DE102006026560A1 - Start-up procedure for a sensorless and brushless DC motor - Google Patents
Start-up procedure for a sensorless and brushless DC motor Download PDFInfo
- Publication number
- DE102006026560A1 DE102006026560A1 DE102006026560A DE102006026560A DE102006026560A1 DE 102006026560 A1 DE102006026560 A1 DE 102006026560A1 DE 102006026560 A DE102006026560 A DE 102006026560A DE 102006026560 A DE102006026560 A DE 102006026560A DE 102006026560 A1 DE102006026560 A1 DE 102006026560A1
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- DE
- Germany
- Prior art keywords
- motor
- rotor
- stator
- phase
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims description 2
- 230000010363 phase shift Effects 0.000 claims description 2
- 239000002826 coolant Substances 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 230000004907 flux Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000012809 cooling fluid Substances 0.000 description 1
- 239000000110 cooling liquid Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
-
- 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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/30—Electronic control of motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Die Erfindung betrifft ein Anlaufverfahren für einen sensor- und bürstenlosen, mehrphasig betriebenen Gleichstrommotor, bei dem der Gleichstrommotor in einem offenen Betriebsmodus ohne Kenntnis der Position des Rotors auf eine Umschaltdrehzahl beschleunigt wird und nach Erreichen der Umschaltdrehzahl in einem geschlossenen Betriebsmodus, basierend auf der Kenntnis der Position des Rotors, betrieben wird. Zur Vermeidung von Stromspitzen beim Umschalten vom offenen in den geschlossenen Betriebsmodus wird nach Erreichen der Umschaltdrehzahl die Drehzahl des Gleichstrommotors konstant gehalten und gleichzeitig der Strom im Stator reduziert, bis die in einer nichtbestromten Phase induzierte Spannung eine endliche Steigung ungleich Null aufweist und während der endlichen Steigung ein Nulldurchgang detektiert wird.The invention relates to a start-up method for a sensor and brushless, multi-phase DC motor, in which the DC motor is accelerated in an open mode without knowing the position of the rotor to a switching speed and after reaching the switching speed in a closed mode, based on the knowledge of Position of the rotor, is operated. To avoid current spikes when switching from open to closed operating mode, after reaching the switching speed, the speed of the DC motor is kept constant and at the same time the current in the stator is reduced until the voltage induced in a non-energized phase has a finite non-zero slope and during the finite slope a zero crossing is detected.
Description
Die Erfindung betrifft ein Anlaufverfahren für einen sensor- und bürstenlosen, mehrphasig betriebenen Gleichstrommotor, bei dem der Gleichstrommotor in einem offenen Betriebsmodus ohne Kenntnis der Position des Rotors auf eine Umschaltdrehzahl beschleunigt wird und nach Erreichen der Umschaltdrehzahl in einem geschlossenen Betriebsmodus basierend auf der Kenntnis der Position des Rotors betrieben wird.The The invention relates to a start-up method for a sensorless and brushless, multiphase DC motor, in which the DC motor in an open mode without knowing the position of the rotor is accelerated to a switching speed and after reaching the Switching speed based in a closed operating mode operated on the knowledge of the position of the rotor.
Aus
der
Während des Umschaltens vom offenen in den geschlossenen Betriebsmodus kann es jedoch passieren, dass der Rotor dem nunmehr zu etwas anderen Zeitpunkten kommutierten Drehfeld nicht mehr folgen kann und er droht, außer Tritt zu fallen. Dieser Vorgang wird von hohen Stromimpulsen begleitet. Bei niederohmigen Motoren, wie sie beispielsweise bei Kühlmittelpumpen in Kraftfahrzeugen eingesetzt werden, fallen diese Stromimpulse oder Stromspitzen besonders hoch aus, was zur Zerstörung der Ansteuerelektronik des Motors führen kann. Die Anwendung eines sensor- und bürstenlosen Gleichstrommotors im Kraftfahrzeug bringt noch das zusätzliche Problem der wechselnden Umgebungsbedingungen mit sich, was zu erheblichen Lastschwankungen führen kann, Kommen zu den Lastschwankungen noch die durch den Wechsel vom offenen in den geschlossenen Betriebsmodus bewirkten Veränderungen im Kommutierungszeitpunkt hinzu, so wird ein Außer-Tritt-Fallen noch stärker wahrscheinlich.During the Switching from open to closed operating mode can However, it happens that the rotor now something else Times commuted rotating field can not follow and he threatens, except Occurs to fall. This process is accompanied by high current pulses. For low-impedance motors, as for example with coolant pumps used in motor vehicles, these current pulses fall or current peaks particularly high, resulting in the destruction of the Control electronics of the engine lead can. The application of a sensor and brushless DC motor in the motor vehicle brings the additional problem of changing Environmental conditions with it, resulting in significant load fluctuations to lead can, coming to the load fluctuations still those by the change from open to closed mode of operation At commutation, an out-of-tread fall becomes even more likely.
Aufgabe der vorliegenden Erfindung ist es deshalb, ein Anlaufverfahren der eingangs genannten Art anzugeben, welches mit hoher Sicherheit zum Erreichen des geschlossenen Betriebsmodus führt und bei welchem das Auftreten von Stromspitzen während des Umschaltens vom offenen in den geschlossenen Betrieb vermieden werden kann.task The present invention is therefore a start-up method of specify the type mentioned above, which with high certainty to achieve the closed operating mode leads and in which the occurrence from current spikes during Switching from open to closed operation avoided can be.
Diese Aufgabe wird mit einem Anlaufverfahren nach Anspruch 1 gelöst.These The object is achieved by a start-up method according to claim 1.
Der Erfindung liegt die Erkenntnis zugrunde, dass beim offenen Betriebsmodus des bekannten Verfahrens der Nulldurchgang der Phasenspannungen deutlich später erfolgt als beim geschlossenen Betrieb. Dies kommt daher, da beim offenen Betrieb der Statorstrom erhöht wird, um ein Beschleunigen des Rotors auch bei Lastschwankungen und nichtoptimaler Kommutierung sicher zu gewährleisten. Der spätere Nulldurchgang der Phasenspannungen liegt nun darin begründet, dass die in der jeweils stromlosen Phase induzierte Spannung nicht mehr ausreicht, um die vorhandene Energie des erhöhten Statorstroms abzubauen, d.h. die Phasenspannung steigt und fällt in den stromlosen Phasen nicht mehr – wie beim geschlossenen Betrieb – rampenförmig an oder ab, sondern sie nähert sich einer Blockform an.Of the The invention is based on the finding that in the open operating mode of the known method, the zero crossing of the phase voltages much later takes place as in closed operation. This is because of the open operation, the stator current is increased to accelerate the Rotor also with load fluctuations and non-optimal commutation to ensure safe. The later Zero crossing of the phase voltages is now due to the fact that the voltage induced in each currentless phase voltage no longer sufficient to dissipate the existing energy of the increased stator current, i.e. the phase voltage rises and falls in the de-energized phases no more - like in closed operation - ramped to or but she approaches to a block shape.
Der spätere Nulldurchgang der Spannung in der stromlosen Statorphase beeinflusst wiederum das Ergebnis des Verfahrens zur Bestimmung des nächsten Kommutierungszeitpunktes aus der Rotorposition, welches erstmalig beim Umschalten in den geschlossenen Betrieb durchgeführt wird, da dieses Verfahren den Kommutierungszeitpunkt ausgehend vom zuletzt gemessenen Nulldurchgang berechnet. Der erste berechnete Kommutierungszeitpunkt nach dem Umschalten liegt also weit von einem Optimum entfernt und birgt die Gefahr des Außer-Tritt-Fallens des Rotors.Of the latter Zero crossing of the voltage in the currentless stator phase influenced again the result of the method for determining the next commutation time from the rotor position, which for the first time when switching to the closed Operation performed Since this method is the commutation starting from the last measured zero crossing calculated. The first calculated Commutation time after switching is thus far from one Optimum removes and carries the risk of falling out of the rotor.
Erfindungsgemäß wird deshalb vorgeschlagen, nach Erreichen der Umschaltdrehzahl die Drehzahl des Gleichstrommotors konstant zu halten und gleichzeitig den Strom im Stator zu reduzieren, bis die in einer nichtbestromten Phase induzierte Spannung eine endliche Steigung ungleich Null aufweist und während der endlichen Steigung ein Nulldurchgang detektiert wird.Therefore, according to the invention proposed, after reaching the switching speed, the speed to keep the DC motor constant while keeping the current reduce in the stator until in a non-energized phase induced voltage has a finite non-zero slope and while the finite slope a zero crossing is detected.
Die Erfindung und weitere Unterausführungen werden nachfolgend anhand eines Ausführungsbeispiels und der Zeichnung näher erläutert. Es zeigenThe Invention and further sub-embodiments will be described below with reference to an embodiment and the drawing explained in more detail. It demonstrate
In
den
Der
Rotor
In
den
In
Die
in
Die
Spannungsimpulse
Ein
Verfahren zur Bestimmung des nächsten Kommutierungszeitpunktes
wird in der
Während des
Anlaufens, d.h. während
des Beschleunigens des Motors
Um
trotzdem ein sicheres Hochlaufen des Motors
Ist
der Motor
Zur Überwindung
dieser Probleme schlägt nun
die vorliegende Erfindung vor, nach dem Erreichen der Umschaltdrehzahl
nicht einfach von einer Betriebsart in die andere umzuschalten, sondern
vor dem Umschalten den Strom im Stator
Die
Wirkungsweise einer Ausführungsform des
erfindungsgemäßen Verfahrens
wird aus
Der
Nulldurchgang der Phasenspannung U4 tritt
bereits ab
Zusammenfassend
wird ein Anlaufverfahren für
den Motor
In einem ersten Schritt wird der
Rotor
In a first step, the rotor
In
einem zweiten Schritt wird der Rotor
Da
im Kraftfahrzeugbereich außerdem
mit Schwankungen im Bordnetz und damit in der Versorgungsspannung
Vbat nach
Im
dritten Schritt, wenn die Umschaltdrehzahl erreicht ist, wird mit
der Umschaltphase begonnen. Dabei wird die Umschaltdrehzahl konstant
gehalten und gleichzeitig der Statorstrom kontinuierlich reduziert.
Die Recheneinheit
Im vierten Schritt läuft der geschlossene Betriebsmodus nach dem Stand der Technik ab, d.h. dass zum Beispiel durch Variation der Statorspannung eine gewünschte Variation der Rotordrehzahl vorgenommen werden kann.in the fourth step the closed mode of operation of the prior art, i. that For example, by varying the stator voltage a desired variation the rotor speed can be made.
Durch
das erfindungsgemäße Absenken
des Statorstroms bei gleichzeitiger Überwachung der Nulldurchgänge der
induzierten Spannungen wird gewährleistet,
dass unabhängig
vom aktuellen Lastfall ein sicheres Umschalten vom offenen in den
geschlossenen Betriebsmodus stattfindet, ohne die Motorelektronik
und insbesondere die Leistungsendstufe
Claims (8)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006026560.2A DE102006026560B4 (en) | 2006-06-06 | 2006-06-06 | Start-up procedure for a sensorless and brushless DC motor |
PCT/EP2007/053878 WO2007141084A1 (en) | 2006-06-06 | 2007-04-20 | Starting procedure for a dc motor without sensors and brushes |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006026560.2A DE102006026560B4 (en) | 2006-06-06 | 2006-06-06 | Start-up procedure for a sensorless and brushless DC motor |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102006026560A1 true DE102006026560A1 (en) | 2007-12-20 |
DE102006026560B4 DE102006026560B4 (en) | 2023-04-27 |
Family
ID=38171360
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102006026560.2A Active DE102006026560B4 (en) | 2006-06-06 | 2006-06-06 | Start-up procedure for a sensorless and brushless DC motor |
Country Status (2)
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DE (1) | DE102006026560B4 (en) |
WO (1) | WO2007141084A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010029315A1 (en) * | 2010-05-26 | 2011-12-01 | Robert Bosch Gmbh | Method for electronic commutation in direct current electromotor in vehicle, involves changing pulse width modulation of current supply when zero crossover of mutual induction voltage is overlapped by positive or negative current values |
US8975856B2 (en) | 2010-01-30 | 2015-03-10 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Method of improving efficiency in a multiphase motor, and motor for implementing such a method |
US9035588B2 (en) | 2011-09-21 | 2015-05-19 | Hitachi Automotive Systems, Ltd. | Brushless motor driving apparatus and brushless motor driving method |
US9118268B2 (en) | 2011-07-07 | 2015-08-25 | Robert Bosch Gmbh | Electronic commutation method in direct current electric motors |
DE102017125934A1 (en) * | 2016-11-07 | 2018-05-09 | Infineon Technologies Ag | Auto-synchronization of brushless DC motors |
DE102017201480A1 (en) | 2017-01-31 | 2018-08-02 | BD Kompressor GmbH | Method for operating an electrical machine |
DE102017117109A1 (en) * | 2017-07-28 | 2019-01-31 | Miele & Cie. Kg | Control of a brushless DC motor |
DE102018128354A1 (en) * | 2018-11-13 | 2020-05-14 | Beckhoff Automation Gmbh | METHOD FOR DETERMINING A ROTOR POSITION OF A BLDC MOTOR |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008041549A1 (en) * | 2008-08-26 | 2010-03-04 | Robert Bosch Gmbh | Method for detecting the rotor position of an electrical machine and device for this purpose |
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US4743815A (en) * | 1987-09-01 | 1988-05-10 | Emerson Electric Co. | Brushless permanent magnet motor system |
DE10037972A1 (en) * | 1999-08-05 | 2001-03-15 | Sharp Kk | Syncronous electric motor control device, e.g. for air-conditioning compressor, uses detected phase difference between motor winding current and motor control voltage for regulation of latter |
DE10346555A1 (en) * | 2002-10-07 | 2004-07-22 | Toyota Jidosha K.K., Toyota | Operation control device for an electric motor and control method therefor |
DE10308859A1 (en) * | 2003-02-27 | 2004-09-16 | Melexis Gmbh | Process for optimal performance control of BLDC motors |
DE10332228A1 (en) * | 2003-07-16 | 2005-02-24 | Ebm-Papst Mulfingen Gmbh & Co. Kg | Control method for brushless electric motor, especially fan motor, in which motor is operated as brushless DC motor during acceleration phase and as synchronous motor during constant speed phase |
DE102004043904A1 (en) * | 2003-09-12 | 2005-06-02 | Sanden Corp., Isesaki | Engine control unit |
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-
2006
- 2006-06-06 DE DE102006026560.2A patent/DE102006026560B4/en active Active
-
2007
- 2007-04-20 WO PCT/EP2007/053878 patent/WO2007141084A1/en active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US4743815A (en) * | 1987-09-01 | 1988-05-10 | Emerson Electric Co. | Brushless permanent magnet motor system |
DE10037972A1 (en) * | 1999-08-05 | 2001-03-15 | Sharp Kk | Syncronous electric motor control device, e.g. for air-conditioning compressor, uses detected phase difference between motor winding current and motor control voltage for regulation of latter |
DE10346555A1 (en) * | 2002-10-07 | 2004-07-22 | Toyota Jidosha K.K., Toyota | Operation control device for an electric motor and control method therefor |
DE10308859A1 (en) * | 2003-02-27 | 2004-09-16 | Melexis Gmbh | Process for optimal performance control of BLDC motors |
DE102004036861A1 (en) * | 2003-02-27 | 2005-09-15 | Melexis Gmbh | Power-optimal brushless DC motor control involves measuring time difference between null crossings of induced voltage in non-current-carrying coil, commutating next phase after half time difference |
DE10332228A1 (en) * | 2003-07-16 | 2005-02-24 | Ebm-Papst Mulfingen Gmbh & Co. Kg | Control method for brushless electric motor, especially fan motor, in which motor is operated as brushless DC motor during acceleration phase and as synchronous motor during constant speed phase |
DE102004043904A1 (en) * | 2003-09-12 | 2005-06-02 | Sanden Corp., Isesaki | Engine control unit |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8975856B2 (en) | 2010-01-30 | 2015-03-10 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Method of improving efficiency in a multiphase motor, and motor for implementing such a method |
DE102010029315A1 (en) * | 2010-05-26 | 2011-12-01 | Robert Bosch Gmbh | Method for electronic commutation in direct current electromotor in vehicle, involves changing pulse width modulation of current supply when zero crossover of mutual induction voltage is overlapped by positive or negative current values |
US9118268B2 (en) | 2011-07-07 | 2015-08-25 | Robert Bosch Gmbh | Electronic commutation method in direct current electric motors |
US9035588B2 (en) | 2011-09-21 | 2015-05-19 | Hitachi Automotive Systems, Ltd. | Brushless motor driving apparatus and brushless motor driving method |
DE102017125934A1 (en) * | 2016-11-07 | 2018-05-09 | Infineon Technologies Ag | Auto-synchronization of brushless DC motors |
US10097115B2 (en) | 2016-11-07 | 2018-10-09 | Infineon Technologies Ag | Auto-synchronization of brushless DC motors |
DE102017201480A1 (en) | 2017-01-31 | 2018-08-02 | BD Kompressor GmbH | Method for operating an electrical machine |
DE102017117109A1 (en) * | 2017-07-28 | 2019-01-31 | Miele & Cie. Kg | Control of a brushless DC motor |
DE102018128354A1 (en) * | 2018-11-13 | 2020-05-14 | Beckhoff Automation Gmbh | METHOD FOR DETERMINING A ROTOR POSITION OF A BLDC MOTOR |
US11496078B2 (en) | 2018-11-13 | 2022-11-08 | Beckhoff Automation Gmbh | Method for determining the rotor position of a BLDC motor |
Also Published As
Publication number | Publication date |
---|---|
WO2007141084A1 (en) | 2007-12-13 |
DE102006026560B4 (en) | 2023-04-27 |
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