes a gate driving port, and the gate driving port is connected to an output port of the gate driving power module 5. Because the output ports of the gate driving power supply module 5 are electrically isolated from each other, and the gate driving port of the PWM modulation and power driving module 4 is also electrically isolated, the gate driving power supply module 5 supplies power to the driving unit instead of using a power supply, so that a plurality of independent power supplies are not needed, the application cost is reduced, and problems caused by the use of a plurality of power supplies can be easily solved.
In addition, the symmetrical winding motor 7 is a variety of motors having multiple parallel windings which are electrically insulated and have the same magnetic circuit. A specific embodiment of a symmetrical winding motor 7 is provided, as in patent application No. 201110385907.0 entitled "single machine multiple drive multiple winding motor system". Of course, the particular arrangement of the motor windings described above is intended to be illustrative of the present embodiment and not limiting, and any obvious variations and alterations are within the scope of the present embodiment.
Preferably, the power supply system further comprises a power supply module 1, a gate driving power supply module 5 and a series-parallel switching module 3, wherein the PWM modulation and power driving module 4 is respectively connected with the gate driving power supply module 5 and the series-parallel switching module 3; the grid driving power supply module 5 comprises M output ends, one input end of the grid driving power supply module 5 is connected with the positive electrode of the power supply module 1, and the grounding end of the grid driving power supply module 5 is connected with the negative electrode of the power supply module 1; the series-parallel switching module 3 comprises N switching units, a first port of each switching unit is connected with the anode of the power supply module 1, a second port of each switching unit is connected with the cathode of the power supply module 1, and a third port of each switching unit is connected with the output end of the gate drive power supply module 5; where M.gtoreq.1, N.gtoreq.1, more preferably M ═ N + 1. In the figure, reference numeral 1 denotes a first port, reference numeral 2 denotes a second port, reference numeral 3 denotes a third port, and reference numeral 4 denotes a fourth port.
Preferably, each of the switching units includes a first switch pk (n), a second switch sk (n) and a third switch nk (n), wherein the S port of the first switch is connected to the negative electrode of the power module 1, and the D port thereof is connected to the S port of the second switch and a driving unit described below; and the D port of the second change-over switch is connected with the S port of the third change-over switch, and the D port of the third change-over switch is connected with the positive pole of the power supply module 1.
Preferably, the device further comprises a signal processing and logic control module 2, which is respectively connected with the series-parallel connection switching module 3, the PWM modulation and power driving module 4, the current detection module 6 and the symmetrical winding motor 7. The control ends of the first change-over switch, the second change-over switch and the third change-over switch are all connected with the signal processing and logic control module 2 and act under the control of the signal processing and logic control module. Preferably, the signal processing and logic control module 2 is a single chip microcomputer including a motor speed sensor, a phase current sensor and a running motor control algorithm.
Preferably, each driving unit comprises a positive electrode common end, a negative electrode common end and a grid electrode driving power supply input end, and the positive electrode common end is connected with the positive electrode of the power supply module 1 or the fourth port of a switching unit; the negative electrode common end is connected with the negative electrode of the power supply module 1 or a third port of a switching unit; the input end of the gate driving power supply is connected with one output end of the gate driving power supply module 5. Preferably, the driving unit is a full-bridge driving circuit or a multi-path half-bridge driving circuit.
Preferably, the number of the driving units is N + 1. If each switching unit is numbered from 1 to N in sequence, and each driving unit is numbered from 1 to N +1 in sequence, the anode common end of the first driving unit is connected with the anode of the power supply module 1, the anode common end of the second driving unit is connected with the fourth port of the first switching unit, and so on, the anode common end of the (N + 1) th driving unit is connected with the fourth port of the Nth switching unit. The negative electrode common end of the first driving unit is connected with the negative electrode of the power supply module 1, the negative electrode common end of the second driving unit is connected with the third port of the first switching unit, and so on, the negative electrode common end of the (N + 1) th driving unit is connected with the third port of the Nth switching unit.
Preferably, the first and/or second and/or third diverter switch is a mechanical contact switch or an electronic switch.
In a preferred embodiment, the first switch is one or more of a relay, a MOS transistor, and an insulated gate bipolar transistor; the second change-over switch is one or more of a diode, a relay, an MOS (metal oxide semiconductor) tube and an insulated gate bipolar transistor; the third change-over switch is one or more of a relay, an MOS (metal oxide semiconductor) tube and an insulated gate bipolar transistor.
Preferably, the gate driving power module 5 further includes a first common terminal and a second common terminal, wherein the first common terminal is connected to the positive electrode of the power supply module 1, and the second common terminal is connected to the negative electrode of the power supply module 1.
Preferably, the gate driving power module 5 further includes a first common terminal and a second common terminal, wherein the first common terminal and the second common terminal are connected to an external power source.
Preferably, the motor includes, but is not limited to, a brushless motor, a permanent magnet synchronous motor, an alternating current motor, a reluctance motor, a stepping motor, a linear motor. The whole system except the motor can be packaged by a wafer and integrated in a thick film integrated block, or integrated in a semiconductor chip, or distributed in a plurality of entities and interconnected by a wire. The present invention is not limited to the specific packaging method, and those skilled in the art will appreciate.
The principle of the invention is as follows: when the motor starts to run at a low speed, if a plurality of windings of the motor are equivalently connected in series, the current can be relatively reduced when the number of turns is increased according to the ampere-turn relation of the coil, although the fact that the efficiency of the motor when the motor stops rotating due to resistance torque is zero cannot be changed, the input power is reduced due to the reduction of the current, and the energy utilization efficiency of the whole motor system comprising a power supply, a controller and the motor is improved.
Also because of the relation of the series connection of the windings, the self-induced electromotive force EφIncrease, EP-EφThe value becomes smaller and the equivalent resistance R of the winding coil of the motor becomes smallerfWhen the pulse width modulation is increased, the pulse width modulation is adjusted to the same current effect by PWM, the duty ratio is increased, the pulse peak value of the current is reduced, and various losses are reduced. Along with the improvement of the utilization rate of the current, the heat productivity of the motor is reduced, and the torque of the motor can be properly increased on the basis of the parameters of the original motor.
When the rotating speed of the motor is limited to the rotating speed of the motor due to the increase of self-induced electromotive force along with the increase of the rotating speed of the motor, the plurality of windings are converted into a series-parallel mixed state again, and all the windings are converted into a parallel state until the motor reaches a certain speed.
By the method, the efficiency curve of the motor is widened, the maximum torque of the motor is improved, the heat productivity of the motor is reduced, and the endurance time of the battery is prolonged for a system taking the battery as an energy source.
In the conventional single-winding motor, the maximum speed is limited in order to achieve both the motor torque at a low speed and the efficiency at the low speed. When the multi-winding series-parallel connection mixing is used, the rotating speed range of the motor can be greatly expanded without losing the performance at low speed.
The invention is fully described below in a specific embodiment, but it will be appreciated by those skilled in the art that other obvious variations and modifications are within the scope of the invention.
In the preferred embodiment, the PWM modulation and power driving module 4 is composed of a full bridge or three half bridges and other general driving circuits. Fig. 3a and 3b provide two more common circuit forms. FIG. 3a is used to drive AC motors, brushless motors, etc.; fig. 3b is used to drive stepper motors, reluctance motors, etc. Wherein the gate drive supply (VCC) of each power circuit portion is isolated from each other. The input end and the output end of the grid driving signal are not in common ground, and the grid driving can be carried out by various isolation types, such as an A optical coupler type: such as HCPL-3120 from HP, FOD8384 from FAIRCHILD, etc.; b, magnetic isolation: such as ADuM6132 from ANALOG DEVICES, Inc.; c is not isolated but not co-located: such as IRS2117, IRS2118, of IR corporation.
As shown in fig. 1a and 1b, the current detection module 6 includes a plurality of magnetic rings 8, and the magnetic rings 8 are disposed between the PWM modulation and power driving module 4 and the symmetrical winding motor 7. All the wires of the same phase need to pass through the magnetic ring 8 from the same direction to correctly sample the real phase current. The current hall sensor 9 is located in the open gap of the magnetic ring 8 (preferably, the current hall sensor 9 can be a1363 from the company alegoro). Since all phase lines have the same current direction and phase, the currents are superimposed in the forward direction. When three-phase current is sampled, the calculation method comprises the following steps:
phase V current is equal to IV(1)+IV(2)+IV(3)+……+IV(N)；
Phase of U-phase current IU(1)+IU(2)+IU(3)+……+IU(N)；
Phase of W current is equal to IW(1)+IW(2)+IW(3)+……+IW(N)。
Of course, in order to save cost, only the currents of two phases may be sampled, and the current of the third phase may be calculated by the formula i (w) + i (u) + i (v) ═ 0. The current of only one of the windings may be sampled and multiplied by the number N of symmetrical windings. Those skilled in the art can select and set the parameters according to actual usage, which is not limited in this embodiment.
The grid driving power supply module 5 is one of a single-transformer multi-path isolation stabilized voltage supply or a multi-transformer multi-path isolation stabilized voltage supply. FIG. 4a shows a single transformer isolated regulated power supply, and FIG. 4b shows a multi-transformer isolated regulated power supply. Both include M outputs electrically isolated from each other, with the difference that the multi-transformer multi-isolation regulated power supply includes a plurality of independent PWM control units.
This embodiment can produce a variety of series-parallel states. The equivalent circuit as in its fully series state is shown in fig. 5a to 5 c; when the first switch and the third switch are turned off, the second switch is turned on due to the forward voltage drop, and the current flows as shown in fig. 5b and 5c, thereby forming a series connection. When all are connected in series, Eall＝E1+E2+E3+……+EN。
The equivalent circuits in their fully parallel state are shown in fig. 6a to 6 c. When the first switch and the third switch are turned on and the second switch is turned off, the current flows as shown in fig. 6b and 6c, and the parallel connection is formed. When all are connected in parallel, Eall＝E1＝E2＝E3……＝EN。
When N is 3, the equivalent circuit of 2 parallel-to-2 series is as shown in fig. 7a to 7 c. At the moment, the states of the change-over switches of the first driving unit and the third driving unit are consistent, the first change-over switch and the third change-over switch are closed, and the second change-over switch is opened; the second driving unit is opposite to the first driving unit. At this time Eall＝E1+E2＝E3+E4. Of course, if the value of N is larger, more different series-parallel states can be provided, that is, a transition state between the two states of all parallel states or all series states can be provided, so as to avoid unsmooth switching of the motor. The technical personnel can fully obtain a plurality of different series-parallel connection states based on the disclosure of the embodimentIt is understood that the present embodiment is not described herein in detail.
There are different strategies for the switching of the multiple windings in this embodiment, as follows:
1. the set gear is given manually.
2. Switching is performed according to the magnitude of the back electromotive force.
3. Switching is performed according to the rotation speed of the motor.
4. And switching according to the magnitude of the phase current of the motor.
Whatever the above switching manner (the above switching manner can be set by a person skilled in the art according to actual use conditions, and the present embodiment does not limit this), attention is paid to the voltage value of the back electromotive force E (n) generated by each winding of the motor during rotation, because when the windings of the motor are switched from parallel to series, the back electromotive forces generated by all the windings in series are added, so as to ensure the total back electromotive force E after switchingallAnd a supply voltage EPDo not differ much, E is detectedallWhen the voltage value reaches a proper value, the switching command from parallel connection to series connection can be executed.
Because each winding of the motor is symmetrical, the generated back electromotive force is basically the same, namely E (1) ═ E (2) ═ … … ═ E (N), only the voltage value of any one winding needs to be measured, wherein the negative pole common end P _ COM of the PWM modulation and power driving module (N) is always connected to the power supply ground wire, the voltage of the back electromotive force E (N) thereof is also referenced to the ground wire, and the detection is most convenient and the cost is low. And other windings are in suspension due to the change of series connection and parallel connection, and the measurement is carried out in an isolation mode.
When switching from series to parallel, this can be disregarded since there is no problem of back emf addition.
The switching process has a certain time delay no matter the relay or the semiconductor power tube is used as a change-over switch. In switching states, the switches are functionally divided into two types, 1: series switch SK, 2: and switches PK and NK are connected in parallel. The two types of switches can not act simultaneously to prevent the short circuit of the anode and the cathode of the power supply.
When switching, a delay time is waited, and after one type of switch which is opened originally is completely closed, the other type of switch can be opened. The same type of switch can be opened and closed simultaneously without considering the problem of switching delay, the delay time value is properly adjusted according to different switches, the relay is generally within 200ms, and the IGBT or the MOSFET is generally within the range of 100us to 50ns due to different gate driving currents. The value of delay requires actual measurement or calculation from parameters if the optimum switching speed is to be achieved.
In the following, the series-parallel state is switched according to the speed and the back electromotive force by comprehensively judging n is 3, and fig. 8 illustrates the switching process in a flowchart.
Under the condition that the windings and the PWM modulation and power driving module change the series-parallel connection relationship, all the windings are symmetrical and controlled by the same set of PWM signals, after the series-parallel connection relationship of the windings is changed, only the equivalent turns of the windings and the torque value under the same phase current are changed, and after the series-parallel connection state is converted, the following conditions are provided for different motors:
1. motors without open-loop control of the current loop, such as Alternating Current Motors (ACM) of the V/F control type and brushless motors (BLDC) without the current loop, have no effect on the control algorithm after changing the equivalent series-parallel relationship of the windings, but may generate a certain amount of torque ripple.
2. For motors with current loop control algorithm, such as Permanent Magnet Synchronous Motor (PMSM) and AC motor with FOC algorithm, based on original control algorithm, according to current series-parallel connection state, current reference value I given from speed PID loop or directlyrefAnd modifying by using a group of corresponding coefficients while changing the serial-parallel state of the winding.
For motors, the essential result of phase current control is motor torque control, and different motors, different current and torque calculation formulas may be different and may be non-linear. If the motor is a brushless motor or a permanent magnet synchronous motor, the current torque curve is approximate to linearity due to the characteristic of the motor which is close to the DC brush motor, and the current torque curve can be directly connected in seriesMultiple relation of parallel connection takes KiThe values of (a) are as follows:
when fully connected in parallel, Ki＝1；
When two are in parallel and two are in series, Ki＝2；
When all strings are present, Ki＝4；
Iref＝Iref*Ki(ii) a (self-assignment expression of language C)
Modified IrefAnd then entering the next step of inverse PARK conversion.
3. The method comprises the steps of controlling a brushless Hall-free motor and a permanent magnet synchronous motor which need motor parameters, controlling an alternating current FOC without an encoder, wherein the commonly used motor parameters comprise phase inductance, phase resistance and induced electromotive force, and after series-parallel connection switching, the parameters on a winding are changed into integral multiples after the algorithm for Hall-free operation needs to be calculated. The algorithm for correcting the coefficients will be known to those skilled in the art and will not be described in detail herein.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A current detection and control device for the wide speed of a motor is characterized by comprising: the device comprises a PWM modulation and power driving module, a current detection module, a symmetrical winding motor, a power supply module and a series-parallel connection switching module, wherein the PWM modulation and power driving module comprises N +1 driving units, at least one driving unit is connected with the symmetrical winding motor after passing through the current detection module, and the current detection module is an induction type current detector or a resistance type current detector; the current detection module comprises a plurality of magnetic rings, the magnetic rings are arranged between the PWM modulation and power driving module and the symmetrical winding motor, and the current Hall sensor is positioned in an opening gap of the magnetic rings; the series-parallel connection switching module comprises N switching units, each switching unit comprises a first switch, a second switch and a third switch, wherein the S port of the first switch is connected with the negative electrode of the power supply module, and the D port of the first switch is connected with the S port of the second switch and the PWM modulation and power driving module; a D port of the second change-over switch is connected with an S port of the third change-over switch, and a D port of the third change-over switch is connected with the positive pole of the power supply module; the D port of the third switch forms a first port, the S port of the first switch forms a second port, the D port of the first switch and the S port of the second switch form a third port, and the D port of the second switch and the S port of the third switch form a fourth port; the first port of each switching unit is connected with the anode of the power supply module, the second port of each switching unit is connected with the cathode of the power supply module, and the third port of each switching unit is connected with the PWM modulation and power driving module; wherein N is more than or equal to 1.
2. The current sensing apparatus for a wide speed motor according to claim 1, wherein: the PWM modulation and power driving module is respectively connected with the grid driving power module and the series-parallel switching module; the grid driving power supply module comprises M paths of output ends, wherein M is more than or equal to 1.
3. The current sensing apparatus for a wide speed of a motor according to claim 2, wherein: the system also comprises a signal processing and logic control module which is respectively connected with the series-parallel connection switching module, the PWM modulation and power driving module, the current detection module and the symmetrical winding motor.
4. The current sensing apparatus for a wide speed motor according to claim 3, wherein: each driving unit comprises an anode common end, a cathode common end and a grid driving power supply input end, wherein the anode common end is connected with the anode of the power supply module or the fourth port of a switching unit; the negative electrode common end is connected with the negative electrode of the power supply module or a third port of a switching unit; the input end of the grid driving power supply is connected with one output end of the grid driving power supply module.
5. The current sensing apparatus for a wide speed of a motor according to any one of claims 1 to 4, wherein: the driving unit is a full-bridge driving circuit or a multi-path half-bridge driving circuit.
6. The current sensing apparatus for a wide speed motor according to claim 1, wherein: the first change-over switch and/or the second change-over switch and/or the third change-over switch are mechanical contact switches or electronic switches.
7. The current sensing apparatus for a wide speed of a motor according to claim 2, wherein: the grid driving power supply module further comprises a first public end and a second public end, wherein the first public end is connected with the anode of the power supply module, and the second public end is connected with the cathode of the power supply module.
8. The current sensing apparatus for a wide speed of a motor according to claim 2, wherein: the grid driving power supply module further comprises a first common end and a second common end, wherein the first common end and the second common end are connected with an external power supply.
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| DE102007040725A1 (en) * | 2007-08-29 | 2009-03-05 | Robert Bosch Gmbh | Electric machine |
| CN101895142B (en) * | 2010-06-22 | 2016-08-31 | 青岛海尔洗衣机有限公司 | Based on the charging circuit that electromotor is energy storage component charging |
| CN104953743A (en) * | 2014-03-27 | 2015-09-30 | 陈意辉 | Electronic multi-gear variable-speed motor of electric vehicle and control system thereof |
| CN105048900B (en) * | 2015-06-23 | 2017-11-03 | 西北工业大学 | Double winding brshless DC motor frequency multiplication control circuit of chopping and winding switching method |
| CN105048925B (en) * | 2015-08-18 | 2018-06-19 | 重庆大学 | A kind of method for handover control based on permanent magnet synchronous motor winding change-over switch |
| CN206379906U (en) * | 2016-10-14 | 2017-08-04 | 江先武 | It is a kind of to be used for the wide fast electric current measuring and controlling device of motor |
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