JPS6046784A - Constant speed controller of dc motor capable of regeneratively braking - Google Patents

Abstract

PURPOSE:To enable to control the power of a motor even any state by switching a semiconductor switching element provided in series with a flywheel diode. CONSTITUTION:Power for driving a motor 1 is supplied through a semiconductor switching element 2. When a semiconductor switching element 4 connected in parallel with the motor 1 is conducted, a brake torque is generated in the motor 1. When a semiconductor switching element 6 is conducted, the counter- electromotive force of the motor 1 is regenerated through a diode 5 and an inductance element 7 to a power source. When the rotating speed of the motor 1 drops, a drive current is flowed via the transistor 2 to suppress the drop of the rotating speed of the motor 1, while when the rotating speed of the motor 1 rises, a brake current is flowed via transistors 4, 6 to suppress the rotating speed of the motor 1.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a constant speed control device capable of regenerative braking that can control braking force even when the reverse induced voltage of a DC motor is higher than the 1b1 source voltage. . 1. Frost, an electric vehicle that uses a package to provide various driving forces, an electric wheelchair for physical IS repair people, and a frost for the elderly.

There are moving tricycles, t-moving transport vehicles for taking continuous pictures of objects, and the like.

Ml: Since moving vehicles have large negative fluctuations, they are generally equipped with a transmission.

When switching from full-speed to low-speed, when the wheel rotation speed is high, the electric motor is rotated more than the wheels, which is noticeable when switching from full high speed to low speed. It gets expensive.

The present applicant filed the application on December 12, 1973 (Showa 53-
When the pick-up electromotive force H2 of the electric statue becomes higher than the electromotive force H2, electric power is regenerated to the power supply via the diode, and ff1
ll dynamic current flows, fti! It becomes l dynamic torque. In this case, the braking current is a current determined by the reverse induced voltage of the motor, the armature resistance, and the power supply voltage, and there is a drawback that the current cannot be controlled.

In order to eliminate the above-mentioned drawbacks, misfire 111 is designed to provide a semiconductor switching element in series with a diode through which a braking current flows when the reverse induced voltage of the motor becomes higher than the power supply voltage λ,), and the semiconductor switching element is switched. The braking current is controlled by controlling the braking current, and will be described in detail below with reference to the drawings.

FIG. 1(a) is an embodiment of the present invention. Symbol 1 is a DC electric image. Symbol 2 is a semiconductor switching element (for example, a transistor).
supplying power. Symbol 3 is a flywheel diode, and when the transistor 2 is changed from the on state to the cut off state, the magnetic energy stored in the electric motor 1 causes the stain motor 1 to
This is to keep the armature current flowing. Symbol 4 is a semicircular body transducer (for example, a transistor), which is connected to the electric statue 1 in parallel and rvc. By making the transistor 4 conductive, the reverse induced voltage of the 1L motor is shortened through the transistor 4. Therefore, a braking current flows through the electric bale 1, and a dynamic torque of +1511 is generated. Symbol 5 is a flywheel diode, and when the l transistor 4 is changed from the tracking state to the cutoff state, the magnetic energy stored in the motor 1 causes iTf '1Jill 4'J.
1. Brake's eye] This is to flow the current and start the flow. Symbol 6 is a semiconductor switching element (for example, a transistor), and the reverse induced 'tl-1 pressure of the electric image 1 is trapped at I+! This is to control the current iIt even when the voltage is higher than the voltage 1. When the transistor 6 becomes conductive, 'I3: The reverse induced voltage of the motive 1 causes the diode 5 and the inductance element -f ( For example, when the resistor 6 is cut off, the power is stored in the motor 1 and the voltage is stored in the motor 1, suppressing the surge voltage due to the inductance component of the motor 1, and suppressing the surge voltage caused by the inductance component of the motor 1. 2.4.6 and the withstand voltage of the flywheel diode 3.The coil 7 suppresses the rapid discharge S of the capacitor 8 when the transistor 6 becomes conductive, and prevents the collector current of the transistor 6 from becoming too biL. When the transistor 6 is cut off, the flywheel diode 9 suppresses the /D surge voltage by the magnetic energy stored in the coil 7, and maintains the surface pressure of the transistor 6. Symbol 1011': 1. Rotation detection device (for example, DC tacho generator) that detects 10 rotations of electric power. Symbol 11 is a variable resistor for setting the rotation speed. Symbol 12 is an OP ann and resistor 13. 1.4 constitutes an error amplification circuit, which amplifies the difference between the output pressure of the Kukogeo Lake 10 and the voltage caused by the n'' variable resistor 11. Symbols 15.16 and 7 are OP amplifiers.
A non-inverting amplifier circuit is constructed by the P-ang 15 and resistors 18 and 19, a non-inverting amplifier circuit is constructed by the OP-ang 716 and the resistor 20.21, and the OP-ang 17 and the resistor 22.2
A non-inverting amplifier circuit is formed with resistors 42, 24, and 3.
25.26 and the voltage multiplied by (il-respectively O
Since it is input to the inverting input 0111 of P amplifier 15.16.17, the output of OP amplifier 15.16.17 is O
The output of the P amplifier 12 is shifted and amplified. Symbol 27.28.2M is a comparator. Comparator 6 and resistors 3U and 3i constitute a Schmitt trigger circuit, comparator 28 and resistors 3z and 33 constitute a Schmitt trigger circuit, and comparator 2
9 and resistors 34 and 35 constitute a Vhiyo shishmint trigger circuit. Symbol 36 is an alternating voltage generator. OP angle ■5.1 by comparator 27.28.2y
The output of 6.17 and the output of alternating voltage generator 3ti are compared. The output of the comparator 27 is the transistor 37
It is connected to the base side of the transistor 2 via.

The output of the comparator 28 is connected to the base i! of the transistor 6 via the transistor 38! Connected to 1. The output of the comparator 29 is connected to the base side of the transistor 4.

The operation of the circuit shown in FIG. 1(a) will be explained using FIG. 1(b). In Fig. 1(b), the horizontal axis is time T and the vertical axis is 'tj1 pressure V.
It is. Symbol 39 is a voltage waveform when the output of the alternating voltage generator 36 is converted into an input to the non-inverting input fi11 of the OP amplifier 15. Symbol 40 is a %1 pressure waveform when the output of the alternating voltage generator 3b is converted into the non-inverting input side vc input of one OP amplifier. A voltage waveform 41 is a voltage waveform obtained when the output of the alternating voltage generator 36 is converted into an input to the non-inverting input side of the OP amplifier 17.

When the rotation speed of the electric motor is lower than the set rotation speed, variable resistor 1
If the output voltage of the oscillator 1° is smaller than the set voltage by the OP amplifier 2, and the output voltage of the OP amplifier 2 is the voltage v1, the output of the comparator 27 will be at a high level, and the transistor 2 will be With continuity,
One mad power is supplied to the electric motor 1. Also, comparator 28.
21L becomes a low level, so the transistor 6 traces the voltage down through the transistor 38 and reaches the voltage v2. When the voltage of the curve 39 becomes higher than the voltage V2, the comparator 2
The output of transistor 7 is at a low level, and transistor 2 is cut off via transistor 37. When the voltage of the curve 39 becomes smaller than the voltage V2, the output of the comparator 27 becomes high level, and the output of the comparator 27 becomes high level.
becomes conductive. The electric power is controlled by the ratio between the conduction of the transistor 2 and the current.The motor 1 is forced to rotate many times by an external load, the rotational speed increases, and the OP amplifier 12
When the output of curve 39 drops to voltage V8, the voltage on curve 39 becomes higher than voltage v8, so the output of comparator 27 becomes low level. The output is at a high level, transistor 6 becomes conductive via transistor 38, and when the electromotive voltage of fftLft motor 1 is higher than the electromotive voltage, the transistor 5 and transistor 6
The current is regenerated through 1- to the source and becomes a braking current. When the voltage of curve 4o becomes smaller than voltage V4, the output of comparator 28 becomes low level, and transistor 3
Transistor 6 is switched off via 8 and the braking current is reduced. The electric power regenerated to the stain source is controlled by the ratio of conduction and interruption of transistor 6. Electric power converter 1 is rotated many times by an external load, and the rotational speed increases significantly, and the OP output is high. When the level is low, the transistor 6 becomes clear via the transistor 38.The L motor is rotated by an external load, and the rotational speed further increases, and the OP amplifier 1
When the output of 2 drops to voltage v6, the voltage of curve 41 becomes higher than voltage V6, the output of comparator 29 goes to high level, transistor 4 becomes conductive, and the reverse induced voltage of motor 1 becomes voltage V6. It is short-circuited and becomes a braking current. When the voltage of the curve 41 becomes smaller than 'voltage 6', the output of the comparator 29 becomes low level, the transistor 4 is cut off, the braking current is regenerated to the power supply via the flywheel diode 5 and the transistor 6, and the current decreases. The braking current is controlled by the ratio of conduction and cutoff of the transistor 4.

When the motor 1 is rotated by an external load, the rotational speed further increases, and the output of the OP amplifier 12 decreases to voltage Vγ, the voltage of curve 41 becomes higher than voltage V7.
The output of the comparator 29 becomes high level, the transistor 4 becomes conductive, the reverse induced voltage of the motor 1 is short-circuited by the transistor 4, and a braking current flows.

As can be understood from the above, when the rotation speed of the motor 1 decreases, a drive current flows through the transistor 2 to suppress the drop in the rotation speed of the motor 10, and when the rotation speed of the frost 7 motor 1 increases, the drive current flows through the transistor 2. A braking current flows through 6 and 4 to suppress an increase in the rotational speed of the electric motor 1. Therefore, the drive machine (2) maintains the rotational speed determined by the variable resistor 11 and rotates at a constant speed. Furthermore, by changing the variable resistor 11, the set rotation speed can be changed. Furthermore, a dead zone between normal drive and II+ drive can be provided in the voltage V8 region.

FIG. 2 shows another embodiment of the device of the present invention, in which the output of the error amplification circuit and the torque of the electric board 1 correspond by feed-punching the current value energized to the motor 1. Controllability is improved. The same symbols as in FIG. 1 indicate the same members and the same effects, so the explanation will be omitted. Symbol 43 is an electric υIL detection device (for example, a resistor) that detects the *L armature current of the electric motor 1.

Reference numeral 44 denotes an operational amplifier, which constitutes a differential jW amplification circuit with resistors 45, 46, 47, and 48, and amplifies the voltage drop across the resistor 43. gji No. 49. is an OP amplifier and m1 No. 5 (
), 51, 52, and 53, and a differential amplifier circuit is constructed to amplify the difference between the output of the OP amplifier 12 and the output of the OP amplifier 44, and input it to the non-inverting input of the OP amplifier 15, 16, and 17. It is outputting.

When the drive current of the electric motor 1 increases, the output of the CAP amplifier 44 increases, the output of the OP amplifier 49 decreases, and the voltage at the non-inverting input i of the amplifier 5.16.17 also decreases, so the drive The increase in current is suppressed. Furthermore, when the drive current of the motor 1 decreases, the output of the OP amplifier 44 drops by one peak, the output of the OP amplifier 49 increases, and the output of the OP amplifier 15.1 increases.
Since the voltage of the non-inverting input of 6.17 also rises, the decrease in drive current is suppressed.

When the braking current of the electric motor 1 increases, the output of the UP amplifier 44 decreases, the output of the OP amplifier 49 increases, and the voltage at the non-inverting input of the OP amplifier 15, 16, 17 also increases, so the braking current must be increased. suppress. Also, when the braking current of the electric motor l decreases, the output of the OP amplifier 44 increases, and the output of the OP amplifier 49 increases.
The output of will drop, and the voltage at the non-inverting input of OP amplifier 15, 16, and 17 will also drop. 1 to suppress the decrease in l1JITa iAl, therefore, the electric motor 11' is a city corresponding to the OP amplifier 12.

The flow is communicated: it is communicated.

If = If the rotation speed of movement 1 falls below the set rotation speed, O
The output of the P amplifier 12 is in the upper row, and the drive current is added to the electric motor 1 to suppress the drop in rotation speed.
When the rotational speed of +1lil1 machine 1 rises above the set rotational speed, the drive current decreases in the output of OP amplifier 1; As the number increases further, the output of the OP amplifier 12 drops further, and the dynamic current increases in the electric motor 1, suppressing the increase in rotational speed.Therefore, the constant speed side is maintained.Variable tillage 1] By changing the set rotation speed, a dead zone can be provided between the driving state and the braking state of the motive 1.The output MY pressure of the OP amplifier 12 is the forward direction suspension of the diode 55.5G. , H,′ within the pressure
Since the voltage on the non-inverting input side of the 110P angle 49 is zero, the output of the OP amplifier 44 is also controlled so that it becomes candy.
and the armature phase current becomes zero. A circuit 58 indicated by a broken line is a low-pass filter that suppresses the ripple of the electric current and stabilizes the operation of the control circuit. By setting upper and lower limits on the output 1'' of the OP amplifier 12, a current limiter source can be created.
lj5, when the pressure becomes greater than the pressure, control! IJ'fD: Since the current flows through the flywheel diode, a half-circular switching element is installed in series with the flywheel diode, and the half-circular switching element is operated to perform the switching operation. There is an advantage in that it is possible to control the female flow and control the 10:1 level of movement in any case. In this example, PWM feeding control 1
Although the above case has been described, one object of the present invention can also be achieved using other well-known controls. The present invention is particularly effective when applied to an electric vehicle equipped with a transmission. When switching the reduction ratio from high speed to low speed, it is noticeable on a downhill slope that the wheel rotation speed is j'+)fJ < and t(j: 1
Even if the rotation θ is reduced by lil + 4 leakage from the wheel, and the reverse induced voltage of the motor becomes i- than tL, the control mJ? Since lj 6f is controlled, there is no shock during cutting, which has the effect of 7.

4 (N, easy 7i on page 1:'j; 51ru) Figure 1 (a)
mlJ rBu times Wb diagram of tyo unexploded YuJ device 4, 1st
Figure (bJ is for explaining driving and braking, 11th and 2nd
Figures &j-1 respectively show flIIIN circuit diagrams of other embodiments of the present invention.

1. Ryomasa Nao, Doden, 2.4.6.37.38...Tongista, 3.5.9...) 2 Ioil Taiode,
7...Coil, 8...Content, It)・Rotation speed detection device ij, 12.15.16.17.44.49
・01) Anuf, 2/, 2B, 2! Comparator, 3 (j -5 flea box, pressure generation)) Yun San! , 4(
841...Also, the output of the 7r voltage generator 3G is 01-' Angled, and the voltage waveform of IF!J, 54... Dead zone times.

・1.58°・Low pass filter.

Claims (1)

[Claims] A person, a DC motor driven by a DC power supply, B- a semiconductor switching element connected in series with the DC motor, C1 the above DC frost: I111 of the reverse induced 1L voltage of @ machine is larger than the value of the DC power supply voltage tIi, an electric circuit connected to the DC power supply so as to regenerate power by the reverse induced voltage of the DC motor by conducting the semiconductor switching resistor described above. D. A rotation speed detection device that obtains an output corresponding to the rotation speed of the DC motor, and E. When the output of the rotation speed detection device changes beyond a set value, the above-mentioned Ushisakaki body switching element is held. A constant speed control device for a DC motor capable of regenerative braking, characterized by comprising a control circuit and the following.