EP0676095A1 - POWER SUPPLY SYSTEM FOR n ASYNCHRONOUS MOTORS - Google Patents

POWER SUPPLY SYSTEM FOR n ASYNCHRONOUS MOTORS

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Publication number
EP0676095A1
EP0676095A1 EP94931622A EP94931622A EP0676095A1 EP 0676095 A1 EP0676095 A1 EP 0676095A1 EP 94931622 A EP94931622 A EP 94931622A EP 94931622 A EP94931622 A EP 94931622A EP 0676095 A1 EP0676095 A1 EP 0676095A1
Authority
EP
European Patent Office
Prior art keywords
reg
voltages
motors
ref
man
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.)
Withdrawn
Application number
EP94931622A
Other languages
German (de)
French (fr)
Inventor
Bernard De Fornel
Maria Pietrzak-David
Alain Bouscayrol
Sami Siala
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Original Assignee
Centre National de la Recherche Scientifique CNRS
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Application filed by Centre National de la Recherche Scientifique CNRS filed Critical Centre National de la Recherche Scientifique CNRS
Publication of EP0676095A1 publication Critical patent/EP0676095A1/en
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors

Definitions

  • the invention relates to a system for supplying n asynchronous motors.
  • the supply systems of n asynchronous motors consist, for each of said motors, of a supply module corresponding to a conventional three-phase inverter, that is to say an inverter composed of six switches static associated two by two to form three arms arranged in parallel so as to constitute a three-phase supply system, each of said inverters being, in addition, equipped with independent control electronics.
  • the present invention aims to simplify such supply systems and has the essential objective of providing a supply system for n motors requiring a reduced number of static switches compared to existing systems, and making it possible to operate the various motors, independently, with different module and direction speeds.
  • the invention relates to a system for supplying n asynchronous motors each provided with three windings (NnAn, NnBn, NnCn), characterized in that it comprises: - a single inverter provided with
  • control means adapted to generate either a synchronous operation of the different motors (MA1 ... MAn) obtained by controlling the 2n arms (Bn, Cn) identically, or variations in the speeds of the different motors obtained by modifying the frequencies and amplitudes of the voltages supplying arms dedicated to each of said motors, said control means comprising:
  • control module intended to be connected to the n motors (MA1 ... MAn), and capable of calculating 3n regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg from, on the one hand, setpoint values and, secondly, measurement values acquired on the n motors (MA1 ... MAn),
  • control module (5) capable of defining the commands of each switch (T1, T'1 ...
  • T2n, T'2n as a function of the reference voltages of the inverter (VAnO) ref, (VBnO) ref, (VCnO) ref.
  • the invention therefore consisted in producing a power supply system for n motors comprising, first of all, a single inverter forming n three-phase systems each composed of two arms and of the midpoint of the voltage source.
  • control means makes it possible, from a single control unit, to operate the different motors with equal or different module speeds and directions, so as to obtain synchronous operation of the different motors (MA1 ... MAn) obtained by identical control of the 2n arms (Bn, Cn), ie variations in the speeds of the different motors obtained by modifying the frequencies and amplitudes of the reference voltages of the arms dedicated to each of said motors.
  • this article describes a power supply system of a single asynchronous motor, but does not describe or in any way suggest a power supply system according to the invention comprising a single inverter and specific control means allowing speeds independent on n asynchronous machines with a reduced number of components.
  • the module for controlling the control means comprises: a regulation block intended to be connected to one of the motors (MAI) so as to receive electrical and mechanical measurement values, and suitable for calculating , as a function of the set values relating to this motor, the regulation voltages (VAlNI) reg, (VBlNI) reg and (VC1N1) reg of said motor,
  • a synchronization block intended to be connected to the other motors (MA2 ... MAn) so as to receive mechanical measurement values, and suitable for calculating the regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg (with n> 1) of each of said motors from the regulation voltages (VA1N1) reg, (VB1N1) reg and (VClNI) reg, used as base voltages, of the motor (MAI), and of the difference between the set values of said motor (MA1) and those of the motor considered.
  • control module allows independent management of the operation of each engine while optimally reducing the number of electrical sensors whose presence is, in fact, only required on a single engine.
  • one of the advantageous consequences of such a design resides in the reduction in the computation volume necessary due to the fact that the heaviest processing calculation algorithm (processing and control of electrical quantities) is implemented only once, in the regulation block, and not duplicated n times.
  • the synchronization block is adapted to deliver the signals representative of the voltages of regulation (VAnNn) reg, (VBnNn) reg, (VCnNn) reg from a motor (MAn) to the adaptation module, only when the voltages of said motor (MAn) are in phase with the voltages of the motor (MA1) .
  • FIG. 1 is a diagram representing a supply system with 2n arms supplying n machines
  • FIG. 2 is a diagram similar to that of FIG. 1 on which the arrangement of the control means is detailed,
  • FIG. 3 represents the general flow diagram of operation of the synchronization block
  • FIG. 4 is a diagram showing a supply system for two machines.
  • the supply system according to the invention is designed to supply n machines and to vary the speed of these machines so that these speeds can have different or equal modules and directions.
  • This system comprises an inverter 1 comprising 2n arms B1, C1 ... Bn, Cn connected in parallel across the terminals of a DC voltage source E symmetrical with respect to a ground point 0.
  • Each of these arms Bl, C1 ... Bn, Cn comprises two static switches such as T1, T'1, T2, T'2 ... T2n, T'2n constituted, in a conventional manner, of power transistors .
  • these arms B1, C1 ... Bn, Cn are connected to n machines MA1 ... MAn each comprising three windings (NnAn, NnBn, NnCn), so that each of said machines is supplied by a three-phase system consisting of two arms (B1, C1) ... (Bn, Cn) and of the midpoint 0 of the voltage source E.
  • the supply system further comprises a control system 2 comprising three functional modules:
  • control module 3 adapted to supply 3n reference voltages (VAnNn) reg, (VBnNn) reg,
  • an adaptation module 4 for the generation of reference voltages defined with respect to the midpoint 0 so as to allow the determination of the duty cycles dependent on the value of the voltage source E,
  • control module 3 is subdivided into two so-called regulation 3a and synchronization 3b blocks.
  • the first of these regulation blocks 3a is connected to a single motor MA1 equipped with electrical and mechanical measurement sensors so as to deliver to said regulation block 3a signals representative of electrical measurement values Me and mechanical Mm.
  • Such a regulation block 3a includes software adapted to calculate, from the values of the electrical measurements Me and mechanical Mm, and of setpoint values (setpoint 1) relating to this motor MA1, the regulation voltages Vregl ((VA1N1) reg , (VB1N1) reg, (VC1N1) reg) of said motor, which are delivered to the second synchronization block 3b.
  • This synchronization block 3b is connected to the other motors MA2 ... MAn equipped with mechanical measurement sensors only, so as to deliver to said synchronization block signals representative of mechanical measurement values Mm.
  • Such a synchronization block 3b comprises software adapted, for each motor MAn, to calculate the regulation voltages Vregn of the latter ((VAnNn) reg, (VBnNn) reg, (VCnNn reg), from the regulation voltages Vregi of the MA1 motor taken as basic voltage, and of the difference ( ⁇ setpoint) between the values (setpoint n) of the MAn motor and those (setpoint 1) of the MAI motor.
  • the calculated values of the regulation voltages of a given motor MAn are only delivered to the adaptation module 4 when the voltages of this motor MAn are in phase with those of the MA1 engine. As long as this condition is not respected, the regulation voltage values delivered remain similar to those previously calculated.
  • VAnNn The regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg delivered to the adaptation module 4 are used to calculate the reference voltages Vref using the following equations:
  • FIG. 4 represents an application of the invention to the supply of two motors MA1, MA2.
  • a system can, for example, constitute an electrical differential system for driving a mobile such as a robot, each motor MA1, MA2 then being coupled to a wheel.
  • the modules of each system voltage may be different, the speed of each motor MAI, MA2 is therefore independent of that of the other motor.
  • the mobile can therefore be moved along flexible trajectories of the continuous type, making a turn consisting in imposing:

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

A power supply system for n asynchronous motors (MA1 ... MAn) including a single inverter (1) having 4n static switches (T1, T'1 ... T2, T'2n) arranged in pairs to form two arms (B1, C1 ... Bn, Cn) connected in parallel to the terminals of a DC voltage source (E) with a centre point, to form n three-phase power supply systems each consisting of two arms (Bn, Cn) and the centre point (O) of the voltage source (E); as well as a controller (2) for generating either synchronous operation of, or speed changes, in the various motors (MA1 ... MAn). The system therefore enables n asynchronous motors to run at different speeds using fewer components and reduced control electronics.

Description

SYSTEME D'ALIMENTATION DE n MOTEURS ASYNCHRONES POWER SUPPLY SYSTEM FOR n ASYNCHRONOUS MOTORS
L'invention vise un système d'alimentation de n moteurs asynchrones. A l'heure actuelle, les systèmes d'alimentation de n moteurs asynchrones sont constitués, pour chacun desdits moteurs, d'un module d'alimentation correspondant à un onduleur triphasé classique, c'est-à- dire un onduleur composé de six interrupteurs statiques associés deux à deux pour former trois bras disposés en parallèle de façon à constituer un système triphasé d'alimentation, chacun desdits onduleurs étant, en outre, équipé d'une électronique de commande indépendante.The invention relates to a system for supplying n asynchronous motors. At present, the supply systems of n asynchronous motors consist, for each of said motors, of a supply module corresponding to a conventional three-phase inverter, that is to say an inverter composed of six switches static associated two by two to form three arms arranged in parallel so as to constitute a three-phase supply system, each of said inverters being, in addition, equipped with independent control electronics.
La présente invention vise à simplifier de tels systèmes d'alimentation et a pour objectif essentiel de fournir un système d'alimentation de n moteurs nécessitant un nombre réduit d'interrupteurs statiques par rapport aux systèmes existants, et permettant de faire fonctionner les différents moteurs, de façon indépendante, avec des vitesses de modules et de sens différents.The present invention aims to simplify such supply systems and has the essential objective of providing a supply system for n motors requiring a reduced number of static switches compared to existing systems, and making it possible to operate the various motors, independently, with different module and direction speeds.
A cet effet, l'invention vise un système d'alimentation de n moteurs asynchrones dotés chacun de trois enroulements (NnAn, NnBn, NnCn), caractérisé en ce qu'il comprend : - un onduleur unique doté deTo this end, the invention relates to a system for supplying n asynchronous motors each provided with three windings (NnAn, NnBn, NnCn), characterized in that it comprises: - a single inverter provided with
4n interrupteurs statiques (T1 , T'1 ... T2, T'2n) associés deux à deux pour former 2n bras (B1 , C1 ) ... (Bn, Cn) connectés en parallèle aux bornes d'une source de tension continue (E) à point milieu (O), de façon à constituer n systèmes triphasés d'alimentation composés chacun de deux bras (Bn, Cn) et du point milieu (O) de la source de tension (E) ,4n static switches (T1, T'1 ... T2, T'2n) associated two by two to form 2n arms (B1, C1) ... (Bn, Cn) connected in parallel across the terminals of a voltage source continuous (E) at midpoint (O), so as to constitute n three-phase supply systems each composed of two arms (Bn, Cn) and of the midpoint (O) of the voltage source (E),
- des moyens de commande adaptés pour engendrer soit un fonctionnement en synchronisme des différents moteurs (MA1 ... MAn) obtenu en commandant de façon identique les 2n bras (Bn, Cn), soit des variations des vitesses des différents moteurs obtenues en modifiant les fréquences et les amplitudes des tensions d'alimentation des bras dédiés à chacun desdits moteurs, lesdits moyens de commande comportant :- control means adapted to generate either a synchronous operation of the different motors (MA1 ... MAn) obtained by controlling the 2n arms (Bn, Cn) identically, or variations in the speeds of the different motors obtained by modifying the frequencies and amplitudes of the voltages supplying arms dedicated to each of said motors, said control means comprising:
- un module de contrôle destiné à être connecté aux n moteurs (MA1 ... MAn), et apte à calculer 3n tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg à partir, d'une part, de valeurs de consignes et, d'autre part, de valeurs de mesure acquises sur les n moteurs (MA1 ... MAn) ,a control module intended to be connected to the n motors (MA1 ... MAn), and capable of calculating 3n regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg from, on the one hand, setpoint values and, secondly, measurement values acquired on the n motors (MA1 ... MAn),
- un module d'adaptation apte à calculer, à partir des tensions de régulation (VanNn)reg, (VBnNn)reg et (VCnNn)reg, des tensions de référence de l'onduleur (1) (VAnO)ref, (VBnO)ref, (VCnO)ref définies pour chaque bras (Bn,Cn) par les formules suivantes, obtenues en se fixant comme donnée de base caractéristique de la structure physique, VNnO = -(VNnA)reg :- an adaptation module able to calculate, from the regulation voltages (VanNn) reg, (VBnNn) reg and (VCnNn) reg, the reference voltages of the inverter (1) (VAnO) ref, (VBnO) ref, (VCnO) ref defined for each arm (Bn, Cn) by the following formulas, obtained by setting as basic data characteristic of the physical structure, VNnO = - (VNnA) reg:
(VAnO)ref = 0(VAnO) ref = 0
(VBnO)ref = (VBnNn)reg + (VNnAn)reg (VCnO)ref = (VCnNn)reg + (VNnAn)reg(VBnO) ref = (VBnNn) reg + (VNnAn) reg (VCnO) ref = (VCnNn) reg + (VNnAn) reg
- et un module de commande (5) apte à définir les commandes de chaque interrupteur (T1 , T'1...- And a control module (5) capable of defining the commands of each switch (T1, T'1 ...
T2n, T'2n) en fonction des tensions de références de l'onduleur (VAnO)ref, (VBnO)ref, (VCnO)ref.T2n, T'2n) as a function of the reference voltages of the inverter (VAnO) ref, (VBnO) ref, (VCnO) ref.
L'invention a donc consisté à réaliser un système d'alimentation de n moteurs comportant, en premier lieu, un onduleur unique formant n systèmes triphasés composés chacun de deux bras et du point milieu de la source de tension.The invention therefore consisted in producing a power supply system for n motors comprising, first of all, a single inverter forming n three-phase systems each composed of two arms and of the midpoint of the voltage source.
Par conséquent, l'alimentation de chaque moteur ne requiert que quatre interrupteurs statiques en lieu et place des six interrupteurs statiques nécessaires dans les systèmes d'alimentation actuels. De ce fait, un tel dispositif conduit à une importante économie sur les coûts.Therefore, powering each motor requires only four static switches in place of the six static switches required in current power systems. Therefore, such a device leads to a significant saving on costs.
Il est à noter en outre que cette diminution du nombre d'interrupteurs statiques conduit également à une économie sur les coûts des nombreux circuits auxiliaires liés à chacun de ces interrupteurs. De plus, cette réduction des circuits auxiliaires conduit à une économie de poids appréciable car ces circuits présentent un poids non négligeable, ce qui constitue un avantage important, surtout pour les systèmes embarqués.It should also be noted that this reduction in the number of static switches also leads to savings on the costs of the numerous auxiliary circuits linked to each of these switches. In addition, this reduction in the auxiliary circuits leads to significant weight savings because these circuits have a significant weight, which is an important advantage, especially for on-board systems.
De plus, outre la conception de l'onduleur unique engendrant une réduction du nombre de bras, l'invention a consisté également à réaliser des moyens de commande originaux conçus, contrairement aux systèmes de commande actuels adaptés pour affecter aux tensions de référence de l'onduleur les mêmes valeurs que celles des tensions de régulation, pour découpler les valeurs de ces tensions de référence et de régulation, et pour calculer lesdites tensions de référence à partir desdites tensions de régulation en se fixant comme donnée de base caractéristique de la structure physique, l'équation suivante : VNnO = -(VNnA)reg.In addition, in addition to the design of the single inverter generating a reduction in the number of arms, the invention also consisted in producing original control means designed, unlike the current control systems adapted to assign to the reference voltages of the inverter the same values as those of the regulation voltages, to decouple the values of these reference and regulation voltages, and to calculate said reference voltages from said regulation voltages by setting as basic data characteristic of the physical structure, the following equation: VNnO = - (VNnA) reg.
La conception de tels moyens de commande permet, à partir d'une unité de commande unique, de faire fonctionner les différents moteurs avec des vitesses de modules et de sens égaux ou différents, de façon à obtenir un fonctionnement en synchronisme des différents moteurs (MA1 ... MAn) obtenu en commandant de façon identique les 2n bras (Bn, Cn), soit des variations des vitesses des différents moteurs obtenues en modifiant les fréquences et les amplitudes des tensions de référence des bras dédiés à chacun desdits moteurs.The design of such control means makes it possible, from a single control unit, to operate the different motors with equal or different module speeds and directions, so as to obtain synchronous operation of the different motors (MA1 ... MAn) obtained by identical control of the 2n arms (Bn, Cn), ie variations in the speeds of the different motors obtained by modifying the frequencies and amplitudes of the reference voltages of the arms dedicated to each of said motors.
Il est à noter qu'il était connu d'alimenter un moteur asynchrone unique au moyen d'un système d'alimentation ne comportant que quatre interrupteurs statiques en lieu et place de six interrupteurs statiques nécessaires de façon classique. On pourra, par exemple, se reporter à l'article paru pages 216-223 du volume 3 numéro 2 d'avril 1988 de la revue "IEEE TRANSACTIONS ON POWERS ELECTRONICS".It should be noted that it was known to supply a single asynchronous motor by means of a supply system comprising only four static switches in place of six static switches required conventionally. We can, for example, refer to the article published on pages 216-223 of volume 3 number 2 of April 1988 of the review "IEEE TRANSACTIONS ON POWERS ELECTRONICS".
Toutefois, cet article décrit un système d'alimentation d'un seul moteur asynchrone, mais ne décrit ni ne suggère en aucune façon un système d ' alimentation selon 1 ' invention comportant un onduleur unique et des moyens de commande spécifiques autorisant des vitesses indépendantes sur n machines asynchrones avec un nombre de composants réduits.However, this article describes a power supply system of a single asynchronous motor, but does not describe or in any way suggest a power supply system according to the invention comprising a single inverter and specific control means allowing speeds independent on n asynchronous machines with a reduced number of components.
Selon une autre caractéristique de l'invention, le module de contrôle des moyens de commande comprend : un bloc de régulation destiné à être connecté à un des moteurs (MAI ) de façon à recevoir des valeurs de mesures électriques et mécaniques, et adapté pour calculer, en fonction des valeurs de consigne relatives à ce moteur, les tensions de régulation (VAlNI)reg, (VBlNI)reg et (VC1N1)reg dudit moteur,According to another characteristic of the invention, the module for controlling the control means comprises: a regulation block intended to be connected to one of the motors (MAI) so as to receive electrical and mechanical measurement values, and suitable for calculating , as a function of the set values relating to this motor, the regulation voltages (VAlNI) reg, (VBlNI) reg and (VC1N1) reg of said motor,
. un bloc de synchronisation destiné à être connecté aux autres moteurs (MA2 ... MAn) de façon à recevoir des valeurs de mesure mécaniques, et adapté pour calculer les tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg (avec n > 1 ) de chacun desdits moteurs à partir des tensions de régulation (VA1N1)reg, (VB1N1)reg et (VClNI )reg, utilisées comme tensions de base, du moteur (MAI ), et de l'écart entre les valeurs de consigne dudit moteur (MA1 ) et celles du moteur considéré.. a synchronization block intended to be connected to the other motors (MA2 ... MAn) so as to receive mechanical measurement values, and suitable for calculating the regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg (with n> 1) of each of said motors from the regulation voltages (VA1N1) reg, (VB1N1) reg and (VClNI) reg, used as base voltages, of the motor (MAI), and of the difference between the set values of said motor (MA1) and those of the motor considered.
Un tel module de contrôle a pour avantage de permettre une gestion indépendante du fonctionnement de chaque moteur tout en réduisant de façon optimale le nombre de capteurs électriques dont la présence n'est, en effet, requise que sur un seul moteur. De plus, une des conséquences avantageuses d'une telle conception réside dans la réduction du volume de calcul nécessaire du fait que l'algorithme de calcul de traitement le plus lourd (traitement et contrôle des grandeurs électriques) est mis en oeuvre une seule fois, dans le bloc de régulation, et non dupliqué n fois.The advantage of such a control module is that it allows independent management of the operation of each engine while optimally reducing the number of electrical sensors whose presence is, in fact, only required on a single engine. In addition, one of the advantageous consequences of such a design resides in the reduction in the computation volume necessary due to the fact that the heaviest processing calculation algorithm (processing and control of electrical quantities) is implemented only once, in the regulation block, and not duplicated n times.
Par ailleurs, il est à noter que de telles simplifications du module de contrôle ont pour conséquence d'augmenter la fiabilité du système car elle entraîne une réduction notable du nombre de connections.Furthermore, it should be noted that such simplifications of the control module have the consequence of increasing the reliability of the system because it results in a significant reduction in the number of connections.
Selon une autre caractéristique de l'invention, le bloc de synchronisation est adapté pour délivrer les signaux représentatifs des tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg d'un moteur (MAn) vers le module d'adaptation, uniquement lorsque les tensions dudit moteur (MAn) se trouve en phase avec les tensions du moteur (MA1 ) . D'autres caractéristiques, buts et avantages de l'invention ressortiront de la description détaillée qui suit en référence aux dessins annexés qui en représentent schématiquement un mode de réalisation général pour n machines, et une application limitée à l'alimentation de deux machines. Sur ces dessins qui font partie intégrante de la présente description :According to another characteristic of the invention, the synchronization block is adapted to deliver the signals representative of the voltages of regulation (VAnNn) reg, (VBnNn) reg, (VCnNn) reg from a motor (MAn) to the adaptation module, only when the voltages of said motor (MAn) are in phase with the voltages of the motor (MA1) . Other characteristics, objects and advantages of the invention will emerge from the detailed description which follows with reference to the appended drawings which schematically represent a general embodiment for n machines, and an application limited to the supply of two machines. On these drawings which form an integral part of this description:
- la figure 1 est un schéma représentant un système d'alimentation à 2n bras alimentant n machines,FIG. 1 is a diagram representing a supply system with 2n arms supplying n machines,
- la figure 2 est un schéma similaire à celui de la figure 1 sur lequel est détaillé l'agencement des moyens de commande,FIG. 2 is a diagram similar to that of FIG. 1 on which the arrangement of the control means is detailed,
- la figure 3 représente le logigramme général de fonctionnement du bloc de synchronisation,FIG. 3 represents the general flow diagram of operation of the synchronization block,
- et la figure 4 est un schéma représentant un système d'alimentation de deux machines.- And Figure 4 is a diagram showing a supply system for two machines.
Le système d'alimentation selon l'invention est conçu pour alimenter n machines et pour faire varier la vitesse de ces machines de façon que ces vitesses puissent présenter des modules et des sens différents ou égaux. Ce système comporte un onduleur 1 comportant 2n bras B1 , C1 ... Bn, Cn connectés en parallèle aux bornes d'une source de tension continue E symétrique par rapport à un point masse 0.The supply system according to the invention is designed to supply n machines and to vary the speed of these machines so that these speeds can have different or equal modules and directions. This system comprises an inverter 1 comprising 2n arms B1, C1 ... Bn, Cn connected in parallel across the terminals of a DC voltage source E symmetrical with respect to a ground point 0.
Chacun de ces bras Bl , C1 ... Bn, Cn comporte deux interrupteurs statiques tels que T1 , T'1, T2, T'2 ... T2n, T'2n constitués, de façon classique, de transistors de puissa'nce.Each of these arms Bl, C1 ... Bn, Cn comprises two static switches such as T1, T'1, T2, T'2 ... T2n, T'2n constituted, in a conventional manner, of power transistors .
Selon l'invention ces bras B1 , C1 ... Bn, Cn sont connectés à n machines MA1 ... MAn comportant chacune trois enroulements (NnAn, NnBn, NnCn), de façon que chacune desdites machines soit alimentée par un système triphasé constitué de deux bras (B1 , C1 ) ... (Bn, Cn) et du point milieu 0 de la source de tension E. Le système d'alimentation comporte, en outre, un système de commande 2 comprenant trois modules fonctionnels :According to the invention these arms B1, C1 ... Bn, Cn are connected to n machines MA1 ... MAn each comprising three windings (NnAn, NnBn, NnCn), so that each of said machines is supplied by a three-phase system consisting of two arms (B1, C1) ... (Bn, Cn) and of the midpoint 0 of the voltage source E. The supply system further comprises a control system 2 comprising three functional modules:
- un module de contrôle 3 adapté pour fournir 3n tensions de référence (VAnNn)reg, (VBnNn)reg,a control module 3 adapted to supply 3n reference voltages (VAnNn) reg, (VBnNn) reg,
(VCnNn)reg, à partir, d'une part, de valeurs de consigne et, d'autre part, de valeurs de mesure acquises sur les machines,(VCnNn) reg, on the one hand, from setpoint values and, on the other hand, from measurement values acquired on the machines,
- un module d'adaptation 4 pour la génération de tensions de référence définies par rapport au point milieu 0 de façon à permettre la détermination des rapports cycliques dépendant de la valeur de la source de tension E,an adaptation module 4 for the generation of reference voltages defined with respect to the midpoint 0 so as to allow the determination of the duty cycles dependent on the value of the voltage source E,
- un module classique 5 de commande de l'onduleur 1 qui définit les commandes de chaque interrupteur T1 , T'1... T2n, T' 2n en fonction des tensions de référence de l'onduleur 1 définies dans le module d'adaptation 4.- a conventional module 5 for controlling the inverter 1 which defines the commands for each switch T1, T'1 ... T2n, T '2n as a function of the reference voltages of the inverter 1 defined in the adaptation module 4.
En outre, tel que représenté à la figure 2, le module de contrôle 3 se subdivise en deux blocs dits de régulation 3a et de synchronisation 3b.In addition, as shown in FIG. 2, the control module 3 is subdivided into two so-called regulation 3a and synchronization 3b blocks.
Le premier de ces blocs 3a, de régulation, est connecté à un seul moteur MA1 équipé de capteurs de mesure électriques et mécaniques de façon à délivrer vers ledit bloc de régulation 3a des signaux représentatifs de valeurs de mesures électriques Me et mécaniques Mm.The first of these regulation blocks 3a is connected to a single motor MA1 equipped with electrical and mechanical measurement sensors so as to deliver to said regulation block 3a signals representative of electrical measurement values Me and mechanical Mm.
Un tel bloc de régulation 3a comporte un logiciel adapté pour calculer, à partir des valeurs des mesures électriques Me et mécaniques Mm, et de valeurs de consignes (consigne 1 ) relatives à ce moteur MA1 , les tensions de régulation Vregl ((VA1N1 )reg, (VB1N1 )reg, (VC1N1 )reg) dudit moteur, qui sont délivrées vers le deuxième bloc 3b de synchronisation.Such a regulation block 3a includes software adapted to calculate, from the values of the electrical measurements Me and mechanical Mm, and of setpoint values (setpoint 1) relating to this motor MA1, the regulation voltages Vregl ((VA1N1) reg , (VB1N1) reg, (VC1N1) reg) of said motor, which are delivered to the second synchronization block 3b.
Ce bloc de synchronisation 3b est connecté aux autres moteurs MA2 ... MAn équipés de capteurs de mesure mécaniques uniquement, de façon à délivrer vers ledit bloc de synchronisation des signaux représentatifs de valeurs de mesures mécaniques Mm. Un tel bloc de synchronisation 3b comporte un logiciel adapté, pour chaque moteur MAn, pour calculer les tensions de régulation Vregn de ce dernier ((VAnNn)reg, (VBnNn)reg, (VCnNn)reg), à partir des tensions de régulation Vregi du moteur MA1 prises comme tension de base, et de l'écart (Δ consigne) entre les valeurs (consigne n) du moteur MAn et celles (consigne 1 ) du moteur MAI .This synchronization block 3b is connected to the other motors MA2 ... MAn equipped with mechanical measurement sensors only, so as to deliver to said synchronization block signals representative of mechanical measurement values Mm. Such a synchronization block 3b comprises software adapted, for each motor MAn, to calculate the regulation voltages Vregn of the latter ((VAnNn) reg, (VBnNn) reg, (VCnNn reg), from the regulation voltages Vregi of the MA1 motor taken as basic voltage, and of the difference (Δ setpoint) between the values (setpoint n) of the MAn motor and those (setpoint 1) of the MAI motor.
En outre, et tel que représenté à la figure 3, les valeurs calculées des tensions de régulation d'un moteur MAn donné ne sont délivrées vers le module d'adaptation 4 que lorsque les tensions de ce moteur MAn se trouve en phase avec celles du moteur MA1. Tant que cette condition n'est pas respectée, les valeurs de tension de régulation délivrées demeurent similaires à celles précédemment calculées.In addition, and as shown in FIG. 3, the calculated values of the regulation voltages of a given motor MAn are only delivered to the adaptation module 4 when the voltages of this motor MAn are in phase with those of the MA1 engine. As long as this condition is not respected, the regulation voltage values delivered remain similar to those previously calculated.
Les tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg délivrées vers le module d'adaptation 4 sont utilisées pour calculer les tensions de référence Vref au moyen des équations suivantes :The regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg delivered to the adaptation module 4 are used to calculate the reference voltages Vref using the following equations:
(VAnO)ref = (VAnNn)reg + VNO (VBnO)ref = (VBnNn)reg + VNO (VCnO)ref = (VCnNn)reg + VNO, en se fixant comme donnée de base caractéristique de la structure physique : VNO = -(VNnA)reg.(VAnO) ref = (VAnNn) reg + VNO (VBnO) ref = (VBnNn) reg + VNO (VCnO) ref = (VCnNn) reg + VNO, by setting as basic data characteristic of the physical structure: VNO = - (VNnA) reg.
Sous ces conditions, les tensions de référence de l'onduleur (1) se trouvent ainsi définies par les formules suivantes :Under these conditions, the reference voltages of the inverter (1) are thus defined by the following formulas:
(VAnO)ref = 0 (VBnO)ref = (VBnNn)reg + (VNnAn)reg(VAnO) ref = 0 (VBnO) ref = (VBnNn) reg + (VNnAn) reg
(VCnO)ref = (VCnNn)reg + (VNnAn)reg. La figure 4 représente une application de l'invention à l'alimentation de deux moteurs MA1 , MA2. Un tel système peut, par exemple, constituer un système de différentiel électrique pour l'entraînement d'un mobile tel qu'un robot, chaque moteur MA1 , MA2 étant alors accouplé à une roue.(VCnO) ref = (VCnNn) reg + (VNnAn) reg. FIG. 4 represents an application of the invention to the supply of two motors MA1, MA2. Such a system can, for example, constitute an electrical differential system for driving a mobile such as a robot, each motor MA1, MA2 then being coupled to a wheel.
Dans ce cas, les modules de chaque système de tension pouvant être différents, la vitesse de chaque moteur MAI, MA2 est donc indépendante de celle de l'autre moteur.In this case, the modules of each system voltage may be different, the speed of each motor MAI, MA2 is therefore independent of that of the other motor.
Le mobile peut donc être déplacé selon des trajectoires souples de type continu, la réalisation d'un virage consistant à imposer :The mobile can therefore be moved along flexible trajectories of the continuous type, making a turn consisting in imposing:
- une vitesse Ωm + ΔΩ sur la roue externe,- a speed Ωm + ΔΩ on the external wheel,
- une vitesse Ωm - ΔΩ sur la roue interne, avec : . Ωm vitesse moyenne du centre de gravité du mobile,- a speed Ωm - ΔΩ on the internal wheel, with:. Ωm average speed of the center of gravity of the mobile,
. ΔΩ écart de vitesse entre les deux moteurs MA1 , MA2, défini par le rayon de courbure du virage. . ΔΩ speed difference between the two motors MA1, MA2, defined by the radius of curvature of the turn.

Claims

REVENDICATIONS 1/ - Système d'alimentation de n moteurs asynchrones (MA1 ... MAn) dotés chacun de trois enroulements (NnAn, NnBn, NnCn), caractérisé en ce qu'il comprend :CLAIMS 1 / - System for supplying n asynchronous motors (MA1 ... MAn) each provided with three windings (NnAn, NnBn, NnCn), characterized in that it comprises:
- un onduleur unique (1) doté de 4n interrupteurs statiques (T1 , T'1 ... T2, T'2n) associés deux à deux pour former 2n bras (B1 , C1 ) ... (Bn, Cn) connectés en parallèle aux bornes d'une source de tension continue (E) à point milieu (0), de façon à constituer n systèmes triphasés d'alimentation composés chacun de deux bras (Bn, Cn) et du point milieu (0) de la source de tension (E),- a single inverter (1) with 4n static switches (T1, T'1 ... T2, T'2n) associated in pairs to form 2n arms (B1, C1) ... (Bn, Cn) connected in parallel to the terminals of a DC voltage source (E) at midpoint (0), so as to constitute n three-phase supply systems each composed of two arms (Bn, Cn) and of the midpoint (0) of the source voltage (E),
- des moyens de commande (2) adaptés pour engendrer soit un fonctionnement en synchronisme des différents moteurs (MA1 ... MAn) obtenu en commandant de façon identique les 2n bras (Bn, Cn), soit des variations des vitesses des différents moteurs obtenues en modifiant les fréquences et les amplitudes des tensions d'alimentation des bras dédiés à chacun desdits moteurs, lesdits moyens de commande comportant :- control means (2) adapted to generate either a synchronous operation of the different motors (MA1 ... MAn) obtained by controlling the 2n arms (Bn, Cn) identically, or variations in the speeds of the different motors obtained by modifying the frequencies and amplitudes of the supply voltages of the arms dedicated to each of said motors, said control means comprising:
- un module de contrôle (3) destiné à être connecté aux n moteurs (MA1 ... MAn), et apte à calculer 3n tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg à partir, d'une part, de valeurs de consignes et, d'autre part, de valeurs de mesure acquises sur les n moteurs (MA1 ... MAn) ,- a control module (3) intended to be connected to the n motors (MA1 ... MAn), and capable of calculating 3n regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg from, on the one hand, setpoint values and, on the other hand, measurement values acquired on the n motors (MA1 ... MAn),
- un module d'adaptation (4) apte à calculer, à partir des tensions de régulation (VanNn)reg, (VBnNn)reg et (VCnNn)reg, des tensions de référence de l'onduleur (1) (VAnO)ref, (VBnO)ref, (VCnO)ref définies pour chaque bras (Bn,Cn) par les formules suivantes, obtenues en se fixant comme donnée de base caractéristique de la structure physique, VNnO = -(VNnA)reg : (VAnO)ref = 0an adaptation module (4) capable of calculating, from the regulation voltages (VanNn) reg, (VBnNn) reg and (VCnNn) reg, the reference voltages of the inverter (1) (VAnO) ref, (VBnO) ref, (VCnO) ref defined for each arm (Bn, Cn) by the following formulas, obtained by setting as basic data characteristic of the physical structure, VNnO = - (VNnA) reg: (VAnO) ref = 0
(VBnO)ref = (VBnNn)reg + (VNnAn)reg (VCnO)ref = (VCnNn)reg + (VNnAn)reg(VBnO) ref = (VBnNn) reg + (VNnAn) reg (VCnO) ref = (VCnNn) reg + (VNnAn) reg
- et un module de commande (5) apte à définir les commandes de chaque interrupteur (T1 , T' 1... T2n, T'2n) en fonction des tensions de références de l'onduleur (VAnO)ref, (VBnO)ref, (VCnO)ref.- And a control module (5) capable of define the commands of each switch (T1, T '1 ... T2n, T'2n) according to the reference voltages of the inverter (VAnO) ref, (VBnO) ref, (VCnO) ref.
2/ - Système d'alimentation selon la revendication 1 , caractérisé en ce que le module de contrôle (3) comprend :2 / - Supply system according to claim 1, characterized in that the control module (3) comprises:
. un bloc de régulation (3a) destiné à être connecté à un des moteurs (MA1 ) de façon à recevoir des valeurs de mesures électriques et mécaniques, et adapté pour calculer, en fonction des valeurs de consigne relatives à ce moteur, les tensions de régulation (VA1N1 )reg, (VBINI)reg et (VC1N1)reg dudit moteur,. a regulation block (3a) intended to be connected to one of the motors (MA1) so as to receive electrical and mechanical measurement values, and adapted to calculate, as a function of the set values relating to this motor, the regulation voltages (VA1N1) reg, (VBINI) reg and (VC1N1) reg of said engine,
. un bloc de synchronisation (3b) destiné à être connecté aux autres moteurs (MA2 ... MAn) de façon à recevoir des valeurs de mesure mécaniques, et adapté pour calculer les tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg (avec n > 1 ) de chacun desdits moteurs à partir des tensions de régulation (VAINl)reg, (VB1N1)reg et (VCINI)reg, utilisées comme tensions de base, du moteur (MA1), et de l'écart entre les valeurs de consigne dudit moteur (MA1 ) et celles du moteur considéré.. a synchronization block (3b) intended to be connected to the other motors (MA2 ... MAn) so as to receive mechanical measurement values, and suitable for calculating the regulation voltages (VAnNn) reg, (VBnNn) reg, ( VCnNn) reg (with n> 1) of each of said motors from the regulation voltages (VAINl) reg, (VB1N1) reg and (VCINI) reg, used as base voltages, of the motor (MA1), and of the difference between the set values of said motor (MA1) and those of the motor considered.
3/ - Système d'alimentation selon la revendication 2, caractérisé en ce que le bloc de synchronisation (3b) est adapté pour délivrer les signaux représentatifs des tensions de régulation (VAnNn)reg, (VBnNn)reg, (VCnNn)reg d'un moteur (MAn) vers le module d'adaptation (4), uniquement lorsque les tensions dudit moteur (MAn) se trouve en phase avec les tensions du moteur (MA1 ) . 3 / - Power system according to claim 2, characterized in that the synchronization block (3b) is adapted to deliver the signals representative of the regulation voltages (VAnNn) reg, (VBnNn) reg, (VCnNn) reg d ' a motor (MAn) to the adaptation module (4), only when the voltages of said motor (MAn) are in phase with the voltages of the motor (MA1).
EP94931622A 1993-10-25 1994-10-24 POWER SUPPLY SYSTEM FOR n ASYNCHRONOUS MOTORS Withdrawn EP0676095A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9312789A FR2711862B1 (en) 1993-10-25 1993-10-25 Supply system for n asynchronous motors.
FR9312789 1993-10-25
PCT/FR1994/001232 WO1995012242A1 (en) 1993-10-25 1994-10-24 POWER SUPPLY SYSTEM FOR n ASYNCHRONOUS MOTORS

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JP3671836B2 (en) * 1999-12-10 2005-07-13 日産自動車株式会社 Compound motor
DE10207232B4 (en) * 2002-02-21 2005-11-17 Diehl Ako Stiftung & Co. Kg Circuit arrangement for controlling an electromotive drive, in particular pump drive, in a household appliance
US6969969B2 (en) 2002-02-21 2005-11-29 Diehl Ako Stiftung & Co. Kg Circuit arrangement for the actuation of an electric-motor drive, in particular a pump drive, in a large domestic appliance
DE10342049A1 (en) * 2003-09-11 2005-05-04 Siemens Ag Control method for static frequency changer feeding main and auxiliary motors, superimposes generated zero phase sequence system on generated desired voltages corresponding to a correcting variable
DE102004001687A1 (en) * 2004-01-12 2005-08-11 Siemens Ag Operating device for three-phase current motors in vehicles like locomotives connected to voltage changer phases (VCP) controls VCP so as to become sine or trapezoid functions
FR2946014B1 (en) * 2009-05-28 2011-05-20 Sagem Defense Securite AIRCRAFT ENGINE NACELLE COMPRISING A MOBILE COVER MU BY ELECTRIC MOTORS

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JPS6277089A (en) * 1985-09-28 1987-04-09 Aichi Electric Co Ltd Speed controlling device for single-phase induction motor
DE4017442A1 (en) * 1990-03-30 1991-12-12 Kurt Prof Dr Ing Warbinek Separate spindle drive - has a two=phase synchronous motor with two coil groups for synchronised running through switches and frequency converter
DE4135680A1 (en) * 1991-10-30 1993-05-06 Andreas Prof. Dr.-Ing.Habil. 7000 Stuttgart De Boehringer Inverter motor drive limiting rate of change of output currents - using inductive stages coupled between inverter outputs and motor units

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FR2711862A1 (en) 1995-05-05
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