WO2007054909A2 - Moteur a courant continu sans collecteur et son procede de commutation et de commande - Google Patents

Moteur a courant continu sans collecteur et son procede de commutation et de commande Download PDF

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Publication number
WO2007054909A2
WO2007054909A2 PCT/IB2006/054187 IB2006054187W WO2007054909A2 WO 2007054909 A2 WO2007054909 A2 WO 2007054909A2 IB 2006054187 W IB2006054187 W IB 2006054187W WO 2007054909 A2 WO2007054909 A2 WO 2007054909A2
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WO
WIPO (PCT)
Prior art keywords
winding
motor
brushless
commutation
windings
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Application number
PCT/IB2006/054187
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English (en)
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WO2007054909A3 (fr
Inventor
Huimin Li
Original Assignee
Huimin Li
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Application filed by Huimin Li filed Critical Huimin Li
Publication of WO2007054909A2 publication Critical patent/WO2007054909A2/fr
Publication of WO2007054909A3 publication Critical patent/WO2007054909A3/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • 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
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

Definitions

  • This invention relates to a brushless DC motor and its method for commutation and control, in particular, to the armature winding and its arrangement construction with the commutating devices which form the commutation circuit topology of the brushless DC motor and to the method for commutation by turning on and turning off the commutating devices and to the speed controls for such motor.
  • a brushless DC motor is a synchronous machine typically, which is powered by alternating current, and operated in such a way as to behave like a DC motor.
  • brushless DC motor mostly moved towards the path of using the variable frequency driving synchronous motor in the basic electromagnetism structure and the principle of work, namely, the electronic commutation sine or the nonsine driving synchronous motor, and the armature winding is in three-phase mostly.
  • Brushless DC motor has overcome the defect of the original electric slide contact commutator while maintaining the fine external characteristics of DC motor basically.
  • a brushless DC motor and the method for commutation and control are provided.
  • the advantages that accrue to said brushless DC motor can use more cheap power electronic devices as commutating devices such as thyristor for commutation and control, and even for better performance (starting for example) in commutation and control can use more expensive power electronic devices which have the ability of self-turn-off such as Gate Turn-off Thyristor (GTO), Integrated Gate Commutated Thyristor (IGCT), Insulated Gate Bi-thermal Thyristor(IGBT) etc. as switches for commutation and control.
  • GTO Gate Turn-off Thyristor
  • IGCT Integrated Gate Commutated Thyristor
  • IGBT Insulated Gate Bi-thermal Thyristor
  • the present invention is mainly on the electric circuit topology of the armature windings and the power electronic devices as the commutating device.
  • Said armature windings in structure designs are similar to DC motor, and the methods for commutation and control mainly include the succinct switch circuits using DC motor armature winding back electromotive force (back-emf) to turn off the thyristor and commutating armature winding currents, and the running in the state equivalent with that of the magnetic field weakening speed adjustment in constant exciting magnetic field of brushless DC motor, and the running in the state equivalent with that of the magnetic field weakening speed adjustment in permanent magnetic brushless DC motor; and the reversible running method and its control.
  • back-emf DC motor armature winding back electromotive force
  • each commutator segment of the original DC motor has been replaced by a pair of commutating devices which are the upper bridge arm 10 and the lower bridge arm 11 connected in series as one half H-bridge, each said half H-bridge connects DC bus 8, 9 and respective junction points between adjacent two windings to form the commutation circuit topology.
  • the arrangement of rotor 6 and stator is the same as that in original brushless DC motor or in the synchronous motor, that is to say, the magnetic pole places on the rotor, the armature winding places on the stator.
  • one slot-conductor 7 per slot is good for reducing the armature windings quantity, so as to reduce the thyristor using quantity.
  • the armature winding design of one slot-conductor 7 per slot is unable to use the simplex-lap- winding, but can use the duplex-lap-winding and/or duplex-wave-winding and/or phase-shift-closed-loop-winding and/or combination of them.
  • Such design has less armature windings and commutating devices quantity with the same slots quantity per pair of poles. If using the single-lap-windings which the DC motor uses generally, the armature windings and commutating devices using quantity will be doubled with the same slots quantity per pair of poles.
  • the commutation of current can be completed in two slots or one armature winding per pair of poles by triggering one thyristor.
  • the current commutation can be completed in more than two slots per pair of poles by turning on one commutating device so as to save the cost of commutating devices.
  • the commutation will have more ripples, but it is still not similar to the commutation of the existing synchronous motor driven by square-wave voltage even if in three phase armature windings.
  • FIG. 2 shows the schematic drawing of the thyristor commutation process of the five-winding system brushless DC motor.
  • the five windings are 1, 2, 3, 4,
  • the thyristors as commutating devices respectively as Tl to TlO mark the on-state thyristors with black, mark the trigging thyristor with an electric discharge symbol nearby its gate terminal, and the arrow lines express the armature winding currents of parallel branch of closed-loop-winding, the ten circles express the ten slots and their slot-conductors of armature windings at the armature surface.
  • Five slot-currents of said armature winding flow out under the S pole, there is a dot in the center, five slot-currents of said armature winding flow in under the N pole, there is a fork in the center.
  • the magnetic pole rotor is in counterclockwise rotating. As FIG.
  • TlO, T5, T2, T7, T4, T9 and T6 orderly in the corresponding rotor positions, the rotor will turn one circle or a pair of pole distance. A complete circle of the brushless DC motor commutation will be finished.
  • the triggering logic is Tl, T8, T3, TlO, T5, T2, T7, T4, T9 and T6. In this five windings system, there are at least 4 windings working at any time, only one is commutating in a short time of commutation period.
  • the triggering logic has a simple rule: the thyristors of co-anode terminal and co-cathode terminal are triggered to turn on alternatively and sequentially, it is the same as the commutator segment brush system in fact.
  • Five-winding system is not the smallest armature winding system that may depend upon the armature winding back-emf to turn off the thyristor to complete the commutation.
  • the smallest system is the three-winding system. Certainly the performance of three-winding system cannot be so good, the electromagnetism torque and the armature current ripple will be very violent, but it is quite suitable for high speed and small power utilization.
  • FIG. 3, 4, 5 are respectively the spread diagrams of brushless DC motor of three-winding, five- winding and seven-winding. Said three- winding, five- winding and seven-winding are arranged as a closed-loop-winding respectively with the topology of duplex-lap-winding which is seldom used for the small or medium power DC motor.
  • duplex-wave-winding or combination of duplex-lap-winding and duplex-wave-winding which is namely the so-called frog-leg-winding are also workable, and it can not be connected to be a closed loop when the windings per pair of poles are even in number, it needs to be connected into two closed-loop-windings with a phase-shift when the windings per pair of poles are even in number, as FIG. 6 showed.
  • To connect the windings to be the multi phase-shift-closed-loop-windings when necessary is the simple and effective method to expand the system capacity and the redundant backup.
  • FIG. 7 is an example of ten windings, of which each two adjacent windings are arranged as a skein-phase-winding first, and then such five skein-phase-windings are connected by means of duplex-lap- windings topology of the DC motor. It can complete commutation of current in four slots or two windings per pair of poles by triggering one thyristor.
  • the commutation will have more ripples with more numbers of windings arranged in a skein-phase- winding.
  • said skein-phase-windings After arranging two or more windings in a skein-phase-winding, such said skein-phase-windings then also can be connected with the topology of duplex-lap-winding and/or duplex-wave-winding and/or phase-shift-closed-loop-windings and/or combination of them; and said skein-phase-windings also can be arranged as the type of simplex-lap-winding or simplex-wave-winding or concentric-winding with more than one single winding cell.
  • the current commutation can be completed in more than two slots per pair of poles by turning on just one thyristor so as to save the cost of thyristors.
  • the windings in the same phase can be connected in series or parallel so as not to increase the using quantity of commutating devices.
  • FIG. 1 is a schematic drawing of five- winding brushless DC motor.
  • FIG. 2 illustrates commutation process of five-winding brushless DC motor.
  • FIG. 2a illustrates commutation process of five- winding brushless DC motor.
  • FIG. 3 is an armature winding spread diagram of three-winding brushless DC motor.
  • FIG. 4 is an armature winding spread diagram of five-winding brushless DC motor.
  • FIG. 5 is an armature winding spread diagram of seven- winding brushless DC motor.
  • FIG. 6 is an armature winding spread diagram of brushless DC motor with a pair of shift-phase-closed-loop-windings.
  • FIG. 7 is an armature winding spread diagram of five-skein-phase- winding brushless DC motor.
  • FIG. 8 is a schematic drawing of five- winding brushless DC motor powered by controlled rectifier.
  • FIG. 8 shows the system of five- winding brushless DC motor powered by controlled rectifier 12 with three-phase AC power supply. It can run in motor or generator state, which will be described as follows respectively.
  • the brushless DC motor merely depends upon the rotation armature back-emf to commutate, it will have no ability to commutate while starting, and its commutation ability is also bad in low speed running, it needs to first turn off the armature current and the thyristors as commutating devices with the help of the drive source, then to trigger the next pair of thyristors to build new armature current to finish commutation to work.
  • the self-turn-off commutating devices which have the ability to turn off independently, it can turn on the commutating device which needs to turn on in commutation and at the same time or later to turn off the commutating device which needs to turn off to commutate, for example as FIG. 2, if the thyristors from Tl to TlO are replaced by Gate Turn-off
  • Thyristor on the state when Tl and T6 are conducting, turn on T8 and turn off T6 at the same time or later to start commutation. To not be later to turn on T8 than to turn off T6 is good for reducing the over voltage forced on T6 and commutating winding 4 with the inductance of commutating winding
  • the other self-turn-off power electronic devices include but not limited to Integrated
  • IGCT Insulated Gate Bi-thermal Thyristor
  • IGBT Insulated Gate Bi-thermal Thyristor
  • the brushless DC motor in which all the commutating devices are thyristors has its special commutation method in starting process: the armature current is controlled by controlled rectifier 12, trigger and turn on the corresponding thyristors according to the rotor position to start brushless DC motor, after the rotor has turned with certain angle, it needs to commutate, said controlled rectifier 12 shuts off the armature current so as to turn off the conducting thyristors as commutating devices, and then trigger the corresponding thyristor of the brushless DC motor and controlled rectifier 12 starts next stage work again.
  • thyristor 14 can be jointed with the stationary current inductance, just trigger it to turn on it when needs to turn off the armature current. This way is suitable for driving the big inertia and small or non-potential energy load, not suitable for the small inertia and big potential energy load.
  • the brushless DC motor has a special characteristic: the armature current always has the same direction whether it runs as motor or generator, what changes is only the voltage direction, which happens to satisfy the reversible operation condition of the controlled rectifier circuit. This is deferent from the DC motor reversible control system using commutator segment and electric brush system which needs a pair of reverse parallel connection controlled rectifier circuits.
  • the triggering rules of the brushless DC motor for running as generator are quite simple and apparent: to trigger and turn on the commutating devices which are in the highest and lowest voltage positions; or to trigger all of the commutating devices, only the commutating devices which are in the highest and lowest voltage positions can be turned on to conduct, and this is also a workable method for said brushless DC motor running as generator.
  • the triggering logic can completely control it.
  • the controlled rectifier system uses the self-turn-off thyristor devices at least in half bridge or in full bridge, the system will have the pulse-wide-modulation rectification and the reverse commutation ability; this will reduce the pollution to the electric network and enhance the ability of anti commutation failure.
  • the commutation way of the new brushless DC motor also has and allows to use an extremely interesting control characteristic: if triggering and turning on the thyristor to commutate much more ahead of time or phase relative to armature physical neutral axis, in other words, turning on the commutating device to start commutation at much more ahead of time or phase than doing in generally running state, obviously the armature winding back-emf connected by two on-state thyristors will be weaker, the result will be equivalent with that of the magnetic field weakening speed adjustment process of DC motor, that is to say, the DC power supply voltage is constant, the brushless DC motor rotational speed will still rise, and this has special using value to the speed adjustment which includes but not limited to the permanent magnet motor, as well as to the high speed motor with short time to commutate and especially to the super high speed motor, but
  • the soft-switch turning off method of the power electronic device should also be used in self-turn-off power electronic devices as commutating devices in the present invention. Air Gap and Slot Design Characteristics
  • the air gap of the brushless DC motor can be designed small, the corresponding pole shoe length may approach pole distance, the armature slot also may be designed to approach closed slot or use the magnetic slot wedge etc., these design characteristics will further enhance the power density and the energy efficiency of the new brushless DC motor.
  • the most commonly used technical method to detect the rotor position is to use one or more magnetism sensitive Hall sensors; of course the rotation encoder etc. can also be used; to monitor the voltage or emf of the armature winding can also detect the magnetic pole rotor position; meanwhile it can provide the real-time optimization for the commutation triggering phase of the new brushless DC motor so as to enhance the brushless DC motor running performance.
  • the optimized methods may be summarized as follows: monitor the magnetic pole rotor position or the voltage or emf of the armature winding in real-time, then adjust the commutation triggering phase to make the commutation close to the armature physical neutral axis of the brushless DC motor on the condition of guaranteeing the reliability of the commutation, when meeting the sudden events, advance the triggering time or phase preferentially guaranteeing the reliability of the commutation, of course, it is far away from the armature physical neutral axis when it is in the process of "magnetic field weakening speed adjustment".
  • the new brushless DC motor completely solved the commutation problem which the traditional DC motor has faced. It maintained the succinct electromagnetism structure and the outstanding speed adjustment performance of DC motor, and the commutating device working condition is superior by using the direct current actuation. It is not necessary to use the complex sine actuation as the synchronous motor or the asynchronous motor which will inevitably cause the power line harmonic pollution and energy loss. Therefore its theoretical efficiency will be higher than that of the synchronous-motor and the induction-motor, especially higher than that of the synchronous-motor and the induction-motor which are with converter driving systems.
  • the armature windings controlled by thyristors are still connected in series; it is more suitable for the armature winding and the thyristor device design and using than for the common brushless DC motor. And also it is with born superiority in the aspects of the armature windings equilibrium current and equilibrium voltage and the thyristor soft switch working condition and so on. Therefore it is not only suitable for the small power utilization, but also more suitable for the large power and high efficiency utilization. Meanwhile the thyristor device is the power electronic device which is most economical with the largest control power capacity and most mature and reliable technology device.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un moteur à courant continu sans collecteur qui inclut un enroulement d'armature monté sur le stator, les pôles magnétiques étant montés sur le rotor, une pluralité de dispositifs de commutation et un ou plusieurs capteurs ou détecteurs de position de rotor. Chaque paire de branches de pont supérieure et inférieure des dispositifs de commutation comprend un demi commutateur de pont en H. Chaque dit demi commutateur de pont en H de ce type relie le bus à courant continu et des points de jonction respectifs entre deux enroulements adjacents, en composant un ou plusieurs enroulements en boucle fermée et une topologie de circuits de commutation du moteur à courant continu sans collecteur. Il est inclus un procédé de commutation pour bloquer les dispositifs de commutation grâce à la force contre électromotrice de l'enroulement d'armature (force fcem) de façon à permettre l'utilisation des dispositifs de commutation sans capacité de blocage automatique telle que celle d'un thyristor. Et il est également inclus un procédé de commande qui est équivalent à l'ajustement d'une vitesse d'affaiblissement de champ magnétique dans le champ magnétique constant d'excitation.
PCT/IB2006/054187 2005-11-11 2006-11-10 Moteur a courant continu sans collecteur et son procede de commutation et de commande WO2007054909A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2005101244451A CN1787345B (zh) 2005-11-11 2005-11-11 无刷直流电机及其换流与控制方法
CN200510124445.1 2005-11-11

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WO2007054909A3 WO2007054909A3 (fr) 2007-10-18

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2284978A1 (fr) * 2009-08-03 2011-02-16 Converteam Technology Ltd Enroulements d'armature
CN106602947A (zh) * 2016-12-28 2017-04-26 上海理工大学 电动驱动装置、斩波电路、直流电机以及电动设备
CN106685148A (zh) * 2016-11-22 2017-05-17 清华大学 一种机电混合无弧换向的多相直流方波电机
CN107070322A (zh) * 2017-04-19 2017-08-18 上海理工大学 电动驱动装置以及电动设备
US9806651B1 (en) 2016-05-17 2017-10-31 General Electric Company DC electrical machine with center-tap windings systems and methods
US10811942B2 (en) 2010-11-12 2020-10-20 Abb Schweiz Ag Rotating electrical machine and corresponding method

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CN1787345B (zh) * 2005-11-11 2011-03-30 李荟敏 无刷直流电机及其换流与控制方法
CN101908854A (zh) * 2010-08-24 2010-12-08 南京新乐能电子科技有限公司 直流电机调速控制器
CN102545509A (zh) * 2010-12-15 2012-07-04 江建中 闭合绕组永磁无刷直流电机
CN102769368B (zh) * 2012-07-31 2015-10-14 上海交通大学 闭合绕组永磁无刷直流电机的扩速方法
CN102857162B (zh) * 2012-09-11 2015-04-15 宜昌清江电气有限公司 一种大电流无刷直流电机的主电路及控制方法
CN105207548A (zh) * 2015-09-15 2015-12-30 扬州大学 电子换向串励直流电机四象限运行控制装置及其方法
CN106899246B (zh) * 2017-05-03 2019-01-04 上海理工大学 直流电动驱动装置以及电动设备
CN106899245B (zh) * 2017-05-03 2019-01-04 上海理工大学 直流电动驱动装置以及电动设备
FR3068544B1 (fr) * 2017-06-28 2019-07-26 Valeo Equipements Electriques Moteur Convertisseur de tension, procede de fabrication d'un tel convertisseur de tension et ensemble d'un module principal et d'un module bornier pour former un tel convertisseur de tension
CN111149289B (zh) * 2017-09-25 2023-06-30 西门子股份公司 用于电动机的制动方法
CN110236420B (zh) * 2018-03-07 2020-09-01 广东美的生活电器制造有限公司 食品料理机及其转速增大控制方法、装置
CN111216863A (zh) * 2020-03-02 2020-06-02 熊鸿 基于无刷直流电机/发电机的船舶直流电力推进系统
CN114553026A (zh) * 2022-01-26 2022-05-27 张逸兴 一种电源电路及其应用

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CN1574596A (zh) * 2003-06-13 2005-02-02 美蓓亚株式会社 无刷直流电机的换向方法
CN1787345A (zh) * 2005-11-11 2006-06-14 李荟敏 无刷直流电机及其换流与控制方法

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US5982133A (en) * 1995-07-28 1999-11-09 Matsushita Electric Industrial Co., Ltd. Brushless motor with rotor position detection compensation caused by induced voltage in rotor
CN1075282C (zh) * 1996-05-02 2001-11-21 西门子加拿大有限公司 用于五相无刷直流电机的控制电路
CN1574596A (zh) * 2003-06-13 2005-02-02 美蓓亚株式会社 无刷直流电机的换向方法
CN1787345A (zh) * 2005-11-11 2006-06-14 李荟敏 无刷直流电机及其换流与控制方法

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2284978A1 (fr) * 2009-08-03 2011-02-16 Converteam Technology Ltd Enroulements d'armature
US10811942B2 (en) 2010-11-12 2020-10-20 Abb Schweiz Ag Rotating electrical machine and corresponding method
US9806651B1 (en) 2016-05-17 2017-10-31 General Electric Company DC electrical machine with center-tap windings systems and methods
CN106685148A (zh) * 2016-11-22 2017-05-17 清华大学 一种机电混合无弧换向的多相直流方波电机
CN106602947A (zh) * 2016-12-28 2017-04-26 上海理工大学 电动驱动装置、斩波电路、直流电机以及电动设备
CN106602947B (zh) * 2016-12-28 2023-08-29 上海理工大学 电动驱动装置、斩波电路、直流电机以及电动设备
CN107070322A (zh) * 2017-04-19 2017-08-18 上海理工大学 电动驱动装置以及电动设备
CN107070322B (zh) * 2017-04-19 2023-06-20 上海理工大学 电动驱动装置以及电动设备

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CN1787345A (zh) 2006-06-14
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