WO2016067634A1 - Système d'entraînement de moteur mettant en oeuvre un stabilisateur de courant - Google Patents

Système d'entraînement de moteur mettant en oeuvre un stabilisateur de courant Download PDF

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Publication number
WO2016067634A1
WO2016067634A1 PCT/JP2015/005482 JP2015005482W WO2016067634A1 WO 2016067634 A1 WO2016067634 A1 WO 2016067634A1 JP 2015005482 W JP2015005482 W JP 2015005482W WO 2016067634 A1 WO2016067634 A1 WO 2016067634A1
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constant current
phase
coil
motor
current control
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PCT/JP2015/005482
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English (en)
Japanese (ja)
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允 田仲
千津子 寺内
美香 田村
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Ｋａｉｓｅｉモータ株式会社
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Priority to CN201580027868.3A priority Critical patent/CN106464107A/zh
Publication of WO2016067634A1 publication Critical patent/WO2016067634A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K19/00—Synchronous motors or generators
    • H02K19/02—Synchronous motors
    • H02K19/10—Synchronous motors for multi-phase current

Definitions

  • the present invention relates to a motor drive system by constant current control, and more particularly to a drive system of a switched reluctance motor (hereinafter referred to as an SR motor) by constant current control.
  • SR motor switched reluctance motor
  • an SR motor is noted because it includes a rotor made of magnetic material and an excitation stator provided so as to surround the rotor and does not require a permanent magnet.
  • the main causes of the generation of the vibration and noise are (1) electromagnetic phenomena unique to the motor and (2) residual magnetic energy. Since the coil of the SR motor has a large reactance, residual magnetic energy of the coil continues to flow current even when the excitation current is cut off during commutation, and this residual magnetic energy acts as a brake on the rotor, resulting in resistance Torque is generated, which causes vibration and noise.
  • synchronous motors using neodymium permanent magnets are mainly used for electric vehicles (EVs), but some use induction motors that do not use neodymium. From the point of view of global environmental protection, a motor smaller in size and higher in efficiency, less in use of copper and aluminum, and not using neodymium is attracting attention than an induction motor.
  • Patent Document 1 there is an SR motor drive system as shown in Patent Document 1 as a motor drive system based on a three-phase synchronous motor or a three-phase induction motor.
  • This SR motor uses many rotors or stators arranged with their rotational phases shifted on the rotating shaft, and also uses commutating capacitors (capacitors) and a large number of diodes in the commutation circuit for regeneration. .
  • the present invention solves the above-mentioned problems, and residual magnetic energy of the exciting coil can be superimposed on the exciting coil of the next phase during driving and braking, and can be recovered and reused. It is an object of the present invention to provide a motor drive system by constant current control which can obtain a large coil current output and can improve the efficiency.
  • the present invention provides a motor drive system by constant current control, A motor having a rotor made of a magnetic material, and a stator on which coils of excitation phases provided circumferentially opposed to the rotor are wound; And a constant current control circuit for constant current control of a commutation circuit that supplies and cuts off current from a direct current constant current source to a coil of the motor according to various detection signals and a command signal.
  • the commutation circuit supplies the constant current to the coils of each phase sequentially at a predetermined timing, and switches the open / close switch from the connection point between the negative electrode side of the coil of each phase and the open / close switch.
  • the present invention when commutation is performed to open / close the switch to shut off the energization (excitation) to the coil of one phase so as to perform constant current control and to energize (excitation) the coil of the next phase,
  • the residual magnetic energy of the coil can be superimposed on the next energization of the exciting coil to recover and reuse the residual magnetic energy.
  • the loss due to the magnetoresistance (reluctance) is reduced, and a coil current output higher than the supply current from the power supply can be obtained.
  • a current corresponding to the internal loss of the motor is supplied to the coil, inertial operation becomes possible, and power regeneration can be performed until the motor stops.
  • vibrations unique to SR motors are reduced by using constant current control.
  • FIG. 1 is a block diagram showing a configuration of a motor drive system according to an embodiment of the present invention.
  • Sectional drawing which shows the structure of the motor.
  • Sectional drawing which shows the structure of the motor which concerns on other embodiment.
  • the circuit diagram of the said motor drive system The circuit diagram by the modification of the said motor drive system.
  • FIG. 7 is a circuit diagram of a motor drive system according to another embodiment.
  • the circuit diagram by the modification of the said motor drive system.
  • the commutation current waveform figure of the exciting coil of the said motor The figure which shows the relative position with respect to the stator unit of the rotor unit at the time of a drive.
  • FIG. 21 is a specific circuit diagram of a motor drive system shown in FIG. 20.
  • FIG. 1 shows the overall configuration of a motor drive system 1 (hereinafter referred to as the system 1).
  • the system 1 includes a constant current commutation circuit 20 (hereinafter referred to as commutation circuit), an SR motor 30 (hereinafter referred to as a motor), to which power is supplied from a direct current constant current power supply 10 (hereinafter referred to as constant current power supply).
  • a commutation control circuit 61 (hereinafter also referred to as a constant current control circuit) is provided.
  • the constant current power supply 10 incorporates a control system, and outputs a DC constant current of a value according to an externally supplied command.
  • the commutation circuit 20 sequentially switches the DC constant current from the constant current power supply 10 to a DC square waveform and supplies it to the multiphase excitation coil of the stator for excitation of the motor 30 and shuts it off.
  • a rotor made of a magnetic material is rotated by a DC constant current supplied to the exciting coil at a predetermined timing.
  • the power supply 10 incorporates, for example, a lithium ion battery, and the constant current power supply 10 is provided with a capacitor in parallel.
  • FIG. 2A shows a motor 30 according to one embodiment.
  • the motor 30 includes a stator 31 and a rotor 33.
  • each unit of the stator 31 and the rotor 33 is an axially doubled (stacked) motor.
  • the stator 31 includes a first stator unit 31 a and a second stator unit 31 b formed of laminated steel plates, and is provided to surround the rotor 33.
  • the rotor 33 includes a first rotor unit 33a and a second rotor unit 33b formed of laminated steel plates, and these rotor units 33a and 33b are predetermined by a rotor stop 307 made of a nonmagnetic material. And is fixed to the rotating shaft 306.
  • the motor 30 includes a cylindrical outer frame 301, disk-shaped bearing plates 302 and 303 fixed to both ends thereof, and bearings 304 and 305 fixed to the central portion thereof.
  • the rotating shaft 306 is rotatably supported by the bearings 304 and 305.
  • the stator units 31 a and 31 b are held at a predetermined distance by a stator stop 308 made of nonmagnetic material and fixed to the inner peripheral wall of the outer frame 301.
  • the motor 30 is provided with an angular position detector 309 opposite to a portion protruding from one bearing plate 303 of the rotating shaft 306. The angular position detector 309 detects the rotational angular position of the rotating shaft 306, and outputs a detection signal corresponding to the detected rotational angular position.
  • FIG. 2B shows a motor 30 according to another embodiment.
  • each unit of the stator 31 and the rotor 33 is a motor of one stack in the axial direction.
  • the other aspects are the same as those described above, and thus the description thereof is omitted.
  • FIG. 3A shows the arrangement of the first stator unit 31a and the first rotor unit 33a
  • FIG. 3B shows the arrangement of the second stator unit 31b and the second rotor unit 33b
  • FIG. 5 shows excitation coils and an excitation state in the stator 31 (representatively, the first stator unit 31a).
  • the first rotor unit 33a and the second rotor unit 33b have the same rotational phase, and the second stator unit 31b is out of phase with the first stator unit 31a.
  • the magnetic poles 311 to 322 are provided with excitation coils 411 to 422 wound respectively.
  • the magnetic pole 311 is a convex pole 331 of the rotor unit 33a. It is in the opposite position.
  • the second stator unit 31b has a predetermined angle, ie, a pitch angle (30 degrees) of one magnetic pole, with respect to the first stator unit 31a shown in FIG. 3A.
  • the direction of displacement is forward when the direction of rotation of the rotor is clockwise as shown by the arrow in FIG. 3A.
  • FIGS. 4A and 4B relate to the first stator unit 31a, the rotor unit 33a, and the second stator unit 31b and the rotor unit 33b according to a mode different from the mode shown in FIGS. 3A and 3B. Indicates the placement relationship.
  • the first stator unit 31a and the second stator unit 31b have the same rotational phase
  • the second rotor unit 33b has the rotational phase shifted from the first rotor unit 33a. ing.
  • This rotational phase shift is shifted 15 degrees in the direction opposite to the shift direction in the form of FIGS. 3A and 3B. It does not matter as such an arrangement relation.
  • phase A when the current flows from the input terminal of the series coil to the output terminal, the winding direction of the series exciting coil of each phase is opposite to the magnetic pole 311 and the magnetic pole 317 facing each other across the motor axis.
  • a magnetic flux directed from the outside to the inside is generated, and a magnetic flux directed from the inside to the outside (indicated by a broken line) is also generated to the opposing magnetic poles 314 and 320.
  • the magnetic poles 311 and 317 and the magnetic poles 314 and 320 are at angular positions orthogonal to each other. The same applies to the B phase and the C phase.
  • the inward magnetic flux and the outward magnetic flux form a plurality (two in this example) of orthogonal magnetic fluxes, and they are dispersed in the circumferential direction of the motor to exert an electromagnet action. Thereby, mechanical deformation, vibration and noise of the motor are suppressed. The details of this action will be described later.
  • FIG. 6A shows the circuit configuration of the commutation circuit 20 connected to the exciting coil of the motor 30.
  • FIG. 6B shows the modification.
  • the commutation circuit 20 includes a first commutation circuit 20a and a second commutation circuit 20b connected in parallel, corresponding to each stack.
  • Each of the commutation circuits 20a and 20b is a circuit that supplies and interrupts a square wave DC constant current sequentially from the constant current power supply 10 while shifting the excitation coil of each phase (A, B, C) by a predetermined timing, And a circuit for causing the supplied excitation coil to recover and reuse residual energy of the excitation coil when it is shut off.
  • Each commutation circuit 20a, 20b has the same configuration although the operation phase is different.
  • the diodes 51 to 56 are provided in the forward direction (during commutation) on one end side and the other end side of the series-connected coil of each phase.
  • the diodes 51, 52, 53 are provided between the negative electrode side of the constant current power supply 10 and one end of the coil of each phase, and the diodes 54, 55, 56 are between the other end of the coil of each phase and the positive electrode Provided in These are to make the next supply excitation coil recover and reuse the residual energy of one coil.
  • the series path of the coil of each phase and the switching element is connected in parallel with each other, and the series path of the coil and diode of each phase is connected in parallel with each other.
  • a current sensor 7 for detecting the current flowing through the coil is provided in series with the coil.
  • a current sensor may be installed in each phase.
  • One end side of the coil of each phase is directed to the positive electrode side of the constant current power supply 10, and the other end side is directed to the negative electrode side of the constant current power supply 10.
  • the switching elements SA1, SB1, SC1 are on one end side (positive electrode side) of the coil of each phase, and the switching elements SA2, SB2 are on the other end side (negative electrode side).
  • SC2 are provided, but the former switching elements SA1, SB1, SC1 may be omitted. That is, at least the latter switching elements SA2, SB2, and SC2 need to be provided. The same applies to the following modifications.
  • the commutation circuits 20a and 20b are controlled by an operation signal according to the command input to the constant current control circuit 61 and the angular position information of the rotor.
  • the direction of the current flowing through the coils 411 to 422 of the motor 30 is the same during driving and during regenerative braking, and the timing of current flow differs between driving and regenerative braking.
  • the residual magnetic energy of the exciting coil generated at the time of commutation flows to the next exciting coil and is recovered and reused in the diodes 51 to 56 in both of driving and regenerative braking.
  • the current flowing through the coil during commutation is equal to or greater than the current supplied from the constant current power supply 10.
  • the constant current control circuit 61 generates a constant current by performing PWM control on the commutation circuits 20 a and 20 b according to a constant current set value instructed based on the power supplied from the constant current power supply 10.
  • the direct current of a fixed value is output in a fixed direction without depending on the load electromotive force appearing in the commutation circuits 20a and 20b depending on the positive, negative, large or small.
  • the DC constant current is output from T1 and is fed back to the output terminal T2 through commutation circuits 20a and 20b, an A-phase or B-phase or C-phase exciting coil.
  • the constant current control circuit 61 is a commutation circuit based on angular position information representing the relative angular position of the rotating shaft 306 (rotor 33) relative to the stator unit 31 based on the detection signal from the angular position detector 309. An operation signal for turning on / off the switching elements SA, SB, SC corresponding to each phase in 20a, 20b is output. Also, when a regenerative braking command is input from the control system instead of the drive command, the constant current control circuit 61 corresponds to the output timing of the operation signal, the rotor 33 corresponds to an electrical angle of 120 degrees from the output timing at the time of driving. Switch to the timing shifted by the rotation time. This electrical angle is appropriately set according to the number of phases of the exciting coil and the like.
  • the constant current control circuit 61 performs regenerative braking by switching the internal circuit or commutation circuit 20 of the constant current power supply 10 according to various detection signals and current setting commands ⁇ drive (accelerator) or regenerative braking (brake) / inertia ⁇ .
  • the capacitor 5 can be charged.
  • current flows from the positive electrode of the capacitor 5 to the coil through the constant current power supply 10 and the commutation circuit 20 and returns to the negative electrode of the capacitor 5.
  • the rotor is attracted and rotated by exciting the coil. During regenerative braking, the rotor is rotated by an external force.
  • the switching elements SA to SC perform constant current control by PWM control, discharge the phase shifted current from the positive electrode of the capacitor 5 through the constant current power supply 10 to the coils of the stator, and excite the coils.
  • the magnetic flux of the stator pulls the rotor rotating by external force back. At this time, when the rotor cuts the magnetic flux, stored magnetic energy is generated as a speed electromotive force in the coil.
  • the duty ratio of PWM control the capacitor 5 can be charged, and power regeneration is performed. This becomes possible to stop the motor by flowing the internal loss of the motor coil (this has been confirmed experimentally). Discharge and charge of the capacitor are repeated in a short time.
  • FIG. 6B shows a modification of the motor 30.
  • the excitation coils of each phase are connected in parallel, not in series. That is, the A-phase coils (411, 414, 417, 420) are connected in parallel to one another.
  • the constant current control circuit 61 controls the switching elements SA, SB, SBSC so that the current is sequentially supplied to the coils of each phase at an electrical angle of 120 degrees of the rotor, and it is rectangular at driving and regenerative braking.
  • the electrical angle of the DC wave constant current waveform is shifted by 120 degrees, and the switching operation of the switching element is made in the order of A phase, B phase, and C phase in both driving and regenerative braking.
  • the on / off operation of the switching elements SA, SB, SC of the commutation circuits 20a, 20b is sequentially performed in a state of being shifted by 120 degrees. Since the commutation circuits 20a and 20b shift the rotation phase of the stator unit, they may be energized in the same phase.
  • the switching element is opened and closed. At the time of regenerative braking, the electrical angle of the square wave DC constant current waveform is shifted by 120 degrees with respect to the time of driving.
  • FIG. 9 shows a current waveform in a period from when the current of the coil of each phase is turned on to when it is turned off.
  • t1, t2 and t3 are commutation timings.
  • the circuit is switched by the switching operation of the switching element in the commutation circuit 20, and as a result, a square wave DC constant current sequentially flows in the coil of each phase.
  • the period of the on / off operation of the current flowing through the coil of each phase is performed at the square wave fundamental frequency f.
  • the rising and falling of the current during the commutation transition period in which the current of the coil of the first phase is turned on while the current of the coil of the first phase is turned on are performed at the commutation equivalent frequency f 0 .
  • Is represented by Commutation equivalent frequency f 0 is a concept that is dependent on the speed of the current switching in the commutation circuit 20, suitable value is selected in the range of f ⁇ f 0.
  • FIGS. 10A to 10C The rotation of the rotor 33 is based on clockwise in each drawing. Although the relationship between the stator unit 31a and the rotor unit 33a is shown in the figure, the relationship between the other stator unit 31b and the rotor unit 33b is also the same.
  • the rotational direction end P L (hereinafter referred to as the end P L ) of the convex pole 331 of the rotor unit 33 a is at the upstream end point Q 1 (hereinafter referred to as the end Q 1 ) of the magnetic pole 311 of the stator unit 31 a.
  • the tip P L is, the downstream end point Q 2 pole 311 (hereinafter, referred to as the end point Q 2) shows a state close to.
  • 10C is an upstream end point Q 3 next to the pole 312 of the tip P L poles 311 (hereinafter, referred to as end point Q 3) shows a state close to.
  • each convex pole of the rotor unit 31a is attracted by the excited A-phase magnetic pole 311 to generate torque in the forward direction.
  • the excitation current of phase A decreases and the excitation current of phase B increases.
  • the width in the rotational direction of each convex pole of the rotor unit 31a is set larger than the width of each magnetic pole of the stator unit 33a, and the state in which the entire width of the excitation pole faces the convex pole is maintained.
  • the circumferential width of the rotor is greater than the circumferential width of the stator (1.25 in this embodiment) in order to capture regenerative energy until the motor stops. Therefore, in the commutation period, no reaction torque is generated due to the remaining current of the A-phase coil. Further, the attraction force due to the rising current of the B phase does not adversely affect the rotation of the rotor unit 33a because the other convex poles of the rotor unit 33a do not face each other in the vicinity.
  • the motor of this embodiment has a 12-pole stator, 4-pole rotor structure, an excitation electrical angle of 120 degrees, and a 12-pole stator, an 8-pole rotor, an excitation electrical angle of 60 in the existing constant voltage system. The torque is larger compared to the motor of a degree. A large torque leads to a large recovery of regenerative energy.
  • the set maximum current flows to the A-phase exciting coil to generate effective torque.
  • This effective torque also occurs when switched to B-phase excitation.
  • the torque and the load electromotive force is generated in the period of movement from the end point Q 1 to Q 2.
  • the torque and electromotive force of the entire motor 30 is a value obtained by multiplying the total number 4 of the convex poles in each rotor unit and the number of stacks 2 (the number of sets of the rotor unit and the stator unit) by the torque and electromotive force described above. It becomes.
  • FIG. 11A the rotational direction rear end P T (hereinafter referred to as the rear end P T ) of the convex pole 331 of the rotor unit 33a is the upstream end point Q 1 (hereinafter referred to as the end point Q 1 ) of the magnetic pole 311 of the stator unit 31a.
  • FIG. 11B shows a state in which the rear end PT is close to the downstream end point Q 2 (hereinafter referred to as end point Q 2 ) of the magnetic pole 311.
  • FIG. 11C shows a state in which the rear end PT is close to the upstream end point Q 3 (hereinafter referred to as the end point Q 3 ) of the magnetic pole 312 next to the magnetic pole 311.
  • FIG. 11A As shown in FIG. 11A, at the position where the end point to Q 1 rear P T and the magnetic pole 311-salient 331 is opposed, the current to the exciting coil, commutated commutation is completed to the A-phase side (FIG. 9 Time t1). Then, as shown in FIG. 11B, and the end point Q 2 of the rear end P T and the magnetic pole 311-salient 331 is in the position opposite current to the exciting coil initiates commutation of the B-phase side (FIG. 9 At time t2). Furthermore, as shown in FIG. 11C, (time t3 in FIG.
  • the stator unit 31a (31b) includes a magnetic pole 311 etc. on which the A phase excitation coil 411 etc. is wound, a magnetic pole 312 etc. on which the B phase excitation coil 412 etc. is wound, and a C phase excitation coil 413 etc. And the magnetic pole 313 etc. which were wound. These magnetic poles are arranged in order.
  • a magnetic circuit is formed between the in-phase magnetic poles. In FIG. 12, one of the magnetic circuits is indicated by a dashed arrow. Each magnetic circuit includes two excitation coils and two air gaps g.
  • ampere-turn (IN) IN (AT) Bg / ⁇ 0 B Bg ⁇ 800,000 (4)
  • I Excitation coil current (A)
  • N Number of turns of exciting coil
  • B Air gap magnetic flux density (T)
  • g air gap length (m) Is represented by
  • the excitation coil is designed based on the magnetic flux density 1.6 T do it.
  • the flux density can be designed to be less than 1.6T.
  • the width of the magnetic pole, the width of the convex pole and the yoke width will be described with reference to FIG.
  • the pole width reduction rate K has an important relation to the torque ripple rate and the regeneration rate, as described later.
  • FIG. 13 shows the distribution of the air-gap magnetic flux with respect to the angular position in the rotational direction of the convex pole 331 of the rotor unit in the driven state.
  • Figure 13 (i) the rotation direction leading end P L-salient 311 of the rotor unit, showing a state in which close to the upstream end point to Q 1 pole 311 of the stator unit.
  • FIG (ii) shows the state in which the leading end P L is close to the central point Q 2 pole 311.
  • FIG (iii) shows the state in which the leading end P L is close to the downstream end-to-end Q 3 pole 311.
  • FIG (iv) shows a moment when the leading end P L is close to the upstream end point Q 4 next to the pole 312.
  • Arrows shown in the air gap are magnetic fluxes generated in the air gap.
  • the air-gap magnetic flux density of the portion where the convex pole 331 of the rotor unit and the magnetic pole 311 of the stator unit are opposite to each other is the value according to the equation (4) described above.
  • the air gap magnetic flux density is zero at air gap length infinity.
  • FIG. 14 (a) illustrates the change of the magnetic flux in FIG.
  • the horizontal axis represents the rotational direction angular position, and the angular positions of (i), (ii), (iii) and (iv) are as shown in FIGS. 13 (i), (ii), (iii) and (iv). It corresponds to When the rotor 31 is rotating at an equal angular velocity, the horizontal axis in FIG. 14 may be regarded as the same concept as the time axis.
  • B is the magnetic flux density [T] calculated by equation (4), and a is the magnetic pole thickness (m).
  • the magnetic flux is constant between times (iii) and (iv) in FIG.
  • FIG. 14 (b) shows the electromotive force.
  • N is the number of turns of the exciting coil
  • T is a time (seconds) during transition from the state shown in (i) to the state shown in (iii) in FIG.
  • the polarity of the electromotive force becomes positive in the direction that prevents the increase of the magnetic flux, that is, on the inlet side of the exciting coil.
  • FIG. 14 (c) shows the torque.
  • N is the second rotational speed of the rotor
  • ⁇ is torque [ ⁇ N ⁇ m].
  • ⁇ ' k ⁇ (13) It can be calculated according to
  • FIG. 15 shows the distribution of the air gap magnetic flux with respect to the angular position of the convex pole of the rotor unit in the rotational direction in the regenerative braking state.
  • Figure 13 described above is that the illustrating a positional relationship with respect to the rotation direction front end P each point L stator poles of Q 1, Q 2, Q 3 , Q 4 -salient 331 of the rotor unit 33,
  • Fig. 15 shows the positional relationship between the rotational direction rear end P T and each point Q of the stator poles 1, Q 2, Q 3, Q 4-salient 331. That is, FIG.
  • FIG. 15 shows a state of being delayed with respect to the rotation direction by an arc length (an electrical angle of 180 degrees) of the width of the convex pole 331 of the rotor unit 33 in comparison with FIG. 16 (a) shows the change of the magnetic flux of the A-phase excitation magnetic pole, FIG. 16 (b) shows the electromotive force of the A-phase excitation coil, and FIG. 16 (c) shows the braking force generated on the convex pole 331 of the rotor unit 33. Show.
  • the value of the electromotive force e a is the same as that of the equation (9), and the polarity is in the direction to prevent the decrease of the magnetic flux, and the current inlet side of the exciting coil is “negative”.
  • the value of the braking force is the same as the driving torque of the equation (11).
  • FIGS. 17A to 17C show the operation of energy supply and regeneration by the constant current power supply 10. Energy supply and regeneration are performed corresponding to the speed electromotive force induced as the rotor 33 of the motor 30 rotates.
  • 17A shows a state where the motor 30 is driven
  • FIG. 17B shows a state where the motor 30 is regeneratively braking
  • FIG. 17C shows a state where the drive of the motor 30 is stopped (inertial operation).
  • the product (watt) of the electromotive force Ea calculated by Faraday's law or Fleming's law and the current (ampere) flowing at that time can be regarded as net power conversion, reversible power conversion.
  • the DC constant current I output from the constant current source 10 through the output terminal T1 is fed back to the output terminal T2 through the A-phase, B-phase or C-phase exciting coil of the motor 30.
  • a positive electromotive force Ea is generated in the motor 30, and the electric power (watt) of Ea + ⁇ I and the A phase or B phase or C phase
  • the power (watts) of I 2 ⁇ R is supplied from the constant current source 10 by the current I passing through the excitation coil (resistance R) of In this case, the power (watts) of Ea + ⁇ I is a mechanical output, and the power (watts) of I 2 R is a loss.
  • the speed electromotive force Ea (larger or smaller depending on the rotational speed) is switched between positive and negative at the time of driving and regenerative braking. Only by phase shifting the constant current square wave by 120 degrees (electrical angle), power supply and regeneration can be performed automatically.
  • FIGS. 18A to 18C illustrate the vibration and noise of the motor 30 in order to compensate for the size and weight weaknesses.
  • the motor 30 often uses the magnetic flux density of the core at a value near the saturation region. Assuming a magnetic flux density of 1.6 T, an attraction force of 102 N is generated per 1 cm 2 of the opposing magnetic pole.
  • 18A to 18C illustrate the attraction force acting on the excitation magnetic pole in the present embodiment.
  • 18A shows the state of the A-phase magnetic pole
  • FIG. 18B shows the state of the B-phase magnetic pole
  • FIG. 18C shows the state of the C-phase excitation.
  • the states shown in FIGS. 18A to 18C are sequentially repeated at high speed. At this time, since the stator has a circular outer core structure, it has relatively high strength against equal forces from four directions, and it is considered that vibration and noise due to orientation are less likely to occur.
  • the excitation coil of each phase of the stator unit 31a, 31b which has a two-stack configuration, has a DC constant current, and each unit (the unit has a pitch angle of 360 (the number of stator poles of 360).
  • Each stack is supplied with timing offset for each geometry ⁇ (360 (number of stator poles) ⁇ 2 ⁇ degrees.
  • the respective convex poles of the rotor units 33a and 33b are sequentially attracted to the excited magnetic poles of the corresponding stator unit, and the rotor rotates.
  • efficient driving with less torque pulsation and vibration is possible.
  • the number of magnetic poles of each stator unit in the motor 30 can be any number of multiples of six (except 1). Moreover, the number of stacks (overlapping layers) can be any number of 1, 2, 3, 4,. Further, if the number of magnetic poles is increased, torque ripple can be reduced, and the magnetic pole width for producing the same output can be narrowed, and the reduction in size and weight of the motor can be achieved by reflecting on the iron core yoke.
  • the number of stacks is advantageous for commutation overvoltage and high-speed rotation, but increases the number of commutation circuits, which is disadvantageous to cost and semiconductor loss.
  • the number of magnetic poles and the number of stacks may be determined in consideration of these.
  • system 1 can be used as a generator system that recovers electric power by rotating the rotating shaft 306 (rotor 33) of the motor 30 by external force (natural force such as wind power or driving force from another engine). .
  • FIG. 19 shows a basic circuit of a motor drive system controlled by constant current as described above.
  • This circuit is the same as FIG. 8A described above, and the + terminal (positive electrode) and the ⁇ terminal (negative electrode) correspond to the output terminals T1 and T2 of the constant current power supply 10 (FIG. 8A).
  • the system includes commutation circuits 20 on both sides of the exciting coils LA, LB, and LC of each phase, that is, on the positive electrode side and the negative electrode side. This configuration is called high-side low-side double-ended switching.
  • the commutation circuit 20 includes switching elements SA (SA1, SA2), SB (SB1, SB2), SC (SC1, SC2), and diodes D1, D2, D3, D11, D12, D13.
  • the switching elements SA1, SB1, and SC1 are on the positive electrode sides of the exciting coils LA, LB, and LC, and the switching elements SA2, SB2, and SC2 are on the negative electrodes of the exciting coils LA, LB, and LC.
  • current flows as shown by arrow I1 and when commutating to the next phase, current flows as shown by arrow I2 by residual magnetic energy.
  • FIG. 20 shows a basic circuit of a constant current controlled motor drive system according to a modification for solving the above problem.
  • the commutation circuit 20 is provided only on one side of the exciting coils LA, LB, LC, that is, on the negative electrode side.
  • the switching element for commutation may be only on the negative electrode side. This configuration is called low-side switching.
  • the commutation circuit 20 includes switching elements SA2, SB2, SC2, and recovery diodes D1, D2, D3.
  • the recovery diodes D1, D2 and D3 are connected from the connection point of the coils LA, LB and LC to the switching elements SA2, SB2 and SC2 toward the + terminal side, and the feedback diode D4 is a negative terminal and the exciting coils LA and LB.
  • LC is connected between the positive electrode side.
  • the current sensor 7 is provided in series with the coil. The current due to residual magnetic energy when commutating from the A-phase excitation is indicated by an arrow. The commutation operation of this circuit will be described with reference to FIGS. 23A to 23C described later.
  • FIG. 21 shows the coil current at the start of motor driving in the case of the both-end type (FIG. 19) and the case of the low-side type (FIG. 20).
  • the horizontal axis is time (mS), and the vertical axis is current (A).
  • the coil current is constant current controlled.
  • the waveform D shows the case of double-cut type
  • the waveform E shows the case of low-side cut-off type. In the case of the double-cut type, the current rise is suppressed compared to the low-side cut type, and there is a moment of zero current at each commutation of each phase excitation.
  • the current is increased at each commutation of each phase excitation as compared with the double-cut type and is maintained at a large current level.
  • the effect of returning the residual magnetic energy of the coil is obtained in addition to the power supply voltage, and the current to be charged and collected gradually increases each time the coil is energized. That is, residual magnetic energy of the coil at the time of commutation is recovered and reused by the excitation coil of the next phase, and a large drive current is obtained. Such recovery and reuse can reduce the supply current from the power supply.
  • FIG. 22 shows the currents flowing through the diodes D1, D2, and D3 in the case of the double-sided type and the low-side type.
  • the horizontal axis is time (mS), and the vertical axis is current (A).
  • the waveform F shows the case of the double cut type
  • the waveform G shows the case of the low side cut type. Both are displayed side by side for comparison.
  • the rise of the diode current is suppressed as compared with the low side sided type.
  • the diode current is increased at each commutation of each phase excitation as compared with the double-cut type and is maintained at a large current level.
  • FIG. 23A shows a current path when commutating from C-phase excitation to A-phase excitation.
  • C phase residual magnetic energy of the C phase flows to the diode D3 (J) and flows to the coil LA (K).
  • this current passes through the coil LA together with the supplied excitation current and flows to the negative terminal (negative electrode side).
  • FIG. 23B shows a current path when commutating from A-phase excitation to B-phase excitation.
  • FIG. 23C shows a current path when commutating from B phase excitation to C phase excitation.
  • residual magnetic energy of the B phase flows to the diode D2 (Q) and flows to the coil LC (R).
  • this current passes through the coil LC together with the supply excitation current and flows to the negative terminal (negative electrode side).
  • FIG. 24 shows a specific circuit of a low side cut type motor drive system.
  • This example is a case where there is one current sensor 7.
  • the system comprises coils LA, LB, LC of each phase of the motor, switching elements SA, SB, SC forming a commutation circuit 20 connected to the negative side of each coil, recovery diodes D1, D2, D3.
  • a feedback diode D4 and a constant current control circuit 61 are provided.
  • the battery 10B is connected to the positive terminal and the negative terminal.
  • the battery 10B may be a constant current power supply, and may be a lithium ion battery, a capacitor, or the like.
  • the constant current control circuit 61 includes a CPU for commutating the switching elements SA, SB, and SC, and includes a PWM circuit and a selector for selecting an excitation phase.
  • the constant current control circuit 61 receives a signal from the rotor angular position detector 309 and an accelerator / brake command signal.
  • the current sensor 7 may be inserted in series to each coil LA, LB, LC. In addition, it is desirable to provide a circuit for preventing overcharging to the battery 10B, and to cut off the current in the charging direction when the battery is overcharged.
  • the current sensor 7 detects the magnitude of the coil current, that is, the residual magnetic energy, performs PWM control of the switching elements SA, SB, and SC, and performs constant current control of the current value from the constant current power supply.
  • the angular position detector 309 detects the position of the rotor and outputs commutation timing signals during driving and regenerative braking.
  • the residual magnetic energy of the exciting coil at the time of commutation is recovered and reused by being superimposed on the coil of the next excitation phase through the recovery diodes D1, D2, D3.
  • a drive current higher than the supply current from the power supply can be obtained in the coil, loss can be reduced, and a large output can be obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Synchronous Machinery (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Cette invention concerne un système d'entraînement de moteur mettant en oeuvre un stabilisateur de courant, ledit système d'entraînement de moteur comprenant un circuit de commande à courant constant qui effectue une stabilisation du courant sur un circuit de commutation qui fournit/bloque le courant à partir d'une source d'alimentation en courant continu constant vers les des bobines d'un moteur. Le circuit de commutation comprend : des interrupteurs marche/arrêt qui délivrent ou coupent le courant continu constant séquentiellement à des moments prédéterminés vers les bobines de chaque phase ; et des diodes de récupération qui sont connectées côté borne d'électrode positive de la source d'alimentation en courant continu constant à partir de points reliant les côtés électrode négative des bobines de chaque phase aux interrupteurs de marche/arrêt. Le circuit de commande à courant constant amène le circuit de commutation à fonctionner d'une manière telle qu'énergie magnétique résiduelle des bobines d'excitation est récupérée et réutilisée au cours de l'opération de commutation par superposition sur les bobines ultérieurement excitées par l'intermédiaire des diodes de récupération.
PCT/JP2015/005482 2014-10-31 2015-10-30 Système d'entraînement de moteur mettant en oeuvre un stabilisateur de courant WO2016067634A1 (fr)

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GB2576046B (en) * 2018-08-03 2023-06-14 Advanced Electric Machines Ltd Electrical sub-assembly and associated method of operation
KR102226615B1 (ko) * 2018-11-23 2021-03-11 (주)쿠첸 스위치드 릴럭턴스 모터를 포함하는 모터 시스템의 동작 방법
US20220045590A1 (en) * 2018-12-14 2022-02-10 Nsk Ltd. Vibration control device

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US20050072608A1 (en) * 2003-10-03 2005-04-07 Johnston Ronald A. Vehicle for materials handling and other industrial uses
EP2712075A1 (fr) * 2012-09-20 2014-03-26 Perkins Engines Company Limited Procédé pour commander une machine à réluctance commutée
JP2014131465A (ja) * 2012-11-27 2014-07-10 Kobe Steel Ltd モータ駆動装置およびモータ駆動システム
JP2014143895A (ja) * 2012-12-28 2014-08-07 Ihi Corp モータ装置

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