EP1756938A1 - Outil electrique portatif ou fixe dote d'une unite d'entrainement - Google Patents

Outil electrique portatif ou fixe dote d'une unite d'entrainement

Info

Publication number
EP1756938A1
EP1756938A1 EP05747381A EP05747381A EP1756938A1 EP 1756938 A1 EP1756938 A1 EP 1756938A1 EP 05747381 A EP05747381 A EP 05747381A EP 05747381 A EP05747381 A EP 05747381A EP 1756938 A1 EP1756938 A1 EP 1756938A1
Authority
EP
European Patent Office
Prior art keywords
motor
power tool
speed
voltage
stator
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Withdrawn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
EP05747381A
Other languages
German (de)
English (en)
Inventor
Kurt Reutlinger
Volker Bosch
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 EP1756938A1 publication Critical patent/EP1756938A1/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Withdrawn legal-status Critical Current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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B25B21/008—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose with automatic change-over from high speed-low torque mode to low speed-high torque mode
    • 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
    • H02P6/34—Modelling or simulation for control purposes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/935—Specific application:
    • Y10S388/937—Hand tool

Definitions

  • the invention relates to a hand-held or stationary power tool with a drive unit, in particular a battery-operated power tool, such as. B. a cordless screwdriver.
  • EC motors which are brushless, i.e. H. the rotor is provided with permanent magnets that rotate in a magnetic field generated by stator coils. The speed of the EC motor is usually controlled by the motor voltage applied.
  • the motor voltage is generally applied by pulse width modulation of the power transistors in the drive unit.
  • the motor is commutated depending on fixed rotor positions.
  • the EC motor is usually designed for the maximum speed of the power tool. Due to the lower number of turns required for this, this leads to a comparatively low torque in relation to the stator current. This current is determined by the limit values of power electronics, motor and / or battery. The torque is therefore also limited to this maximum value over the entire speed range.
  • stator coils Since previous power tools are designed for high speeds, the stator coils have a low ohmic resistance and a lower inductance, which can lead to a relatively high current when the coils are short-circuited, so that damage to the motor or the electronics can occur. In the event of a fault or in an impermissible operating state, for example when a
  • Batteries from a cordless power tool can occur when the motor is rotating, by short-circuiting the motor it or the electronics can be destroyed. For this reason, measures are usually to be taken to prevent damage to the engine.
  • an electric tool is provided with a drive unit that includes a motor that has a rotor with a permanent magnet and a stator.
  • the drive unit also has a motor controller that is designed such that the motor is controlled in a first speed range in accordance with a voltage-controlled operating mode and in a second speed range that is related to the first Speed range in the direction of a higher speed, is controlled according to a field weakening operation.
  • the power tool according to the invention provides for the motor speed to be set both via the voltage-controlled operating mode and via the field weakening mode.
  • This has the advantage that the motor no longer has to be designed electrically for the maximum speed, but for a medium speed, which means that with the same maximum voltage, a correspondingly higher torque in the range up to the medium speed can be achieved than with a conventional one Motor that is designed for a higher speed.
  • higher torques are possible in the lower (first) speed range.
  • the motor is operated in so-called field weakening mode in order to achieve high speeds that exceed the medium speed.
  • the field weakening operation provides for a change in the phase position of the rotor field and the stator field, as a result of which the speed can be increased to a speed that exceeds the maximum speed in voltage-controlled operation.
  • the higher speeds are achieved when the torque is reduced compared to the torque at the maximum voltage.
  • This operating behavior is advantageous for power tools, since either high torques at low speeds or high speeds at low torques are required.
  • the drive unit can thus cover work areas that are only possible with conventional drives or conventionally operated EC motors by using appropriate switchable gears.
  • the resistance and the inductance of the stator winding are increased compared to those in a conventional power tool.
  • the stator winding can thus be short-circuit proof. So the engine can be short-circuited by the electronics for immediate stopping in any operating state without fear of damage to the motor or electronics due to short-circuit currents.
  • the motor's power electronics are then short-circuited in order to leave dangerous operating states as quickly as possible.
  • the temporal course of the motor currents also increasingly approaches the sinusoidal shape and thus reduces the increase in pulsation losses in the magnet and iron of the motor, so that the power tool can be operated with better efficiency.
  • stator windings are provided with a large number of turns, so that the wire diameter for the turns can be chosen to be smaller, which simplifies the manufacture of the motor.
  • the motor controller in the voltage-controlled operating mode, applies a voltage to the motor in order to specify the speed of the motor.
  • the first speed range is determined by the range between 0 and the mean predetermined speed, which is achieved when a maximum voltage is applied in the voltage-controlled operating mode.
  • the motor control of the power tool can have a phase shifter in order to set the field weakening operation by the phase shift between the stator flooding and the rotor flooding.
  • the phase shifter can be designed to set the phase between the stator flooding and the rotor flux greater than 90 ° in the field weakening operation.
  • the power tool has a voltage supply in the form of a rechargeable battery.
  • the power tool can be designed as a cordless screwdriver, wherein a shaft of the motor is coupled to a processing tool by means of a transmission with a rigid ratio, ie the power tool is designed without a switchable transmission.
  • FIG. 1 shows a block diagram of a drive unit for an electric tool
  • FIG. 2 pointer diagrams to illustrate the voltage-controlled operation and the field weakening operation
  • FIG. 3 shows a diagram to illustrate the torque curve as a function of the speed in a conventional power tool and in a power tool according to an embodiment of the invention.
  • the drive unit 1 shows a drive unit 1 for a power tool, in particular for a battery-operated power tool, in particular a cordless screwdriver.
  • the drive unit has a motor 2, which is supplied with power via power electronics 3.
  • the motor 2 is controlled via pulse-width-modulated voltage pulses which are generated with the aid of transistor bridges and which cause an effective voltage on the motor 2.
  • the motor 2 is designed as a three-phase motor with three stator windings 4, which are each controlled via one of the transistor bridges.
  • the power electronics 3 is controlled via a motor controller 5, which generates pulse-width-modulated control signals for the power electronics 3 in a PWM unit 6.
  • the pulse width modulated control signals are dependent on the position of a rotor (not shown) of the motor 2 and from an externally specified setpoint value using a control unit 7 in the PWM unit 6.
  • the setpoint is specified directly or indirectly by a user using an actuating element.
  • the position of the rotor of the motor 2 is measured via a position sensor 8, so that information about the absolute rotor position is available in the control unit 7.
  • the position encoder 8 can measure the position absolutely or relative to a previous position, in which case the absolute position in the control unit 7 is determined via the position changes.
  • the control unit 7 is designed in such a way that two operating modes are realized.
  • a first operating mode provides for the motor 2 to be controlled according to a voltage-controlled operating mode, so that the speed, in particular the speed without or with a constant load, is proportional to the effective voltage applied via the power electronics 3.
  • a second operating mode which is determined by a speed range above a predetermined speed, the control unit 7 switches over to the so-called field weakening mode when controlling the power electronics for controlling the motor 2.
  • a phase shifter 9 is provided, which ensures that the phase position between the rotor field supplied by the rotor and the excitation field generated by the stator is greater than 90 °, the measure of the phase shift determining the speed.
  • the motor controller 5 can be designed in the form of a microcontroller, which provides the control signals of the power electronics 3.
  • the drive unit 1 can be supplied by a battery 10, in particular by a rechargeable battery.
  • the control unit 7 can also detect the stator currents and the voltages in the power electronics 3 in order to obtain information about the load applied to the motor 2.
  • FIG. 2 shows vector diagrams for the stator and rotor flooding for the voltage-controlled operation as well as for the field weakening operation.
  • the left pointer diagram shows the state during voltage-controlled operation. In this operating mode, the maximum achievable motor speed is fixed by the level of the supply voltage applied to the power electronics.
  • the space pointer of the stator current or the stator flux ⁇ i is almost perpendicular to the space pointer of the magnetic equivalent flux of the rotor ⁇ PM .
  • the speed can be adjusted almost proportionally by changing the voltage applied to the stator windings.
  • the state in a field weakening operation is shown in the right pointer diagram in FIG.
  • the space pointer of the stator flooding ⁇ i and the space pointer of the magnetic replacement flooding ⁇ PM of the rotor are no longer perpendicular to one another, but the stator and rotor flooding now have an angle of significantly more than 90 °. If you take them apart
  • the effect is a reduction in the magnet wheel voltage.
  • the mechanism of action corresponds to the mechanism known from a separately excited DC shunt machine. If there is a reduction in the excitation flux during operation of the machine, this causes a reduction in the rotationally induced armature voltage, which leads to an increasing armature current and thus to an accelerating torque. The machine accelerates until the induced voltage and the voltage drop across the armature resistor are in equilibrium with the supply voltage. This allows the speed of the DC machine to be increased.
  • the curves of the torque as a function of the engine speed are shown in FIG. In a conventional drive unit (dashed line) for a conventionally designed power tool with an EC motor, the available torque is largely constant up to the maximum speed, since it is determined by the limit current of the electronics and motor.
  • the voltage-controlled operating mode is also selected in a first speed range, the motor of the power tool being designed to obtain the maximum torque at an average speed n M , determined by the maximum available Power or the maximum permissible limit current.
  • n M the maximum available Power
  • the motor is operated in the field weakening mode, in which a lower torque than the maximum torque achieved at the average speed is available. The greater the speed of the motor, the lower the torque, which decreases in inverse proportion until the maximum speed n max is reached.
  • the torque characteristic corresponds to a characteristic that is very suitable for operation with power tools.
  • a characteristic curve is usually achieved by using a gearbox with switchable gear ratios, which provides high torques in the lower speed range and lower torques in the high speed range.
  • the electric tool according to the invention therefore has the advantage that it can be switched over
  • Gear can be provided and the friction losses due to the gear can be avoided. Further- On the other hand, such a power tool enables the stator windings to be designed more robustly, which can be short-circuited by the electronics in any operating state due to their greater resistance and inductance, without the risk of damage to the motor or electronics.
  • the higher resistance and inductance results from the fact that, given a maximum voltage in voltage-controlled operation, the motor can be designed for a lower speed, since the higher speeds can be achieved via field weakening operation.

Landscapes

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

Abstract

L'invention concerne un outil électrique portatif ou fixe doté d'une unité d'entraînement (1) à moteur (2), lequel comprend un rotor à aimant permanent et un stator, ainsi que d'une commande de moteur (5) conçue pour entraîner le moteur (2) dans une première plage de régimes selon un mode de fonctionnement asservi en tension et dans une deuxième plage de régimes plus élevés, dans le prolongement de la première, selon un mode d'affaiblissement de champ.
EP05747381A 2004-06-05 2005-05-03 Outil electrique portatif ou fixe dote d'une unite d'entrainement Withdrawn EP1756938A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004027635A DE102004027635A1 (de) 2004-06-05 2004-06-05 Handgeführtes oder stationäres Elektrowerkzeug mit einer Antriebseinheit
PCT/EP2005/052011 WO2005122386A1 (fr) 2004-06-05 2005-05-03 Outil electrique portatif ou fixe dote d'une unite d'entrainement

Publications (1)

Publication Number Publication Date
EP1756938A1 true EP1756938A1 (fr) 2007-02-28

Family

ID=34968868

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05747381A Withdrawn EP1756938A1 (fr) 2004-06-05 2005-05-03 Outil electrique portatif ou fixe dote d'une unite d'entrainement

Country Status (6)

Country Link
US (1) US7697826B2 (fr)
EP (1) EP1756938A1 (fr)
JP (1) JP2008502290A (fr)
CN (1) CN100539389C (fr)
DE (1) DE102004027635A1 (fr)
WO (1) WO2005122386A1 (fr)

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DE102007040725A1 (de) 2007-08-29 2009-03-05 Robert Bosch Gmbh Elektrische Maschine
US7798245B2 (en) 2007-11-21 2010-09-21 Black & Decker Inc. Multi-mode drill with an electronic switching arrangement
US7854274B2 (en) 2007-11-21 2010-12-21 Black & Decker Inc. Multi-mode drill and transmission sub-assembly including a gear case cover supporting biasing
US7717191B2 (en) 2007-11-21 2010-05-18 Black & Decker Inc. Multi-mode hammer drill with shift lock
US7717192B2 (en) 2007-11-21 2010-05-18 Black & Decker Inc. Multi-mode drill with mode collar
US7762349B2 (en) 2007-11-21 2010-07-27 Black & Decker Inc. Multi-speed drill and transmission with low gear only clutch
US7735575B2 (en) 2007-11-21 2010-06-15 Black & Decker Inc. Hammer drill with hard hammer support structure
US7770660B2 (en) 2007-11-21 2010-08-10 Black & Decker Inc. Mid-handle drill construction and assembly process
DE102009041878A1 (de) 2009-09-07 2011-03-10 C. & E. Fein Gmbh Steuerbarer Gleichstrom-Motor mit modifizierter Kennlinie
DE202009015515U1 (de) * 2009-11-17 2011-04-07 Novopress Gmbh Pressen Und Presswerkzeuge & Co. Kommanditgesellschaft Handgeführtes Pressgerät
JP5668290B2 (ja) 2010-01-14 2015-02-12 日立工機株式会社 電動作業機
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JP5381871B2 (ja) 2010-03-31 2014-01-08 日立工機株式会社 ２サイクルエンジンおよびそれを備えたエンジン作業機
JP2012130980A (ja) * 2010-12-21 2012-07-12 Makita Corp コードレス電動工具
CN102528721B (zh) * 2010-12-29 2017-03-01 罗伯特·博世有限公司 具有减少的无线电传输的数据数量的蓄电池运行的旋拧系统
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CN104272579B (zh) * 2012-04-16 2018-01-12 株式会社美姿把 无刷电动机及雨刮装置
DE102013202011A1 (de) * 2013-02-07 2014-08-07 Robert Bosch Gmbh Antriebsmotor zum getriebelosen Antrieb eines Zweirads
DE102013202964A1 (de) * 2013-02-22 2014-09-11 Robert Bosch Gmbh Handwerkzeugmaschine
US10637379B2 (en) * 2015-04-07 2020-04-28 Black & Decker Inc. Power tool with automatic feathering mode
US10734912B2 (en) * 2016-08-24 2020-08-04 Beckhoff Automation Gmbh Stator device for a linear motor, linear drive system, and method for operating a stator device
EP3382888B1 (fr) 2017-03-31 2020-06-17 Grundfos Holding A/S Ensemble de pompe et procédé de commande
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WO2020192214A1 (fr) 2019-03-28 2020-10-01 南京德朔实业有限公司 Outil électrique
CN111835248A (zh) * 2019-03-28 2020-10-27 南京德朔实业有限公司 电动工具
WO2020217626A1 (fr) * 2019-04-24 2020-10-29 パナソニックＩｐマネジメント株式会社 Outil électrique
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Also Published As

Publication number Publication date
JP2008502290A (ja) 2008-01-24
CN1965470A (zh) 2007-05-16
WO2005122386A1 (fr) 2005-12-22
CN100539389C (zh) 2009-09-09
DE102004027635A1 (de) 2006-06-08
US20080297080A1 (en) 2008-12-04
US7697826B2 (en) 2010-04-13

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