WO2011144197A2 - Procédé pour ajuster la position du rotor d'un moteur à commutation électrique - Google Patents

Procédé pour ajuster la position du rotor d'un moteur à commutation électrique Download PDF

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Publication number
WO2011144197A2
WO2011144197A2 PCT/DE2011/000420 DE2011000420W WO2011144197A2 WO 2011144197 A2 WO2011144197 A2 WO 2011144197A2 DE 2011000420 W DE2011000420 W DE 2011000420W WO 2011144197 A2 WO2011144197 A2 WO 2011144197A2
Authority
WO
WIPO (PCT)
Prior art keywords
motor
commutation
rotor
event
controlled
Prior art date
Application number
PCT/DE2011/000420
Other languages
German (de)
English (en)
Other versions
WO2011144197A3 (fr
Inventor
Martin Rapp
Carsten Angrick
Martin Zimmermann
Original Assignee
Schaeffler Technologies Gmbh & Co. Kg
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 Schaeffler Technologies Gmbh & Co. Kg filed Critical Schaeffler Technologies Gmbh & Co. Kg
Priority to CN2011800250317A priority Critical patent/CN103081343A/zh
Priority to DE112011101703T priority patent/DE112011101703A5/de
Publication of WO2011144197A2 publication Critical patent/WO2011144197A2/fr
Publication of WO2011144197A3 publication Critical patent/WO2011144197A3/fr

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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
    • H02P6/12—Monitoring commutation; Providing indication of commutation failure
    • 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

  • the invention relates to a method for controlling the Rotoriage an electrically commutated motor, in particular a brushless DC motor, in which the phases of the motor are driven by determining the position of the rotor via an event-controlled commutation.
  • Event-controlled in the context of the present invention means that an event (eg Hall interrupt or a certain angle) is detected and, due to the detected event, a commutation (preferably via the control software) is performed.
  • An example of event-driven commutation is "block commutation”.
  • a vector control can be performed.
  • This vector control or field-oriented control can consist of a speed controller based on a subordinate current controller.
  • the phase current of at least two phases of the motor can be measured in a high-frequency time grid, from which the further energization of the rotor is determined.
  • Such a vector control leads to a very high computational effort in the drive unit.
  • the block commutation (as an example of the event-driven commutation), in which always two of the three three-phase windings of the motor are energized, a resolution of the Rotoriage can only be adjusted depending on the number of pole pairs of the motor. Furthermore, the block commutation has the disadvantage that it leads to a discontinuous torque curve with strong amplitudes.
  • the invention is therefore based on the object of specifying a method for controlling a rotor position of an electrically commutated motor, in which the rotor of the motor is precisely adjusted to at least 1 °, although the utilization of the evaluation unit with the motor control for vector control is substantially reduced ,
  • the object is achieved in that the control of the phases of the motor is switched from the event-controlled commutation to a timed commutation for highly accurate adjustment of the position of the rotor. This is always at a certain time (time interrupt), the z. B. depending on a particular topology of the engine, a Umkommuttechnik made.
  • time frame in connection with the present invention means a cyclically recurring software interrupt with the same time step size.
  • Fixed here means that the software interrupt remains the same for a longer period of time or even the entire service life.
  • Adaptable means that after a certain time and / or depending on preset conditions (eg speed limits) a change is made.
  • the time-controlled commutation makes it possible to adjust the position of the rotor very precisely and in phase, which leads to a very precise regulation of the position of the rotor.
  • An example of the time-steered commutation is a sine commutation.
  • the time-controlled commutation takes place at fixed predetermined time intervals, wherein in dependence on the determined position of the rotor of the motor drive values for the phases of the motor are read from a table.
  • the control of the position of the rotor is designed very accurately, since any small change in the rotor position can be occupied in the table with an exact control value.
  • the computing power of the evaluation unit is reduced, whereby the utilization of the evaluation unit with tasks of the motor control is severely limited.
  • Block Kommutierung triggered by a process interruption, which is triggered in response to the position of the rotor, in particular a predetermined angle change.
  • the timing of the block commutation is determined by the position of the rotor, while the time-controlled commutation always takes place after the expiration of a fixed time window.
  • a sensor determining the Lagades rotor detects an absolute angle of the rotor which is forwarded via an incremental interface generating at least two square-wave signals to an evaluation unit which counts the edges of the at least two square-wave signals generated by the incremental interface and from this the position of the rotor determined by the motor, wherein after a certain number of counted edges of the process interrupt is triggered.
  • Correction interrupt which is triggered after a smaller number of edges than the process interrupt. This correction is necessary because the process interrupt must be generated after a certain electrical angle of the drive signal. When converting to mechanical angular distances, values occur that are not integer, which is why a correction interrupt must be performed. In one variant, switching between event-controlled commutation (e.g.
  • Block commutation Block commutation and time-controlled commutation (eg sinusoidal commutation) as a function of a speed of the motor. Since the control of the motor is sinusoidal at low speeds, the impressed motor current corresponds approximately to the shape of the generator voltage of the motor. In this case, the phase offset is very small, so that it can be neglected for the highly accurate adjustment of the rotor position. A constant torque curve supports the exact adjustment of the position of the rotor. At higher speeds is switched to block commutation because the motor current of the motor voltage due to the motor inductance lags increasingly. As a result, the motor current is no longer impressed at the ideal time depending on the rotor position, so that no longer the maximum possible engine torque is generated. Therefore, the high-precision adjustment The phasing used the advantages that are present at low speeds by the sinusoidal control of the motor.
  • the rotational speed of the engine is switched from the block commutation to the time-controlled commutation. Since there is almost no phase offset between motor current and motor voltage, a reliable 1 ° -accurate adjustment of the rotor position of the motor is possible.
  • Speed threshold by the speed of the motor which is greater than the first speed threshold, switched from the timed commutation to the block commutation. This ensures that the control of the rotor position can be carried out to the degree possible as long as possible.
  • Block commutation when one phase of the motor is de-energized This takes into account that the ratio of motor current to motor torque behaves differently in block commutation than in the case of timed commutation.
  • Figure 1 an equivalent circuit diagram of a phase of an electrically commutated motor
  • FIG. 2 a block diagram of the hardware connection of a rotor position sensor
  • FIG. 3 a representation of the realization of a time-dependent commutation and a block commutation
  • Figure 4 a representation of the generation of a process interrupt in a block commutation
  • Figure 5 a representation of the terminal voltages in sinusoidal commutation
  • Solid lines L1 to L3 and the terminal voltages in block commutation represent favorable switching times (since there is a zero crossing of one of the phases).
  • FIG 1 shows an equivalent circuit diagram for a phase of an electrically commutated motor 1, which is designed as a brushless DC motor (BLDC motor).
  • BLDC motor brushless DC motor
  • Such an engine is used, for example, for driving clutches in motor vehicles.
  • It is a three-phase motor, which is operated with a three-phase current, which is caused by three alternating voltages 120 ° out of phase and produces a rotating field.
  • the motor has three three-phase windings, with one of the three alternating voltages applied to each winding.
  • the connection of the winding is referred to as phase.
  • Each winding represents an impedance that is characterized by the L-phase (inductive reactance) and an R-phase (real resistance).
  • the motor current I Mot must match exactly to the rotor position, that is, the motor current I Mot must be in phase with the motor voltage U Gen.
  • the angle at which the voltage U Vor must precede the motor voltage U Gen would have to be determined via a vector operation. Since such a procedure is very time-consuming and requires a high computing power of an evaluation unit, a method is proposed which dispenses with the tedious calculation processes and nevertheless has a setting resolution of the rotor position of the motor 1 of at least 1 °.
  • Figure 2 is a block diagram for the connection of a rotor position sensor 2 to a
  • Evaluation unit 3 shown, which allows such a highly accurate setting resolution.
  • the rotor position sensor 2 With the rotor position sensor 2, the absolute angle of the rotor is measured.
  • the rotor position sensor 2 is connected via a serial interface 4 and an incremental interface 5 to the evaluation unit 3, which is realized in the present case by a microcontroller.
  • the interface 5 consists of at least two lines, each line provides a square wave signal and the two square-wave signals are phase-shifted by 90 °.
  • the interface 5 consists of at least two lines, each line provides a square wave signal and the two square-wave signals are phase-shifted by 90 °.
  • increments Around To determine the position of the rotor, attention must be paid to the rising or falling edge of the signal, also referred to as increments. Typical are counts of 2048 increments per one revolution of the rotor. This means 1024 rising and 1024 falling edges per revolution.
  • the decision as to whether the engine 1 should be controlled via a block commutation 8 or a timed commutation 9 for the precise setting resolution of 1 degree is made as a function of the engine speed.
  • a block commutation 8 is carried out at a speed of greater than 100 rpm, while at a speed of less than or equal to 100 rpm, the time-controlled commutation 9 is used.
  • FIG. 3 shows that both types of commutation 8, 9 are controlled by the signal
  • the time-controlled commutation 9 in which all three phases of the electric motor 1 are controlled by means of a PWM signal, is called in a fixed time grid t. Ideally, this takes place as a function of the period TPWM of the PWM frequency.
  • T + 2TPWM a process interrupt 6 is carried out, in which for the high-precision position control of the rotor, the increments counted in the time frame are read, with their Help the exact position determination of the rotor takes place.
  • the thus determined position of the rotor is visited in a table and read out a corresponding control pattern for energizing all three phases of the motor 1 of the microcontroller 3.
  • a process interrupt 6 is triggered by means of a position counter which counts the edges of the square-wave signals of the incremental interface 5.
  • the particular determined by evaluation of the edges of the incremental interface 5 process interrupt 6 is always triggered at the position of the rotor, which is electrically characterized by 60 °.
  • the 6 in the denominator of the equation corresponds to the 6 block steps per 360 ° electrical. The conversion between electrical and mechanical position is necessary to assign the position of the rotating field of the rotor.
  • FIG. 5 illustrates a possible embodiment of the switching from event-controlled commutation (block commutation) to time-controlled commutation (sinusoidal commutation), preferably at those points at which one of the phases has a zero crossing.
  • the commutation can not only depend on a signal value (e.g., speed) of
  • Block can be switched to sine or vice versa, but also depending on the phase position (x-axis).
  • a favorable switching time as shown for example in Figure 5, a gentler switching process (without torque jump, or current jump) can be realized. Due to the different control, a factor should be added to the setpoint voltage when switching the commutation.

Landscapes

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

Abstract

L'invention concerne un procédé pour ajuster la position du rotor d'un moteur à commutation électrique, en particulier d'un moteur à courant continu sans balai, procédé selon lequel les phases du moteur sont commandées par l'intermédiaire d'une commutation en bloc, une fois que la position du rotor a été déterminée. Ce procédé est caractérisé en ce qu'il comprend l'étape consistant à passer de la commutation en bloc à une commutation commandée par le temps, pour permettre un ajustement très précis de la position du rotor.
PCT/DE2011/000420 2010-05-20 2011-04-18 Procédé pour ajuster la position du rotor d'un moteur à commutation électrique WO2011144197A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2011800250317A CN103081343A (zh) 2010-05-20 2011-04-18 用于调整电换向式电机的转子位置的方法
DE112011101703T DE112011101703A5 (de) 2010-05-20 2011-04-18 Verfahren zur Regelung der Rotorlage eines elektrisch kommutierten Motors

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010022238.0 2010-05-20
DE102010022238 2010-05-20

Publications (2)

Publication Number Publication Date
WO2011144197A2 true WO2011144197A2 (fr) 2011-11-24
WO2011144197A3 WO2011144197A3 (fr) 2012-12-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2011/000420 WO2011144197A2 (fr) 2010-05-20 2011-04-18 Procédé pour ajuster la position du rotor d'un moteur à commutation électrique

Country Status (3)

Country Link
CN (1) CN103081343A (fr)
DE (2) DE112011101703A5 (fr)
WO (1) WO2011144197A2 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013224243A1 (de) * 2013-11-27 2015-05-28 Robert Bosch Gmbh Verfahren und Vorrichtung zum Bestimmen einer Stellungsangabe eines Läufers einer elektrischen Maschine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2858692B2 (ja) * 1996-12-05 1999-02-17 株式会社安川電機 永久磁石型同期電動機のセンサレス制御方法及び装置
DE10339028A1 (de) * 2003-08-25 2005-03-31 Siemens Ag Verfahren und Vorrichtung zum Steuern eines bürstenlosen Gleichstrommotors
US7274163B1 (en) * 2006-03-31 2007-09-25 Lexmark International, Inc. Methods and apparatus for commutating a brushless DC motor in a laser printer
JP4379427B2 (ja) * 2006-04-03 2009-12-09 株式会社デンソー 多相回転電機の制御装置

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Also Published As

Publication number Publication date
CN103081343A (zh) 2013-05-01
WO2011144197A3 (fr) 2012-12-20
DE102011017395A1 (de) 2012-02-16
DE112011101703A5 (de) 2013-03-07

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