WO2001037419A1 - Verfahren und apparat zur verschiebung des kommutierungszeitpunktes eines sensor- und bürstenlosen gleichstrommotors - Google Patents
Verfahren und apparat zur verschiebung des kommutierungszeitpunktes eines sensor- und bürstenlosen gleichstrommotors Download PDFInfo
- Publication number
- WO2001037419A1 WO2001037419A1 PCT/DE2000/004008 DE0004008W WO0137419A1 WO 2001037419 A1 WO2001037419 A1 WO 2001037419A1 DE 0004008 W DE0004008 W DE 0004008W WO 0137419 A1 WO0137419 A1 WO 0137419A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- commutation
- reference voltage
- motor
- phase
- ref
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
Definitions
- the invention is based on a method for shifting the commutation time in a sensorless and brushless DC motor whose stator windings are fed by a multi-phase converter circuit, the type defined in the preamble of claim 1, and further relates to an arrangement for carrying out this method according to claim 6.
- the phases are successively connected to the DC voltage and commutation switches are controlled according to the rotor position so that they overlap in time for the commutation of successive phases and at least one of the commutation switches in the commutation area is clocked in such a way that the mean value of the current increases and decreases in the emerging phase commutating phase decreases.
- This overlap and clocking of the switching signals in the commutation edges results in less switching loss and noise reduction.
- the commutation time is usually determined by measuring the induced voltage in a non-energized phase of the stator windings. A comparison of this induced voltage with a reference voltage, which is derived from the actual value of the speed, is carried out. This can result in a significant drop in performance and considerable ripples in the torque, particularly at high loads and high engine speeds. This is very disadvantageous.
- the object of the present invention is to specify a method which makes it possible to shift the time of commutation in the case of a sensorless and brushless DC motor in such a way that the drop in power is avoided or greatly reduced and the torque ripple is reduced.
- Commutation time in a sensor and brushless DC motor with the characterizing features of claim 1 has the advantage over the known prior art, an increase in power with the same magnetic circuit and the same motor mechanics, the reduction of the torque ripple
- Adjustment of the commutation threshold to an optimal current form is still no drop in performance as with a commutation shift, which is dependent on the actual speed of the motor.
- the commutation time is shifted forward in time in such a way that an optimal current shape is achieved, in particular with regard to increasing the power and / or reducing the torque ripple.
- the commutation time is shifted in such a way that the reference voltage is raised in the form of a parabola.
- the parabolic raising of the reference voltage in the case of pulse-width modulation of the current supplied to the stator windings is started with a pulse-width modulation ratio of approximately 90 to 95%, in particular 93%.
- the parabolic raising of the commutation threshold has the advantage that a smooth transition to the pre-mutation state is achieved.
- the manipulated variable determined in accordance with the setpoint value of the speed is used in addition to the change in the reference value for the commutation time, in order that the current supply to the individual phases of the stator windings is adapted to increase or decrease accordingly.
- a preferred arrangement for carrying out the above-described method with its various modifications includes a sensor and brushless DC motor which is fed by a multi-stage converter circuit, which in turn controls an output stage, a commutation logic, contains a phase selector and a phase discriminator, and is characterized in that a commutation detection is provided, which is supplied by the phase selector with the current value of the voltage induced in a de-energized phase at one input and a reference voltage at a second input for comparison, and the Reference voltage of a commutation shift can be changed in accordance with a specific curve, the commutation shift being supplied with a manipulated variable as a function of the setpoint speed of the motor from a manipulated variable calculation.
- Ratio of about 90 to 95%, preferably of 93%, is used. These percentages apply to a specific magnetic circuit design. If the magnetic circuit is designed differently, significantly different values can occur.
- the manipulated variable calculation calculates a manipulated variable in a non-linear manner as a function of the desired speed of the motor, which is supplied as an input to the commutation shift and also to the commutation logic for adapting the energization of the phases of the stator windings of the motor becomes.
- Fig. 1 shows schematically a block diagram for the
- FIG. 3 different diagrams of the voltage curve of the induced voltage in one phase, the energization of this phase and three different forms of current at different reference voltages and different speeds of the motor, generally speaking current forms at different
- Fig. 1 is the block diagram of the invention
- a DC motor 1 which is sensor and brushless, is fed by a multi-stage converter circuit.
- This multi-stage converter circuit which can be, for example, three-phase and six-pulse, in turn contains, as essential components, an output stage control 2, a commutation logic 3, a phase selector 4, a phase discriminator 5 and a commutation detection 6.
- a MOSFET transistor 22 is symbolically shown , The output stage control supplies the motor 1 with energy via a multiple line 21.
- the current value of the voltage induced in a de-energized phase is branched off from these lines via a multiple line 23 supplied, one of the six phases, for example, being selected by the phase selector 4. This current value of the respective phase is transmitted by the phase selector 4 via line
- a second input of the commutation detection is on line
- a reference voltage U ref which is formed from the addition of the battery voltage supplied to the motor 1 with the voltage from the commutation shift.
- the commutation shift 7 is in turn one
- Actuating variable calculation 8 is supplied with a manipulated variable U st via a line 87.
- the manipulated variable calculation 8 has the setpoint n S0l ⁇ of the speed of the motor 1 on line 80 as the input value.
- To n from this setpoint value st is determined according to the manipulated variable in the calculation block 8 illustrated non-linear curve 81, the manipulated variable U.
- This characteristic curve 81 is the manipulated variable U st , which is plotted against the speed setpoint n so n.
- block 7 of the commutation shift a characteristic diagram is entered in which the manipulated variable U st obtained in block 8 is plotted on the horizontal axis and, depending on this, the
- Reference voltage U ref is plotted in the vertical axis.
- the entered characteristic curve 71 is preferably parabolic. via a line 83, the output value of the manipulated variables calculation is supplied to the commutation logic 3 8 in order according to the predetermined rotational speed n so u in the commutation logic, the current of the output stage controller 2 and the output stage transistors 22 contained therein to increase, which then via the lines 21 to the engine 1 be fed in time.
- the clock for the commutation logic 3 takes place through the
- Phase discriminator 5 which as input on line 65 outputs the result of the comparison of the reference voltage U ref on line 47 and the current phase-induced phase voltage on line 46 via a comparator 61 in the commutation detection 6.
- the output signal of the phase discriminator 5, which is characterized by six different phase pulse images within the block 5, is sent to the commutation logic 3 via line 53 fed and via line 54 to the phase selector 4.
- the phase selector 4 is set to the correct phase for commutation detection.
- Fig. 2 the characteristic curve shown within the commutation shift 7 in Fig. 1 is shown again in a slightly different form and larger and more precisely.
- the percentage value of the pulse-width modulation is plotted on the horizontal axis, which corresponds to the manipulated variable U st at characteristic curve 71 within the commutation shift 7 in FIG. 1.
- the reference voltage U ref is plotted on the vertical axis and is supplied to the commutation detection 6 on line 47.
- the parabolic characteristic curve of the reference voltage U ref begins to increase in about a percentage of 90 1 pulse-width modulation, in particular at 93%, in the form of a parabola.
- This parabolic increase in the commutation threshold, ie the reference voltage U re _ supplied on line 47, has the advantage that the transition to the pre-commutation state is smooth.
- pre-commutation state it is meant that the commutation time is brought forward from its usual temporal position to an earlier start.
- FIG. 3 shows different diagrams and different current forms with different commutation thresholds.
- the voltage u ind for example induced in a phase U, is plotted over the electrical angle.
- U bat is the battery voltage of a motor vehicle or the standard voltage of a DC electrical system of a motor vehicle.
- U ref ⁇ which is below the battery voltage , denotes a first reference voltage and U ref2 denotes a second reference voltage which is substantially above the value of the battery voltage U bat . It can be assumed that the voltage reference value U ref i approximately to the value of 0.00 in Fig. 2 and the voltage reference value U ref 2 in Fig. 3 Diagram A, in about the reference value U ref of 1.00 in Fig.
- Iu denotes the on-time of the current for phase U. If the commutation is carried out at the reference value U ref ⁇ , then the current and the current form over time t are recorded in diagram C of FIG. 3, which corresponds to this commutation threshold at a target speed of, for example, 1500 revolutions per minute.
- the current I 115 thus roughly identifies the current form which, together with the voltage induced in the same phase, produces the torque.
- the commutation time can change between those values which lie between the points which correspond to the commutation thresholds U ref 1 and U ref 2 in diagram A.
- the time shift forward there is a corresponding premature termination of the commutation by appropriate switching off of the current, as can be seen clearly in diagram E of FIG. 3.
- phase current has already settled to its maximum value when the full induced voltage U ind is reached.
- the maximum torque can also be achieved.
- the continuous increase of the commutation threshold with the value U ref from a defined one Setpoint speed enables torque to be increased while the engine mechanics remain the same.
- the method according to the invention and the arrangement according to the invention for its implementation advantageously provide an increase in output with the same magnetic circuit and the same motor mechanics, reduce the torque ripple, avoid a drop in output and ensure a smooth transition to the pre-commutation state by raising the commutation threshold in the form of a parabola.
- This is of particular advantage when the motor is used for a fan application in motor vehicles in which the fan load increases quadratically with the speed.
- the parabolic commutation shift has a particularly advantageous effect on the smooth load transfer.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/889,418 US6717380B1 (en) | 1999-11-17 | 2000-10-11 | Method for shifting the instant of commutation for a sensorless and brushless direct-current motor as well as a system for implementing the method |
JP2001537862A JP2003514506A (ja) | 1999-11-17 | 2000-11-10 | センサレスおよびブラスレス直流モータの転流時点をシフトする方法、およびこの方法を実施するための装置 |
EP00988603A EP1151527A1 (de) | 1999-11-17 | 2000-11-10 | Verfahren und apparat zur verschiebung des kommutierungszeitpunktes eines sensor- und bürstenlosen gleichstrommotors |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19955248.7 | 1999-11-17 | ||
DE19955248A DE19955248A1 (de) | 1999-11-17 | 1999-11-17 | Verfahren zur Verschiebung des Kommutierungszeitpunktes bei einem sensor- und bürstenlosen Gleichstrommotor sowie Anordnung zur Durchführung des Verfahrens |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001037419A1 true WO2001037419A1 (de) | 2001-05-25 |
Family
ID=7929316
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2000/004008 WO2001037419A1 (de) | 1999-11-17 | 2000-11-10 | Verfahren und apparat zur verschiebung des kommutierungszeitpunktes eines sensor- und bürstenlosen gleichstrommotors |
Country Status (5)
Country | Link |
---|---|
US (1) | US6717380B1 (de) |
EP (1) | EP1151527A1 (de) |
JP (1) | JP2003514506A (de) |
DE (1) | DE19955248A1 (de) |
WO (1) | WO2001037419A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1318595A2 (de) * | 2001-12-04 | 2003-06-11 | Matsushita Electric Industrial Co., Ltd. | Motortreibervorrichtung und Motortreiberverfahren |
DE102006004313A1 (de) * | 2006-01-31 | 2007-08-16 | Pierburg Gmbh | Verfahren zur Steuerung eines Gleichspannungs-Elektromotors |
US7315142B2 (en) | 2003-02-27 | 2008-01-01 | Melexis Gmbh | Method for effecting the power-optimal control of BLDC motors |
EP2424084A3 (de) * | 2010-08-04 | 2017-03-15 | Robert Bosch GmbH | Stelleinrichtung für eine Ventilklappe, Abgasturbolader, Verfahren zum Betreiben |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10326606B4 (de) | 2003-06-13 | 2008-05-29 | Minebea Co., Ltd. | Verfahren zur Kommutierung eines bürstenlosen Gleichstrommotors |
DE10346711A1 (de) * | 2003-10-08 | 2005-05-25 | Minebea Co., Ltd. | Verfahren zur Kommutierung eines bürstenlosen Gleichstrommotors |
CN100355196C (zh) * | 2006-03-29 | 2007-12-12 | 北京航空航天大学 | 小电枢电感高速永磁无刷直流电动机无位置传感器控制系统 |
DE102008033259A1 (de) * | 2008-07-15 | 2010-01-21 | Aradex Ag | Verfahren zum Betrieb eines sensorlos arbeitenden Synchronmotors |
CN101739013B (zh) * | 2009-12-22 | 2011-07-27 | 北京航空航天大学 | 一种卫星天线指向机构数字控制系统 |
US9024547B2 (en) * | 2012-09-28 | 2015-05-05 | Allied Telesis, Inc. | Fan conducted noise reduction |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3940569A1 (de) * | 1989-12-08 | 1991-06-27 | Bosch Gmbh Robert | Schaltungsanordnung zum betreiben eines mehrphasen-synchronmotors an einem gleichspannungsnetz |
US5200675A (en) * | 1990-11-06 | 1993-04-06 | Zen Zen Electric Company Ltd. | Commutation circuit for a brushless d.c. motor |
DE4142274A1 (de) * | 1991-12-20 | 1993-06-24 | Bosch Gmbh Robert | Schaltungsanordnung zum betreiben eines mehrphasen-synchronmotors an einem gleichspannungsnetz |
US5334921A (en) * | 1990-12-20 | 1994-08-02 | Robert Bosch Gmbh | Circuit arrangement for operating a multi-phase synchronous motor in a direct voltage network |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US4743815A (en) * | 1987-09-01 | 1988-05-10 | Emerson Electric Co. | Brushless permanent magnet motor system |
US5339013A (en) * | 1990-02-14 | 1994-08-16 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for driving a brushless motor including varying the duty cycle in response to variations in the rotational speed |
JPH0834711B2 (ja) * | 1990-08-18 | 1996-03-29 | 日本ビクター株式会社 | 位置検知器を有しないブラシレス直流モータにおける回転子の停止位置の検出方法 |
DE69322298T2 (de) * | 1992-02-28 | 1999-05-06 | Stmicroelectronics, Inc., Carrollton, Tex. | Verstärker und Verfahren zur Erfassung der Gegen-EMK einer Spule eines mehrphasigen, sensorlosen Gleichstrommotors |
JP3333793B2 (ja) * | 1994-09-22 | 2002-10-15 | サンデン株式会社 | ブラシレスモータ装置 |
JPH0947075A (ja) * | 1995-07-28 | 1997-02-14 | Matsushita Electric Ind Co Ltd | ブラシレスモータ |
JPH10174484A (ja) * | 1996-12-10 | 1998-06-26 | Zexel Corp | 直流ブラシレスモータ駆動装置 |
US6078158A (en) * | 1998-12-04 | 2000-06-20 | International Business Machines Corporation | Disk drive motor spin-up control |
-
1999
- 1999-11-17 DE DE19955248A patent/DE19955248A1/de not_active Withdrawn
-
2000
- 2000-10-11 US US09/889,418 patent/US6717380B1/en not_active Expired - Fee Related
- 2000-11-10 WO PCT/DE2000/004008 patent/WO2001037419A1/de active Application Filing
- 2000-11-10 EP EP00988603A patent/EP1151527A1/de not_active Withdrawn
- 2000-11-10 JP JP2001537862A patent/JP2003514506A/ja not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3940569A1 (de) * | 1989-12-08 | 1991-06-27 | Bosch Gmbh Robert | Schaltungsanordnung zum betreiben eines mehrphasen-synchronmotors an einem gleichspannungsnetz |
US5200675A (en) * | 1990-11-06 | 1993-04-06 | Zen Zen Electric Company Ltd. | Commutation circuit for a brushless d.c. motor |
US5334921A (en) * | 1990-12-20 | 1994-08-02 | Robert Bosch Gmbh | Circuit arrangement for operating a multi-phase synchronous motor in a direct voltage network |
DE4142274A1 (de) * | 1991-12-20 | 1993-06-24 | Bosch Gmbh Robert | Schaltungsanordnung zum betreiben eines mehrphasen-synchronmotors an einem gleichspannungsnetz |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1318595A2 (de) * | 2001-12-04 | 2003-06-11 | Matsushita Electric Industrial Co., Ltd. | Motortreibervorrichtung und Motortreiberverfahren |
EP1318595A3 (de) * | 2001-12-04 | 2005-01-19 | Matsushita Electric Industrial Co., Ltd. | Motortreibervorrichtung und Motortreiberverfahren |
US6940239B2 (en) | 2001-12-04 | 2005-09-06 | Matsushita Electric Industrial Co., Ltd. | Motor driving device and motor driving method |
CN1298103C (zh) * | 2001-12-04 | 2007-01-31 | 松下电器产业株式会社 | 马达驱动装置及其驱动方法 |
US7315142B2 (en) | 2003-02-27 | 2008-01-01 | Melexis Gmbh | Method for effecting the power-optimal control of BLDC motors |
DE102004036861B4 (de) * | 2003-02-27 | 2011-01-27 | Melexis Gmbh | Schaltungsanordnung zur fehlertoleranten leistungsoptimalen Ansteuerung von BLDC-Motoren |
DE102006004313A1 (de) * | 2006-01-31 | 2007-08-16 | Pierburg Gmbh | Verfahren zur Steuerung eines Gleichspannungs-Elektromotors |
EP2424084A3 (de) * | 2010-08-04 | 2017-03-15 | Robert Bosch GmbH | Stelleinrichtung für eine Ventilklappe, Abgasturbolader, Verfahren zum Betreiben |
Also Published As
Publication number | Publication date |
---|---|
DE19955248A1 (de) | 2001-05-31 |
EP1151527A1 (de) | 2001-11-07 |
US6717380B1 (en) | 2004-04-06 |
JP2003514506A (ja) | 2003-04-15 |
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