JPH07308092A - Synchronous starting device for d.c. motor - Google Patents
Synchronous starting device for d.c. motorInfo
- Publication number
- JPH07308092A JPH07308092A JP6096583A JP9658394A JPH07308092A JP H07308092 A JPH07308092 A JP H07308092A JP 6096583 A JP6096583 A JP 6096583A JP 9658394 A JP9658394 A JP 9658394A JP H07308092 A JPH07308092 A JP H07308092A
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- Prior art keywords
- motor
- circuit
- phase
- position detection
- output
- Prior art date
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、直流電動機の同期起動
装置に係り、特に、固定子巻線の巻線電圧から誘起され
る逆起電圧から回転子の位置を検出するようにした直流
電動機の同期起動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous starter for a DC motor, and more particularly to a DC motor for detecting the position of a rotor from a back electromotive force induced by a winding voltage of a stator winding. Related to the synchronous activation device.
【０００２】[0002]
【従来の技術】従来、固定子巻線に誘起される逆起電圧
から回転子の位置を検出するようにした直流電動機の同
期起動装置では、例えば特開昭５６−４９６８９号公報
記載のように、一定周波数のパルス信号を出力する周波
数加速器と、直流電動機の運転時にその電機子巻線に誘
起される逆起電圧から得られる回転子位置検出パルス信
号と周波数加速器の出力パルス信号との位相差を検出す
る位相検出器と、この位相検出器の出力を用いて上記逆
起電圧パルス信号と前記周波数加速器の出力パルス信号
とを切換る切換器を備えていた。2. Description of the Related Art Conventionally, a DC motor synchronous starter for detecting the position of a rotor from a back electromotive force induced in a stator winding is disclosed in, for example, Japanese Patent Laid-Open No. 56-49689. , The phase difference between the rotor position detection pulse signal and the output pulse signal of the frequency accelerator, which is obtained from the counter electromotive voltage induced in the armature winding of the frequency accelerator that outputs a pulse signal of a constant frequency And a switching device for switching between the counter electromotive voltage pulse signal and the output pulse signal of the frequency accelerator by using the output of this phase detector.
【０００３】また、他の従来の技術としては、特公昭５
５−２６７９３号公報に記載されように、まず、特定の
電気子巻線に通電して固定子を所定の位置に設定し、し
かる後、通常の通電を行なって起動させるようにしたも
のが知られている。Another conventional technique is Japanese Patent Publication No.
As described in Japanese Patent Laid-Open No. 5-26793, first, a specific armature winding is energized to set the stator at a predetermined position, and thereafter, normal energization is performed to start the motor. Has been.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、上記従
来技術は、起動時に負荷が大きいと、起動失敗を起した
り、同期起動時間が長いと脱調を起して停止するなどの
問題があり、安定した起動が困難であるという欠点があ
った。However, the above-mentioned conventional techniques have problems such as a failure to start when the load is large at the time of starting, and a step out and a stop when the synchronous starting time is long. There was a drawback that stable startup was difficult.
【０００５】特に、ファン負荷のように、貫性モーメン
トの大きい負荷や、外風などによって著しく起動時に負
荷が変動する場合については考慮されておらず、上記逆
起電圧パルス信号と前記周波数加速器の出力パルス信号
とを切り換る切換器が作動する回転数まで加速すること
ができなかったり、切換器が作動した直後の電機子巻線
に誘起される逆起電圧から得られる回転子位置検出パル
ス信号と上記周波数加速器の出力パルス信号との位相差
が大きくなり、電動機は脱調を起して停止するなどの問
題があった。In particular, no consideration is given to a load having a large penetrating moment, such as a fan load, or a case where the load fluctuates significantly at the time of start-up due to outside wind. Rotor position detection pulse obtained from the back electromotive voltage induced in the armature winding immediately after the switch cannot be accelerated to the rotational speed at which the switch that operates the output pulse signal operates There is a problem that the phase difference between the signal and the output pulse signal of the frequency accelerator becomes large, causing the motor to step out and stop.
【０００６】本発明の目的は、かかる問題を解消し、貫
性モーメントの大きい負荷や起動時の著しく変動する負
荷などに対しても、起動負荷の大小にかかわらず、安定
な起動を行なうことができるようにした直流電動機の同
期起動装置を提供することにある。An object of the present invention is to solve such a problem and to perform a stable start even for a load having a large penetrating moment or a load that fluctuates remarkably at the time of starting regardless of the size of the starting load. Another object of the present invention is to provide a synchronous starting device for a DC motor that is capable of performing the above.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するため
に、本発明は、起動時、電動機の回転子を所定の位置に
位置させてから所定の周波数で相の固定子巻線に順次通
電し、該電動機を所定の回転数まで加速した後、固定子
巻線の通電電流を減少し、位置検出回路の出力信号と所
定の周波数で相の固定子巻線に順次通電する時刻との位
相差が所定の位相差になったとき、該位置検出回路の出
力信号に応じてインバータ回路の出力を切り換えるよう
にする。To achieve the above object, according to the present invention, at the time of start-up, the rotor of the electric motor is positioned at a predetermined position and then the phase stator windings are sequentially energized at a predetermined frequency. Then, after accelerating the electric motor to a predetermined number of revolutions, the energizing current of the stator winding is decreased, and the position of the output signal of the position detection circuit and the time at which the stator windings of the phases are sequentially energized at a predetermined frequency. When the phase difference reaches a predetermined phase difference, the output of the inverter circuit is switched according to the output signal of the position detection circuit.
【０００８】[0008]
【作用】起動時、まず、電動機の固定子巻線に通電して
電動機の回転子を所定の位置に位置付け、該固定子巻線
の通電相と該回転子の位置を合わせる。次いで、所定の
周波数で相の該固定子巻線に順次通電することにより、
電動機を同期回転動作させる。At the time of start-up, first, the stator winding of the electric motor is energized to position the rotor of the electric motor at a predetermined position, and the energized phase of the stator winding is aligned with the position of the rotor. Then, by sequentially energizing the stator windings of the phase at a predetermined frequency,
Synchronous rotation operation of the electric motor.
【０００９】この際、該固定子巻線に通電する電流を大
きくすることにより、貫性モーメントの大きい負荷であ
っても、また、起動時に外風などによって著しく負荷が
変動する場合でも、ブラシレス運転へ切り換える切換回
転数まで該回転子を加速することができる。At this time, by increasing the current passing through the stator winding, even if the load has a large penetrating moment, or if the load fluctuates significantly due to outside wind at the time of start-up, brushless operation is performed. The rotor can be accelerated up to the switching speed for switching to.
【００１０】このように、固定子巻線に通電する電流を
大きくすることにより、位置検出回路の出力信号は所定
の周波数で相の固定子巻線に順次通電する時刻よりも位
相進みが大きくなり、実際の回転子の位置よりも位相が
進む。従って、この状態でブラシレス運転へ切り換える
と、脱調し、電動機は停止する。As described above, by increasing the current flowing through the stator winding, the output signal of the position detection circuit has a larger phase lead than the time when the phase stator windings are sequentially energized at a predetermined frequency. , The phase leads the actual rotor position. Therefore, if the operation is switched to the brushless operation in this state, the step is lost and the electric motor is stopped.
【００１１】そこで、本発明では、所定の回転数まで加
速した後、固定子巻線の通電電流を減少させる。これに
より、実際の回転子の位置と位置検出回路の出力信号と
の位相差は小さくなる。そして、位置検出回路の出力信
号と所定の周波数で相の固定子巻線に順次通電する時刻
との位相差が所定の位相差になったとき、位置検出回路
の出力信号に応じてインバータ回路の出力を切り換え
る。これにより、貫性モーメントの大きい負荷であって
も、また、起動時に負荷が著しく変動しても、起動負荷
の大小にかかわらず、安定した運転を行なうことができ
る。Therefore, in the present invention, the current flowing through the stator winding is decreased after the rotation speed is accelerated to a predetermined value. This reduces the phase difference between the actual rotor position and the output signal of the position detection circuit. Then, when the phase difference between the output signal of the position detection circuit and the time at which the stator windings of the phases are sequentially energized at the predetermined frequency becomes the predetermined phase difference, the inverter circuit of the inverter circuit is output according to the output signal of the position detection circuit. Switch the output. As a result, even if the load has a large penetrating moment, or if the load fluctuates significantly at the time of starting, stable operation can be performed regardless of the magnitude of the starting load.
【００１２】[0012]
【実施例】以下、本発明の実施例を図面により説明す
る。Embodiments of the present invention will be described below with reference to the drawings.
【００１３】図１は本発明による電動機の同期起動装置
の一実施例を備えた制御系を示すブロック図であって、
１は整流回路、２は平滑コンデンサ、３はインバータ回
路、４は電流検出手段、５は固定子巻線、６は位置検出
回路、７は制御回路、８はＰＷＭ（パルス幅変調）信号
発生回路、９は発振回路、１０は回転子、１１はドライ
ブ回路、１２は入力端子である。FIG. 1 is a block diagram showing a control system provided with an embodiment of a synchronous starting device for an electric motor according to the present invention.
1 is a rectifier circuit, 2 is a smoothing capacitor, 3 is an inverter circuit, 4 is a current detection means, 5 is a stator winding, 6 is a position detection circuit, 7 is a control circuit, and 8 is a PWM (pulse width modulation) signal generation circuit. , 9 is an oscillation circuit, 10 is a rotor, 11 is a drive circuit, and 12 is an input terminal.
【００１４】同図において、固定子巻線５と回転子１０
とがブラシレス直流電動機を構成しており、商用交流電
源は整流回路１で整流されて平滑コンデンサ２で平滑さ
れ、直流電圧となってインバータ回路３に供給される。
インバータ回路３は６個のスイッチング素子Ａ＋，Ｂ
＋，Ｃ＋，Ａ−，Ｂ−，Ｃ−がブリッジ結線されてな
り、これらスイッチング素子Ａ＋，Ｂ＋，Ｃ＋，Ａ−，
Ｂ−，Ｃ−がドライブ回路１１でオン・オフ制御される
ことにより、電動機の固定子巻線５の各相に所定のタイ
ミングで電流Ｉｕ，Ｉｖ，Ｉｗが流れ、回転子１０が回
転する。In the figure, the stator winding 5 and the rotor 10
Constitute a brushless DC motor, and the commercial AC power source is rectified by the rectifier circuit 1 and smoothed by the smoothing capacitor 2 to be a DC voltage and supplied to the inverter circuit 3.
The inverter circuit 3 includes six switching elements A + and B
+, C +, A-, B-, C- are bridge-connected, and these switching elements A +, B +, C +, A-,
By controlling ON / OFF of B- and C- by the drive circuit 11, currents Iu, Iv, and Iw flow in each phase of the stator winding 5 of the electric motor at a predetermined timing, and the rotor 10 rotates.
【００１５】位置検出回路６は、固定子巻線５の巻線電
圧から固定子１０の磁極の位置を検出し、分配回路を介
して位置検出信号を出力する。この位置検出信号入力端
子１２からの回転数指定信号とともに制御回路７に供給
され、インバータ回路３の転流タイミングを示す転流タ
イミング信号と、この位置検出信号が表わす電動機の実
回転数とこの回転数指令信号による指令回転数との差を
表わす指令電圧とが形成される。The position detection circuit 6 detects the position of the magnetic pole of the stator 10 from the winding voltage of the stator winding 5 and outputs a position detection signal via the distribution circuit. The commutation timing signal, which is supplied to the control circuit 7 together with the rotation speed designation signal from the position detection signal input terminal 12 and indicates the commutation timing of the inverter circuit 3, the actual rotation speed of the electric motor represented by the position detection signal, and this rotation speed. A command voltage is formed which represents the difference from the command rotational speed due to the command signal.
【００１６】発振回路９からは一定周波数の鋸歯状波信
号が出力され、ＰＷＭ信号発生回路８に供給されて制御
回路７からの指令電圧とレベル比較され、この指令電圧
に応じたデューティ比のＰＷＭ信号が形成される。ドラ
イブ回路１１は制御回路７からの転流タイミング信号の
タイミングでインバータ回路３の上側スイッチング素子
Ａ＋，Ｂ＋，Ｃ＋と下側スイッチング素子Ａ−，Ｂ−，
Ｃ−とを順次オン・オフ制御し、かつオンされた上側ス
イッチング素子と下側スイッチング素子とにＰＷＭ信号
を供給する。これにより、インバータ回路３の上側スイ
ッチング素子Ａ＋，Ｂ＋，Ｃ＋と下側スイッチング素子
Ａ−，Ｂ−，Ｃ−とが回転子１０の回転に同期して順次
オン・オフ制御され、また、固定子巻線５の各相がＰＷ
Ｍ信号によってチョッパ制御される。このＰＷＭ信号の
デューティ比によって回転子１０の回転数が決まる。A sawtooth wave signal having a constant frequency is output from the oscillation circuit 9, supplied to the PWM signal generation circuit 8 and compared in level with a command voltage from the control circuit 7, and a PWM having a duty ratio corresponding to this command voltage is output. A signal is formed. The drive circuit 11 controls the upper switching elements A +, B +, C + and the lower switching elements A-, B-, of the inverter circuit 3 at the timing of the commutation timing signal from the control circuit 7.
C- and S- are sequentially controlled to be turned on and off, and a PWM signal is supplied to the upper switching element and the lower switching element that are turned on. As a result, the upper switching elements A +, B +, C + and the lower switching elements A-, B-, C- of the inverter circuit 3 are sequentially on / off controlled in synchronization with the rotation of the rotor 10, and the stator Each phase of winding 5 is PW
Chopper control is performed by the M signal. The rotation speed of the rotor 10 is determined by the duty ratio of this PWM signal.
【００１７】また、電流検出手段４によってインバータ
回路３の電流（インバータ電流）Ｉが検出され、このイ
ンバータ電流Ｉが規定の電流値以上になると、ＰＷＭ信
号発生回路８でＰＷＭ信号のデューティ比が低下され、
これにより、インバータ電流Ｉがこの規定の電流値を越
えないように制御される。Further, when the current (inverter current) I of the inverter circuit 3 is detected by the current detecting means 4 and the inverter current I exceeds a prescribed current value, the duty ratio of the PWM signal is lowered in the PWM signal generating circuit 8. Is
As a result, the inverter current I is controlled so as not to exceed the specified current value.
【００１８】ところで、ブラシレス直流電動機の駆動方
法としては、回転子１０の磁極の位置を検出し、その検
出信号に従って固定子巻線５の電流を順次切り換えるこ
とにより、回転トルクを発生させるものである。回転子
１０の磁極の位置を検出する手段は、回転子１０の磁石
によって固定子巻線５に誘起する逆起電力から回転子１
０の磁極の位置を検出する。しかし、かかる方式では、
回転子１０が停止しているときには固定子巻線５に逆起
電力が誘起しないので、回転子１０の磁極の位置を検出
することができない。このため、このままでは電動機を
起動させることはできないので、電動機を起動させる何
らかの手段が必要である。先に説明した特公昭５５−２
６７９３号公報に記載される技術のように、この何らか
の手段で電動機が起動して或る所定の回転数まで加速さ
れれば、その後は固定子巻線５に誘起される逆起電圧か
ら回転子１０の位置を検出して運転を続行させることが
できる。By the way, as a method of driving the brushless DC motor, a rotational torque is generated by detecting the position of the magnetic pole of the rotor 10 and sequentially switching the current of the stator winding 5 in accordance with the detection signal. . The means for detecting the position of the magnetic poles of the rotor 10 is based on the counter electromotive force induced in the stator winding 5 by the magnets of the rotor 10 to determine the rotor 1
The position of the zero magnetic pole is detected. However, in such a scheme,
Since the back electromotive force is not induced in the stator winding 5 when the rotor 10 is stopped, the position of the magnetic pole of the rotor 10 cannot be detected. For this reason, since the electric motor cannot be started as it is, some means for starting the electric motor is required. Japanese Patent Publication Sho 55-2 described earlier
If the electric motor is started by some means and accelerated to a predetermined rotation speed as in the technique described in Japanese Patent No. 6793, then the rotor is changed from the counter electromotive voltage induced in the stator winding 5 to the rotor. The position of 10 can be detected and operation can be continued.
【００１９】次に、図２を用いて、この実施例の位置決
め操作時及び起動時での固定子巻線５の電流について説
明する。Next, the current of the stator winding 5 at the time of the positioning operation and the start-up of this embodiment will be described with reference to FIG.
【００２０】起動時、まず、インバータ回路３での特定
のスイッチング素子、例えば、スイッチング素子Ａ＋，
Ｂ−をオン状態にし、回転子１０を所定の位置に位置付
け、次いで、低周波数で各相の固定子巻線５に順次通電
し、電動機を所定の回転数まで加速する。このとき、ス
イッチング素子をオンする状態は上アーム（スイッチン
グ素子Ａ＋，Ｂ＋，Ｃ＋）のうちの１スイッチング素子
と下アーム（スイッチング素子Ａ−，Ｂ−，Ｃ−）のう
ちの１スイッチング素子であり、予め制御回路７に記憶
されているタイミング周期、即ち、転流時間で固定子巻
線５に流れる電流Ｉｕ，Ｉｖ，Ｉｗを順次切り換える。
この加速中、制御回路７は位置検出回路６からの位置
検出信号とは無関係にインバータ回路３の転流を行な
う。このため、ブラシレス直流電動機は同期電動機とし
て動作する。At the time of startup, first, a specific switching element in the inverter circuit 3, for example, switching element A +,
B- is turned on, the rotor 10 is positioned at a predetermined position, and then the stator windings 5 of each phase are sequentially energized at a low frequency to accelerate the electric motor to a predetermined rotation speed. At this time, the state in which the switching element is turned on is one switching element in the upper arm (switching elements A +, B +, C +) and one switching element in the lower arm (switching elements A-, B-, C-). , The currents Iu, Iv, Iw flowing through the stator winding 5 are sequentially switched at the timing cycle previously stored in the control circuit 7, that is, in the commutation time.
During this acceleration, the control circuit 7 performs commutation of the inverter circuit 3 regardless of the position detection signal from the position detection circuit 6. Therefore, the brushless DC motor operates as a synchronous motor.
【００２１】同期電動機として動作しているブラシレス
直流電動機に発生するトルクは固定子巻線５の電流また
は電圧に比例しているので、大きな起動トルクを必要と
する負荷（例えば、貫性モーメントの大きい負荷や、外
風などによって著しく起動時に負荷が変動する場合）の
とき、位置決め、及び、同期運転中の固定子巻線５の電
流が大きくなるように予め制御回路７に記憶されている
インバータ電流の指令値を大きく設定しておくことによ
り、起動トルクを大きくすればよい。また、加速時間
は、制御回路７で予め転流時間を順次短く設定すること
により、任意に設定できる。Since the torque generated in the brushless DC motor operating as a synchronous motor is proportional to the current or voltage of the stator winding 5, a load requiring a large starting torque (for example, a large penetrating moment). In the case where the load fluctuates significantly at startup due to load or outside wind), the inverter current stored in advance in the control circuit 7 so that the current of the stator winding 5 during positioning and synchronous operation becomes large. The starting torque may be increased by setting a large command value for. Further, the acceleration time can be arbitrarily set by setting the commutation time to be successively shortened in advance by the control circuit 7.
【００２２】図３は位置決めから、同期運転動作中のブ
ラシレス直流電動機の回転子１０と固定子巻線５の位置
関係を示す図である。FIG. 3 is a view showing the positional relationship between the rotor 10 and the stator winding 5 of the brushless DC motor during positioning and synchronous operation.
【００２３】ブラシレス直流電動機の同期運転動作中の
回転は同期電動機の回転原理と同じである。インバータ
回路３のスイッチング素子Ａ＋〜Ｃ−を順次オン・オフ
制御することにより、固定子巻線５の各相に順次通電す
ると、ブラシレス直流電動機内部には同期速度で回転す
る回転磁界が発生する。回転子１０はＮ，Ｓの磁極を有
しているので、この回転磁界のＮ極と回転子１０のＳ極
が引き合って回転子１０は同期速度で回転する。The rotation of the brushless DC motor during the synchronous operation is the same as the principle of rotation of the synchronous motor. When the switching elements A + to C- of the inverter circuit 3 are sequentially turned on / off to sequentially energize each phase of the stator winding 5, a rotating magnetic field rotating at a synchronous speed is generated inside the brushless DC motor. Since the rotor 10 has N and S magnetic poles, the N pole of this rotating magnetic field and the S pole of the rotor 10 attract each other, and the rotor 10 rotates at the synchronous speed.
【００２４】ブラシレス直流電動機の同期運転中では、
無負荷時、図３（ａ）に示すように、固定子巻線５の各
相の順次の通電による回転磁界の中心と回転子１０の磁
界の磁極の中心が一致しているが、負荷が加わると、図
３（ｂ）に示すように、回転磁界の中心と回転子１０の
磁界の磁極の中心との間に内部相差角θだけ位相ずれが
生じる。During the synchronous operation of the brushless DC motor,
When no load is applied, as shown in FIG. 3A, the center of the rotating magnetic field due to the sequential energization of each phase of the stator winding 5 and the center of the magnetic pole of the magnetic field of the rotor 10 coincide with each other. When added, as shown in FIG. 3B, a phase shift occurs between the center of the rotating magnetic field and the center of the magnetic pole of the magnetic field of the rotor 10 by the internal phase difference angle θ.
【００２５】なお、ブラシレス電動機の出力トルクＴと
内部相差角θの関係は、一般に、次式で表わすことがで
きる。The relationship between the output torque T of the brushless motor and the internal phase difference angle θ can be generally expressed by the following equation.
【００２６】[0026]
【数１】 [Equation 1]
【００２７】但し、Ｅ＝回転子１０による逆起電圧 Ｖ＝電動機の印加電圧 Ｘｄ＝直軸リアクタンス である。However, E = back electromotive force due to the rotor 10, V = voltage applied to the motor Xd = direct axis reactance.
【００２８】従って、同期運転中では、負荷に応じて回
転子１０とインバータの印加電圧の位相差θは０゜〜９
０゜の範囲で変化する。また、ブラシレス運転時の回転
子磁極中心に対し、回転子１０は（９０゜−θ゜）だけ
位相が進んでいる。Therefore, during the synchronous operation, the phase difference θ between the voltages applied to the rotor 10 and the inverter is 0 ° to 9 depending on the load.
It changes in the range of 0 °. Further, the phase of the rotor 10 is advanced by (90 ° -θ °) with respect to the center of the rotor magnetic pole during brushless operation.
【００２９】上記のように、同期運転中は電動機を駆動
するが、回転数が上昇して電動機の電機子巻線５に誘起
される逆起電圧が大きくなり、位置検出回路６による回
転子１０の位置の検出が可能になると、位置検出回路６
からの位置検出信号に従ってインバータ回路３内のスイ
ッチング素子Ａ＋〜Ｃ−を順次転流する。しかし、同期
運転時には、上記のように、回転子磁極中心に対して回
転子１０は（９０゜−０゜）だけ位相が進んでいるの
で、かかる同期運転からブラシレス運転へ直接切り換え
たのでは、回転子１０は脱調して停止してしまう。As described above, although the motor is driven during the synchronous operation, the rotation speed increases and the counter electromotive voltage induced in the armature winding 5 of the motor increases, and the rotor 10 by the position detection circuit 6 is increased. When it becomes possible to detect the position of the
The switching elements A + to C- in the inverter circuit 3 are sequentially commutated according to the position detection signal from. However, during the synchronous operation, the phase of the rotor 10 is advanced by (90 ° -0 °) with respect to the rotor magnetic pole center as described above. Therefore, if the synchronous operation is directly switched to the brushless operation, The rotor 10 loses step and stops.
【００３０】そこで、この実施例では、同期運転時に
は、回転子磁極中心に対して回転子１０が（９０゜−０
゜）だけ位相が進んでいる状態から固定子巻線５の通電
電流Ｉを低減し、位置検出回路６の出力信号と所定の周
波数で相の固定子巻線５に順次通電する時刻との位相差
が所定の位相差（例えば、９０゜±２０゜）になったと
き、位置検出回路６の出力信号に応じてインバータ回路
３の出力電流を切り換えるようにする。Therefore, in this embodiment, the rotor 10 is (90 ° -0) with respect to the rotor magnetic pole center during the synchronous operation.
()), The current I flowing through the stator winding 5 is reduced from the state in which the phase is advanced, and the position of the output signal of the position detection circuit 6 and the time at which the phase stator winding 5 is sequentially energized at a predetermined frequency. When the phase difference reaches a predetermined phase difference (for example, 90 ° ± 20 °), the output current of the inverter circuit 3 is switched according to the output signal of the position detection circuit 6.
【００３１】なお、ブラシレス運転時での回転子１０の
位置は、図３（ｂ）に示すように、回転磁界の中心から
９０゜位相遅れの位置である。The position of the rotor 10 during brushless operation is a position 90 degrees behind the center of the rotating magnetic field, as shown in FIG. 3 (b).
【００３２】以下、同期運転から位置検出運転（ブラシ
レス運転）への切換え方法について詳細に説明する。The method of switching from the synchronous operation to the position detection operation (brushless operation) will be described in detail below.
【００３３】図４は図１における位置検出回路６の一具
体例を示す回路図であって、１３A，１３B，１３Cは入
力端子、１４A，１４B，１４Cは積分回路、１５A，１５
B，１５Cは遅延回路、１６A，１６B，１６Cはコンパレ
ータ、１７A，１７B，１７Cは抵抗である。FIG. 4 is a circuit diagram showing a specific example of the position detecting circuit 6 in FIG. 1, in which 13 A , 13 B and 13 C are input terminals, 14 A , 14 B and 14 C are integrating circuits, and 15 A is an integrating circuit. A , 15
B and 15 C are delay circuits, 16 A , 16 B and 16 C are comparators, and 17 A , 17 B and 17 C are resistors.
【００３４】図５は図４での各部の信号を示す波形図で
あって、図４に対応する信号には同一符号を付けてい
る。FIG. 5 is a waveform diagram showing the signals of the respective parts in FIG. 4, and the signals corresponding to FIG. 4 are assigned the same reference numerals.
【００３５】図４，図５において、ブラシレス電動機の
各相の固定子巻線５の台形状の端子電圧ＶA，ＶB，ＶC
が夫々入力端子１３A，１３B，１３Cから入力され、抵
抗とコンデンサとからなる積分回路１４A，１４B，１４
Cで三角波電圧に変換され、抵抗とコンデンサとからな
る遅延回路１５A，１５B，１５Cで約９０゜ずつ遅れた
３相の電圧ｖａ，ｖｂ，ｖｃが形成される。これら電圧
ｖａ，ｖｂ，ｖｃは夫々、コンパレータ１６A，１６B，
１６Cに供給されるとともに、抵抗１７A，１７B，１７C
を介して合成されて仮想中性点電圧ｖｎが作成され、コ
ンパレータ１６A，１６B，１６Cに供給される。これら
コンパレータ１６A，１６B，１６Cでは夫々、電圧ｖａ
と仮想中性点電圧ｖｎ、電圧ｖｂと仮想中性点電圧ｖ
ｎ、電圧ｖｃと仮想中性点電圧ｖｎが電圧比較され、１
２０゜ずつ位相が異なるデューティ比５０％の位置検出
信号Ｓａ，Ｓｂ，Ｓｃが作成される。4 and 5, trapezoidal terminal voltages V A , V B and V C of the stator winding 5 of each phase of the brushless motor.
Are input from the input terminals 13 A , 13 B and 13 C , respectively, and are integrated circuits 14 A , 14 B and 14 composed of resistors and capacitors.
The voltage is converted into a triangular wave voltage by C , and three-phase voltages va, vb, vc delayed by about 90 ° are formed by delay circuits 15 A , 15 B , 15 C composed of resistors and capacitors. These voltages va, vb, vc are respectively comparators 16 A , 16 B ,
16 C and resistors 17 A , 17 B , 17 C
And the virtual neutral point voltage vn is created by being synthesized via the above and is supplied to the comparators 16 A , 16 B and 16 C. These comparators 16 A , 16 B and 16 C respectively have a voltage va
And virtual neutral point voltage vn, voltage vb and virtual neutral point voltage v
n, the voltage vc and the virtual neutral point voltage vn are compared, and 1
Position detection signals Sa, Sb, Sc having a duty ratio of 50%, which are different in phase by 20 °, are created.
【００３６】回転子磁極中心に対して回転子１０の位置
が進み位相にあるとき、Ｐ点の電圧は低下して９０゜遅
れた電圧ｖａの位相は進む。逆に、回転子１０の位置が
遅れ位相にあるときには、Ｐ点の電圧は増加し、９０゜
遅れた電圧ｖａの位相は遅れる。このように、位置検出
回路６は、回転子１０の端子電圧に対する位相に応じた
位置検出信号を発生し、これを制御回路７に供給する。
かかる位置検出信号Ｓａ，Ｓｂ，Ｓｃの立上りタイミン
グがインバータ回路３の下アームの転流タイミングとな
り、立下りタイミングが上アームの転流タイミングとな
る。When the position of the rotor 10 is in the advanced phase with respect to the center of the rotor magnetic pole, the voltage at the point P decreases and the phase of the voltage va delayed by 90 ° advances. On the contrary, when the position of the rotor 10 is in the delay phase, the voltage at the point P increases and the phase of the voltage va delayed by 90 ° is delayed. In this way, the position detection circuit 6 generates a position detection signal according to the phase with respect to the terminal voltage of the rotor 10, and supplies this to the control circuit 7.
The rising timing of the position detection signals Sa, Sb, Sc becomes the commutation timing of the lower arm of the inverter circuit 3, and the falling timing becomes the commutation timing of the upper arm.
【００３７】図６はこの実施例での同期運転からブラシ
レス運転への切換え動作を示す図である。FIG. 6 is a diagram showing the switching operation from synchronous operation to brushless operation in this embodiment.
【００３８】同図において、始動時の電流が一定の状態
で同期運転で回転子１０の回転数を徐々に加速し、予め
定められた切換え回転数（例えば。２５０ｍｉｎ−1）
で定速回転を行なうようにする。この場合、電動機に加
わる負荷が大きいときには内部相差角θも大きく、負荷
が小さいときには内部相差角θは小さい。結局、内部相
差角θは電動機の負荷に応じて０〜９０゜の範囲で変化
する。In the figure, the rotational speed of the rotor 10 is gradually accelerated in a synchronous operation with a constant current at the start, and a predetermined switching rotational speed (for example, 250 min- 1 ) is set.
To perform constant speed rotation. In this case, the internal phase difference angle θ is large when the load applied to the electric motor is large, and the internal phase difference angle θ is small when the load is small. After all, the internal phase difference angle θ changes in the range of 0 to 90 ° depending on the load of the electric motor.
【００３９】回転子１０の回転数が所定の回転数に到着
すると、制御回路７はインバータ電流の指令値を徐々に
小さくし、電動機の出力トルクを減少させて電動機の負
荷に対する発生トルクを相対的に減少させる。これによ
り、ブラシレス運転時の回転子１０の位置を内部相差角
θが９０゜となる位置に移動させる。位置検出回路６の
位置検出信号によって内部相差角θが約９０゜となる切
換え可能範囲に回転子１０の位置がきたことが検出され
ると、同期運転からブラシレス運転へと切り換えられ
る。この実施例では、インバータ電流の指令値の減少率
が一定であれば、電動機の負荷が大きい方が早くブラシ
レス運転へ切り換えることができる。When the number of rotations of the rotor 10 reaches a predetermined number of rotations, the control circuit 7 gradually reduces the command value of the inverter current to reduce the output torque of the electric motor and the generated torque relative to the load of the electric motor. Reduce to. As a result, the position of the rotor 10 during brushless operation is moved to a position where the internal phase difference angle θ is 90 °. When it is detected by the position detection signal of the position detection circuit 6 that the position of the rotor 10 has reached the switchable range where the internal phase difference angle θ is about 90 °, the synchronous operation is switched to the brushless operation. In this embodiment, if the reduction rate of the command value of the inverter current is constant, it is possible to switch to the brushless operation faster when the load on the electric motor is larger.
【００４０】図７は切換え回転数における電動機に加わ
る内部相差角θとトルクＴと位置検出回路６の回路遅れ
角との関係を示す図である。FIG. 7 is a diagram showing the relationship among the internal phase difference angle θ applied to the electric motor, the torque T, and the circuit delay angle of the position detection circuit 6 at the switching speed.
【００４１】同図において、内部相差角θと位置検出回
路６の回路遅れ角は、図示するように、内部相差角θ＝
０゜のときに回路遅れ角は６０゜、内部相差角θ＝９０
゜のときに回路遅れ角は７５゜になる。また、トルクＴ
は、上記数１に示すように、ｓｉｎθに比例し、電動機
の印加電圧Ｅに比例するインバータ電流の指令値（指令
電流）によって夫々大きさは異なる。In the figure, the internal phase difference angle θ and the circuit delay angle of the position detection circuit 6 are as shown in the figure.
At 0 °, the circuit delay angle is 60 ° and the internal phase difference angle θ = 90.
The circuit delay angle becomes 75 ° when the angle becomes °. Also, the torque T
As shown in the above mathematical expression 1, the magnitude of each varies depending on the command value (command current) of the inverter current that is proportional to sin θ and proportional to the applied voltage E of the electric motor.
【００４２】いま、仮に切換え時のトルクＴが２ｋｇ・
ｃｍであるとすると、回路遅れ角は６０゜程度である。
ここで、インバータ電流指令値を徐々に減少させれば、
内部相差角θは９０゜に徐々に近づく。内部相差角θが
９０゜になったときには、位置検出回路６の回路遅れ角
は７５゜であるから、この位相を制御回路７は検出して
ブラシレス運転に切り換える。切換え時のトルクＴが他
の値であっても、同様な操作を行なうことにより、同期
運転からブラシレス運転に切り換えることが可能であ
る。Now, assuming that the torque T at the time of switching is 2 kg.
If it is cm, the circuit delay angle is about 60 °.
Here, if the inverter current command value is gradually decreased,
The internal phase difference angle θ gradually approaches 90 °. When the internal phase difference angle θ reaches 90 °, the circuit delay angle of the position detection circuit 6 is 75 °, so the control circuit 7 detects this phase and switches to the brushless operation. Even if the torque T at the time of switching is another value, it is possible to switch from the synchronous operation to the brushless operation by performing the same operation.
【００４３】なお、上記実施例では、ブラシレス電動機
を所定の回転数まで加速した後、固定子巻線の通電電流
を減少させるようにしたが、ブラシレス電動機を所定の
回転数まで加速中に固定子巻線の通電電流を減少しても
よい。この場合には、電流を減少できるので、電動機が
過励磁になるのを防止することができ、電磁音も抑制さ
れる。In the above embodiment, the brushless motor is accelerated to a predetermined rotation speed and then the energizing current of the stator winding is reduced. However, the brushless motor is accelerated to a predetermined rotation speed while the stator is being rotated. The current flowing through the winding may be reduced. In this case, since the electric current can be reduced, it is possible to prevent the electric motor from being overexcited and suppress the electromagnetic noise.
【００４４】また、電動機の加速中に電流を増加し、同
期運転からブラシレス運転への切換え前に電流を減少さ
せてもよい。この場合にも、さらに、電磁音が抑制され
る。It is also possible to increase the current during acceleration of the electric motor and decrease the current before switching from the synchronous operation to the brushless operation. Also in this case, the electromagnetic noise is further suppressed.
【００４５】[0045]
【発明の効果】以上説明したように、本発明によれば、
固定子巻線の通電電流を減少し、位置検出回路の出力信
号と所定の周波数で相の固定子巻線に順次通電する時刻
との位相差が所定の位相差になったとき、位置検出回路
の出力信号に応じてインバータ回路の出力を切り換える
ので、貫性モーメントの大きい負荷や外風などによって
起動時に著しく負荷が変動する場合でも、起動負荷の大
小にかかわらず、安定に同期運転からブラシレス運転に
切り換えることができる。As described above, according to the present invention,
When the phase difference between the output signal of the position detection circuit and the time at which current is sequentially applied to the stator windings of the phase at a predetermined frequency becomes a predetermined phase difference by decreasing the current flowing through the stator winding, the position detection circuit Since the output of the inverter circuit is switched according to the output signal of the, even if the load fluctuates significantly at startup due to a load with a large penetrating moment or external wind, stable synchronous operation to brushless operation will be performed regardless of the start load. Can be switched to.
【図１】本発明による電動機の同期起動装置の一実施例
を備えた制御系を示すブロック図である。FIG. 1 is a block diagram showing a control system including an embodiment of a synchronous starting device for an electric motor according to the present invention.
【図２】図１に示した実施例の位置決め操作時及び起動
時での固定子巻線５の電流についての説明図である。FIG. 2 is an explanatory view of a current of a stator winding 5 at the time of positioning operation and startup of the embodiment shown in FIG.
【図３】位置決めから同期運転動作中のブラシレス直流
電動機の回転子と固定子巻線の位置関係を示す図であ
る。FIG. 3 is a diagram showing a positional relationship between a rotor and a stator winding of a brushless DC motor during positioning to synchronous operation.
【図４】図１における位置検出回路の一具体例を示す回
路図である。4 is a circuit diagram showing a specific example of the position detection circuit in FIG.
【図５】図４の各部の信号を示す波形図である。FIG. 5 is a waveform chart showing signals of respective parts of FIG.
【図６】図１に示した実施例での同期運転からブラシレ
ス運転への切換え動作を示す図である。6 is a diagram showing a switching operation from synchronous operation to brushless operation in the embodiment shown in FIG.
【図７】図１に示した実施例での切換え回転数における
電動機に加わる内部相差角とトルクと位置検出回路の回
路遅れ角との関係を示す図である。7 is a diagram showing the relationship between the internal phase difference angle applied to the electric motor, the torque, and the circuit delay angle of the position detection circuit at the switching speed in the embodiment shown in FIG.
１ 整流回路 ２ 平滑コンデンサ ３ インバータ回路 ４ 電流検出手段 ５ 固定子巻線 ６ 位置検出回路 ７ 制御回路 ８ ＰＷＭ発生回路 ９ 発振回路 １０ 回転子 １１ ドライブ回路 1 Rectifier circuit 2 Smoothing capacitor 3 Inverter circuit 4 Current detection means 5 Stator winding 6 Position detection circuit 7 Control circuit 8 PWM generation circuit 9 Oscillation circuit 10 Rotor 11 Drive circuit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 荒川 道久 栃木県下都賀郡大平町大字富田800番地 株式会社日立製作所リビング機器事業部内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Michihisa Arakawa 800 Tomita, Ohira-cho, Shimotsuga-gun, Tochigi Prefecture Living Equipment Division, Hitachi, Ltd.
Claims (4)
直流電動機と、商用交流電源を整流平滑する整流回路
と、この整流回路の出力端に複数のスイッチング素子を
ブリッジ結線しその出力を前記固定子巻線の各相に送出
するようにしたインバータ回路と、前記複数のスイッチ
ング素子を適時導通遮断するための位置検出信号を固定
子巻線の巻線電圧から検出して分配回路を介して送出す
るようにした位置検出回路とを備え、前記固定子巻線の
各相をチョッパ制御されたインバータ回路の出力により
順次通電せしめるようにしたブラシレス直流電動機の駆
動装置において、 起動時、まず、回転子を所定の位置に位置させ、ついで
所定の周波数で各相の固定子巻線に順次通電して電動機
を所定の回転数まで加速した後、前記固定子巻線の通電
電流を減少し、前記位置検出回路の出力信号と、前記所
定の周波数で各相の固定子巻線の順次通電する時刻との
位相差が所定の位相差になったとき、前記位置検出回路
の出力信号に応じてインバータ回路の出力を切換ること
を特徴とする直流電動機の同期起動装置。1. A brushless DC motor comprising a stator winding and a rotor, a rectifying circuit for rectifying and smoothing a commercial AC power source, and a plurality of switching elements connected in a bridge to the output terminal of the rectifying circuit to fix the output thereof. An inverter circuit adapted to send to each phase of the child winding, and a position detection signal for timely conducting and cutting off the plurality of switching elements is detected from the winding voltage of the stator winding and sent via a distribution circuit. In the drive device of the brushless DC motor, which is configured to sequentially energize each phase of the stator winding by the output of the chopper-controlled inverter circuit, the rotor is first The stator winding of each phase at a predetermined frequency to sequentially energize the stator winding to accelerate the motor to a predetermined number of revolutions, and then to energize the stator winding. When the phase difference between the output signal of the position detection circuit and the time when the stator windings of each phase are sequentially energized at the predetermined frequency becomes a predetermined phase difference, the output of the position detection circuit A synchronous starting device for a DC motor, which switches the output of an inverter circuit according to a signal.
記位置検出回路の出力信号と、前記所定の周波数で各相
の固定子巻線に順次通電する時刻との位相差が所定の位
相差になったとき、前記位置検出回路の出力信号に応じ
てインバータ回路の出力を切換ることを特徴とする直流
電動機の同期起動装置。2. The motor according to claim 1, wherein the energization current of the stator winding is reduced during motor acceleration, and the output signal of the position detection circuit and the stator winding of each phase are energized sequentially at the predetermined frequency. A synchronous starting device for a direct-current motor, characterized in that when the phase difference between the time and the predetermined time becomes a predetermined phase difference, the output of the inverter circuit is switched according to the output signal of the position detection circuit.
後、通電電流を減少し、前記位置検出回路の出力信号
と、前記所定の周波数で相の固定子巻線に順次通電する
時刻との位相差が所定の位相差になったとき、前記位置
検出回路の出力回路に応じてインバータ回路の出力を切
換ることを特徴とする直流電動機の同期起動装置。3. The motor according to claim 1, wherein the energizing current of the stator winding is increased during motor acceleration, and then the energizing current is decreased to fix an output signal of the position detection circuit and a phase at the predetermined frequency. A synchronous starting device for a DC motor, characterized in that when the phase difference from the time when the child windings are sequentially energized becomes a predetermined phase difference, the output of the inverter circuit is switched according to the output circuit of the position detection circuit. .
の固定子巻線に順次通電する時刻との位相差に許容範囲
を定めたことを特徴とする直流電動機の同期起動装置。4. The permissible range according to claim 1, wherein a phase difference between an output signal of the position detection circuit and a time at which the stator windings of the phase are sequentially energized at the predetermined frequency is set. DC motor synchronous starter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP09658394A JP3283377B2 (en) | 1994-05-10 | 1994-05-10 | DC motor synchronous starter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP09658394A JP3283377B2 (en) | 1994-05-10 | 1994-05-10 | DC motor synchronous starter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07308092A true JPH07308092A (en) | 1995-11-21 |
| JP3283377B2 JP3283377B2 (en) | 2002-05-20 |
Family
ID=14168971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP09658394A Expired - Fee Related JP3283377B2 (en) | 1994-05-10 | 1994-05-10 | DC motor synchronous starter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3283377B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100313252B1 (en) * | 1999-01-07 | 2001-11-05 | 윤종용 | sensorless mode conversion apparatus of BLDC motor |
| KR100457956B1 (en) * | 2001-08-10 | 2004-11-18 | 미쓰비시덴키 가부시키가이샤 | Control apparatus and control method of on-vehicle dynamo-electric machine |
| JP2006296084A (en) * | 2005-04-11 | 2006-10-26 | Namiki Precision Jewel Co Ltd | Motor drive and electronic equipment |
| JP2007089247A (en) * | 2005-09-20 | 2007-04-05 | Sanyo Electric Co Ltd | Driver of electric motor |
| JP2008253128A (en) * | 2007-03-05 | 2008-10-16 | Matsushita Electric Ind Co Ltd | Inverter apparatus |
-
1994
- 1994-05-10 JP JP09658394A patent/JP3283377B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100313252B1 (en) * | 1999-01-07 | 2001-11-05 | 윤종용 | sensorless mode conversion apparatus of BLDC motor |
| KR100457956B1 (en) * | 2001-08-10 | 2004-11-18 | 미쓰비시덴키 가부시키가이샤 | Control apparatus and control method of on-vehicle dynamo-electric machine |
| JP2006296084A (en) * | 2005-04-11 | 2006-10-26 | Namiki Precision Jewel Co Ltd | Motor drive and electronic equipment |
| JP2007089247A (en) * | 2005-09-20 | 2007-04-05 | Sanyo Electric Co Ltd | Driver of electric motor |
| JP4566100B2 (en) * | 2005-09-20 | 2010-10-20 | 三洋電機株式会社 | Electric motor drive |
| JP2008253128A (en) * | 2007-03-05 | 2008-10-16 | Matsushita Electric Ind Co Ltd | Inverter apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3283377B2 (en) | 2002-05-20 |
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