SU1325657A1 - Device for controlling multiwinding electric motor - Google Patents

Abstract

The invention relates to electrical engineering, in particular to the control of electrical machines, for example, the torque drive of the manipulators. The purpose of the invention is to increase the uniformity of movement. The device contains in each channel phase 1 of the electric motor, power amplifier 5, switching phase 1 of the electric motor, threshold element 2 of the upper level, the output of which through an additional pulse shaper 4 is connected to the input of the corresponding power amplifier and the diode of each phase is connected in parallel with the phase I of the electric motor. This ensures that the optimum switching angle is automatically maintained when the drive parameters, mode of operation and load change. By changing the reference voltages, you can change the moment and speed. Sequential connection of phase 1 with current sensor 12 and applying a signal from current sensor 12 to the control channels of the subsequent and previous phases via threshold elements of the upper 2 and lower 3 levels, respectively, allows to obtain asynchronous operation of the electric motor and improve the accuracy of the steps by 12%. 2 Il. with S (L h zhg

Description

one

The invention relates to electrical engineering, namely the control of electrical machines, and can be used to create an electric drive with continuous movement and fixed stop positions, for example, for the torque supply of manipulators.

The purpose of the invention is to reduce the uniformity of motion.

On fig.1 shows a functional diagram of the device in relation to a three-phase stepping motor; figure 2 - timing charts of currents in the phase windings of an electric motor,

The motor control device contains in each channel the phase 1 of the motor, the threshold element 2 of the upper level, the threshold element 3 of the lower level, the driver A pulses, power amplifier 5, which includes 1) trigger

6, transistor 7, and having inputs

8 — Non-connected to the S, R, D, C-inputs of the D-flip-flop, current sensor 12, diode 13, phase-shunting the motor, node 14 of installation of power amplifiers 5 to the initial state, including resistor 13, capacitor 16 and inverter 17, switch 18, starting and stopping the motor, resistor 19.

At the same time, the threshold elements 2 and 3 are connected by the first inputs to the current sensors 12 of the preceding and subsequent to the channels, respectively, and the second inputs to the sources of reference voltages (not shown). The outputs of the threshold elements 2 and 3 through the formers 4 pulses are connected respectively to the inputs 8 and 9 of the amplifier 5 power, in which the output D-three 6 is connected to the base of the transistor

7, the emitter of which is connected to the current sensor 12, and the collector is connected to the phase of the engine 1. The input 11 of the power amplifier 5 of one of the channels is connected via a resistor 19 to the power supply pole and the other channels to the other power supply pole. The input 10 of the power amplifier 5 is connected to the output of the node 14, containing a circuit of a resistor 15 and a capacitor 16, to the inverted point of which is connected to the inverter 17.

2365 /

W (-tron (-1: 1 “1 ut11) a1. A; nor IJITKI relatives - c.iiPiiyH works as a caravan: iiiv M rec. M

When powering i. p, and G, -, at the first moment of the time and at the input of the inverter 17 by charging the capacitor 16 through a resistor 15, a voltage level corresponding to logical 0 is maintained, which determines the output voltage level Q and the logical voltage . After: the voltage on the capacitor 16 reaches the level 1, the output signal of the inverter 17 decays, the information contained in the inputs 11 of the power amplifier 5 is recorded. Since the input 11 of the amplifier 5 power of the first channel is connected to the source

()

power and through a resistor 19, which corresponds to the logical

1, and the inputs of the 11 remaining channels are connected to the common wire, which corresponds to a logical O, then the output of the trigger 6 of the first channel will be supplied

5 opens the signal to transistor 7, and in the remaining channels the transistors will be closed, so that only the phase winding of the first channel will turn on. I

0 When the switch 18 is installed, for example, installed in the circuit connecting the current sensor 12 of the first channel to the inputs of the threshold elements of the upper I o level 2 of the second channel and the lower

5 level 3 of the third channel; the voltage from the sensor 12 of the current of the first channel goes to the inputs of the threshold elements 2 (the second channel) and 3 (the third channel ;.

0 When the input voltage reaches the upper level 2 threshold element of the second channel, the phase winding of the second channel is turned on. The phase winding current, the increase over exponential, causes a similar voltage rise on the second channel current sensor 12 and, having reached the voltage IJj, the threshold element of the lower level 3 of the first channel turns off the phase winding 1 of the first channel. When the voltage reaches Ug., The phase winding of the third channel turns on at the current sensor of the second channel. The phase winding current of the third channel, the increase exponentially, causes a voltage rise on the third channel current sensor 12 and, having reached the voltage C, the threshold element of the lower level 3 of the second channel

five

- i32Sb

the phase winding 1 of the second kpnl is received, and when the voltage U ,,, „is reached, the phase winding 1 of the first channel turns on,

Next, the ciko repeats.

Thus, the lower-level threshold element 3 turns off the phase wrap 1 of the previous channel, and the wiring element 2 of the upper level turns on the phase winding I of the subsequent channel.

For

engine stops up to 15

It is enough to unlock key 18, which will turn on the phase winding of the first channel and turn off the phase windings of the other channels.

The device, in comparison with the known one, makes it possible, by using a second threshold element, to reduce the moment ripple when the phase windings of an electric motor are switched, thereby increasing the uniformity of movement, and this is where the aim of the invention is achieved. By changing the reference voltages, it is possible to vary the torque and speed developed by the motor.

Formula and 3 optics

The device; uiH control of a multiple-winding electric motor, contains a circuit for setting the initial state of the switch according to the number of windings, each of which includes a current sensor, a key element, a D-flip-flop and a first poro-element connected in series, a pulsator, connected to the P input B -trigger, the output of which is connected to a key element connected in series with the winding and a current sensor, which is connected to the input of the first threshold element of the adjacent channel, and the current sensor of one of the channels is connected n to the input of the first threshold element through the key, the D-trigger input of the same channel of the same channel is connected to the power source, the initial state setting circuit is connected to the D-trigger trigger's C input, which, in order to increase the motion uniformity, The second threshold element and the second pulse generator connected in series to the R input of a D-flip-flop are in series connected to each channel, and the current sensor is also connected to the input of the second threshold element of another adjacent channel.

Editor G. Gerber

FIG. 2

. Compiled by V.Alfimov Tehred L. Serdyukova

Order 3122/53 Circulation 659 Subscription

VNIIG1I USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, Projecto st., 4

Proofreader N.Korol

Claims (1)

Claim A device for controlling a multi-winding electric motor containing an initial state setting circuit and channels according to the number of windings, each of which includes a current sensor, a key element, a D-trigger and a first threshold element connected in series, a pulse shaper connected to the S-input of the D-trigger the output of which is connected to a key element connected in series with the winding and a current sensor, which is connected to the input of the first threshold element of an adjacent channel, wherein the current sensor of one of the channels is connected It is connected to the input of the first threshold element through the key, the D-input of the D-trigger of the same channel is connected to a power source, the initial state setting circuit is connected to the C-input of the D-trigger, characterized in that, in order to increase the uniformity of movement, each channel has a second threshold element and a second pulse shaper connected in series with the R-input of the D-flip-flop, and the current sensor is also connected to the input of the second threshold element of another adjacent channel. . Compiled by V. Alfimov