DE102013020072A1 - Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 degrees - Google Patents

Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 degrees Download PDF

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Publication number
DE102013020072A1
DE102013020072A1 DE201310020072 DE102013020072A DE102013020072A1 DE 102013020072 A1 DE102013020072 A1 DE 102013020072A1 DE 201310020072 DE201310020072 DE 201310020072 DE 102013020072 A DE102013020072 A DE 102013020072A DE 102013020072 A1 DE102013020072 A1 DE 102013020072A1
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control electronics
bldc
brushless
hall sensors
electric motors
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DE102013020072A8 (en
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wird später genannt werden Erfinder
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GRIGULL, ANDREAS, DE
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ANTERA MOTOREN GmbH
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Publication of DE102013020072A8 publication Critical patent/DE102013020072A8/en
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

Steuerungselektronik zur stufenlosen Kommutierung von bürstenlosen 3-Phasen-Elektromotoren (BLDC) mit 2 Hallsensoren und 90° Versatz..Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors and 90 ° offset.

Description

  • 1. Steuerungselektronik zur stufenlosen Kommutierung von bürstenlosen 3-Phasen-Elektromotoren (BLDC) mit 2 Hallsensoren deren Versatz 90° beträgt.1. Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 °.
  • 2.1 Bisher bekannte Steuerungen nutzen zur Erfassung der Spulen-Position von 3-Phasen-Motoren drei digitale Hallsensoren die einen Versatz von 60 Grad oder 120 Grad aufweisen. Dabei werden je Umdrehung die 360 Grad in 6 bis 36 Stufen aufgeteilt und somit werden diese Motor-Phasen auch nur in dieser groben Winkeländerung in ihrer Bestromung geschaltet. Bekannt sind diese Ansteuerungsarten bei 6 Stufen als Blockkommutierung und bei 36 Stufen als Block-Sinuskommutierung mit zusätzlichen Hallsensoren. Eine stufenlose Ansteuerung der Motorphasen je kleinster Winkeländerung ist somit nicht möglich. Des Weiteren wird die Drehzahleinstellung über PWM-Modulation im Bereich 15 kHz und größer vorgenommen. Die Schaltmomente bei diesen Frequenzen sind deutlich zu hören und werden vor allem im Rehabilitationsbereich (Rollstühle und Senioren-Mobile) als äußerst störend empfunden. Auch treten Probleme bei dieser Ansteuerungsart beim Anlaufmoment und bei geringen Drehzahlen auf, da das Drehmoment nicht aufgebaut werden kann, aber auch bei Blockierung des Motors (Stalled). Ein Wiederanlauf ist dann nur durch einen Neustart der Elektronik – „Reset-Schalten” möglich.2.1 Previously known controllers use three digital Hall sensors to detect the coil position of 3-phase motors which have an offset of 60 degrees or 120 degrees. In this case, the 360 degrees are divided into 6 to 36 stages per revolution and thus these motor phases are switched only in this coarse angle change in their energization. These types of control are known at 6 stages as block commutation and at 36 stages as a block sinusoidal commutation with additional Hall sensors. A stepless control of the motor phases per smallest angle change is therefore not possible. Furthermore, the speed setting via PWM modulation in the range 15 kHz and greater is made. The switching moments at these frequencies are clearly audible and are especially disturbing in the rehabilitation area (wheelchairs and senior citizens mobile). Also occur problems with this type of control at start-up torque and low speeds, because the torque can not be built, but also when the engine stalled (Stalled). A restart is then only possible by a restart of the electronics - "reset switching".
  • 2.2 Das Schaltungskonzept der unter Punkt 1 benannten Steuerungselektronik nutzt zur Erfassung der Motorphasenposition und der Drehrichtung 2 Hallsensoren mit einem Versatz von 90 Grad. Dabei können zwei analoge Hallsensoren eingesetzt werden, oder ein analoger und ein digitaler Hallsensor mit einem Versatz von 90 Grad. Damit ist es möglich bei geringster Winkeländerung die Kommutierung der Spulen so zu ändern, dass immer das höchste Drehmoment in der gesamten Umdrehung des Motors gegeben ist, da immer die maximale Anziehung der Spulen und der Magnete gesteuert wird. Dieses hohe Drehmoment ist beim Anlaufen und bei geringen Drehzahlen ein großer Vorteil für Fahrzeuge jeglicher Art, insbesondere bei langsam fahrenden Fahrzeugen (z. B. Rollstühle, Senioren-Mobile). Bei dieser Schaltungsart ist eine Drehzahlregelung auch bei Stillstand gegeben, so dass ein Vor- oder Zurückrollen, speziell an Steigungen, bei eingeschalteter Elektronik nicht möglich ist. (geregelte Null-Drehzahl). Die Frequenz der Pulsweitenmodulation ist kleiner 40 KHz und liegt immer an den Motorphasen an, so dass störende Impulsgeräusche der Schaltmomente nicht mehr hörbar sind.2.2 The circuit concept of the control electronics named under point 1 uses 2 Hall sensors with an offset of 90 degrees to detect the motor phase position and the direction of rotation. Two analogue Hall sensors can be used, or one analog and one digital Hall sensor with an offset of 90 degrees. This makes it possible to change the commutation of the coils with the slightest change in angle so that there is always the highest torque in the entire revolution of the motor, since always the maximum attraction of the coils and the magnets is controlled. This high torque is a great advantage at start-up and at low speeds for vehicles of all kinds, especially in slow-moving vehicles (eg wheelchairs, senior citizens' mobile). In this type of circuit, a speed control is also given at a standstill, so that a forward or backward rolling, especially on gradients, with switched-on electronics is not possible. (controlled zero speed). The frequency of the pulse width modulation is less than 40 KHz and is always at the motor phases, so that annoying impulse noises of the switching moments are no longer audible.
  • 2.3 Die hauptsächlichen Anwendungsgebiete für Batterie betriebenen Einsatz sind BLDC-Motoren für Rollstühle, Senioren-Mobile, Bodenreinigungsmaschinen, innerbetriebliche Transportfahrzeuge, E-Schubkarren, FTS-Systeme, E-Fahrräder, E-Roller und E-Motorräder, E-Autos, für Netzbetrieb Rührwerke, Wickelantriebe, Textilmaschinen, Druckmaschinen, Torantriebe, Fördertechnik. Besonders in geräuscharmer Umgebung, wie in Gebäuden, ist die Ansteuerungsart von großem Vorteil.2.3 The main applications for battery operated use are BLDC motors for wheelchairs, senior mobiles, floor cleaning machines, in-house transport vehicles, electric wheelbarrows, AGV systems, e-bikes, e-scooters and e-motorcycles, e-cars, for mains operation Agitators, Winding drives, Textile machines, Printing machines, Door drives, Conveyors. Especially in low-noise environment, such as in buildings, the Ansteuerungsart of great advantage.

Claims (5)

Steuerungselektronik zur stufenlosen Kommutierung von bürstenlosen 3-Phasen-Elektromotoren (BLDC) mit 2 Hallsensoren und 90° Versatz..Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors and 90 ° offset .. Steuerungselektronik nach Anspruch 1, dadurch gekennzeichnet, dass die Motor-Phasenerfassung und Drehrichtung bei bürstenlosen 3-Phasen Elektromotoren (BLDC) mit 2 analogen Hallsensoren erfolgt.Control electronics according to claim 1, characterized in that the motor phase detection and direction of rotation in brushless 3-phase electric motors (BLDC) takes place with 2 analog Hall sensors. Steuerungselektronik nach Anspruch 1, dadurch gekennzeichnet, dass die Motor-Phasenerfassung bei bürstenlosen 3-Phasen Elektromotoren (BLDC) mit einem analogen und einem digitalen Hallsensor erfolgt.Control electronics according to claim 1, characterized in that the motor phase detection is carried out in brushless 3-phase electric motors (BLDC) with an analog and a digital Hall sensor. Steuerungselektronik nach Anspruch 1, dadurch gekennzeichnet, dass die Hallsensoren einen Versatz von 90° aufweisen.Control electronics according to claim 1, characterized in that the Hall sensors have an offset of 90 °. Steuerungselektronik nach Anspruch 1, dadurch gekennzeichnet, dass die Motoren eine permanent anliegende, pulsweitenmodulierte Spannung anliegen haben.Control electronics according to claim 1, characterized in that the motors have a permanently applied, pulse width modulated voltage applied.
DE201310020072 2012-11-26 2013-11-25 Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 degrees Withdrawn DE102013020072A1 (en)

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DE201310020072 DE102013020072A1 (en) 2012-11-26 2013-11-25 Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 degrees

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DE201220011508 DE202012011508U1 (en) 2012-11-26 2012-11-26 Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 °.
DE202012011508.1 2012-11-26
DE201310020072 DE102013020072A1 (en) 2012-11-26 2013-11-25 Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 degrees

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DE102013020072A1 true DE102013020072A1 (en) 2014-08-28
DE102013020072A8 DE102013020072A8 (en) 2014-11-13

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DE201310020072 Withdrawn DE102013020072A1 (en) 2012-11-26 2013-11-25 Control electronics for stepless commutation of brushless 3-phase electric motors (BLDC) with 2 Hall sensors whose offset is 90 degrees

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016221476A1 (en) * 2016-11-02 2018-05-03 Robert Bosch Gmbh Control method for an electric motor, control unit and electric motor

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016212175A1 (en) * 2016-07-05 2018-01-11 Schaeffler Technologies AG & Co. KG Method and device for determining and / or controlling a position of an electrically commutatable electric motor, in particular for a clutch actuation system of a vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016221476A1 (en) * 2016-11-02 2018-05-03 Robert Bosch Gmbh Control method for an electric motor, control unit and electric motor
EP3319222A1 (en) * 2016-11-02 2018-05-09 Robert Bosch GmbH Control method for an electric motor, control device and electric motor

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DE102013020072A8 (en) 2014-11-13
DE202012011508U1 (en) 2013-03-13

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Owner name: GRIGULL, ANDREAS, DE

Free format text: FORMER OWNER: ANTERA MOTOREN GMBH, 06217 MERSEBURG, DE

R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee