KR100239508B1 - Speed control apparatus of motor and method thereof - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control apparatus and a method for controlling a speed of a switched reluctance motor by a switch using a fuzzy logic controller (FLC). The motor driving means for driving the SRM by receiving the DC voltage output from the rectifying means and the position sensing means for detecting the rotor position of the SRM driven by the motor driving means, the supply current at the time of rotation of the SRM Adjust the pulse width of the controller to reduce the current ripple due to counter electromotive force to adjust the cycle of the supply current, control the rotor not to be constrained by the accurate position detection of the rotor using the optical sensor, and input the current speed and speed change of the SRM. By configuring the FLC outputting the driving cycle of the SRM, the desired speed of the SRM can be maintained.

Description

Speed control device of motor and its method

1 is a control block diagram of a speed controller of a motor according to an embodiment of the present invention.

2 is a detailed circuit diagram of a speed control apparatus for a motor according to an embodiment of the present invention.

3 is a cross-sectional view of the SRM applied to the present invention.

4 is an SRM mounting diagram of an optical sensor applied to the present invention.

5 is an output waveform diagram of an optical sensor applied to the present invention.

6 is an output waveform diagram of a control means applied to the present invention.

7A and 7B are flowcharts showing the speed control operation procedure of the motor according to the present invention.

8 is a membership function of the current velocity which is the input of the FLC.

9 is a membership function of the speed change amount which is the input of the FLC.

10 is a membership function of an SRM driving cycle which is an output of FLC.

<Explanation of symbols for main parts of drawing>

10: rectifier means 11: bridge rectifier

20: DC power supply means 30: control means

40: motor driving means 41: SRM

50: position detection means

The present invention relates to a speed control apparatus and a method of a motor for controlling the speed of a switched reluctance motor (FLC) using a fuzzy logic controller (FLC).

In general, a conventional switched reluctance motor (hereinafter referred to as SRM) is easy to manufacture and has a high torque-to-inertia ratio because there is no winding of the rotor.

However, since the SRM is driven by the switching current of the pulse type during the rising period of the inductance, there is a problem that the current ripple caused by the back electromotive force is generated and the noise during the driving of the SRM is large.

Accordingly, the present invention has been made to solve the above problems, an object of the present invention is to adjust the pulse width of the supply current during the rotation of the SRM to reduce the current ripple by the back electromotive force to control the cycle of the supply current To provide a speed control apparatus and method thereof.

Another object of the present invention is to provide a speed control apparatus and a method of controlling a motor so that the rotor is not restrained by detecting the exact position of the rotor using an optical sensor.

It is still another object of the present invention to provide a motor speed control apparatus and a method for maintaining a desired speed of a SRM by configuring an FLC having an input of a current speed and a speed change amount of the SRM, and outputting a driving period of the SRM. It is.

In order to achieve the above object, a speed control apparatus for a motor according to the present invention includes a control means, a motor driving means for driving an SRM by receiving a DC voltage output from a rectifying means under control of the control means, and the motor driving means. Characterized in that the position detection means for detecting the rotor position of the SRM driven by.

In addition, the speed control method of the motor according to the present invention selectively drives the transistors TR1 to TR3 according to the position discrimination step for determining the rotor position of the SRM and the rotor position of the SRM determined in the position discrimination step. While the drive step of countering the drive pulses, a time discrimination step for discriminating whether a predetermined time for periodically performing purge operation during the driving of the transistors TR1 to TR3 is cured, and a predetermined time has elapsed in the time discrimination step. If it is determined, the speed detection step of detecting the current speed and the speed change amount of the SRM, the fuzzy operation step of performing a purge operation according to the current speed and the speed change amount of the SRM detected in the speed detection step, and the fuzzy operation step Comprising a speed control step of adjusting the speed of the SRM by calculating the driving period of the SRM in accordance with the fuzzy operation performed It is done.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1 and FIG. 2, the rectifying means 10 is an AC / DC converter for converting a commercial AC voltage input from the AC power source 1 into a DC voltage required for driving the SRM 41. The rectifying means 10 is included in the bridge rectifier 11 for full-wave rectification by receiving a commercial alternating voltage supplied from the AC power source 1, and the DC voltage full-wave rectified by the bridge rectifier 11 It is composed of a smoothing capacitor C1 connected to the output terminal of the bridge rectifier 11 so as to filter the ripple component.

The DC power supply unit 20 is a constant voltage regulator which receives the DC voltage output from the rectifying means 10 and converts the DC voltage to a predetermined DC voltage which is a driving voltage of the control means described later.

In addition, the control means 30 is a microprocessor that receives and initializes the DC voltage output from the DC power supply means 20 and controls the overall operation of the SRM 41. The control means 30 is the microprocessor. FLC (Fuzzy Logic Controller) which performs fuzzy operation by inputting current speed and speed change amount (previous speed-current speed) of SRM 41 and outputting drive cycle of SRM 41 to maintain desired speed. )to be.

In addition, the motor driving means 40 receives the DC voltage output from the rectifying means 10 under the control of the control means 30 to control the driving of the SRM 41, thereby controlling the motor driving means ( 40 is turned on / off to receive a control signal output from the output terminal P1 of the control means 30 and apply a DC voltage output from the rectifying means 10 to a of the SRM 41. A transistor D1 for operating the transistor TR1, a diode D1 for protecting the transistor TR1 by bypassing back electromotive force generated on a of the SRM 41 during the turn-off operation of the transistor TR1, and the control A transistor TR2 which is turned on / off to receive a control signal output from the output terminal P2 of the means 30 and applies a DC voltage output from the rectifying means 10 to b of the SRM 41. ) And the SRM 41 during the turn-off operation of the transistor TR2. The diode D2 protects the transistor TR2 by bypassing the counter electromotive force generated on b and the control signal output from the output terminal P3 of the control means 30. Transistor TR3 that is turned on / off to apply a DC voltage output from the rectifying means 10 to c phase, and occurs on c of the SRM 41 when the transistor TR3 is turned off. A diode D3 that bypasses back EMF and protects the transistor TR3, and is output from the control means 30 so as to reduce current ripple due to back EMF generated during the turn-off operation of the transistors TR1 to TR3. The transistor TRO receives a control signal and is turned off for a predetermined time, and a heat generating resistor R1 emits heat to a current due to back electromotive force generated during the turn-off operation of the transistors TR1 to TR3.

Also, in the drawing, the position detecting means 50 adjusts the position of the rotor 41a of the SRM 41 so that the rotor 41a is not constrained when the SRM 41 is driven by the motor driving means 40. An optical sensor that senses and outputs the control means 30. The position detecting means 50 uses three optical sensors HS1 to HS3 when the SRM 41 is three-phase. The position of the rotor 41a is detected according to the rotation position.

3 is a cross-sectional view of the SRM applied to the present invention, FIG. 4 is an SRM mounting diagram of the optical sensor applied to the present invention, and FIG. 5 is an output waveform diagram of the optical sensor applied to the present invention.

As shown in FIG. 3, the SRM 41 is a 6/4 pole composed of a stator 41b and a rotor 41a, and the three SRMs 41 sense the position of the rotor 41a of the SRM 41. As illustrated in FIG. 4, the photosensors HS1 to HS3 determine and install an appropriate position capable of accurately detecting the position of the rotor 41a of the SRM 41.

That is, the two other optical sensors HS2 and HS3 for one optical sensor HS1 have the thickness d of the angle α, angle β and the rotor 41a so that the output waveform as shown in FIG. Adjust

8 is a membership function of the present speed which is the input of the FLC applied to the present invention, and is an input membership function showing the present speed indicating the difference between the speed of the SRM 41 desired by the user and the speed calculated by the pulse count.

In FIG. 8, (Z0 = ZERO) indicates that the current speed of the SRM 41 is at the desired speed, (NB = NEGATIVE BIG) indicates that the current speed is 'very slow' at the desired speed, and (NS = NEGATIVE SMALL) indicates that the current speed is 'slightly slow' at the desired speed, (PS = POSITIVE SMALL) indicates that the current speed is 'slightly faster' at the desired speed, and (PB = POSITIVE BIG) indicates that the current speed is at the desired speed. 'Much faster'.

9 is a membership function of the speed change amount which is the input of the FLC applied to the present invention, and is an input membership function showing the speed change amount indicating the difference between the previous speed and the current speed of the SRM 41.

In FIG. 9, (D0 = DECREMENT ZERO) indicates that the speed change amount of the SRM 41 is 'invariant', (IB = INCREMENT BIG) indicates that the speed change amount is 'increased much', and (IS = INCREMENT SMALL) The amount of speed change is 'slightly increased', (DS = DECREMENT SMALL) indicates that the speed change is 'slightly reduced', and (DB = DECREMENT BIG) indicates that the speed change is 'slowly reduced'.

FIG. 10 is a membership function of an SRM driving cycle, which is an output of an FLC applied to the present invention, and shows an output membership function showing a driving cycle T calculated by performing a fuzzy operation.

In FIG. 10, (OZO = OUTPUT ZERO) indicates that the driving period of the SRM 41 is 'invariant output', (ONB = OUTPUT NEGATIVE BIG) indicates that the driving period is 'low output much', and (ONS = OUTPUT NEGATIVE SMALL) indicates that the drive cycle is 'slightly decreased', (OPS = OUTPUT POSITIVE SMALL) indicates that the drive cycle is 'slightly increased', and (OPB = OUTPUT POSITIVE BIG) indicates that the drive cycle is 'output much increased'. Indicates.

Hereinafter, the effect of the speed control device and method of the motor configured as described above will be described.

7A and 7B are flowcharts showing the speed control operation procedure of the motor according to the present invention, in which S denotes a step (STEP) in FIGS. 7A and 7B.

First, when power is supplied, the AC voltage input from the AC power source 1 is full-wave rectified by the bridge rectifier 1 of the rectifying means 10 into a DC voltage, and the DC voltage is full-wave rectified by the bridge rectifier 11. The ripple component included in the filter is filtered through the smoothing capacitor C1 to output a predetermined voltage for driving the SRM 41.

The DC voltage filtered by the smoothing capacitor C1 is converted into a constant voltage Vcc of a predetermined level through the DC power supply unit 20, and a driving voltage of 5V control means 30 is output.

Therefore, in step S1, the operation is started to adjust the speed of the SRM 41 at a desired speed while receiving and initializing the driving voltage of 5V output from the DC power supply means 20 from the control means 30.

Subsequently, since the control means 30 needs to select the transistors TR1 to TR3 to be driven by grasping the rotor 41a position of the SRM 41, the control means 30 proceeds to step S2 and the voltage signal input through the input terminal S1. Is high level, that is, whether the optical sensor HS1 is 1 (= HICH), and if the optical sensor HS1 is not 1 (NO), the process proceeds to step S3 and the input terminal S

It is determined whether the voltage signal inputted through 2) is high level, that is, the photosensor HS2 is 1 (= HIGH).

As a result of the discrimination in step S3, when the optical sensor HS2 is not 1 (NO), the process proceeds to step S4 to determine whether the voltage signal input through the input terminal S3 is high level, that is, the optical sensor HS3 If it is determined that 1 (= HIGH), and the optical sensor HS3 is not 1 (NO), the process returns to the step S2 and repeats the operation of the step S2 or less.

As a result of the discrimination in step S4, when the light sensor HS3 is 1 (YES), the flow advances to step S5, and the control means 30 determines whether the present mode is Initial, and the present mode is 30. If YES, go to step S6 and set the current mode to 31 while increasing the number of pulses by '1' to counter the number of voltage pulses input through input terminal S3.

The control means 30 outputs a high level control signal to the motor driving means 40 through the output terminals P0 and P3, as shown in FIGS. 6C and 6D.

Accordingly, a high level control signal output from the output terminal P3 of the control means 30 is applied to the base terminal of the transistor TR3, so that the transistor TR3 is turned on, and the output terminal of the control means 30 is turned on. The high level control signal output from P0 is applied to the base terminal of the transistor TR0 to turn on the transistor TR0.

When the transistor TR3 is turned on, a closed circuit in which a current flows through the transistor TR3 through the c-phase of the SRM 41 to the ground terminal by a DC voltage filtered by the smoothing capacitor C1 forms an SRM ( 41) is driven.

At this time, in step S7, the control means 30 incorporates the driving time of the SRM 41 to turn on the transistor TR3 for a time T / 3 equal to three times the driving period T of the SRM 41. It is determined by the timer T0 that the predetermined time T has elapsed. If the predetermined time T has elapsed (YES), the control means 30 proceeds to step S8.

The output terminal P0 is output to output a low level control signal through the output terminal P3 to turn off 3) and to minimize the current ripple due to the counter electromotive force generated during the turn-off operation of the transistor TR3. Output a low level control signal.

Accordingly, a low level control signal output from the output terminal P3 of the control means 30 is applied to the base terminal of the transistor TR3 to turn off the transistor TR3, and the control means 30 The low level control signal output from the output terminal P0 is applied to the base terminal of the transistor TR0 to turn off the transistor TR0.

When the transistor TR3 is turned off, the current generated by the counter electromotive force generated during the turn-off operation of the transistor TR3 is turned off from the heating resistor R1 to the heat through the diode D3 because the transistor TR0 is turned off. Dissipates and sets the current mode to 10 while minimizing current ripple due to back EMF.

Subsequently, in step S9, the control means 30 counts the turn-off operation time of the transistor TR0 in the timer T0 so as to turn off the transistor TR0 for a predetermined delay time Td. It is determined whether (T + Td) has elapsed, and a predetermined time (T + Td)

E) has passed (YES), the control means 30 outputs a high level control signal through the output terminal P0 to turn on the transistor TR0.

Therefore, the high level control signal output from the output terminal P0 of the control means 30 is applied to the base terminal of the transistor TR0, so that the transistor TR0 is turned on.

Then, in step S11, the control means 30 counts the total driving time of the system by the built-in timer T1 in order to periodically perform the purge operation.

If F "msec) has elapsed, and if the predetermined time F has elapsed (YES), the flow advances to step S12 to detect the present speed and the present speed change amount while clearing the timer T1 and the pulse count.

The present speed is detected as shown in FIG. 8 with the difference of the speed obtained by the pulse counter at the speed desired by the user, and the speed change amount is detected as shown in FIG. 9 with the difference between the previous speed and the present speed. do.

When the present speed and the speed change amount as shown in Figs. 8 and 9 are detected, in step S13 the control means 30 performs the fuzzy operation using the FLC which inputs the current speed and the speed change amount.

if v = NB and d = DO then o = 01

if v = NB and d = IS then o = 00

if v = NB and d = DO then o = 01

if v = NB and d = IS then o = 01

If there is such a purge roll and the value is between -m0 &lt; v &lt; -m1 and a value between -m3 &lt; d &lt; 0, the fuzzy operation equation is as follows.

μNB (v) μDO (d) 01 + μNB (v) μIS (d) 00 + μNS (v) μDO (d) 01 + μNS (v) μIS (d) 01 f (v, d) = μNB (v) μDO (d) + μNB (v) μIS (d) 00 + μNS (v) μDO (d) + μNS (v) μIS (d)

Accordingly, in step S14, the control means 30 performs a fuzzy operation according to the above fuzzy operation equation to newly calculate the drive period T of the SRM 41, and according to the calculated drive period T, the SRM ( While adjusting the speed of 41), the process returns to the step S2 to repeat the operation of the step S2 or less.

On the other hand, when the determination result in step S2 indicates that the optical sensor HS1 is 1 (YES), the control means 30 determines whether the current mode (Initial) is 10 and the current mode is set to step S21. If 10 (YES), go to step S22 and set the current mode to 11 while increasing the number of pulses by '1' to counter the number of voltage pulses input through the input terminal S1.

The control means 30 outputs a high level control signal to the motor driving means 40 through the output terminals P0 and P1 as shown in Figs. 6A and 6D.

Accordingly, a high level control signal output from the output terminal P1 of the control means 30 is applied to the base terminal of the transistor TR1, so that the transistor TR1 is turned on, and the output terminal of the control means 30 is turned on. The high level control signal output from P0 is applied to the base terminal of the transistor TR0 to turn on the transistor TR0.

When the transistor TR1 is turned on, a close current flows through the transistor TR1 through the phase a of the SRM 41 to the ground terminal by a DC voltage filtered by the smoothing capacitor C1 to form an SRM ( 41) is driven.

At this time, in step S23, the control means 30 incorporates the driving time of the SRM 41 so as to turn on the transistor TR1 for a time T / 3 equal to three times the driving period T of the SRM 41. If the predetermined time T / 3 has elapsed by counting by the timer T0, the controller 30 proceeds to step S24 when the predetermined time T / 3 has elapsed (YES). Output terminal P0 to output a low level control signal through output terminal P1 to turn off TR1 and minimize current ripple due to back EMF generated during turn-off operation of transistor TR1. Output a low level control signal through

Accordingly, a low-level control signal output from the output terminal P1 of the control means 30 is applied to the base terminal of the transistor TR1 so that the transistor TR1 is turned off, and the control means 30 The low level control signal output from the output terminal P0 is applied to the base terminal of the transistor TR0 to turn off the transistor TR0.

When the transistor TR1 is turned off, the current generated by the counter electromotive force generated during the turn-off operation of the transistor TR1 is turned off from the heating resistor R1 to the heat through the diode D1 since the transistor TR0 is turned off. Dissipates and sets the current mode to 20 while minimizing current ripple due to back EMF.

Subsequently, in step S25, the control means 30 counts the turn-off operation time of the transistor TR0 in the timer T0 so as to turn off the transistor TR0 for a preset delay time Td. It is determined whether (T / 3 + Td) has elapsed, and the predetermined time (T /

If 3 + Td) has passed (YES), the process proceeds to the step S10 and repeats the operation of the step S10 or less.

As a result of the discrimination in step S25, when the predetermined time (T / 3 + Td) has not elapsed (NO), the process proceeds to step S11 and repeats the operations of step S11 and below.

In addition, when the determination result in step S3 indicates that the light sensor HS2 is 1 (YES), the control means 30 determines whether the current mode (Initial) is 20 and the current mode is set to step S31. If 20 (YES), go to step S32 and set the current mode to 21 while increasing the number of pulses by '1' to counter the number of voltage pulses input through the input terminal S2.

Then, the control means 30 outputs a high level control signal to the motor driving means 40 through the output terminals P0 and P2, as shown in Figs. 6B and 6D.

Accordingly, the high level control signal output from the output terminal P2 of the control means 30 is applied to the base terminal of the transistor TR2, so that the transistor TR2 is turned on, and the output terminal of the control means 30 is turned on. The high level control signal output from P0 is applied to the base terminal of the transistor TR0 to turn on the transistor TR0.

When the transistor TR2 is turned on, a closed circuit flows through the transistor TR2 through the b-phase of the SRM 41 to the ground terminal by a DC voltage filtered by the smoothing capacitor C1 to form an SRM ( 41) is driven.

At this time, in step S33, the control means 30 incorporates the driving time of the SRM 41 so as to turn on the transistor TR2 for a time T / 3 equal to three times the driving period T of the SRM 41. If the predetermined time (2T / 3) has elapsed by counting at the timer T0, and if the predetermined time (2T / 3) has elapsed (YES), the control means 30 proceeds to step S34. Output terminal P0 to output a low level control signal through output terminal P2 to turn off TR2 and minimize current ripple due to back EMF generated during turn-off operation of transistor TR2. Output a low level control signal through

Accordingly, a low-level control signal output from the output terminal P2 of the control means 30 is applied to the base terminal of the transistor TR2 so that the transistor TR2 is turned off and the control means 30 The low level control signal output from the output terminal P0 is applied to the base terminal of the transistor TR0 to turn off the transistor TR0.

When the transistor TR2 is turned off, the current generated by the counter electromotive force generated during the turn-off operation of the transistor TR2 is turned off from the heating resistor R1 to the heat through the diode D2 because the transistor TR0 is turned off. Dissipates and sets the current mode to 30 while minimizing current ripple due to back EMF.

Subsequently, in step S35, the control means 30 counters the turn-off operation time of the transistor TR0 with the timer T0 so as to turn off the transistor TR0 for a preset delay time Td. It is determined whether (2T / 3 + Td) has elapsed, and the predetermined time (2

If T / 3 + Td) has passed (YES), the process proceeds to the step S10 and repeats the operation of the step S10 or less.

As a result of the discrimination in step S35, when the predetermined time (2T / 3 + Td) has not elapsed (NO), the process proceeds to step S11 and repeats the operations of step S11 and below.

According to the speed control apparatus and method of the motor according to the present invention as described above, by adjusting the pulse width of the supply current at the time of rotation of the SRM to reduce the current ripple due to the back electromotive force to control the cycle of the supply current, It is possible to maintain the speed of the desired SRM by configuring the FLC which controls the rotor not to be constrained by detecting the exact position of the rotor using the sensor, inputs the current speed and speed change of the SRM, and outputs the driving period of the SRM. Excellent effect.

Claims (5)

A speed control apparatus for a motor having a control means, a motor driving means for driving an SRM under control of the control means, and a position sensing means for sensing a rotor position of the SRM, wherein the motor driving means is the SRM. A transistor TR1 which receives a control signal output from the control means so as to apply a direct current voltage output from the rectifying means on a of a, and a DC voltage output from the rectifying means on b of the SRM; A control signal output from the control means to apply a control signal output from the control means to apply a control signal TR2 to turn on / off and apply a DC voltage output from the rectifying means on c of the SRM; The transistor TR3 that is turned on / off and receives the back EMF generated when the transistors TR1 to TR3 are turned off. Diodes D1 to D3 that pass through and protect the transistors TR1 to TR3, and control signals outputted from the control means to reduce current ripple due to back EMF generated during turn-off operation of the transistors TR1 to TR3. And a heat generating resistor (R1) for dissipating the current due to the counter current generated during the turn-off operation of the transistors (TR1 to TR3) as heat. Speed controller. A speed control apparatus for a motor having a control means, a motor driving means for driving an SRM under the control of the control means, and a position sensing means for sensing a rotor position of the SRM, wherein the position sensing means is the SRM. The speed control device of the motor, characterized in that the hover sensor (HS1 ~ HS3) to detect the rotating rotor position when driving. A position discrimination step for determining the rotor position of the SRM, a driving step for counting driving pulses while selectively driving transistors TR1 to TR3 according to the rotor position of the SRM determined in the position discrimination step, and the transistor A time discrimination step for determining whether a predetermined time for periodically performing purge operation has elapsed during the operation of TR1 to TR3, and detecting the current speed and the speed change amount of the SRM when it is determined that the predetermined time has elapsed in the time discriminating step A purge operation step for performing a fuzzy operation according to a speed detection step, a current detection speed and an amount of speed change of the SRM detected in the speed detection step, and a purge operation performed in the purge operation step. The speed control method of the motor, characterized in that consisting of a speed adjusting step for adjusting the speed of the SRM. 4. The method of claim 3, wherein the speed detecting step detects a current speed of the SRM with a difference between a speed desired by a user and a speed obtained by a pulse count. 4. The method of claim 3, wherein the speed detecting step detects a speed change amount having a difference between a previous speed and a current speed of the SRM.