EP1647040B1 - Device and method for controlling electric switching devices - Google Patents
Device and method for controlling electric switching devices Download PDFInfo
- Publication number
- EP1647040B1 EP1647040B1 EP04730526A EP04730526A EP1647040B1 EP 1647040 B1 EP1647040 B1 EP 1647040B1 EP 04730526 A EP04730526 A EP 04730526A EP 04730526 A EP04730526 A EP 04730526A EP 1647040 B1 EP1647040 B1 EP 1647040B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- contact
- armature
- acceleration
- control device
- coil
- 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 - Fee Related
Links
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
- H01F7/1844—Monitoring or fail-safe circuits
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H47/22—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for supplying energising current for relay coil
- H01H47/32—Energising current supplied by semiconductor device
- H01H47/325—Energising current supplied by semiconductor device by switching regulator
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H47/02—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for modifying the operation of the relay
- H01H47/04—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for modifying the operation of the relay for holding armature in attracted position, e.g. when initial energising circuit is interrupted; for maintaining armature in attracted position, e.g. with reduced energising current
- H01H2047/046—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for modifying the operation of the relay for holding armature in attracted position, e.g. when initial energising circuit is interrupted; for maintaining armature in attracted position, e.g. with reduced energising current with measuring of the magnetic field, e.g. of the magnetic flux, for the control of coil current
Definitions
- the present invention relates to a drive device for driving a magnetic actuator or an electrical switching device, in particular of a contactor or relay, which / has an armature, with a receiving device for receiving or detecting a movement amount with respect to the armature and / or an associated contact and a control device for controlling or regulating the acceleration of the armature or of the contact. Furthermore, the present invention relates to a corresponding method for driving a magnetic actuator or an electrical switching device.
- the magnetic tensile force When switching on contactors, the magnetic tensile force must overcome the opening spring forces. It should be noted that when closing the main contacts of a contactor, the spring forces increase in a defined distance before the closed position to about five times the value. Nevertheless, it must be ensured in this area too that the contacts close at a minimum speed, but the closing speed is also not too high. It is advantageous for the life of a contactor, if the impact velocity of the main contacts is limited to reduce Einschaltabbrands. As a result, mechanical bounce is reduced when the contacts meet and the associated occurrence of arcs, which increases the electrical life. Furthermore, it is advantageous if the magnet system closes gently, which leads to an increase in the mechanical life.
- Such preferred closing movements can be achieved essentially by a control for controlling the magnet system.
- a control for controlling the magnet system for example, in the publications EP 0 865 660 and DE 195 35 211 a regulation of the magnetic flux made. In this case, either a constant value or a position-dependent value of the magnetic flux is desired. The nominal value of the magnetic flux must in any case be so high that a traction excess can always be ensured.
- very high impact velocities can be prevented by the flux control, even in favorable cases, relatively high impact velocities of approximately 0.8 m / s are still achieved, as the simulation according to FIG FIG. 1 shows. In the top diagram of FIG.
- 1 is the voltage on the coil with a solid line, the mains voltage with a dashed line and the current through the coil with a dotted line.
- the voltage at the coil is switched on and off according to the control cycles. Initially, the voltage on the coil is turned on and remains on until a predetermined magnetic flux (solid line in the middle diagram) is reached.
- the current (dotted line in the top diagram) rises rapidly in this time range according to the usual turn-on behavior of an inductor. By adjusting the voltage, the current then remains approximately constant and then gradually decreases with decreasing opening between the contacts to very small values.
- the middle diagram of FIG. 1 shows, in addition to the flux multiplied by the number of turns N (solid line), which is controlled to a constant value, the spring force (dashed line) and the magnetic force (dotted line).
- N solid line
- the spring force is higher than the magnetic force, so that the contact carrier does not move with the contacts yet.
- the magnetic force exceeds the spring force, whereupon the contacts move relative to each other. Only after this time is the flux regulated to a constant value so that the contacts can move towards each other.
- the spring force - as mentioned in the beginning - jumps several times. With the reduction of the opening gap when closing the magnetic force (dotted line) increases sharply.
- the voltage is not switched off again until the speed of the contacts reaches 0.5 m / s (see solid line in the lowest diagram of FIG. 2 ). While the voltage on the coil is switched on, the current through the coil increases (dotted line in the top diagram). After switching off the voltage drops the current gradually decreases again. According to the current, the magnetic flux (solid line in the middle diagram) and the magnetic force (dotted line) increase to an absolute or local maximum until the power-down time. For the speed (solid line in the bottom diagram of FIG. 2 ), this means that it continues to rise even after the voltage has been switched off, since the current and thus the magnetic force decreases only very slowly.
- the speed reaches a height of 1.0 m / s when the contacts strike and then drops to about 0.6 m / s due to the increased spring force (see dashed line in the middle diagram) when the components of the magnet system meet.
- the DE 195 44 207 also mentions an acceleration control.
- the object of the present invention is to propose a control device or a corresponding method, with which a gentle closing of the contacts, for example, a contactor is possible.
- a drive device for driving a magnetic actuator or an electrical switching device having the features according to claim 1.
- the invention provides a method for driving a magnetic actuator or an electrical switching device having the features according to claim 14.
- the impact velocity can be limited to, for example, 0.4 m / s to 0.5 m / s. A knowledge of the spring force curve is not necessary at these speeds.
- the control in the control device is performed on the basis of a setpoint curve, which represents the relationship between speed and position. In this case, it can be calculated in advance whether the setpoint curve is exceeded or fallen short of in a certain position and a corresponding decision is used as the basis for the control of the coil.
- the distance traveled or the position is recorded or recorded as a movement variable.
- the speed and / or the acceleration of the armature can be detected directly.
- the setpoint curve preferably comprises a region which encloses the contact contact and expediently also the magnetic contact.
- the movement of the contacts can be controlled even after the contact touch.
- the recording device may comprise a displacement sensor, from the signal of which analogue or digital differentiation speed and / or acceleration for the control is derived.
- the displacement sensor can be realized by a coil whose current is measured and whose magnetic flux is determined from the integral of the induced voltage, so that from the position of the contacts mathematically can be determined.
- a special measuring coil can be used, which is attached to the magnetic system of the magnetic actuator or the electrical switching device, ie on the drive coil. This measuring coil is then independent of the current-carrying drive coil, so that the flow can be measured accurately.
- the drive device may further include a processor and a semiconductor switch, wherein the semiconductor switch for switching on and off of a drive coil can be used and the processor for driving the semiconductor switch is connected thereto.
- the drive device may have a freewheeling circuit in which a current is reduced when switching off a drive coil by a reverse voltage.
- the power can be reduced faster, so that the scheme is correspondingly less sluggish.
- the removal of two contacts or two magnetic components for controlling the acceleration can be considered in the control device. This can be achieved in the vicinity of the closed position, a different control behavior than in the open position.
- control devices according to the invention in all their variants can optionally be integrated directly into electrical switching devices, in particular contactors and relays.
- FIG. 3 shows a schematic diagram.
- a contactor coil Ls is supplied with mains voltage by a regulator RG.
- the regulation takes place by means of a setpoint curve, in which the speed v is plotted over the position s.
- the position s as manipulated variable is determined with the aid of a measuring coil L M.
- the voltage U i induced in the measuring coil L M and the current I flowing through the coil L M are detected with the aid of an evaluation circuit. From the induced voltage can be determined by integration of the magnetic flux. Based on a defined relationship between the flux and the current I flowing through the coil L M , the position s can be determined. It is forwarded as a manipulated variable to the controller RG.
- the force on the armature in the contactor coil Ls or its acceleration is regulated to a defined value.
- the setpoint curve "speed over position" used for control is reproduced.
- the speed should be in about 0.5 m / s and maintained until closing the magnet system.
- the main contacts already come into contact with a predefined piece before the impact of the armature on the yoke of the magnet system.
- Starting point when closing is the rest position (off position) with the speed zero of the armature or movable contact.
- it is attempted to set the acceleration such that the speed at 3.8 mm air gap reaches 0.5 m / s, if this acceleration is maintained constant.
- setpoint curve shown may also have a different course.
- further corner points may be defined to better account for the mechanics when closing the electrical switching device wear.
- a displacement, velocity or acceleration sensor is not used directly to detect the corresponding quantities. Rather, the position is derived from the current and flow signal of the measuring coil L M.
- FIG. 6 Simulation results of the acceleration control circuit according to the invention are shown in the diagrams of FIG. 6 shown.
- the sizes shown correspond to those of 1 and FIG. 2 .
- FIG. 6 the switch-on movement of a contactor over time is shown.
- the switch-on movement runs along the preset setpoint curve of FIG. 4 , In this case, it is regulated to a constant acceleration.
- the acceleration is adjusted in such a way that in turn the corner point (compare arrows in FIG FIG. 4 ) is achieved.
- Such a deviation from the setpoint curve is particularly important when using the rectified AC voltage for the control of the drive coil, since the current drops lead to actual values below the setpoint curve here.
- the voltage at the drive coil is first turned on, as in the example of FIG. 1 the case is.
- the current (dotted line) increases accordingly rapidly.
- the regulation starts by switching the voltage on and off. It should be noted that to the drive coil and a negative voltage, ie a counter-voltage is applied, so that the current or flow can be lowered if necessary faster.
- a tracked acceleration control is performed. This means that in a table or curve accordingly FIG. 4 one or more target value points (v soll s soll) are predetermined.
- the described acceleration control can be extended to the effect that a further degree of freedom is introduced, which has an effect especially at the beginning of the switch-on process.
- j is a point on the setpoint curve of Fig. 4
- a very simple acceleration control can be used. This consists only in the specification of a table or function of the acceleration as a function of the path b soll (s).
- the current acceleration b akt and the current one Path s akt are measured or evaluated.
- For regulation the voltage at the coil is switched on, if b akt ⁇ b should (s akt ) is. In the event that b akt > b should (s akt ), the voltage is switched off.
- the position determination can be made from the measurement of the current and the flow.
- the flow measurement which takes place indirectly via a voltage measurement, can take place with the aid of a separate measuring winding, in which an independent measuring coil L M according to FIG FIG. 3 an induced voltage U i is measured.
- the flux is then calculated by means of numerical integration via the induced voltage or determined by means of an analog circuit.
- the voltage measurement for determining the flux is determined directly at the exciter winding or drive coil.
- a mathematical correction of the winding resistance takes place from two integration intervals during the current increase without movement.
- an integral over the current II0 and an integral over the voltage IU01 are determined.
- a corresponding integral II02 is also calculated via the current and an integral IU02 via the voltage.
- FIG. 7 shows a circuit diagram according to which a contactor coil Ls can be controlled. Via a rectifier GL is a capacitor C and a control circuit RG (see FIG. 3 ) supplied with DC voltage. Via a bridge circuit consisting of two transistors T1 and T2 and two diodes D1 and D2, which is also acted upon by the DC voltage, the contactor coil Ls is supplied.
- the contactor coil When the contactor coil is switched on, the current flows from the rectifier GL via the transistor T1, the contactor coil Ls, the transistor T2 diagonally opposite the transistor T1 and back into the rectifier.
- the current flows through the diode D2, the contactor coil Ls, the diode D2 diagonally opposite diode D1 and the rectifier GL parallel capacitor C.
- the capacitor C is already loaded to the amplitude of the mains voltage Uc and is available as Counter voltage source available. If the capacitance of the capacitor C is very large, then the speed of energization of the contactor coil Ls is approximately identical to the speed of de-excitation.
- This voltage increase across the capacitor increases the rate of de-energization over the rate of excitation.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Relay Circuits (AREA)
- Control Of Linear Motors (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft eine Ansteuervorrichtung zum Ansteuern eines magnetischen Aktuators oder eines elektrischen Schaltgeräts, insbesondere von einem Schütz oder Relais, der/das einen Anker aufweist, mit einer Aufnahmeeinrichtung zur Aufnahme oder Erfassung einer Bewegungsgröße bezüglich des Ankers und/oder eines damit verbundenen Kontakts und einer Regelungseinrichtung zum Steuern oder Regeln der Beschleunigung des Ankers beziehungsweise des Kontakts. Ferner betrifft die vorliegende Erfindung ein entsprechendes Verfahren zum Ansteuern eines magnetischen Aktuators oder eines elektrischen Schaltgeräts.The present invention relates to a drive device for driving a magnetic actuator or an electrical switching device, in particular of a contactor or relay, which / has an armature, with a receiving device for receiving or detecting a movement amount with respect to the armature and / or an associated contact and a control device for controlling or regulating the acceleration of the armature or of the contact. Furthermore, the present invention relates to a corresponding method for driving a magnetic actuator or an electrical switching device.
Beim Einschalten von Schützen muss die magnetische Zugkraft die öffnend wirkenden Federkräfte überwinden. Dabei ist zu berücksichtigen, dass beim Schließen der Hauptkontakte von einem Schütz die Federkräfte in einem definierten Abstand vor der Schließposition auf etwa den fünffachen Wert ansteigen. Dennoch ist auch in diesem Bereich zu gewährleisten, dass die Kontakte mit einer Mindestgeschwindigkeit schließen, die Schließgeschwindigkeit aber auch nicht zu hoch ist. Vorteilhaft für die Lebensdauer eines Schützes ist es, wenn zur Verminderung des Einschaltabbrands die Auftreffgeschwindigkeit der Hauptkontakte begrenzt wird. Dadurch wird mechanisches Prellen beim Aufeinandertreffen der Kontakte und ein damit verbundenes Auftreten von Lichtbögen reduziert, was die elektrische Lebensdauer erhöht. Ferner ist es vorteilhaft, wenn das Magnetsystem sanft schließt, was zu einer Erhöhung der mechanischen Lebensdauer führt.When switching on contactors, the magnetic tensile force must overcome the opening spring forces. It should be noted that when closing the main contacts of a contactor, the spring forces increase in a defined distance before the closed position to about five times the value. Nevertheless, it must be ensured in this area too that the contacts close at a minimum speed, but the closing speed is also not too high. It is advantageous for the life of a contactor, if the impact velocity of the main contacts is limited to reduce Einschaltabbrands. As a result, mechanical bounce is reduced when the contacts meet and the associated occurrence of arcs, which increases the electrical life. Furthermore, it is advantageous if the magnet system closes gently, which leads to an increase in the mechanical life.
Derart bevorzugte Schließbewegungen können im Wesentlichen durch eine Regelung zur Ansteuerung des Magnetsystems erreicht werden. So wird beispielsweise in den Druckschriften
Das mittlere Diagramm von
In dem untersten Diagramm ist der Weg (gestrichelte Linie) und die Geschwindigkeit (durchgezogene Linie) ebenfalls über der Zeit aufgetragen. Die Geschwindigkeit der Kontakte zueinander nimmt beim Schließen stetig zu und erreicht beim Aufeinandertreffen der Kontakte, wo auch die Federkraft sprunghaft zunimmt, einen Höhepunkt. Wegen der erhöhten Federkraft wird die Geschwindigkeit zunächst vermindert. Aufgrund des konstanten Flusses nimmt sie bis zur Schließposition jedoch wieder geringfügig zu. Auch das Schließen erfolgt mit der verhältnismäßig hohen Geschwindigkeit von etwa 0,8 m/s wie bereits erwähnt.In the bottom diagram, the path (dashed line) and the velocity (solid line) are also plotted over time. The speed of the contacts increases when closing steadily and reached when the contacts meet, where the spring force increases suddenly, a climax. Because of the increased spring force, the speed is initially reduced. Due to the constant flow, however, it slightly increases again up to the closed position. The closing also takes place at the comparatively high speed of about 0.8 m / s, as already mentioned.
In dem weiteren Dokument
Die
Die eingangs erwähnten Anforderungen an die Schließbewegung werden bei beiden dokumentierten Regelungen nicht hinreichend erfüllt. Somit besteht die Aufgabe der vorliegenden Erfindung darin, eine Ansteuervorrichtung bzw. ein entsprechendes Verfahren vorzuschlagen, mit denen ein sanftes Schließen der Kontakte beispielsweise eines Schützes möglich ist.The requirements mentioned above for the closing movement are not adequately met in both documented regulations. Thus, the object of the present invention is to propose a control device or a corresponding method, with which a gentle closing of the contacts, for example, a contactor is possible.
Erfindungsgemäß wird diese Aufgabe gelöst durch eine Ansteuervorrichtung zum Ansteuern eines magnetischen Aktuators oder eines elektrischen Schaltgeräts mit den Merkmalen gemäß Patentanspruch 1.According to the invention this object is achieved by a drive device for driving a magnetic actuator or an electrical switching device having the features according to claim 1.
Ferner ist erfindungsgemäß vorgesehen ein Verfahren zum Ansteuern eines magnetischen Aktuators oder eines elektrischen Schaltgeräts mit den Merkmalen gemäß Patentanspruch 14.Furthermore, the invention provides a method for driving a magnetic actuator or an electrical switching device having the features according to
Mit der Beschleunigungsregelung ist es möglich, dass die Auftreffgeschwindigkeit auf beispielsweise 0,4 m/s bis 0,5 m/s beschränkt werden kann. Eine Kenntnis der Federkraftkurve ist bei diesen Geschwindigkeiten nicht nötig.With the acceleration control, it is possible that the impact velocity can be limited to, for example, 0.4 m / s to 0.5 m / s. A knowledge of the spring force curve is not necessary at these speeds.
Die Regelung in der Regelungseinrichtung wird anhand einer Sollkurve, die den Zusammenhang von Geschwindigkeit und Position darstellt, durchgeführt. Dabei kann vorausberechnet werden, ob die Sollkurve in einer bestimmten Position über- oder unterschritten wird und eine entsprechende Entscheidung als Grundlage für die Ansteuerung der Spule verwendet werden.The control in the control device is performed on the basis of a setpoint curve, which represents the relationship between speed and position. In this case, it can be calculated in advance whether the setpoint curve is exceeded or fallen short of in a certain position and a corresponding decision is used as the basis for the control of the coil.
Vorzugsweise wird als Bewegungsgröße der zurückgelegte Weg bzw. die Position erfasst oder aufgenommen. Ebenso kann aber auch die Geschwindigkeit und/oder die Beschleunigung des Ankers direkt erfasst werden.Preferably, the distance traveled or the position is recorded or recorded as a movement variable. Likewise, however, the speed and / or the acceleration of the armature can be detected directly.
Vorzugsweise umfasst die Sollkurve einen Bereich, der die Kontaktberührung und zweckmäßigerweise auch die Magnetberührung einschließt. Damit kann die Bewegung der Kontakte auch nach der Kontaktberührung weiter geregelt werden.The setpoint curve preferably comprises a region which encloses the contact contact and expediently also the magnetic contact. Thus, the movement of the contacts can be controlled even after the contact touch.
Die Aufnahmeeinrichtung kann einen Wegsensor umfassen, aus dessen Signal durch analoge oder digitale Differenziation Geschwindigkeit und/oder Beschleunigung für die Regelung abgeleitet wird. Dabei kann der Wegsensor durch eine Spule realisiert werden, deren Strom gemessen und deren magnetischer Fluss aus dem Integral der induzierten Spannung bestimmt wird, so dass daraus die Position der Kontakte rechnerisch ermittelt werden kann. Hierzu kann eine spezielle Messspule eingesetzt werden, die an dem Magnetsystem des magnetischen Aktuators oder des elektrischen Schaltgeräts, d. h. an dessen Antriebsspule, angebracht wird. Diese Messspule ist dann unabhängig von der stromdurchflossenen Antriebsspule, so dass sich der Fluss entsprechend genau messen lässt.The recording device may comprise a displacement sensor, from the signal of which analogue or digital differentiation speed and / or acceleration for the control is derived. In this case, the displacement sensor can be realized by a coil whose current is measured and whose magnetic flux is determined from the integral of the induced voltage, so that from the position of the contacts mathematically can be determined. For this purpose, a special measuring coil can be used, which is attached to the magnetic system of the magnetic actuator or the electrical switching device, ie on the drive coil. This measuring coil is then independent of the current-carrying drive coil, so that the flow can be measured accurately.
Die Ansteuervorrichtung kann ferner einen Prozessor und einen Halbleiterschalter aufweisen, wobei der Halbleiterschalter zum An- und Abschalten einer Antriebsspule eingesetzt werden kann und der Prozessor zur Ansteuerung des Halbleiterschalters mit diesem verbunden ist.The drive device may further include a processor and a semiconductor switch, wherein the semiconductor switch for switching on and off of a drive coil can be used and the processor for driving the semiconductor switch is connected thereto.
Darüber hinaus kann die erfindungsgemäße Ansteuervorrichtung einen Freilaufkreis aufweisen, in dem ein Strom beim Abschalten einer Antriebsspule durch eine Gegenspannung abgebaut wird. Damit kann der Strom rascher reduziert werden, so dass die Regelung entsprechend weniger träge ist.In addition, the drive device according to the invention may have a freewheeling circuit in which a current is reduced when switching off a drive coil by a reverse voltage. Thus, the power can be reduced faster, so that the scheme is correspondingly less sluggish.
Vorteilhafterweise ist in der Regelungseinrichtung die Entfernung zweier Kontakte oder zweier Magnetkomponenten für die Regelung der Beschleunigung berücksichtigbar. Damit kann in der Nähe der Schließposition ein anderes Regelungsverhalten erreicht werden als in der Offen-Position.Advantageously, the removal of two contacts or two magnetic components for controlling the acceleration can be considered in the control device. This can be achieved in the vicinity of the closed position, a different control behavior than in the open position.
Die erfindungsgemäßen Steuervorrichtungen in ihren sämtlichen Varianten können gegebenenfalls direkt in elektrische Schaltgeräte, insbesondere Schütze und Relais, integriert werden.The control devices according to the invention in all their variants can optionally be integrated directly into electrical switching devices, in particular contactors and relays.
Die vorliegende Erfindung wird nun anhand der beigefügten Zeichnungen näher erläutert, in denen zeigen:
- FIG 1
- Simulationsdiagramme zu einer Regelung gemäß dem Stand der Technik;
- FIG 2
- Simulationsdiagramme zu einer alternativen Regelung gemäß dem Stand der Technik;
- FIG 3
- ein Blockschaltdiagramm einer erfindungsgemäß angesteuerten Schützspule;
- FIG 4
- eine Sollwertkurve für die Regelung;
- FIG 5
- eine Funktionenschar zur Ermittlung des Wegs aus dem Strom- und Flusssignal;
- FIG 6
- Simulationsdiagramme für die Beschleunigungsregelung gemäß der vorliegenden Erfindung und
- FIG 7
- ein Schaltungsdiagramm zur Schnellentregung von Schützen.
- FIG. 1
- Simulation diagrams for a control according to the prior art;
- FIG. 2
- Simulation diagrams for an alternative control according to the prior art;
- FIG. 3
- a block diagram of an inventive controlled contactor coil;
- FIG. 4
- a setpoint curve for the control;
- FIG. 5
- a set of functions for determining the path from the current and flow signal;
- FIG. 6
- Simulation diagrams for the acceleration control according to the present invention and
- FIG. 7
- a circuit diagram for fast de-energizing contactors.
Die nachfolgend aufgeführten Ausführungsbeispiele stellen bevorzugte Ausführungsformen der vorliegenden Erfindung dar.The embodiments listed below represent preferred embodiments of the present invention.
Nachdem eine reine Geschwindigkeitsregelung zu träge ist, wird bei dem erfindungsgemäßen Verfahren die Beschleunigung als Regelgröße verwendet.
Die Position s als Stellgröße wird mit Hilfe einer Messspule LM ermittelt. Hierzu wird mit Hilfe einer Auswerteschaltung die in der Messspule LM induzierte Spannung Ui und der durch die Spule LM fließende Strom I erfasst. Aus der induzierten Spannung lässt sich durch Integration der magnetische Fluss bestimmen. Anhand einer definierten Beziehung zwischen dem Fluss und dem durch die Spule LM fließenden Strom I kann die Position s ermittelt werden. Sie wird als Stellgröße an den Regler RG weitergeleitet. Gemäß dem nachfolgend näher beschriebenen Regelungsprinzip wird die Kraft auf den Anker in der Schützspule Ls bzw. dessen Beschleunigung auf einen definierten Wert geregelt.The position s as manipulated variable is determined with the aid of a measuring coil L M. For this purpose, the voltage U i induced in the measuring coil L M and the current I flowing through the coil L M are detected with the aid of an evaluation circuit. From the induced voltage can be determined by integration of the magnetic flux. Based on a defined relationship between the flux and the current I flowing through the coil L M , the position s can be determined. It is forwarded as a manipulated variable to the controller RG. According to the control principle described in more detail below, the force on the armature in the contactor coil Ls or its acceleration is regulated to a defined value.
In
Die in
In dem gewählten Ausführungsbeispiel wird nicht direkt ein Weg-, Geschwindigkeits- oder Beschleunigungssensor zur Erfassung der entsprechenden Größen verwendet. Vielmehr wird die Position aus dem Strom- und Flusssignal der Messspule LM hergeleitet.In the selected embodiment, a displacement, velocity or acceleration sensor is not used directly to detect the corresponding quantities. Rather, the position is derived from the current and flow signal of the measuring coil L M.
Simulationsergebnisse der erfindungsgemäßen Schaltung mit Beschleunigungsregelung sind in den Diagrammen von
Wie dem obersten Diagramm von
Im mittleren Diagramm von
Beim anschließenden Auftreffen der Kontakte aufeinander, wenn sich die Federkraft sprunghaft erhöht, muss zur Beibehaltung der Geschwindigkeit die Magnetkraft (gepunktete Linie im mittleren Diagramm) hochgeregelt werden. Dies wird durch ein Anschalten der Spannung an der Spule (durchgezogene Linie im obersten Diagramm) bzw. Anstieg des Stroms durch die Spule (gepunktete Linie im obersten Diagramm) erreicht. Der kurze Geschwindigkeitseinbruch beim Auftreffen der Kontakte aufeinander kann somit kompensiert werden (vergleiche durchgezogene Linie im untersten Diagramm). Der von den Kontakten beim Einschaltvorgang zurückgelegte Weg (vergleiche gestrichelte Linie im untersten Diagramm von
In dem hier dargestellten Beispiel wird eine nachgeführte Beschleunigungsregelung durchgeführt. Dies bedeutet, dass in einer Tabelle bzw. Kurve entsprechend
Die geschilderte Beschleunigungsregelung kann dahingehend erweitert werden, dass ein weiterer Freiheitsgrad eingeführt wird, der sich insbesondere zu Beginn des Einschaltvorgangs auswirkt. Zur Berechnung der Geschwindigkeit vschalt zum Schaltzeitpunkt wird gemäß der Formel
Dabei bedeutet j einen Punkt auf der Sollkurve von
Zu Beginn des Einschaltvorgangs ist k = 0, während am Ende des Einschaltvorgangs k = 1 ist. Dies bedeutet, dass die aktuelle Beschleunigung bakt zu Beginn des Einschaltvorgangs auf die Regelung praktisch keinen Einfluss hat. Vielmehr ist die Regelung zu Beginn des Einschaltvorgangs lediglich vom aktuellen Geschwindigkeitswert vakt abhängig, womit sich in dieser Phase eine Geschwindigkeitsregelung ergibt. Am Ende des Einschaltvorgangs wird die Geschwindigkeitsregelung von der Beschleunigungsregelung abgelöst.At the beginning of the switch-on process k = 0, while at the end of the switch-on process k = 1. This means that the current acceleration b akt at the beginning of the switch-on on the control has virtually no influence. Rather, the control is only dependent on the current speed value v akt at the beginning of the switch-on, resulting in a speed control in this phase. At the end of the switch-on process, the speed control is replaced by the acceleration control.
Als Variante zu den oben beschriebenen Beschleunigungsregelungen kann auch eine sehr einfache Beschleunigungsregelung eingesetzt werden. Diese besteht lediglich in der Vorgabe einer Tabelle bzw. Funktion der Beschleunigung in Abhängigkeit des Weges bsoll(s). Die aktuelle Beschleunigung bakt und der aktuelle Weg sakt werden gemessen oder ausgewertet. Zur Regelung wird die Spannung an der Spule eingeschaltet, wenn bakt < bsoll (sakt) ist. Für den Fall, dass bakt > bsoll (sakt) ist, wird die Spannung ausgeschaltet.As a variant of the acceleration control described above, a very simple acceleration control can be used. This consists only in the specification of a table or function of the acceleration as a function of the path b soll (s). The current acceleration b akt and the current one Path s akt are measured or evaluated. For regulation the voltage at the coil is switched on, if b akt <b should (s akt ) is. In the event that b akt > b should (s akt ), the voltage is switched off.
Wie bereits erwähnt und im Zusammenhang mit
Entsprechend einer zweiten Ausführungsform wird die Spannungsmessung zur Ermittlung des Flusses direkt an der Erregerwicklung bzw. Antriebsspule ermittelt. Zur exakten Bestimmung der Wicklungsspannung Uw erfolgt eine rechnerische Korrektur des Wicklungswiderstands aus zwei Integrationsintervallen während des Stromanstiegs ohne Bewegung. Hierzu werden beispielsweise ein Intervall 1 von I = 0 bis I = 0,5 A und ein Intervall 2 von I = 0 bis I = 1,0 A festgelegt. Für das Intervall 1 werden ein Integral über den Strom II0 und ein Integral über die Spannung IU01 ermittelt. Für das Intervall 2 werden ebenfalls ein entsprechendes Integral II02 über den Strom und ein Integral IU02 über die Spannung berechnet. Aus der Formel
Damit der magnetische Fluss beim Abregeln der oben geschilderten Beschleunigungsregelung schneller abgebaut werden kann, muss in einem Freilaufkreis eine Gegenspannung erzeugt werden. In dem obersten Simulationsdiagramm von
Durch diesen Spannungsanstieg am Kondensator ist die Geschwindigkeit der Entregung größer als die Geschwindigkeit der Erregung.This voltage increase across the capacitor increases the rate of de-energization over the rate of excitation.
Der Kondensator sollte so dimensioniert werden, dass er die maximale auftretende magnetische Energie ELmax von der Schützspule Ls aufnehmen kann (ΔEc=ELmax ).The capacitor should be dimensioned so that it can absorb the maximum occurring magnetic energy E Lmax from the contactor coil Ls (ΔE c = E Lmax ).
Claims (24)
- Control device for controlling a magnetic actuator or an electrical switching device, in particular of a contactor or relay, which has an armature, comprising- a recording entity (LM) for recording or measuring a displacement variable (e.g. s) relating to the armature and/or a contact or main contact associated therewith, and- a regulating entity (RG) which controls or regulates the displacement of the armature and/or of the said contact or of the said main contact on the basis of a setpoint curve which represents a relationship between displacement parameters (e.g. s and v),characterised in that- in accordance with the setpoint curve a predetermined constant velocity (v) of the armature starting from a predetermined point before the armature reaches a yoke is set until the armature reaches the yoke, wherein the predetermined point lies before the said contact meets an associated other contact, but in any case before the said main contact closes.
- Control device according to claim 1, wherein the regulation in the regulating entity (RG) can be performed on the basis of a setpoint curve which represents the relationship between acceleration (b) and position (s).
- Control device according to claim 2, wherein the relationship between acceleration (b) and position (s) is predefined in the form of a table and/or acceleration function (bref(s)).
- Control device according to one of claims 1 to 3, wherein the setpoint curve includes the range in which the contacts meet.
- Control device according to one of the preceding claims, wherein the setpoint curve includes the magnet contact range.
- Control device according to one of the preceding claims, wherein the recording entity includes a path sensor from whose signal velocity (v) and/or acceleration (b) can be derived by means of analogue or digital differentiation.
- Control device according to claim 6, wherein the path sensor has a coil (LS) whose current (I) is measured and whose magnetic flux (ψ) is determined from the integral of the induced voltage (U) such that the position (s) of the armature and/or of the contact or main contact can be ascertained therefrom.
- Control device according to one of claims 1 to 5, wherein the recording entity includes a speed sensor from whose signal position (s) and acceleration (b) of the armature and/or of the contact or main contact can be derived by analogue or digital differentiation and/or integration.
- Control device according to one of the preceding claims which has a measuring coil (LM) for determining the magnetic flux (ψ) which can be mounted on a drive coil of the magnetic actuator or of the electrical switching device and is independent of said drive coil.
- Control device according to one of the preceding claims which has a processor and a semiconductor switch, wherein the semiconductor switch can be used for energising and deenergising a drive coil (LS) and the processor is connected to the semiconductor switch for the purpose of controlling the same.
- Control device according to one of the preceding claims which has a freewheeling circuit in which a current (I) can be dissipated by means of a back electromotive force when a drive coil is deenergised.
- Control device according to one of the preceding claims, wherein the distance between two contacts or two magnet components is taken into account in the regulating entity (RG) for the purpose of regulating the acceleration (b).
- Electrical switching device, in particular contactor or relay, having a control device according to one of the preceding claims.
- Method for controlling a magnetic actuator or an electrical switching device, in particular of a contactor or relay which has an armature, by- recording or measuring a displacement variable (e.g. s) relating to the armature and/or a contact or main contact associated therewith, and- controlling or regulating the displacement of the armature and/or of the said contact or of the said main contact on the basis of a setpoint curve which represents a relationship between displacement parameters (e.g. s and v),characterised in that- the regulation is performed on the basis of a setpoint curve in accordance with which a predetermined constant velocity (v) of the armature and/or of the said contact or of the said main contact starting from a predetermined point before the armature reaches a yoke is set until the armature reaches the yoke, wherein a point which lies before the said contact meets an associated other contact, but in any case before the said main contact closes, is used as the predetermined point.
- Method according to claim 14, wherein the regulation is performed on the basis of a setpoint curve which represents the relationship between acceleration and position.
- Method according to claim 15, wherein the regulation is performed on the basis of a relationship between acceleration (b) and position (s) which is predefined in the form of a table and/or acceleration function (bref(s)).
- Method according to one of claims 14 to 16, wherein the setpoint curve includes the range in which the contacts meet.
- Method according to one of claims 14 to 17, wherein the setpoint curve includes the magnet contact range.
- Method according to one of claims 14 to 18, wherein the displacement variable (e.g. s) is recorded by a path sensor from whose signal velocity (v) and/or acceleration (b) are/is derived by analogue or digital differentiation.
- Method according to claim 19, wherein the path sensor includes a drive coil (LS) whose current (I) is measured and whose magnetic flux (ψ) is determined from the integral of the induced voltage (U) from which the position (s) of the armature and/or of the contact or main contact is subsequently determined.
- Method according to one of claims 14 to 18, wherein the displacement variable (e.g. s) is determined with the aid of a speed sensor.
- Method according to claim 19 or 20, wherein the magnetic flux is measured by means of a measuring coil (LM) which is mounted onto the drive coil of the magnetic actuator or of the electrical switching device and is independent of said drive coil.
- Method according to one of claims 14 to 22, wherein the current (I) is dissipated by means of a back electromotive force in a freewheeling circuit when a drive coil (LS) of the magnetic actuator or electrical switching device is deenergised.
- Method according to one of claims 14 to 23, wherein the distance between two contacts or two magnet components of the magnetic actuator or electrical switching device is taken into account for the purpose of regulating the acceleration (b).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003132595 DE10332595B4 (en) | 2003-07-17 | 2003-07-17 | Device and method for driving electrical switching devices |
PCT/EP2004/004606 WO2005017933A1 (en) | 2003-07-17 | 2004-04-30 | Device and method for controlling electric switching devices |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1647040A1 EP1647040A1 (en) | 2006-04-19 |
EP1647040B1 true EP1647040B1 (en) | 2011-11-30 |
Family
ID=34088667
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04730526A Expired - Fee Related EP1647040B1 (en) | 2003-07-17 | 2004-04-30 | Device and method for controlling electric switching devices |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1647040B1 (en) |
CN (1) | CN100461323C (en) |
DE (1) | DE10332595B4 (en) |
WO (1) | WO2005017933A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005045095A1 (en) * | 2005-09-21 | 2007-04-05 | Siemens Ag | A method for determining the burnup of contacts of an electromagnetic switching device and electromagnetic switching device with a device operating according to this method |
DE102006045353A1 (en) * | 2006-09-26 | 2008-04-03 | Lucas Automotive Gmbh | Control unit and method for controlling an electromagnetic valve arrangement |
WO2009135519A1 (en) * | 2008-05-09 | 2009-11-12 | Siemens Aktiengesellschaft | Method and device for controlling a magnetic actuator |
FR2934413B1 (en) * | 2008-07-24 | 2015-01-02 | Schneider Electric Ind Sas | ELECTROMAGNETIC ACTUATOR COMPRISING SELF-ADAPTIVE OPERATING CONTROL MEANS AND METHOD USING SUCH ACTUATOR |
DE102008046374B3 (en) * | 2008-09-09 | 2009-12-31 | Siemens Aktiengesellschaft | Electromagnetic switchgear e.g. relay, has contact system standing in effective connection with magnetic system, and sensor arranged at side of yoke lying opposite to movable armature, where sensor detects impact torque of armature |
DE102010041214A1 (en) * | 2010-09-22 | 2012-03-22 | Siemens Aktiengesellschaft | Switching device and method for controlling a switching device |
DE102012000766A1 (en) * | 2012-01-18 | 2013-07-18 | Voith Patent Gmbh | A control arrangement for controlling the position of an armature of a magnetic actuator and detection arrangement for detecting the position of an armature of a magnetic actuator |
CN103346042B (en) * | 2013-07-18 | 2015-06-24 | 浙江中凯科技股份有限公司 | Electromagnetic system energy-saving device with compensation functions |
DE102014224321A1 (en) * | 2014-11-27 | 2016-06-02 | Robert Bosch Gmbh | Method for determining the armature stroke of a magnetic actuator |
CN104935069A (en) * | 2015-07-03 | 2015-09-23 | 常熟开关制造有限公司(原常熟开关厂) | Dual power supply changeover switch, control method thereof and dual power supply device |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1564039A1 (en) * | 1966-10-19 | 1969-12-11 | Grundig Emv | Circuit arrangement for the accelerated de-excitation of a direct current magnet, for example the magnet coil of a magnet valve |
US4450427A (en) * | 1981-12-21 | 1984-05-22 | General Electric Company | Contactor with flux sensor |
DE3402759A1 (en) * | 1984-01-27 | 1985-08-01 | Robert Bosch Gmbh, 7000 Stuttgart | CURRENT CONTROLLER FOR ELECTROMAGNETIC ACTUATORS |
DE19535211C2 (en) * | 1995-09-22 | 2001-04-26 | Univ Dresden Tech | Method for controlling armature movement for a switching device |
DE19544207C2 (en) * | 1995-11-28 | 2001-03-01 | Univ Dresden Tech | Process for model-based measurement and control of movements on electromagnetic actuators |
WO1997021237A2 (en) * | 1995-12-05 | 1997-06-12 | Siemens Aktiengesellschaft | Switchgear control apparatus |
DE19832196A1 (en) * | 1998-07-17 | 2000-01-20 | Bayerische Motoren Werke Ag | Controlling armature motion in electromagnetically operated valve of internal combustion engine |
DE10034830C2 (en) * | 2000-07-18 | 2003-02-27 | Isermann Rolf | Method of reconstructing the armature movement of an electromagnetic actuator |
-
2003
- 2003-07-17 DE DE2003132595 patent/DE10332595B4/en not_active Expired - Fee Related
-
2004
- 2004-04-30 CN CNB2004800199912A patent/CN100461323C/en not_active Expired - Fee Related
- 2004-04-30 EP EP04730526A patent/EP1647040B1/en not_active Expired - Fee Related
- 2004-04-30 WO PCT/EP2004/004606 patent/WO2005017933A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
CN1830048A (en) | 2006-09-06 |
CN100461323C (en) | 2009-02-11 |
EP1647040A1 (en) | 2006-04-19 |
DE10332595B4 (en) | 2008-02-14 |
DE10332595A1 (en) | 2005-02-24 |
WO2005017933A1 (en) | 2005-02-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1927121B1 (en) | Method for determining contact erosion of an electromagnetic switching device, and electromagnetic switching device comprising a mechanism operating according to said method | |
DE60102131T2 (en) | Method for controlling an electromagnetic valve drive in a camless engine | |
EP0438640B1 (en) | Method for the sensing of motion and position of a part of an inductive electric consumer movable between a rest and an end position by means of a magnetic action | |
DE19632910C1 (en) | Contactless driving of motor vehicle power-driven window to lower stop position | |
EP1014395B1 (en) | Method and apparatus for reducing the noise of electromagnetically operated devices | |
EP1647040B1 (en) | Device and method for controlling electric switching devices | |
EP0067185B1 (en) | Electronic device for the energization of an electromagnetic element | |
DE102007045779A1 (en) | Method for controlling a solenoid valve and associated device | |
DE4315637C2 (en) | Method for recognizing the position and the direction of movement of a movably mounted part | |
DE102014208014A1 (en) | Electric switch with electromagnetic actuator | |
DE102009019015A1 (en) | Method and device for detecting a pinching situation | |
DE102007063479A1 (en) | Method for producing signal, involves displaying armature of electromagnets, which attain end position and current is measured continuously which is flowing by electromagnets | |
EP1234316B1 (en) | Electromagnetic switchgear comprising a controlled drive, a corresponding method and a circuit | |
EP0225444A1 (en) | Process for the control of an electromagnet | |
EP3053171B1 (en) | Electromagnetic actuator | |
WO2014019973A1 (en) | Apparatus for controlling the electromagnetic drive of a switching device, particularly a contactor | |
DE19535211C2 (en) | Method for controlling armature movement for a switching device | |
EP1015800B1 (en) | Method and device for determining a valve closure point | |
EP1253991A1 (en) | Resistance spot welding control device and method | |
EP0865660B1 (en) | Switchgear control apparatus | |
DE102008046374B3 (en) | Electromagnetic switchgear e.g. relay, has contact system standing in effective connection with magnetic system, and sensor arranged at side of yoke lying opposite to movable armature, where sensor detects impact torque of armature | |
EP2936532B1 (en) | Apparatus and method for operating an electromagnetic drive for a switching device | |
EP2747287A1 (en) | Circuit arrangement for braking a moving mass by switching off an electromechanical switching device with an inductive load | |
DE4031427A1 (en) | Operating EM regulator at reduced energy level - reducing retention power once switched on and monitoring to boost power if change in switched state is detected | |
EP0951727A1 (en) | Reduced tensioning time for electronically controlled switch contactors |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20051214 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): DE FR |
|
DAX | Request for extension of the european patent (deleted) | ||
RBV | Designated contracting states (corrected) |
Designated state(s): DE FR |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: KOIVISTO, MIKKO Inventor name: MITTLMEIER, NORBERT Inventor name: TRAUTMANN, BERND |
|
17Q | First examination report despatched |
Effective date: 20070312 |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): DE FR |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 502004013112 Country of ref document: DE Effective date: 20120301 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20120831 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 502004013112 Country of ref document: DE Effective date: 20120831 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 13 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20160620 Year of fee payment: 13 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20160429 Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 502004013112 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20171229 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20171103 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20170502 |