TW517445B - Logic control device and method for four-phase 8/6 poles variable reluctance motor - Google Patents

Abstract

The present invention relates to a logic control device for four-phase 8/6 poles variable reluctance motor and its method. The present invention generates interrupt signal with constant time by comparing the operating command signal with the sensing feedback signal and counting external pulse signal, and filters out the noise with a digital filter by three input signals from the feedback signal of the variable reluctance motor. At the same time, with the forward or backward control command signal, the up/down counter of the control logic device is made to count up/down or generate a reset signal. The value generated by the up/down counter is converted to actual motor rotation speed by a speed converter for sending out a switching logic signal. Furthermore, the push-pull amplifier theory is employed to amplify the current to drive the power transistor in the current converter for rotating the variable reluctance motor, thereby being represented and implemented by pure logical form, eliminating the time of mathematic conversion and operation required by the digital control method, and greatly increase the control performance.

Description

517445 V. Description of the invention (1) The present invention relates to a logic control device and method for a four-phase 8 / 6-pole variable reluctance motor, which compares operation command signals and sensing feedback signals, and The pulse signal is counted to generate a fixed-time interruption signal, and the two input signals from the variable reluctance motor feedback signal are used to filter out noise through a digital filter. The control command signal allows the positive and negative counters of the control logic device to count up, down, or generate a reset signal. The values generated by the positive and negative counters are used to convert the speed of the control logic device into the actual motor speed. To achieve a smooth mode of variable structure control

丄 丄 sends a switching logic signal, and uses the principle of a push-pull amplifier to amplify the electric voltage, L to drive the power transistor in the converter, and then make the variable reluctance motor run, so as to achieve purely logical expression and realization , Eliminating the time required for the mathematical conversion and calculation process of the digital control law, greatly improving the ancient control effectiveness. Oh, according to the current Variable Reluctance Motor (RMM) # in specific applications and capabilities are superior to conventional electrical machinery, especially '=== power density (p〇wer Density), high temperature environment, fault tolerance ^ Ϊ Under severe conditions, the performance of variable reluctance motors is

The development value of phase i is also included in the important two of P0Wer by Wire. Compared with DC brushless motors, variable reluctance motors do not need to: i :: 上 Permanent Magnet) Therefore, the manufacturing cost can be reduced, and the structure of the machine is easy to mass-produce, and the magnetic leakage and demagnetization are avoided—and the stator magnetizing coils of the variable reluctance motor are independent of each other. Variable reluctance motor can continue to operate and has

517445

The advantages of the wire-regulated variable reluctance motor are simple, reliable, and easy to use (composed of electrical steel without commutator blades, carbon brushes, etc.), so there is no copper loss, small loss, and effective performance. Magnetic materials, and the stator uses less than conventional inverters to dissipate heat easily. There is no winding resistance on the rotor. For high horsepower applications, the output power and part of the stator excitation line have higher reliability. The disadvantages of the integrated variable reluctance motor are that the torque ripple is large, and it cannot be applied to precise time. The stepping is obvious, and the control is difficult. The voice is large. The different geometric configurations can not be integrated. The general geometry and characteristics are as follows: It is suitable for harsh environmental mobile components), no winding of the rotor (a rotor without winding will not generate current, because the rate is high, the rotor structure is simple, the price is not unipolar current, the design is easier, the power component, so The cost is low, and the machine can withstand high temperature, so it is suitable for motors with the same work volume to produce larger circle damage. It still has the opportunity to continue to operate, and the characteristics are as follows: Close positioning servo control; Asymmetry of air gap at low speed, high speed Load-controlling time-varying reluctance motor, its control design rule configuration and composition are: (1) single phase tangent

Page 5 517445 V. Description of the invention (3) Reversible reluctance motor; (2) Two-phase 4/2 switched reluctance motor; (3) Three-phase 6/4 switched reluctance motor; (4) Four-phase 8/6 switching reluctance motor; (5) five-phase 1 0/8 switching reluctance motor. However, it is in response to the key technology development of the Power Actuators (EAs) in Aviation by Actors (NASA Lewis Research CENTER), which has made the demand for Mor Electric Aircraft (MEA) increasingly important. Civil DTi and The LEMAS (Large Electromechanical Actuation Systems) supported by TRW Aeronautical Systems (Lucas Aerospace), etc.

The research plan is becoming more and more popular and the investment is huge; the United States has actively invested in this research and development plan since 1991, and it is expected to be carried out in three phases to a total of 20 years ending in 2012. The first phase has now been completed The second phase will be completed in 2005 and the third phase will be completed in 2012. There are signs that MEA technology is the trend of the next generation aircraft.

In order to cope with technological development trends and to reduce the gap between China and foreign countries, it is based on joint research of academic energy, designing appropriate switching logic rules based on basic scientific evaluation, digital analog derivation, and simulation analysis. Through continuous efforts in research and development and testing, Finally, the four-phase 8/6 Po 1 es variable reluctance motor drive control logic device and method have been completed to overcome the bottleneck of the control law and utilize the advantages of the variable reluctance motor to be used in the general air, national defense and industrial industries. a

^,, ㈡ 月 ’J There are very few actual cases of domestic production in mass production). At the same time, it carries out forward-looking research in conjunction with military and civilian general accounts and seeks to expand industrial benefits. The main object of the present invention is to provide a fast switching of logic gates, which can be used to incorporate peripheral logic elements into control logic design, with low power consumption and low power consumption.

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== The system architecture has high confidentiality, lower failure rate, and more volume. = = Lt system and method; "Using operation command signals to generate ί w ^ ^ ^ ^ 卩 7 The logic device compares the input operation command with the variable magnetic feedback signal, and classifies the comparison result according to a preset operating condition, and then sends a logical sequence # corresponding to the condition category, thereby promoting commutation driving. In order to facilitate the review by your reviewing committee, the technical content, purpose and effect of the present invention are hereby described in detail with drawings.

凊 With reference to the first and second figures, the method of the present invention mainly inputs an operation command signal (including a forward and reverse command, a speed command signal) and a sensing feedback signal from a variable reluctance motor (VRM) into a Control logic device, generate interrupt signal of fixed time by counting pulse signal and input the control logic device, and use three input signals of feedback signal from variable reluctance motor to filter through digital filter Noise, at the same time with the forward or reverse control command signal, the forward and reverse counter of the control logic device counts up, counts down, or generates a reset signal. The value generated by the forward and reverse counter is used to control the Speed conversion of logic device

The controller converts the actual motor speed value; and the input operation speed command is converted by the control logic device to the value required by the actual command, and when the externally applied pulse signal generates an interrupt signal, the actual motor speed is changed. The value is compared with the actual command demand value through the control logic device to achieve the smooth mode (s 1 idi ng Mode) of the variable structure control law (please refer to Figure 18), and then send the switching logic signal, and then

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V. Description of the invention (5) The principle of the amplifier is used to amplify the electricity. The variable reluctance motor is operated. The switching logic signal is isolated, and the push-pull discharge is used to drive the power transistor in the converter, and then the converter. When the external pulse signal is counted to generate a fixed time, the specific system device of the present invention includes: an operation command signal generating device: an edit signal, which is input to a control logic device counter: an interrupt signal of a time interval; 凊 refer to the first figure, The main package is for users to convert operation commands to logic (10);

. Commutation drive device: It includes a gate driver (20) and an inverter (30), which are used to receive control switching logic signal commands and sequentially introduce power into a variable reluctance motor (VRM) (4〇). Stator windings to operate the variable reluctance motor (VRM) (40); and

Control logic device (10): for processing the operation command from the operation command signal generating device and the sensor feedback signal from the variable reluctance motor (4 0) sensor (50) to directly generate the switching sequence logic to change The current drive device is used to control the variable reluctance motor (VRM) operator. Among them, please refer to the second figure, the control logic device (丄 〇) is mainly composed of digital filter 1§, forward and reverse counter, speed conversion Circuit consisting of a comparator, a comparator, a position converter, and a value converter; wherein the control logic device may be a programmable logic array element (Field Pr0grammabU Gate

Array, FPGA) with specific peripheral components, please refer to the entity shown in Annex 4. Due to the rapid development of semiconductor and motor control technology, the present invention is

Page 8 517445 V. Description of the invention (6) In accordance with the above technology, the control law is carried out in the direction of the switching logic design. The power electronic drive stage uses power transistors to switch the DC power supply and put it into the stator coils of each phase of the VRM. The reluctance torque is generated to propel the rotor, so the control law can be regarded as a series of switching logic, as shown in the third figure. According to the design concept of the controller of the present invention (please cooperate with reference to the fourth figure), the design of the switching logic must select the stator phase coils according to the current position of the rotor to achieve the desired dynamic behavior. These dynamic behaviors can be achieved by Control the state variables such as angle, speed, phase current, etc., and keep these variables at appropriate values through proper feedback control. | π > y magnetic

The rotation of the resistance motor is not necessary. 丄 & ^ By the month to April, see the fifth figure, using the magnetic field lines to tend to form a parallel and straight surname 6 small value to generate torque. The characteristics of T _. L _ set, and 杲 make the magnetic resistance between 疋 子 approach to the most VM mathematical model: the sixth figure is four-phase 8 =, two; a pure, relative, relative :: ',, and coil' Therefore, the sub-section J £ 4. Right 4Frequency reluctance FAF = 2, / resistance '1 of each phase stator coil

The area, g is the [n " between the rotor and the stator's salient pole proximate surface, and the 73rd is ~ the magnetic permeability constant of air; multiple electric: coil:! ;; pseudo equivalent circuit.

The sense value changes to 6. Degree is period: adjacent to see. If phase J is not considered, the dynamic equation of each phase is (:; == + RAiA; where θ is the rotor angle, i Α Α (Θ) × dlA / dt. ^ / ~, Va is the human phase voltage; is the relationship between the inductance of each phase and the position of the rotor 517445 V. Description of the invention (7) " VR Μ principle: handle Guca 1 is based on electromagnetic theory 17 adopted electromagnetic theory, volume a It will rotate due to the induced magnetic force. After the whole system is energized, the coil inductance will change. The direction will be one-to-one to the minimum magnetic resistance (that is, the maximum inductive force of the mother phase. Aluminum & T / ^, d θ x 1A2; and the machine plus eight A Afc, starting from TA 10 · 5 X d LA (θ)

d θ χ lA2; and the dynamic t-tl of the mechanical part; where J is the moment of inertia of the VRM, 6 is * TL is the mechanical load, T is the four-phase India friction coefficient, ω is the rotational speed, and the mathematical model of the comprehensive fear For: 2 and: TA + WTD. (1) dlA / dt = (VA ~ dL (e χ dynamic equation is as follows: (2) d, B / dt ^ (vB-dL (e / d〇1a " ~ a1a) / La (9) ⑺ 琴 卜dLc (e) / de:; B: 7; = ;;; :: iD /; d7 (5) d ω / dt = (T -B ω) / J The formula is Jx (1ω / (1ΐ + Βω

de ～ M ^ + 3〇0 ^ 2239 22.5 ^ 37.5 ^ ^ = 1 i〇_r > 22-5, nS 37J " ~ 60 * [k0 ~ hlQ 37.5 '~ 60 · Design of commutation drive device' VRM drive The stage is equivalent to a four-phase DC / AC converter (INVERTER). See Figure 9 for a clear match; and the gate-level driver quite accepts the switching logic signal from the control end and uses the principle of a push-pull amplifier to amplify the current to promote Please refer to the tenth figure for the related power transistor in the inverter. The design of the switching logic is to find the conduction timing and time of the stator wires and coils of each phase, so that the VRM can change the state according to the designer's purpose. For example,

Page 10 517445 V. Description of the invention (8) To make the VRM rotate forward, it is necessary to generate the torque of forward rotation. According to the current angle of the rotor, select a suitable coil to conduct it and cut it off at an appropriate time. Therefore, we choose The switching logic is shown in figure Η--, where 15 ° 3〇. 45 ° and 60 ° are the conduction timings of phases A, B, C, and D, respectively, and the conduction time of each phase is -15 ° $ 冷 '15. Please refer to the twelfth figure for the change of inductance, and the thirteenth figure is the forward rotation 5. Matlab simulation of the switching logic, the fourteenth figure is the Matlab simulation of the switching logic 15 ° forward rotation, the fifteenth figure is the Ma11 ab simulation of the relationship between the excitation angle and the speed, and the eighteenth figure is the control method simulation comparison chart. Different values can get different speed responses. It can be seen that the wider the on-time, the larger the steady-state speed of the motor, and its transient response is approximately a first-order system, as follows: G (s) = Q (s) // 3 (s ) = b / (s + a) ..... (*); where Ω (s) and zhao (s) are Laplace transforms of ω and Lu, respectively, a and b are system parameters and s is Laplace transform Variable; with the equivalent transfer function of the inner loop of the (*) formula, we can design the outer loop controller to control the speed of the VRM, as shown in the sixteenth figure, and its experimental hardware platform, please refer to the seventeenth As shown in the figure, among them, the hardware entity of the gate-level driver is shown in Annex I, the entity of the drag and tear is shown in Annex II, and Annex III is the prototype of the present invention. Therefore, with the above design, the present invention can be summarized as follows: (please refer to the comparison table between Appendix 5 and traditional digital control for comparison. • The logic gate can be switched quickly. • Peripheral logic elements can be incorporated into the control logic design. • Low power consumption. • Can be made into an A SIC chip with low mass production cost. 4 517445 V. Description of the invention (9) 5 • High confidentiality of hardware system architecture. 6 • Omitting peripheral logic components and low failure rate. 7 In light, thin and short applications, in addition to the same thickness, it can be lighter, shorter and smaller. In summary, the device and method of the present invention use a four-phase 8 / 6-pole variable reluctance motor with many advantages. It is progressive and has industrial use value, and it has already met the patent requirements of the invention. Therefore, the Bureau is requested to verify the patent in accordance with the law in order to protect the legitimate rights and interests of the applicant.

Page 12 517445 Brief description of the drawings (1) Part of the drawings — * The drawings are the specific system installation drawings of the present invention. The second figure is a schematic diagram of the control logic device and operation flow of the present invention. The picture shows the intention of the controlled body in the present invention. The fourth diagram is a conceptual diagram of the feedback control design of the present invention. The fifth diagram is the principle of the magnetoresistive force generation. The sixth diagram is a schematic diagram of a four-phase 8 / 6-pole variable reluctance motor. The seventh diagram is a schematic diagram of an equivalent circuit of a stator coil circuit of each phase of a four-phase 8 / 6-pole variable reluctance motor. The eighth diagram: The relationship between the inductance of each phase and the rotor position. Figure 9: The schematic diagram of the inverter circuit. 〇 Figure 10: The schematic diagram of the gate driver circuit. Figure 11: Schematic diagram of switching logic. Figure 12: Schematic diagram of inductance change. The thirteenth picture: the logic simulation diagram of 5 ° forward rotation. The fourteenth figure: the system is a 15 ° forward switching logic simulation diagram. Figure 15: M a 11 a b simulation diagram of the relationship between excitation angle and speed. Fig. 16 is a schematic diagram of the design of the external loop controller of the present invention. Figure 17 is a schematic diagram of the experimental hardware platform of the present invention. Figure 18: A simulation comparison diagram of the present invention and the traditional control method. Attachment 1: It is the hardware and physical diagram of the gate driver of the present invention. Attachment 2: is a physical diagram of the inverter of the present invention. Attachment 3: is a prototype drawing of the present invention. Attachment 4: The present invention uses a programmable logic array element (FPGA) with specific

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Claims (1)

517445 \ Patent application scope 1 · A logic method for four-phase 8/6 pole variable reluctance motor, which is based on the operation command signal (including forward and reverse commands, speed • Make the signal) and the sensing feedback signal from the variable reluctance motor (VRM) input 2 to a control logic device, and by adding a pulse wave signal to count to produce an interrupt signal of solid time and enter the control logic device , And use three input signals from the variable reluctance motor feedback signal to filter out noise through a digital filter, and at the same time cooperate with the forward or reverse control command signal, so that the positive and negative counters of the protection logic device count up Count down or generate a reset signal, and use the value generated by the forward and reverse counters to convert the speed value of the actual motor through the speed converter of the control logic device; and enter the speed command to convert the value through the control logic device. Converted to the actual command demand value, and when the applied external pulse signal generates an interrupt signal, 'the actual motor speed value is compared with the actual command demand value through the control logic device to achieve the compliance of the variable structure control law Gliding mode), and then send the switching logic signal, and then isolate the switching logic signal, and use the push-pull type The principle of the amplifier is to amplify the current to drive the power transistor in the inverter, which in turn makes the variable reluctance motor operator. 2 · —A logic control device for a four-phase 8 / 6-pole variable reluctance motor, which includes: $ Operation command signal generating device: for users to convert operation commands into logic signals and input to the control Logic device; Counter ·· It is used to count the external pulse signal to generate a fixed-time interrupt signal; 'Converter drive device: It includes a gate driver and inverter for page 15 517445 6. Application for patent Scope ______ _ Accept the control switching logic signal command, and sequentially turn the stator of the (VRM) to 'shorten' in order to operate and run the variable flux guide into the variable reluctance horse and more per resistance motor (VRM); control logic device ·· It is used to process the switching sequence logic from the operation command and the sensing feedback cover from the variable reluctance motor to the commutation drive device, so as to control and directly generate the motor (VRM) operator. The variable reluctance described in the work is variable. η: The four-phase 8/6 pole adjustable control device described in the second item of the range; wherein the commutation drive device may be composed of a four-phase DC / AC converter and a push-pull amplifier. 4. A logic control device for a four-phase 8 / 6-pole variable reluctance motor as described in item 2 of the scope of patent application; wherein the control logic device is mainly composed of a digital filter, a forward and reverse counter, and a speed converter. , Comparator, position converter and digital converter. 5 · A logic control device for a four-phase 8 / 6-pole variable reluctance motor as described in item 4 of the scope of patent application; wherein the control logic device may be a programmable logic array element (Fleld Programmable Gate Array, FPGA) ) With specific peripheral components. Page 16