WO2018024571A1 - Household appliance having a power module with continuous and discontinuous pwm control - Google Patents
Household appliance having a power module with continuous and discontinuous pwm control Download PDFInfo
- Publication number
- WO2018024571A1 WO2018024571A1 PCT/EP2017/068870 EP2017068870W WO2018024571A1 WO 2018024571 A1 WO2018024571 A1 WO 2018024571A1 EP 2017068870 W EP2017068870 W EP 2017068870W WO 2018024571 A1 WO2018024571 A1 WO 2018024571A1
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- WIPO (PCT)
- Prior art keywords
- control scheme
- speed
- motor
- household appliance
- predefined speed
- Prior art date
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Classifications
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- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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- 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
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/13—Different type of waveforms depending on the mode of operation
Definitions
- the present invention relates to an electrical household appliance with a power module with a dynamically controlled continuous and discontinuous space vector pulse width modulation (CSVPWM, DSVPWM) scheme.
- CSVPWM space vector pulse width modulation
- a synchronous machine is an electrical machine with a rotating stator magnetic flux and a rotor flux locked therewith to rotate in the synchronous frequency.
- a brushless DC (BLDC) motor and brushless AC (BLAC) are a kind of synchronous motor that has trapezoidal back-EMF voltage and sinusoidal back-EMF shape.
- One of the well-known Vector control method involves positionment of the rotor by a microcontroller.
- the BLDC or BLAC motor is used in various applications due to its compact size and easy controllability. It is usually operated with one or more rotor-position sensors.
- the motor control can be performed without making use of Hall sensors or any kind of position sensor in the manner that the motor position is estimated thanks to the information provided by the currents flowing through the motor coils.
- the present invention proposes an electrical household appliance and particularly a washing machine, a dishwasher, a drying machine or a combo drying and washing machine, which contains an electric motor in the form of a brushless DC (BLDC) motor or BLAC motor to fulfill various functions, for instance in a washing machine, such as for instance driving a jet pump for spraying water jets into the rotary drum targeting at specific regions inside the same, at which the laundry may tend to adhere within the same, driving a discharge pump for discharging the water contained in the drum or driving a discharge pump as well as a circulation pump for circulating water.
- BLDC brushless DC
- PWM control scheme of the power module (1) is dynamically changed in the manner that if the motor speed is less than a first predefined speed, a first control scheme is applied, if the motor speed is greater than a second predefined speed that is greater than the first predefined speed, a second control scheme different than the first control scheme is applied and if the motor speed is greater than the first predefined speed but less than said second predefined speed, the control scheme is set to either the first or the second control scheme.
- said one bit control scheme flag is set to 1 if the motor speed is less than said first predefined speed and set to 0 if the motor speed is greater than said second predefined speed.
Abstract
The present invention relates to an electrical household appliance with a power module with a dynamically controlled continuous and discontinuous space vector pulse width modulation (CSVPWM, DSVPWM) scheme. The present invention more particularly relates to an electrical household appliance comprising an electric motor, a driver circuit capable of driving said electric motor, said driver circuit comprising a converter that converts AC mains voltage to DC voltage, a driver circuit inverter stage that inverts the direct current, said driver circuit inverter stage comprising an inverter power module (1 ) having high side and low side power switches (6, 7) with freewheeling diodes (5) in the form of a six-switch three-phase inverter connected to a DC bus, said electric motor being a brushless DC motor.
Description
The present invention relates to an electrical household appliance with a power module with a dynamically controlled continuous and discontinuous space vector pulse width modulation (CSVPWM, DSVPWM) scheme.
It is well-known that a synchronous machine is an electrical machine with a rotating stator magnetic flux and a rotor flux locked therewith to rotate in the synchronous frequency. A brushless DC (BLDC) motor and brushless AC (BLAC) are a kind of synchronous motor that has trapezoidal back-EMF voltage and sinusoidal back-EMF shape.
It is also well-known that synchronous motors are widely used in rotary household appliances and especially in dishwashers and laundry treatment appliances. For instance, washing machines may have a jet pump for spraying water jets into the rotary drum targeting at specific regions inside it, at which the laundry may tend to adhere within the same, as well as a discharge pump for discharging the water contained in the drum. Likewise, a washing and/or drying machine may have a discharge pump as well as a circulation pump for circulating washing water.
One of the well-known Vector control method involves positionment of the rotor by a microcontroller. The BLDC or BLAC motor is used in various applications due to its compact size and easy controllability. It is usually operated with one or more rotor-position sensors. However, the motor control can be performed without making use of Hall sensors or any kind of position sensor in the manner that the motor position is estimated thanks to the information provided by the currents flowing through the motor coils.
A three-phase inverter driver circuit can typically be used to drive the BLDC or BLAC motor. The semiconductor switches in the power module with the inverter drivers collected in a single package in the form of an integrated power module (IPM) can be of different types such as; MOSFET, IGBT, etc. Power switches in the power module typically cause switching losses as well as transmission losses. Transmission losses basically depend on the inner resistance (Rds) in a given power switch such as a MOSFET or formed saturation voltage on given power switch such as a IGBT. As the current through the power switch increases, the loss also increases. Increased losses generate heat and further increase the power module’s temperature. Switching frequency is proportional to switching losses. Increased frequency also increases switching losses, whereas transmission losses generate heat and this in turn causes the power module’s temperature to rise up. To reduce switching losses, sophisticated circuit topologies involving soft switching techniques should be used. This will, however, increase the total cost of the designed system.
It is particularly noted that household appliance motors may require a dynamically controlled PWM control scheme for the switching elements in the power inverter module. In the case of a laundry treatment appliance, the drum can be rotated at different speeds depending on the specific washing and/or drying cycle and the PWM control scheme can be dynamically adapted to the specific treatment stage.
Among others, one of the prior art disclosures in the technical field of the present invention can be referred to as KR20010073638, which discloses a compressor noise reducing device having a power supply, an inverter for driving a brushless direct current (BLDC) motor by receiving the power from the power supply and the control signal, a rotor position and speed detection unit for detecting the rotor position of the BLDC motor and for calculating the speed using the measured position data, a proportional integral controller for controlling the duty ratio of the PWM by proportioning and integrating the difference value between the reference value and the calculated speed, a random variable generator for generating the random numbers, a PWM frequency determination unit for determining the PWM frequency using the random signal, a PWM comparable signal generator for producing the PWM frequency period and the on-time according to the determined PWM frequency, and a gate signal generator for producing the gate signal to turn on or off the switching elements of the inverter by using PWM pulse.
The present invention, on the other hand, provides a control scheme capable of reducing switching losses and also simultaneously allowing more stable motor operation at lower motor speeds.
Primary object of the present invention is therefore to provide an electrical household appliance BLDC or BLAC motor with a dynamically changeable PWM control scheme by which more efficient motor operation is ensured in sensorless vector control.
The present invention proposes an electrical household appliance comprising an inverter power module in the form of a six-switch three-phase inverter connected to a DC link. PWM control scheme is dynamically changed in accordance with the operational state of the electric motor to lower switching losses at higher speeds and to ensure stable operation at lower speeds.
Accompanying drawings are given solely for the purpose of exemplifying a household appliance having a BLDC or BLAC motor and a control module whose advantages over prior art were outlined above and will be explained in brief hereinafter.
The drawings are not meant to delimit the scope of protection as identified in the claims nor should they be referred to alone in an effort to interpret the scope identified in said claims without recourse to the technical disclosure in the description of the present invention.
Fig. 1 demonstrates a conventional inverter module with high side and low side power switches.
Fig. 2 demonstrates a control scheme for effectuating sensorless control of a BLDC or BLAC motor according to the present invention.
The following numerals being referred to are used in the detailed description of the invention:
- Power module
- Phase A
- Phase B
- Phase C
- Freewheeling diode
- High side power switch
- Low side power switch
The present invention proposes an electrical household appliance and particularly a washing machine, a dishwasher, a drying machine or a combo drying and washing machine, which contains an electric motor in the form of a brushless DC (BLDC) motor or BLAC motor to fulfill various functions, for instance in a washing machine, such as for instance driving a jet pump for spraying water jets into the rotary drum targeting at specific regions inside the same, at which the laundry may tend to adhere within the same, driving a discharge pump for discharging the water contained in the drum or driving a discharge pump as well as a circulation pump for circulating water.
The electrical household appliance comprises a power module (1) driving a BLDC or BLAC motor having three phases (phase A, phase B and phase C, respectively 2, 3 and 4). High side power switches (6, HIN1, HIN2, HIN3)) and low side power switches (7, LIN1, LIN2, LIN3) of the power module (1) are typically provided with freewheeling diodes (5) allowing reverse current to flow therethrough to be dissipated. Phase windings are thereby deenergized through respective freewheeling diodes (5) and the stored magnetic energy in the respective phases is dissipated.
The BLDC or BLAC motor control can be conventionally performed such that Field Oriented Control (FOC) is implemented without Hall sensors wherein the motor position is estimated thanks to the information provided by the currents flowing through the motor phases. Therefore, FOC allows controlling the orientation of the motor’s fields. Current flowing through the motor can be conventionally measured using a shunt resistor or through an inline sensor. As is known to the skilled reader, the amount of current through each phase (2, 3, 4) can be determined using shunt resistors (not shown) on each phase. Alternatively, two-shunt method can be used to reconstruct the currents by measuring current from two legs and reconstructing the third current using Kirchhoff’s law. For instance, US2015022131 discloses current sensors in the form of shunt resistors.
An error signal being generated based on the measured current, a correction voltage is created based on the amplified error signal. According to the present invention, space vector pulse width modulation (SVPWM) is used to modulate the correction voltage. In accordance with the present invention, in the case of an electrical household appliance having a BLDC or BLAC motor that needs to operate at different speed regimes for instance in a sequential regime, continuous space vector pulse width modulation (CSVPWM) ensures more stable operation at speeds lower than a predetermined limit. On the other hand, in order for reducing switching losses according to the present invention, discontinuous space vector pulse width modulation (DSVPWM) as a carrier based modulation method is used as the PWM control scheme, depending on the motor speeds being greater than said predetermined limit. As is known to the skilled worker, in the basic SVM method, the modulation method is applied with symmetrical spacing zero vectors. Discontinuous modulation can be based on six different types of discontinuous PWM methods (Bimal K Bose, “Modern Power Electronics and Drives,” PHI publication-2002). The discontinuous modulation provides 33% reduction of the effective switching frequency and switching losses.
To this end, the present invention proposes a control scheme according to which switching losses are reduced by dynamically changing the PWM control scheme. While more stable motor operation is ensured at lower motor speeds avoiding low speed performance problems, switching losses can be effectively reduced at higher motor speeds. A speed dependent PWM control scheme BLDC or BLAC motor is advantageous in that dual function motor operations such as washing cycles at a first lower speed and spin-drying cycle at a higher speed can be effectuated with reduced switching losses.
Therefore, to reduce switching losses at higher speeds, the invention proposes to dynamically change the PWM control scheme. In reference to Figure 2, in the event that the motor speed is less than a first predefined speed, then continuous space vector pulse width modulation (CSVPWM) is applied. On the other hand, if the motor speed is greater than a second predefined speed that is also greater than the first predefined speed, then discontinuous space vector pulse width modulation (DSVPWM) is applied. Finally, if the motor speed is greater than the first predefined speed but less than said second predefined speed, than the modulation scheme setting as determined by a CSVPWM flag (CSVPWM, 0 or 1) during the previous adaptation is used.
In a nutshell, the present invention proposes an electrical household appliance comprising an electric motor, a driver circuit capable of driving said electric motor, said driver circuit comprising a converter that converts AC mains voltage to DC voltage, a driver circuit inverter stage that inverts the direct current, said driver circuit inverter stage comprising an inverter power module (1) having high side and low side power switches (6, 7) with freewheeling diodes (5) in the form of a six-switch three-phase inverter connected to a DC bus, said electric motor being a brushless DC motor.
In one embodiment of the present invention, PWM control scheme of the power module (1) is dynamically changed in the manner that if the motor speed is less than a first predefined speed, a first control scheme is applied, if the motor speed is greater than a second predefined speed that is greater than the first predefined speed, a second control scheme different than the first control scheme is applied and if the motor speed is greater than the first predefined speed but less than said second predefined speed, the control scheme is set to either the first or the second control scheme.
In a further embodiment of the present invention, said first control scheme is continuous space vector pulse width modulation and said second control scheme is discontinuous space vector pulse width modulation.
In a further embodiment of the present invention, if the motor speed is greater than the first predefined speed but less than said second predefined speed, the control scheme setting is determined according to the value of a one bit control scheme flag.
In a further embodiment of the present invention, said one bit control scheme flag is set to 1 if the motor speed is less than said first predefined speed and set to 0 if the motor speed is greater than said second predefined speed.
In a further embodiment of the present invention, said electrical household appliance is a washing machine, a dishwasher, a drying machine or a combo drying and washing machine.
In a further embodiment of the present invention, said electrical household appliance is a washing and/or drying machine and said electric motor drives drum of said washing and/or drying machine.
In a further embodiment of the present invention, a method is proposed, comprising the steps of dynamically changing PWM control scheme of a power module (1) driving a BLDC or BLAC motor of said electrical household appliance in the manner that if the motor speed is less than a first predefined speed, a first PWM control scheme is applied and if the motor speed is greater than a second predefined speed that is also greater than the first predefined speed, a second PWM control scheme different than the first PWM control scheme is applied and finally, if the motor speed is greater than the first predefined speed but less than said second predefined speed, than the PWM control scheme is set to either the first or the second PWM control scheme, said first control scheme being continuous space vector pulse width modulation and said second control scheme being discontinuous space vector pulse width modulation.
Accordingly, the present invention ensures a control scheme capable of effectuating BLDC or BLAC motor sensorless control operation at the same time lowering switching losses by the power switches (6, 7).
Claims (6)
- An electrical household appliance comprising an electric motor, a driver circuit capable of driving said electric motor, said driver circuit comprising a converter that converts AC mains voltage to DC voltage, a driver circuit inverter stage that inverts the direct current, said driver circuit inverter stage comprising an inverter power module (1) having high side and low side power switches (6, 7) with freewheeling diodes (5) in the form of a six-switch three-phase inverter connected to a DC bus, said electric motor being a brushless DC motor characterized in that;PWM control scheme of the power module (1) is dynamically changed in the manner that if the motor speed is less than a first predefined speed, a first control scheme is applied, if the motor speed is greater than a second predefined speed that is greater than the first predefined speed, a second control scheme different than the first control scheme is applied and if the motor speed is greater than the first predefined speed but less than said second predefined speed, the control scheme is set to either the first or the second control scheme and,said first control scheme is continuous space vector pulse width modulation and said second control scheme is discontinuous space vector pulse width modulation.
- An electrical household appliance as in Claim 1, characterized in that if the motor speed is greater than the first predefined speed but less than said second predefined speed, the control scheme setting is determined according to the value of a one bit control scheme flag.
- An electrical household appliance as in Claim 2, characterized in that said one bit control scheme flag is set to 1 if the motor speed is less than said first predefined speed and set to 0 if the motor speed is greater than said second predefined speed.
- An electrical household appliance as in any preceding Claims, characterized in that said electrical household appliance is a washing machine, a dishwasher, a drying machine or a combo drying and washing machine.
- An electrical household appliance as in Claim 4, characterized in that said electrical household appliance is a washing and/or drying machine and said electric motor drives drum of said washing and/or drying machine.
- A method for controlling operation of an electrical household appliance as in Claim 1, characterized in that said method comprises the steps of dynamically changing PWM control scheme of a power module (1) driving a BLDC or BLAC motor of said electrical household appliance in the manner that if the motor speed is less than a first predefined speed, a first PWM control scheme is applied and if the motor speed is greater than a second predefined speed that is also greater than the first predefined speed, a second PWM control scheme different than the first PWM control scheme is applied and finally, if the motor speed is greater than the first predefined speed but less than said second predefined speed, than the PWM control scheme is set to either the first or the second PWM control scheme, said first control scheme being continuous space vector pulse width modulation and said second control scheme being discontinuous space vector pulse width modulation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR201610878 | 2016-08-03 | ||
| TRA2016/10878 | 2016-08-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018024571A1 true WO2018024571A1 (en) | 2018-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/EP2017/068870 WO2018024571A1 (en) | 2016-08-03 | 2017-07-26 | Household appliance having a power module with continuous and discontinuous pwm control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021050377A1 (en) | 2019-09-09 | 2021-03-18 | Karma Automotive Llc | A method to improve output current harmonic distribution in a segmented drive system |
| WO2021229376A1 (en) * | 2020-05-13 | 2021-11-18 | Synapticon GmbH | Motor control processing with a flat pulse width modulation scheme |
| GB2617094A (en) * | 2022-03-29 | 2023-10-04 | Dyson Technology Ltd | Cleaner head |
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|---|---|---|---|---|
| KR20010073638A (en) | 2000-01-19 | 2001-08-01 | 구자홍 | Apparatus for reducing noise of the compressor using random pulse width modulation and control method thereof |
| US20090108798A1 (en) * | 2007-10-24 | 2009-04-30 | Gm Global Technology Operations, Inc. | Method and system for controlling pulse width modulation in a power inverter in electric drives |
| US20120112674A1 (en) * | 2010-11-04 | 2012-05-10 | GM Global Technology Operations LLC | Control of a traction power inverter module in a vehicle having an electric traction motor |
| WO2013039337A1 (en) * | 2011-09-16 | 2013-03-21 | 주식회사 아모텍 | Device and method for driving a motor for a washing machine |
| EP2809001A2 (en) * | 2013-05-30 | 2014-12-03 | Kobelco Construction Machinery Co., Ltd. | Inverter device for driving electric motor |
| US20150022131A1 (en) | 2013-07-22 | 2015-01-22 | Stmicroelectronics S.R.L. | Electric circuit and method for estimating the angular position of a rotor of an electric motor, and device for controlling an electric motor |
| EP2845943A1 (en) * | 2013-09-10 | 2015-03-11 | Electrolux Appliances Aktiebolag | Method of operating a variable speed motor in a laundry treatment apparatus |
-
2017
- 2017-07-26 WO PCT/EP2017/068870 patent/WO2018024571A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20010073638A (en) | 2000-01-19 | 2001-08-01 | 구자홍 | Apparatus for reducing noise of the compressor using random pulse width modulation and control method thereof |
| US20090108798A1 (en) * | 2007-10-24 | 2009-04-30 | Gm Global Technology Operations, Inc. | Method and system for controlling pulse width modulation in a power inverter in electric drives |
| US20120112674A1 (en) * | 2010-11-04 | 2012-05-10 | GM Global Technology Operations LLC | Control of a traction power inverter module in a vehicle having an electric traction motor |
| WO2013039337A1 (en) * | 2011-09-16 | 2013-03-21 | 주식회사 아모텍 | Device and method for driving a motor for a washing machine |
| EP2809001A2 (en) * | 2013-05-30 | 2014-12-03 | Kobelco Construction Machinery Co., Ltd. | Inverter device for driving electric motor |
| US20150022131A1 (en) | 2013-07-22 | 2015-01-22 | Stmicroelectronics S.R.L. | Electric circuit and method for estimating the angular position of a rotor of an electric motor, and device for controlling an electric motor |
| EP2845943A1 (en) * | 2013-09-10 | 2015-03-11 | Electrolux Appliances Aktiebolag | Method of operating a variable speed motor in a laundry treatment apparatus |
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| Title |
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| ANDERSSON ANDREAS ET AL: "Influence of Inverter Modulation Strategy on Electric Drive Efficiency and Perceived Sound Quality", IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION, IEEE, vol. 2, no. 1, 1 March 2016 (2016-03-01), pages 24 - 35, XP011604623, DOI: 10.1109/TTE.2015.2514162 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021050377A1 (en) | 2019-09-09 | 2021-03-18 | Karma Automotive Llc | A method to improve output current harmonic distribution in a segmented drive system |
| EP4029142A4 (en) * | 2019-09-09 | 2023-09-13 | Karma Automotive LLC | A method to improve output current harmonic distribution in a segmented drive system |
| WO2021229376A1 (en) * | 2020-05-13 | 2021-11-18 | Synapticon GmbH | Motor control processing with a flat pulse width modulation scheme |
| GB2617094A (en) * | 2022-03-29 | 2023-10-04 | Dyson Technology Ltd | Cleaner head |
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