CA2304294A1 - Separately excited dc motor with boost and de-boost control - Google Patents
Separately excited dc motor with boost and de-boost control Download PDFInfo
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- CA2304294A1 CA2304294A1 CA002304294A CA2304294A CA2304294A1 CA 2304294 A1 CA2304294 A1 CA 2304294A1 CA 002304294 A CA002304294 A CA 002304294A CA 2304294 A CA2304294 A CA 2304294A CA 2304294 A1 CA2304294 A1 CA 2304294A1
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- 238000012937 correction Methods 0.000 claims abstract 32
- 230000004907 flux Effects 0.000 claims 3
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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/298—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature and field supplies
- H02P7/2985—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature and field supplies whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A motor control system is provided comprising an electrically charged battery, an electrical motor, a battery voltage sensor, a motor speed sensor, an armature voltage sensor, an armature current sensor, and a microprocessor. The magnitude of the armature current applied to the motor is a function of a predetermined armature current setpoint signal and the magnitude of the field current applied to the motor is a function of a predetermined field current setpoint signal, a field current correction signal, and a field current de-boost signal. The microprocessor is programmed to generate an armature current setpoint signal, a field current setpoint signal, and an armature voltage reference signal.
Further, the microprocessor is programmed to (i) compare the armature voltage reference signal to the measured armature voltage signal and generate an armature voltage error signal based on the comparison; (ii) generate the field current correction signal as a function of the armature voltage error signal; (iii) generate an armature-to-field current check function, wherein the check function defines a set of armature current to field current ratio values as a function of armature current; (iv) calculate a ratio of the measured armature current signal to the field current setpoint signal to establish an operating ratio value, (v) compare the operating ratio value to a corresponding armature current to field current ratio value of the armature-to-field current check function, and (vi) establish the field current de-boost signal, wherein the magnitude of the field current de-boost signal is a function of the measured armature current signal and the comparison of the operating ratio value to the corresponding ratio value.
Further, the microprocessor is programmed to (i) compare the armature voltage reference signal to the measured armature voltage signal and generate an armature voltage error signal based on the comparison; (ii) generate the field current correction signal as a function of the armature voltage error signal; (iii) generate an armature-to-field current check function, wherein the check function defines a set of armature current to field current ratio values as a function of armature current; (iv) calculate a ratio of the measured armature current signal to the field current setpoint signal to establish an operating ratio value, (v) compare the operating ratio value to a corresponding armature current to field current ratio value of the armature-to-field current check function, and (vi) establish the field current de-boost signal, wherein the magnitude of the field current de-boost signal is a function of the measured armature current signal and the comparison of the operating ratio value to the corresponding ratio value.
Claims (45)
1. A motor control system comprising:
an electrically charged battery characterized by an operating battery voltage;
an electrical motor coupled to said battery, said electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint signal (I a_SET) and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint signal (I f_SET) and a field current de-boost signal (I f_ DE-BOOST);
a battery voltage sensor arranged to generate an operating battery voltage signal (V BAT) from said operating battery voltage;
an armature voltage sensor arranged to generate a measured armature voltage signal (V a) from an electrical potential of said armature assembly;
an armature current sensor arranged to generate a measured armature current signal (I a) indicative of an amount of current flowing through said armature assembly;
a microprocessor programmed to generate said armature current setpoint signal (I a_SET) and said field current setpoint signal (I f_SET).
generate an armature-to-field current check function, wherein said check function defines a set of armature current to field current ratio values ((I a / I f)CHECK) as a function of armature current, calculate-a-ratio of said measured armature current signal (I a) to said field current setpoint signal(I f_SET) to establish an operating ratio value (I a / I f_SET).
compare said operating ratio value (I a / I f_SET) to a corresponding armature current to field current ratio value ((I a / I f)CHECK) of said armature-to-field current check function, and establish said field current de-boost signal (I f_DE-BOOST) wherein the magnitude of said field current de-boost signal (I f_DE-BOOST) is a function of said measured armature current signal (I a) and said comparison of said operating ratio value (I a / I f_SET)to said corresponding ratio value ((I a /I f)CHECK).
an electrically charged battery characterized by an operating battery voltage;
an electrical motor coupled to said battery, said electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint signal (I a_SET) and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint signal (I f_SET) and a field current de-boost signal (I f_ DE-BOOST);
a battery voltage sensor arranged to generate an operating battery voltage signal (V BAT) from said operating battery voltage;
an armature voltage sensor arranged to generate a measured armature voltage signal (V a) from an electrical potential of said armature assembly;
an armature current sensor arranged to generate a measured armature current signal (I a) indicative of an amount of current flowing through said armature assembly;
a microprocessor programmed to generate said armature current setpoint signal (I a_SET) and said field current setpoint signal (I f_SET).
generate an armature-to-field current check function, wherein said check function defines a set of armature current to field current ratio values ((I a / I f)CHECK) as a function of armature current, calculate-a-ratio of said measured armature current signal (I a) to said field current setpoint signal(I f_SET) to establish an operating ratio value (I a / I f_SET).
compare said operating ratio value (I a / I f_SET) to a corresponding armature current to field current ratio value ((I a / I f)CHECK) of said armature-to-field current check function, and establish said field current de-boost signal (I f_DE-BOOST) wherein the magnitude of said field current de-boost signal (I f_DE-BOOST) is a function of said measured armature current signal (I a) and said comparison of said operating ratio value (I a / I f_SET)to said corresponding ratio value ((I a /I f)CHECK).
2. A motor control system as claimed in claim 1 wherein said microprocessor is programmed to compare said operating ratio value (I a / I f_SET) to said corresponding armature current to field current ratio value (( I a / I f)CHECK) by determining whether said operating ratio value (I a / I f_SET) is greater than said corresponding ratio value ((I a / I f)CHECK).
3. A motor control system as claimed in claim 1 wherein said microprocessor is programmed to establish the magnitude of said field current de-boost signal (I f_DE-BOOST) according to a selected one of two distinct de-boost equations, and wherein the identity of the selected equation depends upon the outcome of the comparison of said operating ratio value (I a / If_SET) to the corresponding armature current to field current ratio value ((I a / I f)CHECK).
4. A motor control system as claimed in claim 3 wherein said two distinct de-boost equations are as follows:
equation (3) I f _SET = I f_SET - [(Ia_ ERROR) X I f_GAIN, equation (4) where I'f_SET represents a de-boosted field current setpoint signal, where if If_GAIN
represents a preselected gain parameter, and where I a_ERROR represents an amature current error signal, said microprocessor is further programmed to generate said armature current error signal (I a_ERROR) by comparing said armature current setpoint signal (I a-SET) and said measured armature current signal (I a).
equation (3) I f _SET = I f_SET - [(Ia_ ERROR) X I f_GAIN, equation (4) where I'f_SET represents a de-boosted field current setpoint signal, where if If_GAIN
represents a preselected gain parameter, and where I a_ERROR represents an amature current error signal, said microprocessor is further programmed to generate said armature current error signal (I a_ERROR) by comparing said armature current setpoint signal (I a-SET) and said measured armature current signal (I a).
5. A motor control system as claimed in claim 4 wherein said microprocessor is programmed to select equation (3) when said operating ratio value (I a / I
f_SET) is greater than the corresponding armature current to field current ratio value ((I a / I f)CHECK).
f_SET) is greater than the corresponding armature current to field current ratio value ((I a / I f)CHECK).
6. A motor control system as claimed in claim 4 wherein said microprocessor is programmed to select equation (4) when said operating ratio value (I a / I
f_SET) is not greater than the corresponding armature current to field current ratio value ((I a/I f)CHECK).
f_SET) is not greater than the corresponding armature current to field current ratio value ((I a/I f)CHECK).
7. A motor control system as claimed in claim 1 wherein said electrical motor is characterized by a set of commutation limits, and wherein said microprocessor is programmed to generate said armature-to-field current check function such that said check function simulates said commutation limits as a function of armature current.
8. A motor control system as claimed in claim 1 wherein said electrical motor is characterized by a set of commutation limits, and wherein said armature-to-field current check function is defined by the following equations:
where (I a / I f)MAX represents a maximum armature current to field current ratio within said commutation limits, (I a/I f)MIN represents a minimum armature current to field current ratio within said commutation limits, (I a / I f)GAIN
represents the following product GDE_BOOST X (V REF - V BAT) where G DE-BOOST is a predetermined gain parameter, V REF represents a reference battery voltage, and (I a / I f)SLOPE represents the following product I a x MDE_BOOST
where M DE_BOOST is a predetermined slope parameter.
where (I a / I f)MAX represents a maximum armature current to field current ratio within said commutation limits, (I a/I f)MIN represents a minimum armature current to field current ratio within said commutation limits, (I a / I f)GAIN
represents the following product GDE_BOOST X (V REF - V BAT) where G DE-BOOST is a predetermined gain parameter, V REF represents a reference battery voltage, and (I a / I f)SLOPE represents the following product I a x MDE_BOOST
where M DE_BOOST is a predetermined slope parameter.
9. A motor control system as claimed in claim 8 wherein said predetermined gain parameter (G DE-BOOST) represents an allowable increase in armature to field current ratio per battery volts.
10. A motor control system as claimed in claim 8 wherein said predetermined slope parameter (M DE-BOOST) represents a maximum ratio of armature to field current per amp of armature current.
11. A motor control system as claimed in claim 8 wherein said microprocessor is programmed to generate said armature to field current check function such that said check function is defined by equation (1) when
12. A motor control system as claimed in claim 8 wherein said microprocessor is programmed to generate said armature to field current check function such that said check function is defined by equation (2) when
13. A motor control system as claimed in claim 1 wherein said microprocessor is further programmed to generate a full-on indication signal when said measured armature voltage signal (V a) is substantially equal to said operating battery voltage signal (V BAT), generate an armature current error signal (I a_ERROR) by comparing said armature current setpoint signal (I a_SET) and said measured armature current signal generate a low armature current indication signal when said armature current error signal (I a_ERROR) exceeds a predetermined value, and enable said field current de-boost signal establishing step according to whether said full-on indication signal and said low armature current indication signal are generated.
14. A motor control system as claimed in claim 13 wherein said microprocessor is further programmed to generate said armature current error signal according to the following equation Ia ERROR = Ia - Ia_SET.
15. A motor control system as claimed in claim 13 wherein said microprocessor is programmed to generate said full-on indication signal when V a > V BAT - T BAT_TOLERANCE
where V BAT_TOLERANCE as a predetermined voltage tolerance.
where V BAT_TOLERANCE as a predetermined voltage tolerance.
16. A motor control system as claimed in claim 13 wherein said microprocessor is programmed to generate said low armature current indication when I a < I a_SET - Ia_TOLERANCE
where I a_TOLERANCE is a predetermined current tolerance.
where I a_TOLERANCE is a predetermined current tolerance.
17. A motor control system as claimed in claim 1 wherein:
said field assembly is further responsive to a field current correction signal (I f_CORRECTION);
said motor control system further comprises a motor speed sensor arranged to generate an actual motor speed signal (.omega.) representative of an actual speed of said electrical motor; and said microprocessor is further programmed to generate an armature voltage reference signal (V a_REF).
compare said armature voltage reference signal (V a_REF) to said measured armature voltage sgnal(V a) and generate an armature voltage error signal (V a_ERROR) based on said comparison, and generate said field current correction signal (I f_CORRECTION) as a function of said armature voltage error signal.
said field assembly is further responsive to a field current correction signal (I f_CORRECTION);
said motor control system further comprises a motor speed sensor arranged to generate an actual motor speed signal (.omega.) representative of an actual speed of said electrical motor; and said microprocessor is further programmed to generate an armature voltage reference signal (V a_REF).
compare said armature voltage reference signal (V a_REF) to said measured armature voltage sgnal(V a) and generate an armature voltage error signal (V a_ERROR) based on said comparison, and generate said field current correction signal (I f_CORRECTION) as a function of said armature voltage error signal.
18. A motor control system comprising:
an electrically charged battery characterized by an operating battery voltage;
an electrical motor coupled to said battery, said electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint signal (I a_SET) and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint signal (I f_SET), a field current correction signal (If_CORRECTION) and a field current de-boost signal (I f_DE-BOOST);
a battery voltage sensor arranged to generate an operating battery voltage signal (V BAT) from said operating battery voltage;
a motor speed sensor arranged to generate an actual motor speed signal (.omega.) representative of an actual speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal (V a) from an electrical potential of said armature assembly;
an armature current sensor arranged to generate a measured armature current signal (I a) indicative of an amount of current flowing through said armature assembly;
a microprocessor programmed to generate an armature current setpoint signal (I a_SET), a field current setpoint signal (I f_SET), and an armature voltage reference signal (V a_REF).
compare said armature voltage reference signal (V a_REF) to said measured armature voltage signal (V a) and generate an armature voltage error signal (Va_ERROR) based on said comparison, generate said field current correction signal (If_CORRECTION) as a function of said armature voltage error signal, generate an armature-to-field current check function, wherein said check function defines a set of armature current to field current ratio values (I a/I f)CHECK) as a function of armature current, calculate a ratio of said measured armature current signal (I a) to said field current setpoint signal (I f_SET) to establish an operating ratio value (I a/If_SET) compare said operating ratio value (Ia/If_SET) to a corresponding armature current to field current ratio value ((I/a /I f)CHECK) of said armature-to-field current check function, and establish said field current de-boost signal (I f DE_BOOST), wherein the magnitude of said field current de-boost signal (I f_DE-BOOST) is a function of said measured armature current signal (I a) and said comparison of said operating ratio value (I a/I f_SET) to said corresponding ratio value ((I a /I f)CHECK).
an electrically charged battery characterized by an operating battery voltage;
an electrical motor coupled to said battery, said electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint signal (I a_SET) and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint signal (I f_SET), a field current correction signal (If_CORRECTION) and a field current de-boost signal (I f_DE-BOOST);
a battery voltage sensor arranged to generate an operating battery voltage signal (V BAT) from said operating battery voltage;
a motor speed sensor arranged to generate an actual motor speed signal (.omega.) representative of an actual speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal (V a) from an electrical potential of said armature assembly;
an armature current sensor arranged to generate a measured armature current signal (I a) indicative of an amount of current flowing through said armature assembly;
a microprocessor programmed to generate an armature current setpoint signal (I a_SET), a field current setpoint signal (I f_SET), and an armature voltage reference signal (V a_REF).
compare said armature voltage reference signal (V a_REF) to said measured armature voltage signal (V a) and generate an armature voltage error signal (Va_ERROR) based on said comparison, generate said field current correction signal (If_CORRECTION) as a function of said armature voltage error signal, generate an armature-to-field current check function, wherein said check function defines a set of armature current to field current ratio values (I a/I f)CHECK) as a function of armature current, calculate a ratio of said measured armature current signal (I a) to said field current setpoint signal (I f_SET) to establish an operating ratio value (I a/If_SET) compare said operating ratio value (Ia/If_SET) to a corresponding armature current to field current ratio value ((I/a /I f)CHECK) of said armature-to-field current check function, and establish said field current de-boost signal (I f DE_BOOST), wherein the magnitude of said field current de-boost signal (I f_DE-BOOST) is a function of said measured armature current signal (I a) and said comparison of said operating ratio value (I a/I f_SET) to said corresponding ratio value ((I a /I f)CHECK).
19. A motor control system as claimed in claim 18 wherein said microprocessor is further programmed to generate said field current correction signal (I
f_CORRECTION) such that it is inversely proportional to said actual motor speed signal (.omega.).
f_CORRECTION) such that it is inversely proportional to said actual motor speed signal (.omega.).
20. A motor control system as claimed in claim 18 wherein said microprocessor is further programmed to generate said field current correction signal (I
f_CORRECTION) as a function of said armature voltage error signal(V a_ERROR) and said actual motor speed signal (.omega.).
f_CORRECTION) as a function of said armature voltage error signal(V a_ERROR) and said actual motor speed signal (.omega.).
21. A motor control system as claimed in claim 20 wherein said microprocessor is further programmed to generate said field current correction signal(I
f_CORRECTION) according to the following equation:
where V a_ERROR is the armature voltage error signal, C1 is a constant, G v is a variable gain parameter, and .omega. is the actual speed of the motor.
f_CORRECTION) according to the following equation:
where V a_ERROR is the armature voltage error signal, C1 is a constant, G v is a variable gain parameter, and .omega. is the actual speed of the motor.
22. A motor control system as claimed in claim 21 wherein said electrical motor includes a characteristic air gap between poles of said field assembly and an armature core of said armature assembly, and wherein said constant (C1) includes a motor constant (K), unit scaling corrections, and a coefficient for dIf_SET/dB
where If_SET is the field current setpoint and B represents the magnetic flux in said air gap of said electrical motor.
where If_SET is the field current setpoint and B represents the magnetic flux in said air gap of said electrical motor.
23. A motor control system as claimed in claim 18 wherein said armature assembly includes high and low voltage nodes, and wherein said armature voltage sensor is arranged to measure armature voltage at said low voltage node.
24. A motor control system as claimed in claim 18 wherein said microprocessor is further programmed to modify said measured armature voltage signal (V a)by summing said measured armature voltage signal (V a) and said operating battery voltage signal (V BAT) prior to comparing said measured armature voltage signal (V a) to said armature voltage reference signal (V a_REF).
25. A motor control system as claimed in claim 18 wherein:
said motor control system further comprises a speed command generator arranged to generate a speed command signal (S) indicative of a desired speed of said electrical motor; and said microprocessor is further programmed to generate said armature voltage reference signal (V a_REF), said field current setpoint (I f_SET), and said armature current setpoint (I a_SET) as a function of said speed command signal (S) and said actual motor speed signal (.omega.).
said motor control system further comprises a speed command generator arranged to generate a speed command signal (S) indicative of a desired speed of said electrical motor; and said microprocessor is further programmed to generate said armature voltage reference signal (V a_REF), said field current setpoint (I f_SET), and said armature current setpoint (I a_SET) as a function of said speed command signal (S) and said actual motor speed signal (.omega.).
26. A motor control system as claimed in claim 25 wherein said microprocessor is programmed to generate said armature voltage reference signal (V a_REF), said field current setpoint (I f_SET), and said armature current setpoint (I a_SET) from a look-up table having at least one input value derived from said speed command signal (S) and said actual motor speed signal (.omega.).
27. A motor control system as claimed in claim 25 wherein said microprocessor is programmed to generate said armature voltage reference signal (V a_REF), said field current setpoint (I f_SET), and said armature current setpoint (I a-SET) from a look-up table.
28. A motor control system as claimed in claim 25 wherein said microprocessor is programmed to generate said armature voltage reference signal (Va_REF), said field current setpoint (I f_SET), and said armature current setpoint (Ia_SET) from a dual-input look-up table, wherein a first input of said look-up table comprises a torque setpoint signal (T SET), and wherein a second input of said look-up table comprises said actual motor speed signal (.omega.).
29. A motor control system as claimed in claim 28 wherein said microprocessor is programmed to generate said torque setpoint signal (T SET) as a function of said actual motor speed signal (.omega.) and said speed command signal (S).
30. A motor control system comprising:
an electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint and a field current correction signal;
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of said electrical motor;
a speed command generator arranged to generate a speed command signal indicative of a desired speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal from an electrical potential of said armature assembly; and a microprocessor programmed to generate an armature voltage reference signal, said field current setpoint, and said armature current setpoint, wherein said armature voltage reference signal, said field current setpoint, and said armature voltage reference signal, said field current setpoint, and said armature current setpoint are generated as a function of said speed command signal and said actual motor speed signal, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate said field current correction signal as a function of said armature voltage error signal.
an electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint and a field current correction signal;
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of said electrical motor;
a speed command generator arranged to generate a speed command signal indicative of a desired speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal from an electrical potential of said armature assembly; and a microprocessor programmed to generate an armature voltage reference signal, said field current setpoint, and said armature current setpoint, wherein said armature voltage reference signal, said field current setpoint, and said armature voltage reference signal, said field current setpoint, and said armature current setpoint are generated as a function of said speed command signal and said actual motor speed signal, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate said field current correction signal as a function of said armature voltage error signal.
31. A motor control system as claimed in claim 30 wherein said microprocessor is further programmed to generate said field current correction signal such that it is inversely proportional to said actual motor speed signal.
32. A motor control system as claimed in claim 30 wherein said microprocessor is further programmed to generate said field current correction signal as a function of at least one of said armature voltage error signal and said actual motor speed signal.
33. A motor control system as claimed in claim 32 wherein said microprocessor is further programmed to generate said field current correction signal as a function of said armature voltage error signal and said actual motor speed signal.
34. A motor control system as claimed in claim 32 wherein said microprocessor is further programmed to generate said field current correction signal If_ CORRECTION
according to the following equation:
If_CORRECTION = where V a_ERROR is the armature voltage error signal, C l is a constant, Gv is a variable gain parameter, and .omega. is the actual speed of the motor.
according to the following equation:
If_CORRECTION = where V a_ERROR is the armature voltage error signal, C l is a constant, Gv is a variable gain parameter, and .omega. is the actual speed of the motor.
35. A motor control system as claimed in claim 34 wherein said electrical motor includes a characteristic air gap between poles of said field assembly and an armature core of said armature assembly, and wherein said constant C l includes a motor constant K , unit scaling corrections, and a coefficient for dIf_ SET/dB
where If_SET is the field current setpoint and B represents the magnetic flux in said air gap of said electrical motor.
where If_SET is the field current setpoint and B represents the magnetic flux in said air gap of said electrical motor.
36. A motor control system as claimed in claim 30 wherein said armature assembly includes high and low voltage nodes, and wherein said armature voltage sensor is arranged to measure armature voltage at said low voltage node.
37. A motor control system as claimed in claim 30 wherein said electrical motor is driven by a battery voltage characterized by a battery voltage signal, and wherein said microprocessor is further programmed to modify said measured armature voltage signal by summing said measured armature voltage signal and said battery voltage signal prior to comparing said measured armature voltage signal to said armature voltage reference signal.
38. A motor control system as claimed in claim 30 wherein said microprocessor is programmed to generate said armature voltage reference signal, said field current setpoint, and said armature current setpoint from a look-up table.
39. A motor control system as claimed in claim 30 wherein said microprocessor is programmed to generate said armature voltage reference signal, said field current setpoint, and said armature current setpoint from a dual-input look-up table, wherein a first input of said look-up table comprises a torque setpoint signal, and wherein a second input of said look-up table comprises said actual motor speed signal.
40. A motor control system as claimed in claim 39 wherein said microprocessor is programmed to generate said torque setpoint signal as a function of said speed command signal and said actual motor speed signal.
41. A motor control system as claimed in claim 30 wherein said microprocessor is programmed to generate said armature voltage reference signal, said field current setpoint, and said armature current setpoint from a look-up table having at least one input value derived from said speed command signal and said actual motor speed signal.
42. A motor control circuit comprising:
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of an electrical motor;
a speed command generator arranged to generate a speed command signal indicative of a desired speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal corresponding to an armature potential of said electrical motor; and a microprocessor programmed to generate an armature voltage reference signal, a field current setpoint, and an armature current setpoint, wherein said armature voltage reference signal, said field current setpoint, and said armature current setpoint are generated as a function of said speed command signal and said actual motor speed signal, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate a field current correction signal as a function of said armature voltage error signal.
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of an electrical motor;
a speed command generator arranged to generate a speed command signal indicative of a desired speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal corresponding to an armature potential of said electrical motor; and a microprocessor programmed to generate an armature voltage reference signal, a field current setpoint, and an armature current setpoint, wherein said armature voltage reference signal, said field current setpoint, and said armature current setpoint are generated as a function of said speed command signal and said actual motor speed signal, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate a field current correction signal as a function of said armature voltage error signal.
43. A motor control system comprising:
an electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint and a field current correction signal;
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal from an electrical potential of said armature assembly; and a microprocessor programmed to generate an armature voltage reference signal and said field current setpoint, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate said field current correction signal as a function of said armature voltage error signal.
an electrical motor including an armature assembly responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint and a field current correction signal;
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal from an electrical potential of said armature assembly; and a microprocessor programmed to generate an armature voltage reference signal and said field current setpoint, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate said field current correction signal as a function of said armature voltage error signal.
44. A motor control circuit comprising:
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of an electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal corresponding to an armature potential of said electrical motor; and a microprocessor programmed to generate an armature voltage reference signal and a field current setpoint, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate a field current correction signal as a function of said armature voltage error signal.
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of an electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal corresponding to an armature potential of said electrical motor; and a microprocessor programmed to generate an armature voltage reference signal and a field current setpoint, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, and generate a field current correction signal as a function of said armature voltage error signal.
45. A motor control system comprising:
an electrical motor driven by a battery voltage characterized by a battery voltage signal, said electrical motor including an armature assembly including high and low voltage nodes, said armature assembly being responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint and a field current correction signal;
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of said electrical motor;
a speed command generator arranged to generate a speed command signal indicative of a desired speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal from an electrical potential of said armature assembly at said low voltage node; and a microprocessor programmed to generate an armature voltage reference signal, said field current setpoint, and said armature current setpoint from a dual-input look-up table, wherein a first input of said look-up table comprises a torque setpoint signal, wherein a second input of said look-up table comprises said actual motor speed signal, and wherein said microprocessor is programmed to generate said torque setpoint signal as a function of said speed command signal and said actual motor speed signal, programmed to generate said torque setpoint signal as a function of said speed command signal and said actual motor speed signal, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, modify said measured armature voltage signal by summing said measured armature voltage signal and said battery voltage signal prior to comparing said measured armature voltage signal to said armature voltage reference signal, and generate said field current correction signal (l f_ correction) according to the following equation:
I f_ CORRECTION = V a_ ERROR X C] X wherein V a-ERROR is the armature voltage error signal, C] is a constant, Gv is a variable gain parameter, and .omega. is the actual speed of the motor, wherein said electrical motor includes a characteristic air gap between poles of said field assembly and an armature core of said armature assembly, and wherein said constant C]
includes a motor constant K , unit scaling corrections, and a coefficient for dl f_ SET/d B where l f_ SET is the field current setpoint and B represents the magnetic flux in said air gap of said electrical motor.
an electrical motor driven by a battery voltage characterized by a battery voltage signal, said electrical motor including an armature assembly including high and low voltage nodes, said armature assembly being responsive to an armature current, wherein a magnitude of said armature current is a function of a predetermined armature current setpoint and a field assembly responsive to a field current, wherein a magnitude of said field current is a function of a predetermined field current setpoint and a field current correction signal;
a motor speed sensor arranged to generate an actual motor speed signal representative of an actual speed of said electrical motor;
a speed command generator arranged to generate a speed command signal indicative of a desired speed of said electrical motor;
an armature voltage sensor arranged to generate a measured armature voltage signal from an electrical potential of said armature assembly at said low voltage node; and a microprocessor programmed to generate an armature voltage reference signal, said field current setpoint, and said armature current setpoint from a dual-input look-up table, wherein a first input of said look-up table comprises a torque setpoint signal, wherein a second input of said look-up table comprises said actual motor speed signal, and wherein said microprocessor is programmed to generate said torque setpoint signal as a function of said speed command signal and said actual motor speed signal, programmed to generate said torque setpoint signal as a function of said speed command signal and said actual motor speed signal, compare said armature voltage reference signal to said measured armature voltage signal and generate an armature voltage error signal based on said comparison, modify said measured armature voltage signal by summing said measured armature voltage signal and said battery voltage signal prior to comparing said measured armature voltage signal to said armature voltage reference signal, and generate said field current correction signal (l f_ correction) according to the following equation:
I f_ CORRECTION = V a_ ERROR X C] X wherein V a-ERROR is the armature voltage error signal, C] is a constant, Gv is a variable gain parameter, and .omega. is the actual speed of the motor, wherein said electrical motor includes a characteristic air gap between poles of said field assembly and an armature core of said armature assembly, and wherein said constant C]
includes a motor constant K , unit scaling corrections, and a coefficient for dl f_ SET/d B where l f_ SET is the field current setpoint and B represents the magnetic flux in said air gap of said electrical motor.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US6043097P | 1997-09-30 | 1997-09-30 | |
| US6046097P | 1997-09-30 | 1997-09-30 | |
| US60/060,430 | 1997-09-30 | ||
| US60/060,460 | 1997-09-30 | ||
| PCT/US1998/020546 WO1999017436A1 (en) | 1997-09-30 | 1998-09-29 | Separately excited dc motor with boost and de-boost control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2304294A1 true CA2304294A1 (en) | 1999-04-08 |
| CA2304294C CA2304294C (en) | 2010-01-19 |
Family
ID=26739918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002304294A Expired - Lifetime CA2304294C (en) | 1997-09-30 | 1998-09-29 | Separately excited dc motor with boost and de-boost control |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP1020017A1 (en) |
| KR (1) | KR20010024334A (en) |
| AU (1) | AU9675998A (en) |
| CA (1) | CA2304294C (en) |
| WO (1) | WO1999017436A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4820243B2 (en) * | 2006-08-31 | 2011-11-24 | 日立オートモティブシステムズ株式会社 | Automotive control device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4423362A (en) * | 1982-05-19 | 1983-12-27 | General Electric Company | Electric vehicle current regulating system |
| DE3541276A1 (en) * | 1985-11-22 | 1987-05-27 | Heidelberger Druckmasch Ag | CONTROL DEVICE FOR A FOREIGN REGULATED DC DRIVE MOTOR AND METHOD FOR CONTROLLING A DC DRIVE MOTOR OF A PRINTING MACHINE OR THE LIKE |
| US5039924A (en) * | 1990-05-07 | 1991-08-13 | Raymond Corporation | Traction motor optimizing system for forklift vehicles |
-
1998
- 1998-09-29 AU AU96759/98A patent/AU9675998A/en not_active Abandoned
- 1998-09-29 WO PCT/US1998/020546 patent/WO1999017436A1/en not_active Application Discontinuation
- 1998-09-29 KR KR1020007003392A patent/KR20010024334A/en not_active Application Discontinuation
- 1998-09-29 CA CA002304294A patent/CA2304294C/en not_active Expired - Lifetime
- 1998-09-29 EP EP98950806A patent/EP1020017A1/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| EP1020017A1 (en) | 2000-07-19 |
| WO1999017436A1 (en) | 1999-04-08 |
| AU9675998A (en) | 1999-04-23 |
| KR20010024334A (en) | 2001-03-26 |
| CA2304294C (en) | 2010-01-19 |
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| Date | Code | Title | Description |
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| EEER | Examination request | ||
| MKEX | Expiry |
Effective date: 20181001 |