JPH02294710A - 電流シミュレーションによる誘導負荷制御のための方法及び装置 - Google Patents

電流シミュレーションによる誘導負荷制御のための方法及び装置

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Publication number
JPH02294710A
JPH02294710A JP2097473A JP9747390A JPH02294710A JP H02294710 A JPH02294710 A JP H02294710A JP 2097473 A JP2097473 A JP 2097473A JP 9747390 A JP9747390 A JP 9747390A JP H02294710 A JPH02294710 A JP H02294710A
Authority
JP
Japan
Prior art keywords
current
load
value
inductive load
command value
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.)
Pending
Application number
JP2097473A
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English (en)
Inventor
Gerard F Kelley
ジェラード・フランシス・ケリー
Larry R Hach
ラリー・レイモンド・ハッチ
Ii James C Tallant
ジェームス・チャールズ・トーラント・ザ・セカンド
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Delco Electronics LLC
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Delco Electronics LLC
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Application filed by Delco Electronics LLC filed Critical Delco Electronics LLC
Publication of JPH02294710A publication Critical patent/JPH02294710A/ja
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • H02P7/04—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of a H-bridge circuit

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Voltage And Current In General (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。

Description

【発明の詳細な説明】 １肌立丘里±ヱ 本発明は、誘導負荷への電流をＦ７Ｉ１御するための方
法及び装置に関し、より詳細にはフィードバック制御目
的のための負荷電流をシミュレートするための斯かる方
法及び装置に関する． びこの　　が　゛　しようと　る課題 電動モータ、ソレノイド又は他の誘導負荷への電流を＃
Ｉ＃する時は、平均電流が所望の目的又は命令値に合致
するように電流を急速にオン及びオフに切り替えること
により電流を制御することがしばしば所望される．４Ｓ
流切り替えは、一般的に、誘導負荷及び電源に直列の１
つ又はそれ以上のスイッチによって達成される．電流が
オンに切り替えられると、誘導負荷の誘導リアクタンス
によって限定される速度でｔｈ流が増大する．電流がオ
フに切り替えられると、電流は、これも誘導リアクタン
スによって決定される速度でゆるやかに減衰する．この
電流′＄４衰期間の間、誘導又は再循環電流として知ら
れる電流に経路を与えなければならない．例えば、米国
特許第４，５３６，８１８号を参照できる． 一般的なモータドライバ回路は、電動モータの相対する
両側から電源に接続されている２つのアーム及び電動モ
ータの相対する両側からアースに接続されている２つの
別のアームを有するＨ形ブリッジドライバである．各ア
ームは、パワーＭＯＳＦＥＴ等のスイッチを含んでおり
、選択的スイッチ制御により電動モータが電源から電動
モータを通ってアースに流れる電流によりどちらかの方
向に駆動されるようにしている．マイクロコンピュータ
を用いて電動モータを制御する時にこの型式のドライバ
をドライバインターフェースと結び付けて用いると都合
が良い．周知のように、閉ループを達成するべく命令値
との比較のために負荷電流フィードバックはしばしば望
ましい．適応電流だけでなく再循環電流もフィードバッ
クによって表されることが必要である．Ｈ形ブリッジ構
成の場合、モータ電流を検知することが困難であり、こ
れは、モータ電流が双方向的であり、検知器が時々負の
電圧を生じ且つこれを許容するのにかなりの回路の複雑
性が必要となるからである．従って、本発明の目的は、
単純なフィードバックを用いられる電動モータ又は他の
誘導負荷制御を提供するための方法及び装置を提供する
ことにある．別の目的は、電流フィードバック技術を用
いてゼロ電流補正特性を有する斯かる制御方法及び装置
を提供することにある． 課Ｕを解・゜するための手段 本発明は、誘導負荷における電流を命令値に制御する方
法において、上記誘導負荷に電流を一方向に適用する段
階、コンデンサを上記適用電流をシミュレートする電圧
まで充電する段階、上記適用電流を停止し、これにより
誘導された電流が斯かる停止の後、上記誘導負荷を通し
て流れ、上記誘導電流が上記誘導負荷によって決定され
る速度で減衰する段階、上記誘導電流の減衰速度に類似
の速度で上記コンデンサを放電し、これにより上記コン
デンサ電圧が上記適用電流と上記誘導電流の両方に対し
て上記負荷をシミュレートする段階、及び上記シミュレ
ートされた値を上記命令値と比較することにより上記負
荷への電流を制御し且つ上記のシミュレートされた値を
上記命令値の近くに維持するために電流を停止する段階
を含む方法によって実施される． 本発明は更に、誘導負荷への電流を命令値に制御するた
めの回路において、所望負荷電流を表す命令値を発生す
るための発生手段、電源、上記負荷の誘導負荷を結合す
るためのスイッチ手段であって、上記スイッチ手段が閉
になった時に適用された電流が上記誘導負荷を流れ且つ
上記スイッチ手段を通り上記スイッチ手段が開になった
時に再循環電流が上記誘導負荷を流れるようにするため
のスイッチ手段、上記スイッチ手段を流れる上記適用に
応答するシミュレータ手段であって、上記適用電流だけ
でなく上記再循環電流を表すシミュレーション信号を発
生するための手段、及び上記命令値と及び上記シミュレ
ーション信号とに応答する比較手段であって、上記負荷
電流を上記命令値に制御するために上記スイッチ手段を
始動するための比較手段を含む回路によって実施される
． これ以後の説明は、Ｈ形ブリッジ構成におけるソレノイ
ド又は電流モータの＃Ｊ御に意図しているが、これは如
何なる誘導負荷への電流の制御にも適応されることが認
識されよう． えＪＪＥ 第１図は、電源ｌ４から誘導負荷１２へ供給される電流
の主制御としてのマイクロコンピュータ１０を示してい
る．ドライバ１６（スイッチ手段）は、電源（１４）を
誘導負荷１２に結合しており、電流検知器１８はドライ
バ１６と電源１４との帰還電流経路を完成している．モ
ータドライバインターフェース２０は、所望の電流命令
ｆ４流値をマイクロコンピュータ１０からのデジタル信
号及び電流検知器１８からのフィードバック信号の形と
して受け、命令値に対応する平均電流を誘導負荷１２に
適用するなめにドライバｌ６を適切に切り替える．モー
タドライバインターフェース２０はＤ／Ａ変換器２２を
含んでおり、変換器２２はアナログ命令値を比較，ｆｆ
２４（比較手段）に適用する．マイクロコンピュータ１
０及びＤ／Ａ変換器２２は発生手段を画成する．シミュ
レータ回路２６（シミュレータ手段）は、電流検知器１
８から信号を受け、シミュレートされた負荷電流を比較
器２４に与える．比較器２４は、出力をドライバ１６に
発生し、命令信号によって決定される値の近くに負＃電
流を維持すべく切り替えを制御する．モータドライバイ
ンターフェースからドライバ１６への他の入力は、電動
モータの場合に用いられてモータ方向を決定する，Ａ／
Ｄ変換器２８は、シミュレートされた負荷電流をコード
化し、これをマイクロコンピュータ１０に供給し、マイ
クロコンピュータ１０はこの情報を補正及び診断に用い
ることが出来る． シミュレータ回路２６が、第２図に示されており、この
シミュレータ回路２６は、抵抗を含む電流検知器１８の
両端に接続されている増幅器３０、レベルシフト回路３
２、その出力にダイオード３６を有する増幅器３４及び
ダイオードのカソードから増幅器３４の反転入力へのフ
ィードバックを含んでいる．ダイオード３６は又、抵抗
３８を通して、端子４０に結合されている．コンデンサ
４２及び抵抗４４を並列に含んでいるフィルタ回路４工
は、抵抗３８とアースとの間に接続されている．プルア
ップ抵抗４６が端子４０から５ボルトソースに接続され
ている．抵抗４４、４６の値は、レベルシフト電圧に等
しい電圧を端子４０に発生するように選択される．これ
により、誘導負荷１２を通る電流を正確に制御する能力
を有する制御装置が与えられる．ｆｌｉ子４０は、シミ
ュレートされた負荷ｔ流を運搬し、Ａ／Ｄ変換器２８と
比較器２４の入力に接続されている，Ｄ／Ａ変換器２２
は、レベルシフト回路４８を通って比較器２４の他方の
入力に接続されている．レベルシフト回路３２及び４８
の目的は、比較器２４をアース電圧を上回る個別の値に
維持し、これによりその作動を向上することにある．こ
の例の場合、誘導負荷１２は、ソレノイドであり、ドラ
イバ１６は、そのゲートを比較器２４の出力に結合せし
めている１つのＭＯＳＦＥＴであり、誘導負荷１２、ド
ライバ１６及び電流検知器１８は、電源の電圧Ｖとアー
スの間に直列に接続されている．誘導負荷１２の両端に
は、ダイオード５０が接続されており、このダイオード
５０は再循環電流を流すなめに極性を有する． 動作原理を説明すると、比較器２４は、レベルシフトさ
れた命令値を端子４０におけるシミュレートされた負荷
電流信号と比較する．命令値が電流よりある程度のヒス
テリシス値だけ大きい場合、出力はＭＯＳＦＥＴをオン
にし、これにより電流を電源から誘導負荷１２及び電流
検知器１８に適用する．負荷電流に比例する電流が電流
検知器の両端に発生し、増幅器３０に適用される．増幅
器出力は、０．５ボルトだけレベルシフトされ、増幅器
３４の正入力に適用される．増幅器３４と直列ダイオー
ド３６は増幅器３４の反転入力へのフィードバックライ
ンと共にピーク及び保持回路を楕成している．斯くして
、端子４０に適用される電圧は、増大する負荷電流を追
跡するが、負荷ｔ流が低下した時に低下しない．この増
大電圧は、コンデンサ４２に記憶され、負荷電流の目安
になる．端子４０の電圧がヒステリシス量だけ上の値に
達すると、比較器２４の出力は、ドライバ（ＭＯＳＦＥ
Ｔ）１６をオフにし、これにより電流検知器１８を流れ
る負荷電流を停止する．誘導負荷１２には、電流が流れ
続け、ダイオード５０を通って再循環する．再厖環電流
は、誘導負荷１２によって決定される速度で減衰するが
、この電流は直接測定されない．むしろ、コンデンサ４
２及び抵抗４４の時定数によって決定される速度で抵抗
４４を通して放電するコンデンサ４２の電圧によってシ
ミュレートされる．この時定数は、再循環電流の減衰速
度とほぼ同じような減衰速度を実施するように選択され
る．この回路の残りの部分はＩＣチップ上に含まれるの
が好ましいが、フィルタ回路４１は、時定数を特定の応
用の負荷特性に即座に合わせられるように外部に取り付
けるのが好ましい．斯くして、端子４０における電圧は
、常に負荷電流をシミュレートする．シミュレートされ
た負荷電流信号が命令レベルを下回って下降すると、比
較器２４は再びドライバ１６をオンにし、これにより電
流調節プロセスを継続する．命令信号は、負荷電流の対
応する変化を決定するためにマイクロコンピュータ１０
によって変化することが出来る．誘導負荷１２がソレノ
イドである場合、高電流を電気子に引き込み、その後低
い保持ｔＸが必要となる．斯くして、ソレノイドをオフ
にするために、数ミリ秒にわたり８アンペアを、次にオ
ン周期の残りにわたり３アンペアを、最終的にゼロ電流
を必要とする． 他の型式の誘導負荷が第３図に示されており、第３図は
、Ｈ形ブリッジドライバ１６によって駆動される電動モ
ータ１２’を示している．この誘導負荷及びドライバは
、第２図の誘導負荷及びドライバに置き換わる．Ｈ形ブ
リッジドライバ１６′は、電源の電圧■と電動モータ１
２′の相対する両側の間に接続されている２つの上アー
ム５２及び５４及び電動モータの相対する両側と電流検
知器１８の間に接続されている２つの下アーム５６及び
５８を有している．これらのアーム５２乃至５８は、ア
ームを個別に切り替えて電動モータ１２′に電流を適用
するためのパワーＭＯＳＦＥＴ６０乃至６６をそれぞれ
有している．ＭＯＳＦＥＴ６０乃至６６のゲートは、モ
ータドライバインターフェース２０によって制御され、
インターフェース２０は、特定のＭＯＳＦＥＴを選択的
にオンするために特定の付加的な論理を有している．各
ＭＯＳＦＥＴ６０乃至６６は、ＭＯＳＦＥＴ導通と反対
の方向に電流を流すように極性を有する内部ダイオード
即ちボデイダイオード６８を有している．電動モータ１
２′を順方向に駆動するために、ＭＯＳＦＥＴ６０及び
６６がオンになり、これにより、第４図に示されている
ようなモータ＠流Ｉｍが、■からアースにＭＯＳＦＥＴ
を通って流れる電流Ｉｆｆに初期的に通しくなるように
している．この電流が命令値を超えると、ＭＯＳＦＥＴ
６６はオフになるが、ＭＯＳＦＥＴ６６はオンの状態を
保持する．すると、再循環電流Ｉ　ｒｅｃが電動モータ
１　２’　、ＭＯＳＦＢＴ６２のボディダイオード６８
及びＭＯＳＦＥＴ６０を流れる．この電流は、シミュレ
ータ回路２６においてシミュレートされる．第４図に示
されているように、ＭＯＳＦＥＴ６６は、負荷電流の立
ち上がり及び立ち下がり時間を制御するような速度で切
り替えられ、斯くして、無線周波数干渉を最小限に抑え
る．ｆｌ用電流Ｉｆｆがオフになると、モータ電流ｌｍ
は再循環電流１　ｒｅｃとなる．電流Ｉｍが比較器２４
を切り替えるのに充分上回るかあるいは下回ると、ＭＯ
ＳＦＥＴ６６はオン又はオフに切り替えられ、モータ電
流を調節する．周知のように、モータの逆作動のために
は、ＭＯＳＦＥＴ６２及び６４をＴｍを反対方向に適用
するように切り替える必要がある．この電流調節は順方
向作動と同じように進行するが、何となれば、検知され
た負荷電流が常に同じ方向に電流検知器１８を通って流
れる故である． Ｄ／Ａ変換器２２がゼロ電流を命令すると、下方のＭＯ
ＳＦＥＴ６４及び６６はオフになり、適当な上方のＭＯ
ＳＦＥＴ６０及び６２はオンに保持され、これにより再
循環電流の減衰を行う．すると、ｔ流検知器１８には、
負荷電流は何も流れない．シミュレートされた電流信号
が実質的にゼロになるまで減衰するために充分な時間が
経過した後、端子４０の電圧はＡ／Ｄ変換器２８を通し
てマイクロコンピュータ１０により抽出され、ゼロ電流
測定値を決定する．電流が流れてその結果より正確な電
流値を得た時にこの値をシミュレトされた電流に付加す
るかあるいはミュレートされた電流から減算することが
できる．この「補正」は、電動モータ・１２′がオフに
なっている間のそれぞれのソフトウエアループ等の定期
的な形で行うことができ、これにより、経時的に及び温
度変化と共に生じ得る相殺エラーをなくすことができる
．この補正能力によって、他の型式の制御回路に比較し
て改良された精度を有する制御が提供される． 第１図は、本発明に係る誘導負荷のための制御装置のブ
ロック図、第２図は、本発明に係る特定の制御装置の略
図、第３図は、第２図の制御装置に用いられる代替ドラ
イバ及びモータ楕成の図、第４図は、本発明に係る調節
中の第３図の負荷に発生する一組の電流波形を示す図． １０、２２、４８・・・発生手段、 １２・・・誘導負荷　　　１２′・・・電動モータ、１
４・・・電源、　　　　　１６・・・スイッチ手段、１
６′・・・Ｈ形ブリッジドライバ、 １８・・・電流検知抵抗、　　４４・・・抵抗、４２・
・・コンデンサ、　　５２−５８・・・アーム、６０−
６６・・・パワーＭＯＳＦＥＴ，（外４名）
【図面の簡単な説明】
ズ・トーラント・ザ・ セカンド 衆国ミシガン州４８１１’ｉ， フィールド・コート　４０５３ ブライトン， ディーア 一５８−

Claims (1)

  1. 【特許請求の範囲】 １、誘導負荷（１２）における電流を命令値に制御する
    方法であって、上記誘導負荷に電流を一方向に適用する
    段階、及び上記適用電流を停止し、これにより誘導され
    た電流が斯かる停止の後、上記誘導負荷を通して流れ、
    上記誘導電流が上記誘導負荷によって決定される速度で
    減衰する段階を含む方法において、上記誘導電流の減衰
    速度に類似の速度で上記コンデンサ（４２）を放電し、
    これにより上記コンデンサ電圧が上記適用電流と上記誘
    導電流の両方に対して上記負荷をシミュレートする段階
    、及び上記シミュレートされた値を上記命令値と比較す
    ることにより上記負荷への電流を制御し且つ上記のシミ
    ュレートされた値を上記命令値の近くに維持するために
    電流を停止する段階を含むことを特徴とする方法。 ２、上記シミュレートされた電流が上記命令値を超えた
    時に上記適用電流が停止し、且つ上記誘導負荷への電流
    が上記シミュレートされた値が上記命令値を下回る度に
    上記の段階を反復することにより制御され、これにより
    上記負荷電流が上記命令値の近くに保持されることを特
    徴とする請求項１記載の方法。 ３、上記命令値がオフセットエラーを決定するためのも
    のである時に上記負荷電流を抽出する段階、及び上記命
    令値を上記非ゼロ電流状態が上記オフセットを補償する
    ように調節する段階を含むことを特徴とする請求項１又
    は２記載の方法。 ４、誘導負荷（１２）への電流を命令値に制御するため
    の装置において、所望負荷電流を表す命令値を発生する
    ための発生手段（１２、２２、４８）、電源（１４）、
    上記負荷の誘導負荷を結合するためのスイッチ手段であ
    って、上記スイッチ手段（１６）が閉になった時に適用
    された電流が上記誘導負荷を流れ且つ上記スイッチ手段
    を通り上記スイッチ手段が開になった時に再循環電流が
    上記誘導負荷を流れるようにするためのスイッチ手段を
    含む装置において、上記スイッチ手段を流れる上記適用
    に応答するシミュレータ手段（１０、２６）であって、
    上記適用電流だけでなく上記再循環電流を表すシミュレ
    ーション信号を発生するための手段、及び上記命令値と
    及び上記シミュレーション信号とに応答する比較手段で
    あって、上記負荷電流を上記命令値に制御するために上
    記スイッチ手段を始動するための比較手段を特徴とする
    装置。 ５、上記誘導負荷が電動モータ（１２′）であり、上記
    スイッチ手段がＨ形ブリッジドライバ（１６′）であっ
    て、それぞれに上記電動モータを上記電源を有する回路
    に制御可能に切り替え、これにより適用電流を上記電動
    モータに入力し且つ上記適用電流がオフに切り替えられ
    た時にモータ再循環電流を流すためのパワーＭＯＳＦＥ
    Ｔを有する４つのアームを有しているＨ形ブリッジドラ
    イバであり、電源と上記Ｈ形ブリッジドライバの片側の
    ＭＯＳＦＥＴの２つと回路となっており、上記２つのＭ
    ＯＳＦＥＴのどちらかが導通すると上記モータ電流に比
    例するフィードバック電圧が発生するようになっている
    電流検知抵抗（１８）を更に含み、上記シミュレータ手
    段（２６）が、上記適用電流がオフになった時だけでな
    くオンになった時も上記モータ電流をシミュレートする
    ように上記フィードバック電圧に応答することを特徴と
    する請求項４記載の装置。 ６、上記シミュレータ手段が、上記適用電流を表す電圧
    を記憶するための且つ上記記憶電圧が上記モータ電流を
    シミュレートするように上記再循環電流の減衰速度を表
    す速度で上記記憶電圧の減衰を行うための抵抗（４４）
    及びコンデンサ（４２）回路（４１）を含むことを特徴
    とする請求項５記載の装置。 ７、上記命令値をゼロに決定し、これによりシミュレー
    トされたモータ電流のゼロ電流を表す値からの如何なる
    変化もオフセットエラーを表すようにする手段（２２）
    、及び上記シミュレートされたモータ電流に応答する上
    記発生手段における補正手段（２８）であって、ゼロオ
    フセットエラーを補償するための補正手段を含むことを
    特徴とする請求項５記載の装置。
JP2097473A 1989-04-17 1990-04-12 電流シミュレーションによる誘導負荷制御のための方法及び装置 Pending JPH02294710A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/340,813 US5038247A (en) 1989-04-17 1989-04-17 Method and apparatus for inductive load control with current simulation
US340813 1989-04-17

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Publication Number Publication Date
JPH02294710A true JPH02294710A (ja) 1990-12-05

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US (1) US5038247A (ja)
EP (1) EP0393847B1 (ja)
JP (1) JPH02294710A (ja)
CA (1) CA2010794A1 (ja)
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US5038247A (en) 1991-08-06
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DE69008923T2 (de) 1994-09-01
DE69008923D1 (de) 1994-06-23

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