WO1996010863A1 - Unite de commande bimode d'un moteur a courant continu sans balais - Google Patents

Unite de commande bimode d'un moteur a courant continu sans balais Download PDF

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Publication number
WO1996010863A1
WO1996010863A1 PCT/US1995/013165 US9513165W WO9610863A1 WO 1996010863 A1 WO1996010863 A1 WO 1996010863A1 US 9513165 W US9513165 W US 9513165W WO 9610863 A1 WO9610863 A1 WO 9610863A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
speed
phase
signals
pulses
Prior art date
Application number
PCT/US1995/013165
Other languages
English (en)
Inventor
Robert J. Disser
Harold Klode
Original Assignee
Itt Automotive Electrical Systems, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Itt Automotive Electrical Systems, Inc. filed Critical Itt Automotive Electrical Systems, Inc.
Priority to EP95936875A priority Critical patent/EP0789948A1/fr
Priority to JP8512179A priority patent/JPH10507058A/ja
Publication of WO1996010863A1 publication Critical patent/WO1996010863A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/15—Controlling commutation time

Definitions

  • This invention relates to the field of controllers for DC motors. It has particular application to a brushless DC motor having a permanent magnet rotor and a three phase stator. Such motors generally comprise a transistor arrangement for converting a DC power supply into three phase alternating current for use by the stator of the DC motor.
  • the maximum available speed for a given current and the maximum available torque for that same current are in a fixed relationship which is determined by the laws of physics, irrespective of motor size or design.
  • a permanent magnet motor is designed to deliver a certain output torque for a certain current, then the maximum output speed, for a given voltage, is automatically determined and cannot arbitrarily be increased. Therefore the design of a permanent magnet motor, for example, a brushless DC motor, involves a compromise between conflicting torque and speed requirements.
  • This invention provides a control system and method for maximizing the no-load speed of a brushless D motor without loss of starting torque.
  • the invention uses a dual mode controller which causes the motor to operate in one or the other of two different modes, depending upon motor speed. At low speeds the motor operates in a Base Speed mode where it has a maximum torque constant and develops a base no-load speed. When the motor reaches a predetermined transition speed, the controller switches the motor to a High Speed mode characterized by a continually increasing speed/torque ratio. By switching to the High Speed mode the controller causes the maximum speed of the motor to increase by a factor of more than 2.4 over that which could be obtained in the base mode.
  • a position encoder is coupled to the motor and provides motor position signals to the dual mode controller.
  • the dual mode controller uses the position signals to develop driving signals which it passes on to a conventional electronic commutator.
  • the commutator uses the driving signals to generate gate control signals for an inverter.
  • the inverter responds to the gate control signals and to a DC voltage source by generating polyphase AC driving currents for the stator windings of the brushless DC motor.
  • the dual mode controller advances the phase of driving signals a predetermined amount, dependent upon the number of current phases being supplied to the motor.
  • phase advance is approximately 60 degrees or about 2.8 milliseconds at 3600 RPM.
  • controller adjusts the driving signals to maintain the desired advance.
  • the advance is frozen for a short period of time following mode transition in order to avoid hunting between modes.
  • Fig. 1 is a schematic block diagram of a dual mode control system for a brushless DC motor.
  • Fig. 2 is an illustration of signal waveforms associated with operation of the apparatus of Fig. 1.
  • Fig. 3 is a plot of performance information for the apparatus.
  • Fig. 4 is a detailed schematic diagram of a dual mode controller.
  • FIG. 1 illustrates a three-phase brushless DC motor 20 being controlled in accordance with the present invention.
  • Motor 20 has three Y-connected stator windings PA, PB and PC driving a permanent magnet rotor 22. Windings PA, PB, PC carry AC currents IA, IB, IC respectively. These currents are supplied by an inverte 24 and are mutually phase-separated by 120 degrees. As hereinafter described in detail, motor 20 has two distinctively different modes of operation; a Base Speed mode and a High Speed mode.
  • a Hall Effect encoder 2 monitors the rotation of rotor 22 and generates three position signals S1 , S2, S3. These position signals are applied to three separate lead lines, which for ease of understanding, are indicated by reference characters S1 , S2, S3, respectively.
  • the Hall Effect link between encoder 26 and rotor 22 is indicated by the reference numeral 28.
  • Position signals S1 , S2, S3 are sent to a dual mode controller 30 which transforms them into driving signals S1 * , S2 * , S3 * , respectively.
  • the relationship between position signals S1 , S2, S3 and driving signals S1 * , S2 * , S3 * depends upon the operating mode, as shown i Table I and discussed in detail below. During operation in the Base Speed mode the two signal sets are the same.
  • Driving signals S1 , S «3- are applied to an electronic commutator 32 of conventional design. Suitable commutators for this purpose are commercially available and may be purchased easily. A general teaching of the configuration and operation of commutators for brushless DC motors may be found in Peters et al U.S. Patent 5,202,616 and references cited therein. Commutator 32 uses driving signals S1 * , S2 * ,
  • the gate signals control the power switches such that current flow into motor 20 is maintained through two of the three motor windings PA, PB, PC at any one time.
  • the current is supplied to different winding pairs in sequence and at the correct magnitude and phase to produce an electromagnetic torque of constant magnitude and direction.
  • the waveform of the current has a frequency proportional to the frequency of the gate signals and a peak magnitude which varies with changes in the voltage of the DC power supply.
  • the motor speed is controlled by adjusting the DC voltage.
  • the operation of commutator 32 is such that periods of current flow through each individual winding correspond to periods of constant induced voltage in that winding and also such that the direction of current flow through each winding corresponds to the polarity of the induced voltage in that winding.
  • the maximum rotational speed of rotor 22 occurs when the induced voltage in two of the three windings due to the relative motion of the magnetic field of the rotor balances the supply voltages being provided by inverter 24.
  • the driving signals S1 * , S2 * , S3 * are time-advanced by 60 electrical degrees by controller 30. This causes the currents IA, IB, IC to advance (but only by 30 degrees in phase), which reduces the effective induced voltage in the windings. Consequently the rotor speeds up until the effective induced voltage balances the supply voltage. In a typical application such a mode change will increase the maximum rotor speed by a factor of about 2.4.
  • Fig. 2 illustrates the waveforms of the three voltages VA, VB and VC which are impressed across the three windings PA, PB and PC respectively. These voltages correspond to the position angles of the rotor relative to the stator windings PA, PB, PC and are sensed by encoder 26 for use in generating the three position signals SI, S2, S3. As illustrated in Fig. 2 the position signals switch from LO to HI when the winding voltage begins rising and from HI to LO when the winding voltage begins falling.
  • Both sets of driving signal waveforms are for operation in the High Speed mode; the upper set being for rotor rotation in the forward direction, and the lower set being for rotor rotation in the reverse direction. In each case the driving signals are advanced, in the appropriate direction, 60 degrees relative to the corresponding rotor position angles.
  • Controller 30 accomplishes the appropriate driving signal advancement through the logical transformations indicated above in Table I. In order to perform these transformations controller needs to know the rotor speed, rotor direction and transition speed. These parameters are determined by controller 30 as described below. Another control parameter is the transition time. When the controller 30 switches modes it freezes the values of S1 * , S2 * , S3 * for a sufficient period of time to prevent mode hunting. For a three- phase motor having 4 poles, a preferred freezing period is about 1/12 of a revolution. For other motor configurations the preferred freezing period would be somewhat different.
  • Controller 30 may be readily implemented in either hardware or software.
  • controller 30 may comprise an EP600 PLD chip 40 and a comparator 42, as illustrated in Fig. 4. All of the digital logic for signal transformation is programmed into chip 40, while comparator 42 signals chip 40 when the transition speed has been reached.
  • Chip 40 is programmed to change the mode at that time and to maintain the driving signals in a fixed form until a predetermined number of position pulses (3 pulses in the described embodiment) have been received from encoder 26.
  • Chip 40 generates a square wave of 50% duty cycle on an output line denoted by the reference characters SPD.
  • the SPD signal is clocked by the position signals S1 , S2, S3 and therefore has a frequency proportional to the speed of rotor 22.
  • the SPD signal comprises 6 pulses per rotor rotation, so for a typical rotor speed of 4,00 RPM, SPD will have a frequency of 400 Hz.
  • This signal i applied to an inverting input terminal 48 of amplifier 42.
  • a capacitor 52 is also connected to terminal 48. This capacitor is charged by the SPD pulses and is discharged between pulses.
  • a pair of resistors 44, 46 are connected to a non-inverting input terminal 50 of amplifier 42. These resistors provide a reference voltage for amplifier 42. At high speeds the voltage across capacitor 52 is reset before it has time to reach the reference voltage on terminal 50 of amplifier 42. At low speeds the peak voltage across capacitor 52 exceeds the reference voltage. Amplifier 42 produces an output signal LO/HI which is fed back to chip 40 and sampled at precisely timed intervals. This signal remains HI for speeds above the transition speed. For speeds below the transition speed the LO/HI signal goes LO for brief time periods spanning the sampling interval of chip 40. The sampled state of the LO/HI signal is used by chip 40 in order to implement the logic of Table I.
  • Chip 40 may establish the direction of rotation by checking the phases of position signals S1 , S2, S3. For forward rotation S1 will lead S2, while for reverse rotation the opposite will be true.
  • a motor direction signal FWD/REV may be supplied to chip 40.
  • chip 40 may be programmed to control the motor direction, as well as the phase advance.
  • resistors 44, 46 and capacitor 52 are selected so as to provide an analog timing circuit which will time out during the inter-pulse period at a predetermined transition speed. This function could be provided by digital circuitry, either inside chip 40 or in another device.
  • Chip 40 functions as a three flip-flop state machine to establish the operating state of motor 20 and thereby implement the logic of Table I.
  • the techniques involved in preparing a state diagram and programming chip 40 are routine and need not be described in detail. It would also be a matter of routine programming to implement the logic of Table I in any one of numerous, commercially available microprocessors.
  • Fig. 3 illustrates test data for a typical three phase brushless DC motor operated in accordance with this invention. Attention is drawn to the arrow 101 which indicates a mode transition between low speed operation and high speed operation.
  • the plot of Fig. 3 illustrates three curves, each of which has two pieces, one for the Base Speed mode and one for the High Speed mode.
  • Curve pieces 102a, 102b are a plot of speed versus torque. As shown by the curve piece 102b, the motor speed increased linearly with decreasing torque up to point 108, where the mode change occurred.
  • the phantom line 103 indicates an extension of line 102b to show what the motor speed variation would have been without the mode change. It is seen that the mode change occurred at a speed of about 3800 rpm, where the motor was delivering a torque of about 31 ounce inches. Following the mode change, the speed increased rapidly with decreasing torque as illustrated by the curve 102a. Under no load conditions the motor reached a speed in excess of 12,000 rpm, whereas less than half of that speed would have been reached without the mode change.
  • Curve portions 104a, 104b indicate the variation of DC current with torque for operation in the High Speed mode and Base Speed mode respectively.
  • Curve portions 106a, 106b respectively show the corresponding torque per amp. It will be seen that during low speed, high torque operation the motor delivers about 2.5 ounce inches per amp, whereas for high speed operation it delivers a torque per amp ratio which decreases from about 1.6 down to about 1.1. Thus the invention effectively converts torque generating capability into increased speed when the firing angle is advanced approximately 60° relative to no load voltage.
  • a brushless DC motor may be started under a near maximum load torque by supplying a driving current of appropriate magnitude.
  • the voltage of the DC power supply is adjusted to maintain the necessary current flow.
  • the torque may be reduced. This causes a further speed increase, and the process is repeated until the transition speed is reached. Meanwhile the motor operates in the Base Speed mode, as described above.
  • the controller Upon reaching the transition speed, the controller automatically switches the motor to the High Speed mode. As further torque reductions are made, the above- described phase advance will enable the motor to continue gaining speed.
  • the motor operates in the High Speed mode for the prescribed minimum period of time and thereafter until torque increases or supply voltage decreases cause a slowdown to the transition speed, whereupon Base Speed operation resumes.

Abstract

Une unité de commande bimode d'un moteur à courant continu sans balais permet de commander et d'envoyer des signaux à un commutateur électronique selon deux modes différents définis par une vitesse de transition prédéterminée. Un codeur génère des signaux de position du moteur et les envoie à l'unité de commande afin de générer des signaux de commande. A des vitesses inférieures à la vitesse de transition, les signaux de commande sont générés en phase avec les signaux de position. A des vitesses supérieures à la vitesse de transition, la phase des signaux de commande est sensiblement décalée vers l'avant. Ceci réduit la force contre-électromotrice dans les enroulements du stator et augmente sensiblement la vitesse maximum sans charge du moteur.
PCT/US1995/013165 1994-09-30 1995-09-29 Unite de commande bimode d'un moteur a courant continu sans balais WO1996010863A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP95936875A EP0789948A1 (fr) 1994-09-30 1995-09-29 Unite de commande bimode d'un moteur a courant continu sans balais
JP8512179A JPH10507058A (ja) 1994-09-30 1995-09-29 ブラシレス直流モータ用二重モード制御装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US31599094A 1994-09-30 1994-09-30
US08/315,990 1994-09-30

Publications (1)

Publication Number Publication Date
WO1996010863A1 true WO1996010863A1 (fr) 1996-04-11

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Application Number Title Priority Date Filing Date
PCT/US1995/013165 WO1996010863A1 (fr) 1994-09-30 1995-09-29 Unite de commande bimode d'un moteur a courant continu sans balais

Country Status (3)

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EP (1) EP0789948A1 (fr)
JP (1) JPH10507058A (fr)
WO (1) WO1996010863A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001026212A1 (fr) * 1999-10-05 2001-04-12 H. R. Textron, Inc. Boucle de commutation d'un module de commande de l'avance de moteurs a courant continu, sans balais
EP1271761A2 (fr) * 2001-06-20 2003-01-02 Nissan Motor Co., Ltd. Régulateur et méthode de régulation pour moteur
US7454127B2 (en) 2004-10-19 2008-11-18 Continental Automotive Systems Us, Inc. Multi-speed motor system combining at least a one speed electric motor, series resistor and power switches
JP2014054058A (ja) * 2012-09-06 2014-03-20 Sanyo Denki Co Ltd モータ制御装置及びモータ制御方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2403432A1 (de) * 1974-01-24 1975-07-31 Siemens Ag Gleichstrommotor mit mehrphasiger staenderwicklung und durch hallgeneratoren gesteuerter elektronischer kommutierungseinrichtung
US4546293A (en) * 1982-08-24 1985-10-08 Sundstrand Corporation Motor control for a brushless DC motor
DE3819062A1 (de) * 1988-06-04 1989-12-07 Quick Rotan Elektromotoren Verfahren zur steuerung von buerstenlosen elektromotoren sowie steuerschaltung hierfuer

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2403432A1 (de) * 1974-01-24 1975-07-31 Siemens Ag Gleichstrommotor mit mehrphasiger staenderwicklung und durch hallgeneratoren gesteuerter elektronischer kommutierungseinrichtung
US4546293A (en) * 1982-08-24 1985-10-08 Sundstrand Corporation Motor control for a brushless DC motor
DE3819062A1 (de) * 1988-06-04 1989-12-07 Quick Rotan Elektromotoren Verfahren zur steuerung von buerstenlosen elektromotoren sowie steuerschaltung hierfuer

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001026212A1 (fr) * 1999-10-05 2001-04-12 H. R. Textron, Inc. Boucle de commutation d'un module de commande de l'avance de moteurs a courant continu, sans balais
EP1271761A2 (fr) * 2001-06-20 2003-01-02 Nissan Motor Co., Ltd. Régulateur et méthode de régulation pour moteur
EP1271761A3 (fr) * 2001-06-20 2003-12-03 Nissan Motor Co., Ltd. Régulateur et méthode de régulation pour moteur
US6781334B2 (en) 2001-06-20 2004-08-24 Nissan Motor Co., Ltd. Motor controller and control method thereof
US7454127B2 (en) 2004-10-19 2008-11-18 Continental Automotive Systems Us, Inc. Multi-speed motor system combining at least a one speed electric motor, series resistor and power switches
JP2014054058A (ja) * 2012-09-06 2014-03-20 Sanyo Denki Co Ltd モータ制御装置及びモータ制御方法
US9246422B2 (en) 2012-09-06 2016-01-26 Sanyo Denki Co., Ltd. Motor control device and motor control method

Also Published As

Publication number Publication date
JPH10507058A (ja) 1998-07-07
EP0789948A1 (fr) 1997-08-20

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