EP1396076A1 - Procede de commande d'un moteur a courant continu a commutation electronique - Google Patents

Procede de commande d'un moteur a courant continu a commutation electronique

Info

Publication number
EP1396076A1
EP1396076A1 EP02757707A EP02757707A EP1396076A1 EP 1396076 A1 EP1396076 A1 EP 1396076A1 EP 02757707 A EP02757707 A EP 02757707A EP 02757707 A EP02757707 A EP 02757707A EP 1396076 A1 EP1396076 A1 EP 1396076A1
Authority
EP
European Patent Office
Prior art keywords
duty cycle
motor
duty
winding
speed
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Withdrawn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
EP02757707A
Other languages
German (de)
English (en)
Inventor
Martin Kessler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1396076A1 publication Critical patent/EP1396076A1/fr
Withdrawn legal-status Critical Current

Links

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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • 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

Definitions

  • the invention relates to a method for controlling an electronically commutated DC motor according to the preamble of claim 1.
  • Control signals predetermined current flow angle within the Koini ⁇ iut michswinkel are operable (block control).
  • block control In order to avoid the disadvantages of block control in the lower speed range (occurrence of high current peaks with a slow-running motor and increased noise), the amplitude of the control signals is increased with increasing speed up to a first speed at a current flow angle with a degree of activation of 100% (Linear control '), then with increasing speed up to a second speed the amplitude of the control signals increases up to a maximum and at the same time the degree of activation of the
  • variable-speed EC motors also known as brushless DC motors
  • This is particularly disadvantageous for drives whose self-cooling increases with increasing power output of the DC motor, e.g. for pump motors that cool via the medium to be pumped.
  • Such engine topologies can be found e.g. for EC motors with a single or multi-strand, even-numbered multi-phase winding, e.g. a two-strand four-phase winding or a three-strand
  • the inventive method with the features of claim 1 has the advantage that the setting of certain duty cycles required for desired target speeds, the large power loss in the
  • the maximum losses of the semiconductor switches are effectively reduced in the part-load range and the efficiency of the DC motor is improved. This is accompanied by a reduction in the cooling effort required for the semiconductor switches, for which smaller heat sinks are now sufficient, which in turn leads to space and cost savings.
  • the method according to the invention does not require any additional hardware. All control interventions in the commutation signals are implemented by software modules in the already existing hardware. Overall, the method according to the invention thus produces a
  • the smaller and the larger duty cycle are chosen so that the in these duty cycles in the
  • the target duty cycle is achieved by varying between the two duty cycles, the frequency of the variation between the duty cycles of the design properties of the DC motor, e.g. B. is adapted to its moment of inertia.
  • the two different duty cycles can be set one after the other, but the two duty cycles can also be changed after half, whole or a multiple of an electrical revolution of the motor.
  • Fig. 1 is a block diagram of an EC motor with electronic control
  • Fig. 2 shows a diagram of the power loss of the
  • Fig. 3 is a diagram of the control signals for the
  • an electronically commutated DC motor hereinafter referred to as EC motor 10
  • EC motor 10 is set or regulated as a function of a predeterminable speed setpoint n so ⁇ to the corresponding speed.
  • Each of the winding phases 111-114 is connected in series with a semiconductor switch 12, which is designed here as a MOS-FET.
  • the four series connections each comprising a winding phase 111-114 and a semiconductor switch 12, are arranged together with a capacitor 13 in a parallel circuit which is connected to a DC voltage network 14, the point of connection of the four winding phases 111-114 with the positive pole of the DC voltage network 14 and the junction point of the semiconductor switch 12 is connected to the ground potential.
  • the winding phases 111-114 are also connected to a commutation device 16, in which the voltages induced in the winding phases 111-114 are further processed to commutation signals. Furthermore, a speed signal is generated in the commutation device 16 from the induced voltages, which corresponds to the actual speed nact of the EC motor 10 and is a DC signal proportional to the speed at a comparison point 17, for example a differential amplifier, which also supplies the speed setpoint n so becomes. In the comparison point 17, the desired speed value n so n and the actual speed value n i ⁇ t are compared with one another, and the deviation is fed to a speed controller 18. The controller output signal is at the input of a pulse width modulator 19.
  • the pulse width modulator 19 separately generates a control pulse sequence for each winding phase 111-114, which are linked in the commutation device 16 with the commutation signals. With those from Control signals arising from links are driven to the semiconductor switches 12 of the individual winding phases 111-114, so that each semiconductor switch 12 is clocked with a speed-dependent duty cycle during its energization.
  • the timing of the semiconductor switches 12 determines the size of the DC voltage applied to the EC motor 10 or to its stator winding 11, and the speed thereof is regulated by its change, the nominal torque being able to be fully utilized in all speed stages.
  • the power loss of the semiconductor switches 12 increases with an increasing pulse duty factor, that is the quotient of the pulse width to the pulse period, that is to say with increasing pulse width modulation. For this reason, it has been limited to controlling the motor in pulse mode by pulse width modulation only in the lower half of the power spectrum and to change the power of the motor by block control in the upper half, namely by increasing the current supply angle of each winding phase beyond the commutation angle.
  • the commutation angle is 90 ° electrically. This switching of the control mode for the semiconductor switch 12 takes place at a speed n b which is far below the idling speed and which is achieved electrically with a pulse width modulation of 100% at an angle of 90 °.
  • the power loss p of the semiconductor switches 12 shows the power loss p of the semiconductor switches 12 as a function of the speed n of the EC motor 10. It can be clearly seen that shortly before reaching the speed n b , ie shortly before the transition from the clock control to the block control, the power loss P increases extremely. In the example in FIG. 2, the maximum power loss P occurs with a pulse duty factor or a pulse width modulation of 95%. In order to reduce this power loss and thus improve the efficiency of the EC motor 10, the following control method is used in the pulse width modulator 19 to generate the control signals for the semiconductor switches 12:
  • a specific setting range of the pulse duty factor is selected, in which the power loss that arises in the semiconductor switches n 12 for each pulse duty factor exceeds a preset value.
  • this setting range is selected, for example, between pulse width modulation or a pulse duty factor of 80% and pulse width modulation or a pulse duty factor of 100%.
  • the power loss which arises in the semiconductor switches n 12 is approximately the same, while in the intermediate range of the duty cycle or pulse width modulation the power loss of the semiconductor switches 12 always takes on a larger value. Is now due to a required target speed n so n a
  • Required duty cycle which is in this selected range, in the example between a duty cycle or a pulse width modulation of 80% and a duty cycle or a pulse width modulation of 100%
  • a larger and smaller duty cycle is set compared to this target duty cycle, both of which outside of selected setting range, and the two duty cycles are varied in time so that a voltage results on the stator winding 11 on average, which corresponds to a voltage generated with the target duty cycle and regulates the target speed n should .
  • the smaller duty cycle is set at '80% and the larger duty cycle at 100%, and the setting is varied accordingly over time.
  • the frequency of the variation between the two duty cycles is adapted to the design properties of the EC motor 10, for example its mass moment of inertia, and the variation can be carried out in various ways.
  • FIG. 3 shows a period of a commutation signal for each winding phase 111-114 which is electrically connected to the associated semiconductor switch 12 during a rotation of the rotor 15 by 360 °.
  • 3c shows several periods of the commutation signals.
  • the setting of the two duty cycles is varied so that the reciprocal of the frequency of the variation between the two duty cycles
  • Energization time corresponds to a winding phase 111 - 114, that is, during the energization of a winding phase 111-114 (when the rotor 15 rotates 360 ° electrically), the pulse duty factor 100% and the pulse duty factor 80% are set in succession, so that each semiconductor switch 12 in a winding phase 111-114 averages with a fictitious one duty cycle is clocked by 90%, with only a power loss in 'formed the semiconductor switches 12, which is obtained as the average power dissipation from the lying substantially lower power dissipation at a duty cycle of 80% and a duty cycle of 100%.
  • the feeding time of a winding phase 111-114 is calculated from the constant current angle of the winding phase 111-114, which for the assumed four-phase winding 11 is 360 ° electrically divided by 4, i.e. 90 ° electrical, taking into account the speed of the EC motor 10. For example, if a target speed n has to be set that requires a voltage at the EC motor 10, which would have to be set with a pulse duty factor or a pulse width modulation of 95%, and would trigger the maximum power loss in the semiconductor switch 12, then within the time in which the associated semiconductor switch 12 is driven with the smaller duty cycle of 80% is reduced accordingly, so that on average a fictitious one
  • Duty cycle of 95% results. As shown in dashed lines in the diagram in FIG. 2, the increased power loss in the range between a pulse duty factor of 80% and a duty cycle of 100% is thus considerably reduced and does not exceed the power loss that occurs at one Duty cycle of 80% is generated in the semiconductor switches 12.
  • the setting of the two duty cycles of 80% and 100% is varied in such a way that the reciprocal of the frequency of the variation. corresponds to half an electrical revolution of the EC motor 10 between the two duty cycles. So the winding phases 111 and 113 with a duty cycle of 100% and the winding phases 112 and 114 with a
  • Duty cycle controlled by 80% so that on average there is a • fictitious duty cycle of 90%, thus - as described - the power loss is reduced.
  • a fictitious duty cycle of 95% is achieved, for example, by clocking the winding phases 111, 112 and 113 with a duty cycle of 100% and the winding phase 114 with a duty cycle of 80%.
  • the resulting power loss corresponds on average to a power loss that results from a duty cycle of 80% or a duty cycle of 100% and is therefore significantly lower than the power loss that would be generated with a duty cycle of 95%.
  • the setting of the is used to achieve a fictitious duty cycle of 90%
  • Duty cycle of 80% and the duty cycle of 100% varies so that the reciprocal of the frequency of the variation between the two duty cycles corresponds to a full electrical revolution of the EC motor 10.
  • each winding phase 111-114 alternates with one Duty cycle of 100% and a duty cycle of 80% controlled.
  • the reciprocal of the frequency of the variation between the two duty cycles 80% and 100% can also be one
  • each winding phase 111-114 can be controlled during two electrical revolutions with a pulse duty factor of 100% and during a third electrical revolution with a pulse duty factor of 80%. On average, this would result in a control with a fictitious duty cycle of 95%, although there is significantly less power loss in the semiconductor switches 12 than with a control of each semiconductor switch 12 with the actual duty cycle of 95%.
  • the invention is not limited to the described embodiment of a two-strand, four-phase EC motor 10.
  • the same control method can also be used, for example, for an EC motor with a three-strand, six-phase stator winding, in which the winding phases of a winding phase, which are wound in opposite directions, are also inductively coupled, i.e. have the same motor topology as the EC motor 10 described.

Landscapes

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

Abstract

L'invention concerne un procédé de commande d'un moteur à courant continu (10) à commutation électronique comportant un enroulement de stator (11) présentant un nombre de phases pair, dont les phases d'enroulement (111-114) sont montées en série avec respectivement un commutateur à semi-conducteurs commandable (12), parallèlement les unes par rapport aux autres. Dans une gamme de puissance inférieure du moteur à courant continu (10), les commutateurs à semi-conducteurs (12) sont synchronisés à un taux d'impulsions prédéfinissable dépendant du régime au cours d'intervalles de mise sous tension consécutifs dans les phases d'enroulement individuelles (111-114). L'invention vise à réduire les pertes de puissance maximales apparaissant dans une certaine plage de régime dans les commutateurs à semi-conducteurs (12). A cet effet, on règle un taux d'impulsions de consigne nécessaire à un régime de consigne se situant dans ladite plage de régime par alternance d'un taux d'impulsions supérieur et d'un taux d'impulsions inférieur au taux de consigne, et variation temporelle des deux taux d'impulsions de manière à obtenir sur l'enroulement de stator (11) une tension réglant le régime de consigne (nsoll) en moyenne dans le temps.
EP02757707A 2001-03-30 2002-01-29 Procede de commande d'un moteur a courant continu a commutation electronique Withdrawn EP1396076A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10115873 2001-03-30
DE10115873A DE10115873A1 (de) 2001-03-30 2001-03-30 Verfahren zur Steuerung eines elektronisch kommutierten Gleichstrommotors
PCT/DE2002/000281 WO2002080348A1 (fr) 2001-03-30 2002-01-29 Procede de commande d'un moteur a courant continu a commutation electronique

Publications (1)

Publication Number Publication Date
EP1396076A1 true EP1396076A1 (fr) 2004-03-10

Family

ID=7679741

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02757707A Withdrawn EP1396076A1 (fr) 2001-03-30 2002-01-29 Procede de commande d'un moteur a courant continu a commutation electronique

Country Status (5)

Country Link
US (1) US6838841B2 (fr)
EP (1) EP1396076A1 (fr)
KR (1) KR20030020288A (fr)
DE (1) DE10115873A1 (fr)
WO (1) WO2002080348A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005048444A1 (fr) 2003-11-12 2005-05-26 Siemens Aktiengesellschaft Commande d'un moteur electrique par reglage continu de l'angle de commutation
DE102005019515C5 (de) * 2004-05-15 2017-11-16 Schaeffler Technologies AG & Co. KG Verfahren zum Messen der Drehzahl eines EC-Motors
JP4807325B2 (ja) * 2006-11-14 2011-11-02 株式会社デンソー モータ駆動装置及びモータ駆動方法
US7917017B2 (en) * 2006-11-14 2011-03-29 Denso Corporation Motor drive apparatus and method
US8903577B2 (en) * 2009-10-30 2014-12-02 Lsi Industries, Inc. Traction system for electrically powered vehicles
US7598683B1 (en) * 2007-07-31 2009-10-06 Lsi Industries, Inc. Control of light intensity using pulses of a fixed duration and frequency
US8604709B2 (en) 2007-07-31 2013-12-10 Lsi Industries, Inc. Methods and systems for controlling electrical power to DC loads

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US3794931A (en) * 1972-10-10 1974-02-26 Us Army Electronic gain control
US4527102A (en) * 1982-07-31 1985-07-02 Matsushita Electric Industrial Co., Ltd. Drive system for a DC motor with reduced power loss
JPH0426391A (ja) * 1990-05-18 1992-01-29 Zexel Corp ブラシレスモータ制御装置
DE4310260C1 (de) * 1993-03-30 1994-09-08 Bosch Gmbh Robert Elektronische Steuervorrichtung für einen elektronisch kommutierten Gleichstrommotor (EC-Motor)
JPH07300011A (ja) * 1994-03-09 1995-11-14 Calsonic Corp 送風ファンモータ制御装置
US5818192A (en) * 1995-08-04 1998-10-06 The Boeing Company Starting of synchronous machine without rotor position of speed measurement
DE19725521A1 (de) * 1997-06-17 1998-12-24 Bosch Gmbh Robert Elektronisch kommutierter Motor
DE19815896C2 (de) * 1998-04-08 2000-03-30 Siemens Ag Drehzahl-Steuervorrichtung für einen elektronisch kommutierten mehrphasigen Elektromotor
US6191966B1 (en) * 1999-12-20 2001-02-20 Texas Instruments Incorporated Phase current sensor using inverter leg shunt resistor
US6556461B1 (en) * 2001-11-19 2003-04-29 Power Paragon, Inc. Step switched PWM sine generator

Non-Patent Citations (1)

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Title
See references of WO02080348A1 *

Also Published As

Publication number Publication date
DE10115873A1 (de) 2002-10-17
US6838841B2 (en) 2005-01-04
KR20030020288A (ko) 2003-03-08
US20030190161A1 (en) 2003-10-09
WO2002080348A1 (fr) 2002-10-10

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