CN101588152A - Method and device capable of achieving communication and transmission for rotor position parameter and reversing motor - Google Patents
Method and device capable of achieving communication and transmission for rotor position parameter and reversing motor Download PDFInfo
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- CN101588152A CN101588152A CNA200910133060XA CN200910133060A CN101588152A CN 101588152 A CN101588152 A CN 101588152A CN A200910133060X A CNA200910133060X A CN A200910133060XA CN 200910133060 A CN200910133060 A CN 200910133060A CN 101588152 A CN101588152 A CN 101588152A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 title description 10
- 238000012545 processing Methods 0.000 claims description 22
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000013508 migration Methods 0.000 claims description 2
- 230000005012 migration Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 8
- 238000004804 winding Methods 0.000 description 7
- 230000015654 memory Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- 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
- H02P6/16—Circuit arrangements for detecting position
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to an electrical machine (2), a control device (3), a motor system (1) and a method for driving the motor system (1). The method comprises the steps as follows: detecting the parameters related to the position of momentary rotor in the electrical machine (2); determining the time of the reversing of the electrical machine (2) according to the position of the rotor; communicating a rotor position information depending on the time of the change of the reversing to a control device (3); executing the change of the electrical machine (2) depending on the time of receiving the communication signals in the control device (3).
Description
Technical field
The present invention relates to make rotor position information to communicate a kind of method and apparatus that transmits and implement commutation control according to the rotor position information of communications.
Background technology
In order to detect, use three kinds of methods usually at the rotor-position of rotary electromotor rotor and for one of rotor position information communications is implemented the controller that commutation is controlled:
1. the stator of motor is provided with Hall sensor, and they are by measuring the information that magnetic flux detects relevant rotor-position.Hall sensor is read with analog form by controller, is used to obtain rotor position information.The shortcoming that the application Hall sensor is measured rotor-position is: these transducers must be located very accurately, so that accurately implement commutation (Kommutierung) when the rotor-position of setting.Especially the mechanical balance that when multipolar electric motor, must will take a lot of trouble.This external a kind of away from the analog signal that will read in the controller of motor arrangement may with interference signal superposition, more error when this causes rotor-position in measuring controller.
2. position transducer is adopted in design, for example the form of AMR-or GMR-transducer (AMR: anisotropic magnetoresistive, GMR: giant magnetoresistance), on motor.AMR-or GMR-transducer detect the magnetic field of depending on rotor-position of a transmission magnet on the fixed rotor axle, can obtain the information of relevant rotor-position thus.The rotor position information great majority that obtain like this are transferred to control device for reversing by a serial communication host-host protocol.Control device for reversing is determined according to the control of commutation to motor by the rotor position information that receives.The application site transducer, a shortcoming during as the AMR-/GMR-transducer is: the message transmission from transducer to control device for reversing must realize with very high bandwidth.Rotor-position must have high resolution, and this is because when the definite rotor-position of one of the rotor of motor arrival, the moment of commutation just in time is a definite moment.
3. the known in addition method that has or not transducer is used for measuring the information of relevant rotor-position, and they have utilized the information of the distribution of electric current in the motor and have measured separately rotor-position thus.In the method for no transducer, these methods all are based on current measurement, can only very inaccurately determine rotor-position when motor speed is little.Do not have in the method for transducer at another kind, this method is called the test pulse method, and the efficient of motor has been reduced, and this equally also is undesirable.
Summary of the invention
Task of the present invention is to propose a kind of method and apparatus that is used for the detection rotor positional information and is used for communicating with a control device for reversing transmission, wherein on the one hand can enough implement commutation a desirable moment exactly, and therefore can realize communication more reliably being arranged between position transducer in the motor and the controller on the other hand.
This task is by solving in accordance with the method for claim 1 and by controlling described sensing system of claim arranged side by side and electric motor system.
Other favourable design of invention is seen dependent claims.
According to the design of first aspect have a transducer-and analysis and processing unit be used for the position of detecting motor rotor and be used for the rotor position information communications is defeated by a controller.Transducer-include a position transducer and an APU that is used for detecting about instantaneous rotor location parameter (Angabe) with analysis and processing unit.APU is designed for according to the parameter of rotor-position determines the moment of conversion motor commutation, and is used to depend on that the moment of conversion commutation makes the rotor position information communications.
According to another aspect design a kind of controller that is used to make motor commutation is arranged.Controller includes not a level and the control device for reversing that are used to trigger motor.Control device for reversing is designed for and receives commutation signal and be used for commutation according to the moment conversion motor that receives commutation signal.
According to the design of another aspect electric system is arranged, it has the transducer mentioned above having-and the motor and the controller above-mentioned of analysis and processing unit, and this controller is coupled with motor, is used to receive commutation information.
In electric system, implement a kind of method that makes the electric system operation.This method may further comprise the steps:
-detect in motor parameter about the instantaneous rotor position;
-determine the moment of the commutation of conversion motor according to the parameter of rotor-position;
-depend on that the moment of conversion commutation is defeated by controller with the rotor position information communications;
-depend on and the moment that in controller, receives rotor position information implement the conversion of motor commutation.
The method regulation that makes the electric system operation with motor and controller recited above: make the rotor position information of motor, just when having reached the commutation that need make motor and carry out the commutation position of conversion, just communications is to controller.Thereby can make with much smaller bandwidth transducer in the motor-and analysis and processing unit and controller between the communications operation.Rotor position information is constantly inquired or constantly obtained to controller in traditional method, and method recited above is then advised: this be arranged in transducer in the motor-and analysis and processing unit be controller is supplied with rotor-position according to a kind of interrupt method information.Owing to only in the time must commutating, just transmit rotor position information, therefore the data quantity transmitted of wanting significantly reduced.
Can design transducer-and the APU of analysis and processing unit according to a kind of form of implementation, be used for rotor position information was communicated transmission in the moment of commutation or with an official hour skew before the moment of commutation.Therefore can the transmission time of rotor position information be taken in.The commutation the moment under the situation of back just the rotating speed according to rotor estimate.
Rotor position information can include about the parameter of instantaneous rotor position and/or be used to make moment of conversion commutation to become the commutation signal of signal in addition.
This outer sensor-include the storage device that is used to store deviant with analysis and processing unit, this deviant is expressed the absolute position of the position transducer of relevant rotor.
Description of drawings
Below with reference to the accompanying drawings the preferred implementing form of inventing is elaborated.Accompanying drawing is depicted as:
Fig. 1: have one on armature spindle sensor unit and the electric motor system of a controller;
Fig. 2: be used for a transducer of the motor of electric motor system shown in Figure 1-and the schematic diagram of analysis and processing unit.
Embodiment
Fig. 1 has simply represented an electric motor system 1 with a motor 2 and a controller 3.Motor 2 for example includes a motor, and it has a stator 21 and a rotor 22, and the latter is arranged on the armature spindle 23.Motor is commutated by electricity, and the single coil of motor depends on that rotor-position triggers by controller 3 in other words.Coil design becomes the stator winding on stator 21.By the rotor 22 of permanent magnet (not shown) that triggered drive arrangement of the coil to the stator winding on stator 21.
Armature spindle 23 is provided with a sensor device 24 as position transducer, and it has a transmitter magnet 25, and this magnet is fixed on the armature spindle 23.In an other transducer-and the analysis and processing unit 26 that is provided with of transmitter magnet 25, it obtains the information of relevant rotor-position by the magnetic flux in this magnetic field that is produced by transmitter magnet 25.Transducer-and analysis and processing unit 26 include a magnetic field sensor for this reason, the form of AMR-or GMR-transducer for example, this transducer has a resistance that depends on the magnetic field that acts on.Position change by transmitter magnet 25 when armature spindle 23 rotates changes this magnetic field of being surveyed by the position transducer that is constituted by transmitter magnet 25 and magnetic field sensor, and can infer instantaneous rotor-position according to the resistance of magnetic field sensor, that is to say the absolute position angle of armature spindle 23 with respect to a regulation zero-bit.
Stator winding on the stator 21 of motor triggers by the not level 31 of relative trigger lead 4 by controller 3.Not 31 and control device for reversings of level, 32 couplings, the latter triggers this not level 31.The commutation that therefore control device for reversing 32 has stipulated motor that is to say the single coil that will trigger the stator winding of motor stator 21 in which type of mode.
In order to implement commutation, this control device for reversing 32 need obtain being positioned at information on which angular segments about absolute rotor-position.Therefore the control device for reversing 32 of level 31 can not obtained the coil of the stator winding that be triggered, and therefore corresponding to an adjusted value S who receives in controller 3, for example the triggering signal by the pulse bandwidth modulation triggers motor.1 li transducer of electric motor system-and analysis and processing unit 24 include an APU 28 in addition, it is inquired position transducer 27 constantly and determines: when must carry out the commutation of motor, that is to say, when must carry out conversion the triggering of the single coil of stator winding.If APU 28 is found: the instantaneous rotor status requirement commutates, so transducer-and the APU 28 of analysis and processing unit 26 rotor position information is sent to the control device for reversing 32 of controller 3 by holding wire 5.
Rotor position information by APU 28 transmission can illustrate: should commutate to next rotor-position section.If for controller 3 known turning to of motor, that may be just much of that.Rotor position information can comprise the parameter of the absolute angle of relevant rotor-position in addition, therefore control device for reversing 32 can and receive institute's elapsed time between two angles that follow closely mutually from the sequence of the absolute angle of the rotor-position that receives, except being used for implementing also to obtain rotating speed of motor the commutation.If realized the adjusting or the similar function of rotating speed by way of parenthesis in controller, that possibility must be about the parameter of rotating speed.What yet possibility was enough in addition is: rotor position information only comprises a kind of information about zone (Sektor), this absolute rotor-position is positioned in this zone, and have only when regional variation has appearred in the rotation by rotor 22, just carry out the transmission of rotor position information.
APU 28 can make rotor position information communicate transmission in the moment or the previous official hour skew in the moment of commutating of commutation, with the delay of compensation when transmitting rotor position information.
By transducer-and the rotor position information that sent of analysis and processing unit 26 triggered control device for reversing 32, therefore, depend on the rotor-position signal that is received, the conversion that commutates there by means of level 31 not.The rotor position information that receives by holding wire 5 for example makes an interrupt routine operation 32 li of control device for reversings, and this program has been determined corresponding conversion that stator winding triggers and level 31 is not carried out relative trigger.
Especially position transducer 27 and transducer-and the APU 28 of analysis and processing unit 26 be integrated in the module, preferably together on a chip.
Because transmitter magnet 25 generally is not arranged to the relation that becomes to determine with rotor-position when making motor 2, therefore directly just after the motor assembling, at detectable absolute rotor-position with to need not have corresponding relation between the angular segments of certain commutation not available.Owing to this reason transducer-and analysis and processing unit 26 also have a memory cell 29, to store an equilibrium valve.Equilibrium valve has been pointed out the angular deflection between the angle of the transmitter magnet 25 of the rotor-position of reality and sensor device 24 is arranged.When motor moves equilibrium valve is thought of as migration, its method is to depend on that the rotor-position value of having considered equilibrium valve obtains commutation information.For example equilibrium valve can be by carrying out addition for the absolute rotor-position value of obtaining with the position transducer that adopts or subtraction is determined.
The information that transmits in order to transmit can be used simple serial data transport protocol or also can use a kind of parallel signaling interface.
Can store median in addition for 29 li at memory, these medians have illustrated the position or the moment, in this position or the time engrave with rotor position information send controller to rotor so that a more relevant information absolute, the instantaneous rotor position is provided there.Can design code: on this absolute rotor-position illustrated, should not commutate by median, and this can be correspondingly indicate in this rotor position information by holding wire 5 transmission, and for example mode is except about also transmitting a commutation mark the parameter of rotor-position.
Equilibrium valve for example can be obtained by triggering motor with some triggering signal, and these triggering signals move on some positions of predesignating armature spindle 23.Value by the detected absolute rotor-position of sensor device then can be used as equilibrium valve.
If should realize using a kind of triggering method of pre-commutation, in other words before next commutation position reaches by armature spindle 23, just commutating, so equally also is in transducer-and 29 li of the memories of the analysis and processing unit 26 value information of a correspondence in other words that can stipulate a correspondence.For this reason transducer-and analysis and processing unit 26 can obtain the rotating speed of rotor 22 and by holding wire 5 from detected absolute rotor-position, depend on the current rotating speed of rotor 22 and depend on whether to implement a kind of pre-commutation, settle corresponding commutation information, these information have illustrated the commutation moment of catching up with before the moment of real transform commutation section.
Electric motor system recited above especially can be applied to synchronous machine and especially have multipolely in application, must be favourable in the occasion of the synchronous machine that commutates exactly aspect the time.The reduction of the bandwidth of the signal connection 5 that is reached in above-mentioned electric motor system is especially significant, if motor 2 and controller 3 do not form construction unit, but is separated from each other out the words of layout.
Claims (9)
1. be used for the rotor-position of detecting motor (2) rotor (22) and be used for giving the transducer of controller (3)-and analysis and processing unit (24), include the rotor position information communications:
-be used to detect the position transducer (27) of the parameter of relevant instantaneous rotor position,
-APU (28), it is designed for the conversion moment that the parameter that depends on relevant rotor-position is determined motor (2) commutation, and is used to depend on the conversion moment communications rotor position information of commutation.
2. by the described transducer of claim 1-and analysis and processing unit (24), wherein APU (28) was designed in the moment of commutation or with the time migration of determining and makes the rotor position information communications before the commutation moment.
3. by claim 1 or 2 described transducers-and analysis and processing unit (24), wherein rotor position information includes about the parameter of instantaneous rotor position and/or is used for the moment that conversion commutates is become the commutation signal of signal.
4. by described transducer one of in the claim 1 to 3-and analysis and processing unit (24), have storage device and be used to store deviant, this value has illustrated the absolute position of position transducer (27) with respect to rotor (22).
5. the motor (2) that has rotor, this rotor with by described transducer one of in the claim 1 to 4-and analysis and processing unit (24) be coupled.
6. be used to make the controller (3) of motor (2) commutation, include:
-level (31) is not used to trigger motor (2);
-control device for reversing (32), it is designed for the reception commutation signal, and depends on the conversion of moment enforcement motor (2) commutation that receives commutation signal.
7. electric motor system (1) has a kind ofly by the described motor of claim 5 with have controller by claim 6, and this controller and motor (2) coupling is with reception commutation information.
8. by the described electric motor system of claim 7, wherein motor (2) and controller (3) are designed to independent unit, unit.
9. make the method for electric motor system (1) operation, have following steps:
-obtain in the motor (2) parameter of relevant instantaneous rotor position;
The moment that-the parameter that depends on relevant rotor-position determines to make the commutation of motor (2) to carry out conversion;
-depend on the moment of the conversion that commutates, make the rotor position information communications give controller (3);
-depend on and the moment that receives rotor position information in controller (3) lining implement the conversion of motor (2) commutation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102008000993.8 | 2008-04-04 | ||
| DE102008000993A DE102008000993A1 (en) | 2008-04-04 | 2008-04-04 | Sensor and evaluation unit for use in engine system, has evaluation device for determining time of change of commutation of electrical machine and communicating rotor position information to control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101588152A true CN101588152A (en) | 2009-11-25 |
| CN101588152B CN101588152B (en) | 2014-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910133060.XA Expired - Fee Related CN101588152B (en) | 2008-04-04 | 2009-04-07 | Method and device capable of achieving communication and transmission for rotor position parameter and reversing motor |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101588152B (en) |
| DE (1) | DE102008000993A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103178681A (en) * | 2011-12-24 | 2013-06-26 | 大洋电机新动力科技有限公司 | Motor entity with rotor position sensor initial installation deviant information and initial installation deviant information measurement method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012208408A1 (en) | 2012-05-21 | 2013-11-21 | Robert Bosch Gmbh | Method for assembling transmitter element i.e. magnetic ring, of locator magnet on rotor of brushless direct current motor, involves fastening ring at rotor, and magnetizing fastened ring, where ring is securely introduced into rotor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030076060A1 (en) * | 2001-10-01 | 2003-04-24 | Colosky Mark P. | Method and apparatus for calibrating and initializing an electronically commutated motor |
| US20060061489A1 (en) * | 2004-09-21 | 2006-03-23 | George Ellis | Encoder for a motor controller |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4552353B2 (en) * | 2001-05-11 | 2010-09-29 | ソニー株式会社 | Servo actuator and its position detector |
| KR101201908B1 (en) * | 2006-05-04 | 2012-11-16 | 엘지전자 주식회사 | Control apparatus and method of synchronous reluctance motor |
-
2008
- 2008-04-04 DE DE102008000993A patent/DE102008000993A1/en not_active Withdrawn
-
2009
- 2009-04-07 CN CN200910133060.XA patent/CN101588152B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030076060A1 (en) * | 2001-10-01 | 2003-04-24 | Colosky Mark P. | Method and apparatus for calibrating and initializing an electronically commutated motor |
| US20060061489A1 (en) * | 2004-09-21 | 2006-03-23 | George Ellis | Encoder for a motor controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103178681A (en) * | 2011-12-24 | 2013-06-26 | 大洋电机新动力科技有限公司 | Motor entity with rotor position sensor initial installation deviant information and initial installation deviant information measurement method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102008000993A1 (en) | 2009-10-08 |
| CN101588152B (en) | 2014-09-10 |
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Granted publication date: 20140910 Termination date: 20160407 |