EP0027856B1 - Schaltungsanordnung zur Regelung von Drehzahl und Phasenlage bei Synchronmotoren - Google Patents

Schaltungsanordnung zur Regelung von Drehzahl und Phasenlage bei Synchronmotoren Download PDF

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Publication number
EP0027856B1
EP0027856B1 EP80104425A EP80104425A EP0027856B1 EP 0027856 B1 EP0027856 B1 EP 0027856B1 EP 80104425 A EP80104425 A EP 80104425A EP 80104425 A EP80104425 A EP 80104425A EP 0027856 B1 EP0027856 B1 EP 0027856B1
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EP
European Patent Office
Prior art keywords
pulses
pulse
sensor
generator
drive
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.)
Expired
Application number
EP80104425A
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German (de)
English (en)
French (fr)
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EP0027856A1 (de
Inventor
Harald Dr. Hoffmann
Dan-Corneliu Raducanu
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Braun GmbH
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Braun GmbH
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    • G—PHYSICS
    • G04—HOROLOGY
    • G04C—ELECTROMECHANICAL CLOCKS OR WATCHES
    • G04C15/00—Clocks driven by synchronous motors
    • G04C15/0009—Clocks driven by synchronous motors without power-reserve
    • G04C15/0036—Clocks driven by synchronous motors without power-reserve provided with means for indicating disturbance

Definitions

  • the invention relates to a circuit arrangement for controlling the speed and phase position in synchronous motors with a rotor with at least one pole pair and with a stator with at least one field winding acted upon by drive pulses, in particular in reaction motors of time-keeping devices such as clocks, using a pulse generator, the pulses of constant frequency and width.
  • Deviations in speed and phase position can be attributed to both internal and external influences. This includes different load torques, frictional forces and mass forces that can act on a rotating system with the appropriate mass inertia. The latter case is particularly the case with portable watches and, in particular, with wristwatches. Impact sensitivity of the drive system can lead to permanent deviations which can add up to intolerable display errors over time. Such influences can be counteracted by designing the motor and the control accordingly. However, this is associated with an increased power consumption of the motor, which leads to either frequent battery replacement or large-sized batteries when the battery is driven. Both are undesirable, particularly in the case of watches; Large-volume batteries are unsustainable in wristwatches, especially women's watches.
  • the prior art includes reactive synchronous motors with at least one field winding which is supplied with an AC voltage which is synchronous with the rotational movement of the magnetic field generated by the rotor.
  • a motor In addition to high power consumption, such a motor has the disadvantage that a pulse lost due to a pole shift can no longer be obtained. Such a system cannot keep the number of revolutions constant in a given period of time.
  • Such a control system can be compared to a two-point controller.
  • the disadvantage of the known system lies in a considerable dead time, since the regulator does not intervene quickly enough in the event of abrupt counter-torques. As a result, there is a risk that the engine speed will drop below a limit that leads to a lag that cannot be caught up.
  • a further basic control method which is frequently used in synchronous motors, for achieving the best possible speed constancy is generally known. It consists in comparing a pulse sequence having a predetermined synchronous frequency (setpoint) with the frequency of a pulse sequence (setpoint) derived from the engine speed in a phase comparison device and deriving a control variable for accelerating or braking the synchronous motor.
  • CH-A-459 334 a circuit arrangement for electronically regulating the speed of a drive device, in particular for magnetic storage devices, is known, which is based, in particular, on the task of forcing two or more different devices to have exactly the same speed, with high demands on the constant speed and matching the speeds of the various drive devices.
  • the principle is basically used to enter a predetermined target frequency for the speed of the drive devices and a frequency derived from the motor speed or speeds into a phase or frequency comparison circuit.
  • the concrete implementation of this basic principle takes place in such a way that the power supply to the drive device to be controlled is influenced by a counting circuit which only counts up to a maximum value and downwards to a minimum value.
  • the setpoint values and those derived from the respective actual speed are located at the input of the counter circuit th actual value pulses. Within the specified counting range, a number is determined, when the power supply to the drive device is exceeded and when the power supply to the drive device is undershot. Each pulse corresponding to the actual speed of the drive device means an upward counting of the counter, while each setpoint pulse triggers a downward counting of the counter.
  • the known circuit arrangement is very complex and correspondingly expensive to manufacture due to the use of a plurality of flip-flops and comparison elements, and is not suitable for compensating the pole jumps which occur in the event of large deviations of the setpoint pulses from the actual value pulses, since the counter is not is able to exceed or fall below the specified counting range.
  • a drive device for the stepper motor of an electronic watch with a calendar coupled via a transmission in which pulses emitted as setpoint pulses by an oscillator are divided by means of a divider chain and input to a drive control and regulating circuit, the latter Control the stepper motor with output pulses.
  • a sensor winding attached next to the field winding of the stepping motor essentially detects the current pulses supplied to the stepping motor via the field winding and additionally the angular position of the rotor with respect to the stator of the stepping motor.
  • the sensor winding has the task of determining whether the stepper motor rotor is already in the next stable step position and thus the drive pulse can be ended or not.
  • This detection device essentially serves the task of reducing the power consumption of the stepper motor, which is certainly of essential importance in battery-operated watches.
  • the different loading of the stepper motor and thus the length of the drive pulse required is caused in this known drive device by the coupled calendar mechanism, so that a greater drive torque and thus a greater power consumption is required when the calendar mechanism is switched on.
  • the stepper motor reaches the next stable state with a short pulse length, so that the drive pulse can be interrupted.
  • the object of the application is based on the task of creating a circuit arrangement for regulating the speed and phase position of a synchronous motor, in particular for analog-displaying clocks, the very quickly, ie works without noticeable dead times, immediately reacts to an abrupt counter torque or acceleration torque with a corresponding increase in the drive power or braking of the motor and in particular regulates pole jumps of the motor, which ensures low power consumption and whose circuitry outlay is low while fully maintaining the functional reliability of the circuit.
  • the pole movement with respect to the stator is detected by means of an inductive sensor winding and a downstream pulse shaper, and in that the phase comparison device is switched in such a way that the field winding has an accelerating or an accelerating generator pulse that leads or lags the sensor pulse Braking drive pulse is emitted, the pulse width is proportional to the phase shift between the generator pulse and sensor pulse. Since the width of the drive pulses also corresponds to the power consumption of the motor, the motor power is immediately, i.e. adjusted to the power requirement at the start of a phase shift, so that unacceptable phase shifts are corrected immediately.
  • the phase position of the sensor pulses compared to the generator pulses, it is also determined what sign the phase shift has, i.e. whether the rotor is leading or lagging.
  • the time at which the drive pulses are generated is selected with respect to the respective pole position so that either a braking or an acceleration effect is exerted on the rotor.
  • the phase comparison device is also switched such that when the sensor pulses lead or lag the generator pulses by an integer multiple, drive pulses braking or accelerating are emitted to the field winding, the pulse width of the gap between two successive sensor pulses or the pulse width of the sensor pulse in question corresponds.
  • a synchronous motor 1 is shown schematically, the rotor 2 and a stator 3, in which a field winding 4 and a sensor winding 5 are accommodated.
  • the synchronous motor is designed as a reaction motor or reactive motor, ie the rotor 2 contains poles formed by permanent magnets, which are arranged alternately and denoted by N and S.
  • the rotor 2 can be brought to a speed corresponding to the number of pole pairs and the frequency, in the case shown, to eight revolutions per second.
  • the run-up of the rotor 2 is made possible by auxiliary means, not shown, which, like the principle of the synchronous motor, are state of the art.
  • the revolutions of the rotor 2 are transmitted via a shaft 6 to a transmission 7 and from there via a shaft 8 to a display system 9, which enables, for example, an analog display by means of several pointers and a dial.
  • the sensor winding 5 is formed by an induction coil which, like the field winding 4, lies in the area of influence of the magnetic lines of the poles N and S of the rotor 2.
  • An output of the sensor winding 5 is at a terminal 10 of a voltage divider, which consists of the resistors 11 and 12.
  • a tap 13 leads from the resistor 12 to a comparator 14 in the same way as the second output 40 of the sensor winding 5.
  • the comparator 14 which can also be referred to as a pulse shaper, the sensor signal is converted into rectangular pulses, the vertical edges of which lie at the point of the zero crossings of the sensor signal.
  • the square-wave pulses lie at the location of the positive curves of the sensor signal; the intervals between the pulses are located at the location of the negative curves of the sensor signal.
  • the output of the comparator 14 is connected to a debouncing stage 15, which has the task of holding back short interference pulses, which are caused by interference from the field winding 4 into the sensor winding 5.
  • the debouncing stage 15 contains an inverter 16 and two D-type MC 14013 flip-flops (all the type designations mentioned here are catalog items from Motorola / USA).
  • the debouncing stage has two NAND gates 19 and 20 of the type MC 14011 and two NAND gates 21 and 22 of the same type, which form a further flip-flop due to their circuitry.
  • the outputs of the NAND gates 21 and 22 are connected to a common connection 23.
  • the parts mentioned are connected in the manner shown, so that a detailed textual explanation of the line routing can be dispensed with. Connections 24 and 25 are also important for connection to the subsequent circuits.
  • the entire arrangement is also assigned a pulse generator 26, which has a quartz oscillator 27 and a frequency divider 28 with two outputs, at which square-wave pulses with frequencies of 16 Hz and 256 Hz, for example, are present.
  • the output with the frequency of 256 Hz is connected via a line 29 to the corresponding inputs of the D flip-flops 17 and 18.
  • the output of the frequency divider 28 at which the frequency of 16 Hz is present is connected via a line 30 to a phase comparator 31, specifically to a D-type flip-flop 32 of the MC 14013 type. Another D-type flip-flop 33 of the same type is connected via a line 34 to the connection 23 of the debounce stage 15.
  • the phase comparator 31 also includes two NOR gates 35 and 36 of the type MC 14025 and two further NOR gates 37 and 38 of the type 14001. The parts of the phase comparator 31 are also connected in the manner shown, it being worth mentioning that an input of the NOR gate 35 are connected to the terminal 25 and an input of the NOR gate 36 is connected to the terminal 24 of the debounce stage 15.
  • the output of the NOR gate 38 is connected via a line 39 to the field winding 4, the other side of which is connected to ground.
  • FIG. 2-7 The mode of operation of the arrangement according to FIG. 1 is explained in more detail in connection with FIGS. 2-7.
  • the letters A, B and C on the right edge of Fig. 2-7 refer to the correspondingly marked positions of the cable routing in Fig. 1, i.e. at the relevant points there are pulses corresponding to the pulses shown in FIGS. 2-7 under the operating conditions explained below.
  • Fig. 2 the generator pulses are shown with the frequency 16 Hz. This frequency is applied to one input of the D flip-flop 32 of the phase comparator 31.
  • the pulse sequence A in question is compared with the pulse sequence which is induced in the sensor winding 5 due to the rotation of the rotor 2 and which is present at the connection 23 (point B) of the debouncing stage 15 after corresponding signal processing.
  • the two pulse sequences are compared with one another, specifically the output frequency of the pulse generator 26 is the (constant) target frequency and the pulse frequency at point B is the so-called actual frequency. Normally, both frequencies are out of phase with each other.
  • a sequence of drive pulses is formed on line 39 (C), the different appearance of which depends on Operating conditions with reference to Fig. 3-7 (each lower diagram) is explained in more detail.
  • the drive pulses are formed synchronously with the sensor pulses; however, they only lie within their flanks and do not necessarily extend across the entire width of the sensor pulses.
  • the width of the Drive impulses depend on the phase shift as well as on the difference between the target frequency and the actual frequency.
  • the position of the drive pulses at the beginning and / or at the end of the sensor pulses depends on the sign of the phase shift or on an advance or lag.
  • Drive impulses are also understood to mean those impulses which bring about a negative drive, that is to say braking.
  • the sensor pulses (B) are phase-shifted and wider than the generator pulses (A), which suggests a decreased speed.
  • the runner's lag increases and the positive phase shift increases from ⁇ 1 to ⁇ 2 .
  • this results in a sequence of drive pulses with increasing width, which are proportional to the phase shift.
  • These drive pulses occur at the end of each generator pulse, which also indicates the position of the pole in question, which generates the sensor pulse, in relation to the field winding 4. This is due to the spatial position shown in FIG. 1 from field winding 4 to sensor winding 5 to one another, which are arranged in a common plane running radially to rotor 2.
  • FIG. 4 also shows a sequence of sensor pulses (B) which lag the generator pulses (A), ie the phase shift is positive and progressive. This is a sign that the actual frequency deviates much more from the target frequency, a process that can occur due to a particularly strong shock-like torque.
  • drive pulses (C) are formed, which are correspondingly wider, as indicated by the hatched pulse in FIG. 4.
  • the drive pulse in question generates a much stronger accelerating torque in order to reduce the phase shift cp 2 again.
  • the accelerating effect of the drive pulse is caused by the relative position to the sensor pulse. conditional on the pole.
  • Fig. 5 shows a sequence of sensor pulses (B) which leads the generator pulses (A), i.e. the phase shift is negative.
  • a sequence of drive pulses (C) is now generated in the phase comparator 31, which have such a position with respect to the sensor pulses or poles that a braking torque is generated. This is indicated by a "-”.
  • This braking. or negative drive impulses largely restore the generator and sensor impulses.
  • the aim should be to prevent the pole jump E from becoming greater than 1, especially if a pole lag is to be eliminated.
  • the arrangement according to FIG. 1 can be set up for battery voltages above 3 volts with conventional CMOS circuits (Complementary Metal Oxide Semiconductor Circuits).
  • CMOS circuits Complementary Metal Oxide Semiconductor Circuits
  • the connection of the battery to the arrangement according to FIG. 1 is not particularly shown, but only represented by “ ⁇ ”.
  • flip-flops 32 and 33 are to be replaced by up-down counters or by right-left shift registers.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Stepping Motors (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
EP80104425A 1979-09-19 1980-07-28 Schaltungsanordnung zur Regelung von Drehzahl und Phasenlage bei Synchronmotoren Expired EP0027856B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2937838A DE2937838C2 (de) 1979-09-19 1979-09-19 Verfahren und Anordnung zur Regelung von Drehzahl und Phasenlage bei Synchronmotoren
DE2937838 1979-09-19

Publications (2)

Publication Number Publication Date
EP0027856A1 EP0027856A1 (de) 1981-05-06
EP0027856B1 true EP0027856B1 (de) 1984-10-03

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EP80104425A Expired EP0027856B1 (de) 1979-09-19 1980-07-28 Schaltungsanordnung zur Regelung von Drehzahl und Phasenlage bei Synchronmotoren

Country Status (5)

Country Link
US (1) US4418307A (pt)
EP (1) EP0027856B1 (pt)
JP (1) JPS5646699A (pt)
BR (1) BR8005314A (pt)
DE (1) DE2937838C2 (pt)

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DE3151257A1 (de) * 1981-12-24 1983-07-07 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Synchronantrieb
US4578625A (en) * 1983-12-21 1986-03-25 Computer Memories, Inc. Spindle drive control system
DE3400198A1 (de) * 1984-01-04 1985-07-11 Siemens AG, 1000 Berlin und 8000 München Drehzahlregelschaltung fuer einen gleichstrommotor
JPS611286A (ja) * 1984-06-13 1986-01-07 Fuji Photo Film Co Ltd モ−タ制御方法
US4933985A (en) * 1986-05-21 1990-06-12 Canon Kabushiki Kaisha Rotation drive device
US5345532A (en) * 1986-05-21 1994-09-06 Canon Kabushiki Kaisha Rotation drive device
US5953491A (en) * 1997-09-29 1999-09-14 Alliedsignal Inc. Control system for a permanent magnet motor
US6140803A (en) * 1999-04-13 2000-10-31 Siemens Westinghouse Power Corporation Apparatus and method for synchronizing a synchronous condenser with a power generation system
US6487769B2 (en) 2000-11-30 2002-12-03 Emerson Electric Co. Method and apparatus for constructing a segmented stator
US6597078B2 (en) 2000-12-04 2003-07-22 Emerson Electric Co. Electric power steering system including a permanent magnet motor
US6744166B2 (en) 2001-01-04 2004-06-01 Emerson Electric Co. End cap assembly for a switched reluctance electric machine
US6897591B2 (en) * 2001-03-26 2005-05-24 Emerson Electric Co. Sensorless switched reluctance electric machine with segmented stator
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US7012350B2 (en) 2001-01-04 2006-03-14 Emerson Electric Co. Segmented stator switched reluctance machine
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JP5298502B2 (ja) * 2007-02-05 2013-09-25 セイコーエプソン株式会社 回転機器の回転数測定方法及び装置
US8251575B2 (en) 2008-03-07 2012-08-28 Citizen Watch Co., Ltd. Electronic timepiece
DE102016204049B4 (de) * 2016-03-11 2018-12-20 Continental Automotive Gmbh Lageerfassungsvorrichtung und Verfahren zum Übertragen eines Nachrichtensignals zwischen relativbeweglichen Gerätekomponenten mittels der Lageerfassungsvorrichtung
JP2018023178A (ja) * 2016-08-01 2018-02-08 株式会社日立製作所 電力変換装置用制御装置、圧縮機駆動システム、フライホイール発電システムおよび電力変換装置の制御方法
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Also Published As

Publication number Publication date
US4418307A (en) 1983-11-29
DE2937838A1 (de) 1981-04-02
DE2937838C2 (de) 1986-08-28
JPS5646699A (en) 1981-04-27
EP0027856A1 (de) 1981-05-06
BR8005314A (pt) 1981-05-19

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