CN1636308B - Method for controlling the power of an electronically switched, two-phase reluctance machine - Google Patents
Method for controlling the power of an electronically switched, two-phase reluctance machine Download PDFInfo
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- CN1636308B CN1636308B CN00801360.8A CN00801360A CN1636308B CN 1636308 B CN1636308 B CN 1636308B CN 00801360 A CN00801360 A CN 00801360A CN 1636308 B CN1636308 B CN 1636308B
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Abstract
The invention explains principles and circuits for the power control of two-phase SR-Machines featuring a direct recovery of the phase switch-off energy and a 180 DEG phase angle at full load. The power control relies physically on a shorter current flow (duty cycle) at the phase beginning. This can be done either through mechanical phase shift of a second Hall sensor or by using time delay circuits.
Description
Technical field
The present invention relates to two-phase reluctance machine (motor or the generator of electronic commutation, also be called the SR motor, switched reluctance machines), described reluctance motor has a kind of specific magnetic circuit, as International Patent Application WO 96/09683 and WO 98/23024 (prior art) are disclosed.
Background technology
Fig. 1 shows a simple still manipulable this motor, for easy understanding, represents (magnetic circuit and circuit) with concise and to the point form among the figure.In 8 main windings (112) and the auxiliary winding (113) each is represented as an inductive resistor on the yoke 11 that is fixed on simplification.Main current path (seeing " definition ") is represented with thick line.As known in the art, the simplest circuit (see figure 1) of not controlled SR motor is worked on meaning of the present invention, it has first hall detector 31, " trigger " off-on (open-collector) output 312-313 that has two complementations is used for phased, and it is drawn near the rotor truly.Power switch 21X, 21Y for example receive voltages by polarization pull-up resistor 35, its grid G x, Gy by hall detector output 312,313 in turn to negative potential () short circuit, thereby principal current Ip is interdicted.For not controlled motor, the first phase X is at 0 degree electrical degree received current, for example as shown in Figure 3, and interdicted at 180 its principal current of degree electrical degree Ip.Simultaneously, Y Phase Receiver electric current, promptly from 180 degree up to 360 degree (=0 degree), thereby form an electricity circulation.Observing corresponding to the tooth of rotor is important to the electric switch point (reversal point) of the motion of tooth, thereby makes the magnetic pole of the stator 111 of close rotor magnetic pole 121 to attract effectively mutually, sees Fig. 1, phase X.
For the sake of simplicity, in the middle of this explanation, semiconductor element for example makes principal current from the MOSFET of power supply to the winding circulation of phase X and Y, and IGBT is called as " power switch 21X, power switch 21Y ".
On meaning of the present invention, principal current (Ip) refers to the electric current that flows to main winding 112 from power supply through power switch 21.Under full load (the trigger operation mode of power switch 21), the duration that principal current Ip flows is identical with phase duration T, and thinks that electrical degree is 180 degree.By means of commutating at one or several rotor- position hall detector 31,31a, the 3rd hall detector (31c) the place ahead rotor rotated position indicating device 32.
Fig. 2 represents the arrangement of the several elements relevant with the present invention, wherein shows the form of the signal that is used for Motor Control in the present invention.
As seen from Figure 2, so-called " phase control " refers to the circuit part that is used for controlling in the trigger mode commutation.This mode must occur in some rotor-positions like this, in this position, and efficient the best of the electric energy/mechanical energy of commutation.
Though also can realize little power control by the phase control adjusting, on meaning of the present invention, refer to the flowing time that reduces principal current Ip by short control impuls.This means to have the circuit part that rotor-position signal less than duration of phase length forms grid control signal by the right-hand expression of Fig. 2 rectangular and belong to power control.
The self induction voltage Ua that presents in the generation during principal current (degaussing energy or by-pass current 1b) blocking of the tie point between power switch and the winding is called as " bypass diode 22 " to the diode of next phase." phase angle w " (electrical degree=180 degree, machinery=180, number of teeth of rotor) is the rotor angle that promptly passes through between two conversion operations of phase control (being hall detector 31) between two commutations.
" aligning tooth " or " aligned position " are the relative position of rotor to stator, and in this position, rotor 2 flows through continuously at continuous current under the situation of a phase (minimum reluctance) and rotates.
Summary of the invention
The objective of the invention is to show that the power semiconductor of the costliness that need not add carries out the possibility of the power control of described SR motor.Will be understood that this moment, efficiency of motor should keep high as much as possible.The recovery that this means the degaussing energy should take place effectively, and the loss of power electronic circuit should be minimum.
Description of drawings
But Fig. 1 shows a simple operating motor;
Fig. 2 shows the arrangement of the several elements relevant with the present invention, wherein shows the form of the signal that is used for Motor Control in the present invention;
Fig. 3 a, b represent the principal current in not controlled motor (0 to 360 degree) according to an embodiment of the invention, and the principal current in the power-controlled motor (since 360 degree);
Fig. 3 c represents the serrated signal of rotor-position transmitter;
Fig. 3 d represents the sinusoidal signal by the acquisition of simulation hall detector;
Fig. 3 e represents the cut-out to the principal current employing;
Fig. 4 shows circuit and the signal graph that ratio keeps constant simple power to control;
Fig. 5 shows the single power control of tube that may move generation by the machinery of hall detector;
Fig. 6 shows the scheme that produces serrated signal;
Fig. 7 shows the basic circuit of the voltage signal that can obtain to be used for the compensation of phase symmetry;
Fig. 8 shows possible according to an embodiment of the invention commutation programme;
Fig. 9 shows the circuit of the active-clamp that is used for power switch;
Figure 10 shows has two independently reluctance motors of rotor;
Figure 11-13 shows 3 circuit diagrams that can be used for motor shown in Figure 1.
Embodiment
The objective of the invention is by through a delay time lag (t) principal current (IP) conducting being realized after the commutation.On meaning of the present invention, those skilled in the art can select simple circuit and example, so that these circuit and example are made up as module and constitute suitable circuit substitute, is used to realize specific purpose of the present invention.On meaning of the present invention, " the power control " of reluctance motor, especially motor refers to, and in phase bit duration (phase angle), the locking by the suitable short time reduces principal current.This makes the angle of principal current spend less than 180, perhaps makes the relative duty ratio of power switch reduce.This means that for power control, two power switchs no longer are operated under push pull mode (" the trigger ") mode.Fig. 3 represents the associated control signal as the motor of rectangle (voltage) pulse.The respective via (dotted line) of the respective via of principal current Ip (thick line) or by-pass current Ib is represented as stacked.At the form that shows the pulse under (power control) pattern on the right side (from 360 degree), in the form (0-180 degree) that shows the pulse under Be Controlled (trigger) mode not on the right side.
Because the very simple high efficiente callback of the permission of being learnt by prior art is the magnetic circuit of the degaussing energy of a cut phase just, therefore up to the present, in the first mutually cut moment, must provide electric current (the trigger mode makes described phase " interconnected " by by-pass current Ib) mutually immediately to second of motor.
In order to realize power control, proposed before this finishes mutually, to cut off principal current.By means of two additional power transistors 211,, see WO96/09683,8-9 page or leaf, Fig. 6 e because the feedback of self induction voltage Ua wants the cut electric current that flows through this phase should be maintained to the end of this phase duration.Under the situation of regulating, also need these power transistors 211 by known pulse-width modulation.
If the feedback of the self induction voltage of being undertaken by transistor 211 is disengaged, this will cause the moment of a mistake take place to another useless by-pass current of carrying mutually, thereby lower efficiency greatly.Up to now, do not use expensive power electronic technology, can't realize power control based on the duty ratio that reduces power switch 21.
In accordance with the teachings of the present invention, make and (see WO96/09683 even without back coupling power transistor 211, Fig. 6 e), also can realize a kind of fairly simple scheme, described transistor is used for being provided for power switch 2IX is locked in the degaussing energy of the phase X at its place when phase duration finishes.Described scheme is as follows.
Always at " trigger " mode of operation (Fig. 3 of power switch 21, the left side) after the motor start-up that carries out under, by after commutation, keeping the power switch 21X of cut-out, 21Y makes principal current Ip postpone a fixing or variable delay (see Fig. 3's right-hand), and this postpones corresponding to the electrical degree relevant with the speed of motor.Thereby the principal current Ip of phase X does not restart and starts when 360 degree+v spend when 360 spend, and then is 540 degree+v degree mutually for Y.The cut-out of power switch 21 is with equally occurring in n * 180 degree in the past.The self induction voltage Ua that this means by-pass current Ib when finishing mutually corresponding to this always occurs in n * 180 degree, promptly occurs in such relative position of rotor/stator tooth 111-121, and they can attract each other efficiently in this position, see the phase X of Fig. 1.Thereby can be provided for next phase Y by bypass diode 22 with useful energy (, being attended by torque) as magnetizing current as degaussing energy (its feature is seen Fig. 3 dotted line) from the by-pass current Ib of phase X, even principal current Ip does not begin to flow as yet.If time of delay t (rotor electrical degree v) back principal current Ip begins to flow, and then its risings is too steep, and this is because yoke 11 is by the by-pass current premagnetization accordingly.This means that because process by-pass current Ib carries out " interconnected " of phase, the suitable cut-out of the power switch 21 of XY phase can be used for obtaining by diode 22X the suitable premagnetization of Y phase.Because except that power control, also have the control of this phase transformation process, so can realize the specific currents curve during these mutually, its for optimum efficiency with minimizing is favourable for noise.
Consider discovery of the present invention, i.e. the principal current Ip delay of flowing occur in phase beginning and unlike prior art in the end of phase, not only reduced the cost of electronic circuit, and can in the scope of broad, control.
The variable delay t that power switch 21 is connected can the electricity consumption submode or the mechanical angle by the second hall detector 31a move acquisition.This can the electricity consumption submode realizes, wherein use to connect the moment that timer is set at commutation and operate, and after commutation, in postponing t, keep the grid G x of power switch 21, Gy for negative () current potential (Fig. 3).This delay can be a parameter, and thereby can for example regulate by circuit, described circuit is nominal value and actual value relatively, and correspondingly proofreaies and correct actual value, so that keep constant such as the parameter of speed or torque.Thereby in order to gather way, time of delay, t should increase, so that reduce principal current Ip, reduced to the value that is set up to speed.If t time of delay is constant, then can realize certain restriction of speed, but precision is relatively poor.If speed increases, then the relative duty ratio of motor (power input) will reduce, up to the restriction that causes speed.This be because, for higher speed, phase duration T is reduced, simultaneously time of delay, t kept constant, made relative duty ratio T-t reduce.Ratio principal current angle/phase angle is reduced.
By using two phase shift rotor-position hall detector 31 can realize making described ratio to keep constant simple power control (see figure 4) with digital open collector output (digital open-collectoroutput) 312,314.In this structure, the grid of power switch 21 is converted into high sticking potential through first hall detector 31, and by the second hall detector 31a (its output is in parallel) being converted to negative potential by " low " of short circuit.
Lower Half at Fig. 4, in a of plane, show the signal (when switch 314 is opened and the control signal of switch 315 grid G x when closed) of the open collector output 312 of active hall detector 31, or the output signal (switch 315 is opened, 314 closures) of hall detector 31a has been shown in the b of plane.In the c of plane, show resulting X signal (minimizing power) when two switch closures.The high-pulse widths of Y phase is identical, but electric phase shift 180 degree.If (31, signal 31a) is by phase shift angle v, then at the angle (=principal current angle) of grid when being high w-v (phase shift of phase angle-hall detector) always for two hall detector.
For the motor in the electric tool, this power control is more favourable.For common hand-operated tools, be installed in the handle near the switch that contains potentiometer of motor by further pressing, speed is increased.This bat-handle switch also can be for example causes hall detector by a lever, and (31, angular movement 31a) makes the function of power control of instrument can be expressed as followsin (see figure 5).
According to required direction of rotation, drive selection lever 36 by means of a bistable state left side/right side, utilization is positioned near the first quartile of phase angle at the tooth of the neutrality switching point to the left side or the right of the position of tooth, pre-determines the position of the startup second detector 31a relative with rotor-position indicating device 32.
When the stroke of lever 37 begins, start the second hall detector 31a and be energized, as shown in Figure 3, and motor is activated along predetermined direction.After reaching the lower limit of speed, first hall detector 31 with maximum angle skew v is energized, and make that the principal current angle is very little, and motor is worked with minimal power (or speed).Be moved by the angle of further pressing lever 37, the first hall detector 31, as shown in Figure 5, make skew v be reduced, thereby the principal current angle increase, and thereby power of electric motor increase.If first hall detector 31 is identical with the phase shift of the second hall detector 31a, then motor is operated in (the principal current angle is identical with phase angle, the trigger mode) under the full load.
Application (for example vacuum cleaner) for minority, can be according to the output (vacuum, flow, temperature, electric current, vibration) of driven device, pressure for example, move movably first hall detector 31 by means of cylinder/piston/spring assembly 38, this makes and can adopt whole cheaply controlling schemes (Gesamtloesung) (see figure 5).
For the I. C. engine of car, it has the 98/23024 described starter according to WO, the vibration that can alleviate four-stroke engine by means of the hall detector that is positioned at the position of avoiding whirling vibration.Rotate vibration if having the four-stroke engine motor of magnetic resistance starter, then described vibration makes the hall detector that is positioned at the position of avoiding the whirling vibration influence move with respect to the starter that is vibrating, thereby reluctance motor is swung between motor/generator (braking) mode with the form of single pendulum, thereby reduced the vibration of four-stroke engine.
These functions certainly electricity consumption submode realize, utilize this moment electric phase shift to replace mechanical displacement.
For electronic solution with time delay conversion, wherein mainly be synchronously to control the principal current Ip length of mobile time with the instantaneous position of rotor/stator, this is for being converted to mechanical energy to electric energy, and finally to regulate according to nominal parameter (for example speed) be favourable.
Thereby, for Electric Machine Control, must obtain rotor-position signal, it reacts the anglec of rotation clearly, the end reaction rotating speed.Described signal can utilize known electronic installation to handle, and makes that the control impuls of power switch 21 can be obtained under trigger mode (full load) or power control mode.
Wherein, use the detector of which kind of type unimportant, as long as these position detectors are designed to first hall detector 31 (simulation, digital, differential, programmable) in this explanation, so that make problem reduction.The tooth of rotor can directly be scanned by means of differential or programmable hall detector, even make the rotor-position indicating device 32 that need not add also can obtain commutation signal.According to the present invention, rotor-position can not obtain by means of detector yet, wherein by utilizing the electronics mode to determine the magnetic resistance of motor phase, described in prior art.
As shown in Figure 3, wherein the serrated signal of the trigger commutation signal of controlled motor and rotor-position transmitter or sinusoidal signal are not represented as a comparison value, not only can obtain commutation signal by these values, and can obtain other control signal.Wherein use for example Schmidt trigger of simple electronic installation.Such serrated signal for example can be obtained by means of the 3rd hall detector 31c of simulation, and described detector is polarized by permanent magnet 33, and radially be positioned at the place ahead of the toothed disc 32 of a soft magnetism that rotates with rotor.This feasible form change that is used to trigger the magnetic field (magnetic resistance of system) of hall detector with sawtooth makes the output signal (input signal of=phased trigger) of the 3rd hall detector 31c also have this form.By described serrated signal, (level UK when trigger is crooked at the middle part of ascent stage, promptly from X to Y, commutate), or the top level Us (Y is to X) that arrives sawtooth afterwards signal be reduced when getting back to its starting position, see Fig. 3,, can pass through level switch 34 (Schmidt triggers by comparing plane a-c, see Fig. 2,3) acquisition commutation signal (triggering).Because the self adaptation of sawtooth voltage Uk is not easy to be affected if do not change the symmetry of phase place (when returning after the top that arrives sawtooth) phase place.The phase place symmetry refers in X and Y output, and promptly at the grid G x of power switch 21X, 21Y, the duration of the high phase place on the Gy is always identical.For son keeps biphase current constant, thereby make motor stabilizing work, this needs.
But, for example because the performance of element, make power switch 21X, the high phase place of the grid of 21Y has different length, for example for according to basic circuit shown in Figure 7, can obtain to be used for the voltage signal Ud (symmetric difference) of compensation of phase symmetry.Utilize described voltage U d, the sawtooth voltage Uk of trigger 34 is corrected in this way, and making becomes the phase place symmetry.Voltage U d is at two capacitor Dx, the potential difference between the Cy, and described capacitor is by resistance R x, the grid G x of Ry and power switch, Gy links to each other, and their alternatelies are recharged and discharge, and absorb and each power switch 21X, the conduction and cut-off time of 21Y than correspondent voltage value.This phase bit duration signal can be used trigger mode the accelerating period of motor (for example), and as analogue speed signal.
The influence of the commutation that these are possible can utilize the dynamic principal current Ip that can improve startability greatly to rely on scheme (Fig. 8) and realize.For this purpose, one or several electric current loop 322 (see figure 8)s are inserted in the magnetic circuit that sends magnet (rotor-position indicating device 32) and hall detector (31), for example make described electric current loop flow through the principal current of phase, perhaps flow through suitable Control current.According to the instantaneous sense of current and intensity, the magnetic field of controlling first hall detector 31 thereby control commutation is influenced like this, makes and feeds back between principal current Ip and commutation by this way.Thereby, can carry out relevant the moving of load as the reversal point of feedback.
When being used to make efficient the best or being used for the control of motor, moving of commutation also can utilize the electronic installation (learning from prior art) of phase shift to realize in the scope of a broad.For this purpose, it is favourable obtaining sinusoidal signal (the plane d of Fig. 3) by the simulation hall detector, because this signal can more easily be treated for phase shift.For example, can use in conjunction with described device of Fig. 3 and phase shifting equipment of the prior art.
For the startup of motor, be favourable at tooth near the commutation space of teeth, see Fig. 1, the turning round and X stator tooth mutually of rotor, commutating should increase with respect to moving when speed increases of this position.For this purpose, for example, that increase and speed that obtain easily (voltage) is favourable when signal causes by means of the increase with switching frequency when the trigger phase shift of commutation.Described mobile size depends on the operating parameter (speed, torque) when having optimum efficiency.
The possibility of determining this is by maintenance speed or load constant (controlled), changes phase shift and reaches minimum value up to principal current Ip or by-pass current Ib.The latter (Ib) can even not have in low-loss to measure by self induction voltage Ua under the condition of loss.
Described efficiency optimization can utilize suitable adjuster circuit automatically to carry out.If do not use simple detector, on same chip, have programmable the 4th hall detector of adjustable flip-flop element and use, then can significantly reduce the phase shift that circuit spent and utilized the programming Control output signal of detector.The rotating magnetic field of motor (actuating force) is produced by the coincidence of principal current Ip and by-pass current Ib, and described by-pass current Ib always rises after principal current is cut off, and passes through the winding of two phases simultaneously.
For for example (having same axle by two half motors at described in the WO 98/23024 those, for torque level and smooth, mechanically be offset the w/2 angle) motor that constitutes, by by-pass current Ib not only being delivered to complementary phase, thereby from X to Y, and deliver to the phase of second half motor, and then can reduce the peak value of self induction voltage, see Fig. 1 a.Described second half motor has identical negative connection the (minusconnection) with first half motor, thereby they are identical.In Fig. 1, have to the current path of the power switch 21 of second motor shown in second winding, 113/ Fig. 1 a by the oblique diode that is shown in dotted line 22.
This means that the by-pass current Ib of X phase is fed to phase XY and Y ' (last belongs to second motor), perhaps when efficient is only offered Y ' phase to it when favourable.Its method is identical with method for the by-pass current Ib of second half motor.Under some restrictions of the function optimization that is used to make motor, principal current and quite little by-pass current (see figure 3) can Be Controlled, and they always interdepend, thereby, when they are conditioned in this manner, can make the loss minimum.
Described main loss is:
A) ohmic loss in winding and power switch, it depends primarily on current peak, and this loss should be avoided as far as possible;
B) switching loss requires to avoid too much switching manipulation;
C) loss (depending on current peak) that causes of self induction voltage, this loss is absorbed by power switch 21 in the snowslide mode, damages power switch easily;
D) and a), b) the relevant iron loss of described loss.
In order to realize high as far as possible efficient, need reduce the switching manipulation number of times as far as possible, and select the value of suitable principal current Ip, especially when ending, avoid high principal current value.For several modes of operation, consider that adopting the additional cut-out of principal current Ip is suitable (seeing plane e, the right side), as long as can avoid high current peak, so as to raising the efficiency.In this way, the electric current that is drawn by motor has lower pulsation, makes that the electrolytic capacitor that is used for filtering is less.The plane a of Fig. 3, b are illustrated in the principal current in the not controlled motor, or only by time of delay t by the electric current in the controlled motor.Peak current Is when finishing mutually can be reduced, for example (postpone t2 at phase position is ground to the grid G by making power switch 21 under negative potential, see plane a, e) in postponing t3 by short circuit, this moment, principal current Ip had lower value, this has reduced principal current, particularly in the zone in the wings, sees plane e.Power control guarantees that speed can not reduce, and reduces delay t to t1, remains normal value on the whole so as to making principal current, but, does not have mark peak value Is, and it can make efficient increase.
Starting current for restrictions motor, principal current Ip is in the phase duration interval T, when Ip arrives predetermined peak I v (seeing plane E, the left side), can in delay t3 constant or, be cut off once or several times, shown in the e of Fig. 3 plane by changeable parameters.Beginning for phase does not postpone (t=0).When by-pass current Ib drops to a predetermined value, principal current is resetted.
Inrush current limitation also can shield, and can realize by means of transistor 42, sees Fig. 9.
Because the beginning of phase and end are scheduled to, and the winding of relevant yoke has electric current continuously by principal current Ip or by by-pass current Ib, this means and do not abandon the flip-flop toggle mode.
If there is not this defencive function, just can not avoid particularly when actuating motor, wanting the principal current Ip of switch to reach high value.Thereby the peak value Ua of self induction voltage also reaches very high value, although by-pass current Ib is arranged, still surpasses power switch 21 (MOSFET, electric strength IGBT).But, jeopardized power switch in the snowslide mode by the energy of the voltage peak of clamp (=snowslide clamp).Therefore, preferably, utilize the conductibility (active-clamp) of chip that these peak values are converted to heat by means of triggering grid.This is realized by circuit shown in Figure 9, and wherein grid receives positive potentials by Zener diode 40, and the blockade transistor 41 (power switch 21 conductings) near the snowslide value thereby when surpassing Zener voltage of the voltage when putting on power switch 21 on.
As shown in Figure 9, grid can be by open collector output and the series connection (41) or transistor 42 Be Controlled (phased) in parallel of hall detector 31.
If desired, grid control can with phased disconnection so that realize the defencive function of most important operation and motor, for example:
A) conducting with end
B) power control and speed control
C) overvoltage protection and under-voltage protection
D) thermal cut-out, electric current is delimited and short-circuit protection
E) above-mentioned induced voltage peak value is protected
F) braking
Transistor 42 shields, at above-mentioned c) or d) should be with its grid of negative potential short circuit under the state.By WO 96/09683 learn have a kind of do not have stator but two independently reluctance motors of rotor 1,2 are arranged, wherein first rotor (being similar to rotational stator) is powered by principal current by two brushes 34 or slip ring, as shown in figure 10.
The magnetic field rotor is supported on the framework 5, thereby makes the portion of power switch 21 and speed control can move and can regulate, and from the outside can not be approaching.For this adjusting, need carry out for example outside predetermined normal speed value of contactless transmission, this carries out by means of the axial installation of the type of control winding 49 triggerings that are fixed and the 5th hall detector 39 of rotation simultaneously.
Can for example control the time base of the delay t that is used for power controlling switch 21 (power control) by means of these elements 39,49, when described power switch is positioned at magnetic field rotor 1 on the swivel plate 45.Phase control part rotates with the magnetic field rotor.During the delay t that is conditioned, control winding 49 is provided with electric current.Described winding control is used to control the hall detector 39 that described power control section is divided.Because the time base control by commutation, thereby control by the rapid reduction of principal current, the processing of this easy electricity consumption submode identification can start an external timing.Advantage of the present invention is based on having adopted simple cheaply circuit.
Be 3 circuit (Figure 11,12,13) that the example explanation can be used for motor shown in Figure 1 below with the speed control.According to described example, the circuit of motor is represented with the form of seeing figure, and is realized in a different manner.
The diode 221 that two bypass diodes 22 (with 113 series connection of bypass winding) have been had identical function replaces, the negative electrode of described diode directly with just be connected continuous.In order to control motor, the triggering of the grid of power switch 21 must separate with commutation in the beginning of phase.In order to cause delay, the simplest is to utilize level discriminator (trigger) by phased the RC module to be provided with combination in operation, make that the output at trigger has a low signal to rise during time of delay t, this signal is connected " low " grid of power switch of the active phase of motor.Delay t of the power switch 21 that ends the next phase of (commutation height-low) necessary triggering of phase.
Figure 11 represents realization example of the present invention, the circuit of motor wherein is shown in the left side of dotted line and level discriminator (being Schmidt trigger here) is shown on the right side of dotted line.Have two-phase X, the motor of Y has the main winding 112 with power switch 21 (two have backward diode) series connection, wherein flows through principal current Ip.Auxiliary winding 113 flows through by-pass current Ib, and it flows to main track by bypass diode.The grid G x of power switch 21, Gy is drawing on by resistance R g under the situation of on-off switch 10 closures.Their are had complementation (trigger) output Hx, and the numeral of Hy (=phased) first hall detector 31 is directly non-but pull down to negative potential by diode D1.So far, the function with controlled motor not is identical.
Rotor-position indicating device 32 is at the output Hx of the complementation of first hall detector 31 of its place ahead rotation, and Hy links to each other with pull-up resistor Rt, so that the signal that acquisition is used to control.At the output Hx of first hall detector 31, during the time interval, capacitor Ct is charged by these resistance Hy " height ".If desired, can be by means of diode Dl (dotted line) accelerated charging, so that improve control performance.
If it is low that the open collector of hall detector 31 output Hx, among the Hy one become, then each capacitor Ct is through this output or through series resistance Rt discharge, thereby and Rt form the RC module, each that is used for speed control is determined t time of delay mutually.
During commutating, has the negative potential that reduces gradually at the node of Rt-Ct.
Perhaps from the X phase or produce an electric current from the described negative voltage of Y phase through diode De and resistance R e, it makes level discriminator ST (Schmidt trigger) upset.Thereby, output transistor Ts conducting.Thereby even after commutation, the grid separately of active power switch 21 passes through diode Dt or transistor T a and Low ESR resistance R 1 and keeps being connected with negative potential in time interval t, thereby is " low ".
T time of delay of principal current Ip is adjusted by potentiometer Pt, and described potentiometer passes through an adjustable electric current I s (rated value adjusting) along the direction of the base stage of input transistors Te.
Rated value electric current I s and the time time-dependent current It deduction produce synthetic base current Ie.When this electric current reached threshold value, transistor T e conducting ended so as to making output transistor Ta, make power switch 21 grid separately can through resistance R g by on draw.
Speed control circuit (right side of dotted line) can be fixed on can with independent plate that the motor that does not have speed control links to each other on (for example being connected) by plug.For the circuit according to Figure 12 also is like this.
Can exert one's influence with the base current Ie of multiple mode, so that improve the control and the defencive function of motor to the input of Schmidt trigger.(see arrow) herein, can feed-in or draw out guide current, perhaps in order to influence t time of delay (for example feedback function), perhaps owing to input transistors Te is stopping motor forever under situation about facing a danger.T time of delay (speed of motor) can be affected with suitable manner in the following cases.
About the feedback of speed control, rotating speed is reduced to below the rated value, reduces t time of delay then, thereby increases principal current.
About inrush current limitation, if starting current or self induction voltage Ua reach too high value, then increase t time of delay, so that reduce principal current Ip.About temperature stability,, then be increased time of delay if the temperature of the individual component of the temperature of motor or motor increases.The speed of motor can determine that it finally is converted into analog signal according to the switching frequency of phased output.(see Figure 11 for this purpose, the thick dashed line below), the signal that has predetermined voltage at least one of phased output is sent to a circuit through capacitor Ca (about 0.1 microfarad), described circuit is through two diode D+, the charge/discharge current of D-de-couple capacitors Ca, and by the switch discharge resistance Rd of integration by parallel connection described electric current is sent and to be used for to two capacitor C+ C-(5-1000 microfarad) charging.
Capacitor C+, the just charging of C-or negative charging and speed are proportional, thereby if desired, these voltages can be used as control signal.If potentiometer Pi and diode D+, D-and capacitor C+, the node of C-links to each other, replace resistance R d+, Rd-, then can obtain on its pointer from just to negative adjustable signal (feedback), described signal and speed are proportional, thereby this signal for example is provided for the input of Schmidt trigger ST as feedback current.
For example, smoothly start in order to make motor, discharge resistance Rd or capacitor C+, the value of C-is selected by this way, makes capacitor C+, a voltage that reaches corresponding to the rotating speed of motor among the C-slowlyer.After motor was switched on, the signal that draws on potentiometer P1 had slower variation, and can be used for little by little reducing t time of delay, so that motor is smoothly started.
Figure 12 represents to utilize above-mentioned delay can carry out the circuit of speed control and restriction.Described for this reason delay t is by means of a voltage Be Controlled that increases with speed.As can be seen, this circuit have with the corresponding element of the element of Figure 11 (Rg, Dt, Rc, Ct, ST), these elements are illustrated in conjunction with the accompanying drawings.
But, capacitor Ct is by means of two couples of diode D+, and D-is recharged or discharges.The positive part that flows through the electric current of capacitor Ct is charged to integrating condenser Cv through diode D+ or resistance R v, makes that its average charging tension and speed are proportional.As each output Hx of hall detector 31, when Hy was positioned at negative potential, resistance R 1 was used for making capacitor Ct discharge through diode D-.The capacity of capacitor Cy and resistance R v is selected like this, make the voltage U v on the negative electrode of diode D+ rise, its mean value is corresponding to the charged state (speed) of integrating condenser Cv, but wherein has big pulsation (it rises mainly due to the voltage drop on resistance R v), so that at phase bit duration internal conversion transistor T v.Resistance R _ f and capacitor Cf are used for from described voltage U v filtering parasitic component.
The charged state of capacitor Cv, thereby also be to utilize described voltage to carry out speed control corresponding to revising by means of potentiometer Pv the settling time of this voltage of rotating speed, making.
Type of action: when the rotating speed of motor remains on the value of regulating through potentiometer Pv when following, the voltage on capacitor Cv is enough low, even make that transistor T v can conducting (when capacitor Ct is in charged state) in the beginning of phase yet.If the speed of motor increases, then the voltage on the capacitor Cv also increases, and the voltage U v on the negative electrode of diode D+ also increases.(resistance R c, Rv and capacitor Ct constitute voltage divider).
Have the highest value at this voltage U v constantly because corresponding to the capacitor Ct of the phase that will be converted phase begin be recharged.In the beginning of phase, transistor T v conducting thereby block the polarized crystal pipe Te of the conducting of Schmidt trigger makes output transistor Ta thereby conducting.
Therefore the grid of power switch 21 keeps linking to each other with ground (-), thereby power switch is blocked.If increase behind time delay t at the voltage on the capacitor Ct, then voltage U v is fully reduced, and makes transistor T v be blocked.Thereby output transistor Ta also is blocked, and the conducting after time delay t of corresponding power switch 21.This processing is repeated mutually for each, and postpones that t reaches because described process and corresponding to the value of the speed that is conditioned.Because the charging voltage of capacitor Cv influences principal current, so the load condition of the motor relevant with rotating speed can utilize the increase of this voltage to be reduced or Be Controlled.
Further the control influence can have the effect that increases voltage or reduce voltage.As mentioned above, the state of motor can be according to the grid G x that acts on power switch, the different parameters Be Controlled of Gy.But, easier of not directly by means of circuit according to Figure 11-13, but influence Control Parameter and obtain according to a) arriving f at the input of level discriminator ST or at the input of the driver element of each phase) described function.
Figure 13 represents another circuit, wherein the function of Schmidt trigger (has the threshold value switching function by two specific control module/phases on principle, here be mosfet driver (Dr), Micrel type (Mic 4451B) for example) utilize and realized according to the reverse transistor of Figure 12.
This another scheme particularly can trigger because of bigger MOSFET or switch MOS FET group in parallel preferably because switching time is shorter.For this purpose, the circuit according to Figure 12 is changed as follows.
Utilization has the mosfet driver Dr/ that reverse output O is connected to grid (Gx or Gy) and replaces level discriminator St (Schmidt trigger) and reverse transistor T v mutually.
The diode D1 and the pull-up resistor Rg that are used for grid are deleted, because present two mosfet driver DrX, the output O of DrY directly passes through bidirectional current to grid G x, and Gy discharges and recharges.
The output Hx of first hall detector 31, Hy controls the input of mosfet driver in this way, makes that its output is low (when each output of hall detector 21 (commutation) when being high, switch 21 is blocked).
Voltage U v (analogue speed signal with alternating voltage ripple) process decoupling zero diode De is directly presented the input to mosfet driver Dr.Its function and described similar according to Figure 12.
When the output of first hall detector 31 when being low, the output of driver DrX is high, and motor starts (not control) in the trigger mode.
If speed surpasses the restriction that pre-sets, then voltage U v increases, the input of driver DrX obtains the instantaneous value of the voltage U v more than the input threshold (approximately 1.5V) at described driver, make its output (grid) only after this voltage process, thereby after process t time of delay, just can become height, thereby motor is operated under the power control mode.
Learn that by prior art by two hall detector 31, phase shift between 31 ' or switching cause the change between motor/generator (braking).
For car engine or for Wireless Power Tools, energy recuperation is useful.The measure that reluctance motor of the present invention need not add during as generator just can produce the voltage higher than the voltage of battery, and this makes it possible to reach movement velocity.Thereby the realization of above-mentioned functions is particularly simple.Because seldom use control function of power under the generator mode, they can be cut off in the most of the time.
In order to pass through part charging realization braking function, only need the phased output signal of change (low replacement is high) just enough sometimes to battery.
Claims (26)
1. the degaussing energy of a utilization handle cut-out phase (X or Y) directly sends the two-phase (X of the electronic commutation of next phase (Y or X) to, Y) Poewr control method of reluctance motor, wherein phase (X or Y) is one group of winding that is encouraged simultaneously, the yoke (11) that is installed on described winding goes up and produces self induction voltage (Ua) when cutting off, described self induction voltage (Ua) is directed into the bypass winding (113Y) of next phase (Y) via the bypass diode (22) that connects first phase (X), it is characterized in that, just make the positive rod and the power switch (21X of the power source that is connected motor of flowing through afterwards in a delay (t), main winding (112X 21Y), principal current 112Y) (Ip) conducting, the duration of wherein said delay starts from by means of carrying out described phase (X being used for the hall detector of phase control (31) the place ahead rotor rotated position indicating device (32), during Y) commutation, and end at described phase (X, Y) winding is connected to the power switch of negative rod of power source of motor, and (21X is during 21Y) connection.
2. Poewr control method as claimed in claim 1 is characterized in that, and is irrelevant with motor speed by postponing (t), and realizes speed control and restriction.
3. Poewr control method as claimed in claim 1, it is characterized in that, the delay (t) of principal current (Ip) equals motor phase (X, Y) one of first commutation signal and have phase deviation between second commutation signal of same frequency, wherein the frequency of these signals is all proportional with variable motor speed, make the duration of described delay (t) change along with motor speed, (v), first commutation signal of one of wherein said phase (X or Y) and second commutation signal obtain from first hall detector (31) and second hall detector of switching by rotor-position indicating device (32) (31a) angular metric of wherein said phase deviation corresponding to the fixing angle that presets.
4. Poewr control method as claimed in claim 3, it is characterized in that the phase deviation of the signal of first hall detector (31) and second hall detector (31a) is because of one or two angular movement with respect to the stator of motor in first hall detector (31) and second hall detector (31a).
5. Poewr control method as claimed in claim 3 is characterized in that, the mechanical angle of controlling first hall detector (31) by the physics output parameter that comes automatic drive device moves or the electric phase deviation of its output signal.
6. Poewr control method as claimed in claim 5 is characterized in that, described to come the physics output parameter of automatic drive device be pressure, flow, temperature, electric current and oscillation amplitude.
7. Poewr control method as claimed in claim 5 is characterized in that, the mechanical angle of first hall detector (31) moves or the electric phase deviation of its output is changed into generator function with the mode of operation of motor from motor.
8. Poewr control method as claimed in claim 4, it is characterized in that, realize selected direction of rotation by presetting first hall detector (31) that is used for starter motor, realize speed control by the phase difference between first hall detector (31) and second hall detector (31a), wherein said phase difference is changed by the mobile of first hall detector (31) and second hall detector (31a) or the electric phase deviation by its output signal.
9. Poewr control method as claimed in claim 1, it is characterized in that, the delay (t) of principal current (Ip) realizes by electronic timer, described timer is configured to that (Hx, the high/low level conversion of the phase control signal of Hy) locating is operated by means of the output of first hall detector (31).
10. Poewr control method as claimed in claim 1, it is characterized in that, by making power switch (21X, grid (Gx 21Y), Gy) one or many to negative potential short circuit reach one constant or be implemented in by the delay (t3) of changeable parameters one mutually in the blocking of principal current (Ip), wherein this is used to reduce at this phase (X) and next peak value (Is) of principal current (Ip) in (Y) mutually.
11. power of motor control method as claimed in claim 1, it is characterized in that, from be used for the delay (t) of the principal current (Ip) of Motor Control by the sawtooth rotor-position signal acquisition that is produced by analogue type the 3rd hall detector (31c) of permanent magnet (33) polarization, wherein said permanent magnet and described the 3rd hall detector all radially are set up near the soft magnetism toothed disc (32a), described soft magnetism toothed disc is rotated with rotor, and form the system of variable reluctance with the 3rd hall detector (31c), make that the output signal of the 3rd hall detector (31c) is a sawtooth.
12. Poewr control method as claimed in claim 11, it is characterized in that, by the level of the sawtooth of the 3rd hall detector (31c) is compared with the adjustable triggering level (Uk) of level discriminator (34), the sawtooth that goes up according to the 3rd hall detector (31c) at described level discriminator (34) obtains rectangle phase transition triggering signal.
13. Poewr control method as claimed in claim 1, it is characterized in that, it uses the proportional signal of difference (Ud) the compensation of phase symmetric difference with the bit duration mutually of two-phase, and described signal (Ud) is used to change the triggering level (Uk) of the level discriminator (34) that is used for the phase calibration width.
14., it is characterized in that the control signal of the electronic commutation of two-phase reluctance machine is come the sinusoidal signal of self simulation the 3rd hall detector (31c) as claim 1 or 3 described Poewr control methods, wherein said sinusoidal signal is offset in the electronics mode.
15. Poewr control method as claimed in claim 1 is characterized in that, by proofreading and correct principal current (Ip) and by-pass current (Ib) and self induction voltage (Ua), optimizes the phase transition that is intended to raise the efficiency, so that reduce the power of electric motor input.
16. Poewr control method as claimed in claim 1 is characterized in that, the controlled function of optimizing described motor by means of the 4th hall detector of programmable type is to obtain better efficient.
17. Poewr control method as claimed in claim 3, it is characterized in that, the controlled function of described motor realizes by means of differential hall detector, wherein said differential hall detector substitutes first or second hall detector (31 or 31a), and the tooth (121) of described rotor (2) directly is scanned by means of described differential hall detector.
18. Poewr control method as claimed in claim 1, be used for two two-phase reluctance machines that half motor constitutes by angular deflection, independent operation, it is characterized in that, be fed to the phase of another half motor from the by-pass current (Ib) of the phase of half motor.
19. Poewr control method as claimed in claim 11, it is characterized in that, carry out inrush current limitation by when principal current (Ip) reaches higher limit (Iv), cutting off principal current (Ip), wherein constant or connect principal current afterwards again through one after principal current (Ip) reaches down in limited time by the delay (t3) of changeable parameters.
20. Poewr control method as claimed in claim 1, it is characterized in that, the dangerous values of the self induction voltage (Ua) that is produced when cutting off principal current (Ip) is absorbed by the ON time section of power switch (21), be also referred to as active-clamp, wherein said ON time section is controlled by described self induction voltage (Ua).
21. Poewr control method as claimed in claim 1; it is characterized in that; the control that the important defencive function for overvoltage, under voltage, mistake thermal cutoff and overcurrent passes through power switch (21) realizes; wherein for described power switch; trigger its grid (Gx; Gy), to avoid these danger.
22. Poewr control method as claimed in claim 1, be used to not have stator to have two independently rotors (1,2) reluctance motor, it is characterized in that, as described two independently magnetic field rotor (1) the load power switch (21) of one of rotor and bypass diode (22) and the parts that receive the power control apparatus of control signal by means of the 5th hall detector (39) of the rotation of the axial installation that triggers by static control winding (49) from the outside non-contactly.
23. Poewr control method as claimed in claim 23 is characterized in that, the synchronous of the signal of static control winding (49) realized by means of the path of waveform that is identified in the electric current in the connection line and voltage.
24. Poewr control method as claimed in claim 9, it is characterized in that, output (the Hx of first hall detector (31), Hy) being used for of go up obtaining be that phased flop signal pair is connected with resistance (Rt), and each output (Hx of first hall detector (31), Hy) corresponding capacitor (Ct) alternately charges, make their form the RC module of the delay (t) of the every phase be identified for speed control (Rt, Ct).
25. Poewr control method as claimed in claim 1, it is characterized in that, be also referred to as the power switch driver element (Drx of " Mosfet driver " electronic component, Dry) be used to every phase, the input of described power switch driver element (I) has a level discriminator (ST) separately, and the output of described power switch driver element (O) makes power switch, and (21X, (Gx Gy) alternately is converted to high potential from electronegative potential to grid 21Y).
26. Poewr control method as claimed in claim 1 is characterized in that, the analog signal relevant with speed is used as negative feedback, is used to influence the startability and the speed control of motor.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| RO99-00602 | 1999-05-26 | ||
| RO9900602 | 1999-05-26 | ||
| RO99-00602A RO119917B1 (en) | 1999-05-26 | 1999-05-26 | Method of adjusting the power of a two-phase electronic commutation reluctance machine |
| PCT/RO2000/000011 WO2000074205A2 (en) | 1999-05-26 | 2000-04-21 | Method and circuits for controlling the power of an electronically switched, two-phase reluctance machine |
| ROA200000432 | 2000-04-21 | ||
| ROA200000432A RO119916B1 (en) | 2000-04-21 | 2000-04-21 | Process for adjusting the speed of the reluctance motors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1636308A CN1636308A (en) | 2005-07-06 |
| CN1636308B true CN1636308B (en) | 2011-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN00801360.8A Expired - Fee Related CN1636308B (en) | 1999-05-26 | 2000-04-21 | Method for controlling the power of an electronically switched, two-phase reluctance machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106151077B (en) * | 2016-08-09 | 2018-10-16 | 江门市金羚排气扇制造有限公司 | A kind of small-power reversible ventilation fan |
| JP6612809B2 (en) * | 2017-04-21 | 2019-11-27 | トヨタ自動車株式会社 | Switched reluctance motor controller |
| CN107707093B (en) * | 2017-10-18 | 2019-04-12 | 华中科技大学 | A kind of pouring-in vernier reluctance motor of current harmonics and system |
| DE102018217109B4 (en) * | 2018-10-05 | 2021-05-20 | Robert Bosch Gmbh | Method for determining a pole wheel angle of an electrical machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2293705A (en) * | 1994-09-30 | 1996-04-03 | Aisin Seiki | Switched reluctance motor |
| CN1161764A (en) * | 1994-09-22 | 1997-10-08 | 扬丘·伦古 | Electronically switched reluctance motor |
| US5736828A (en) * | 1994-07-12 | 1998-04-07 | Switched Reluctance Drives, Ltd. | Electric machine controller |
-
2000
- 2000-04-21 CN CN00801360.8A patent/CN1636308B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5736828A (en) * | 1994-07-12 | 1998-04-07 | Switched Reluctance Drives, Ltd. | Electric machine controller |
| CN1161764A (en) * | 1994-09-22 | 1997-10-08 | 扬丘·伦古 | Electronically switched reluctance motor |
| GB2293705A (en) * | 1994-09-30 | 1996-04-03 | Aisin Seiki | Switched reluctance motor |
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