CN111313777A - Permanent magnet type DC motor driving device - Google Patents
Permanent magnet type DC motor driving device Download PDFInfo
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- CN111313777A CN111313777A CN201811404812.7A CN201811404812A CN111313777A CN 111313777 A CN111313777 A CN 111313777A CN 201811404812 A CN201811404812 A CN 201811404812A CN 111313777 A CN111313777 A CN 111313777A
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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
- H02P7/292—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 using static converters, e.g. AC to DC
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
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Abstract
The invention provides a permanent magnet type direct current motor driving device, comprising: a permanent magnet DC motor; a direct current power supply; and the chopper is provided with m chopper units, each chopper unit comprises an upper bridge arm and a lower bridge arm which are connected in series, the upper bridge arm and the lower bridge arm respectively comprise at least one power switching tube and a diode connected with the power switching tube in an inverse parallel connection mode, m pairs of power supply output terminals are formed by m first power supply output ends of all the chopper units and m second power supply output ends of all the chopper units correspondingly, output currents of the m pairs of power supply output terminals all contain current ripples, and the permanent magnet direct current motor comprises: a housing; m pairs of electric brushes; a stator; and the m first wiring ends and the m second wiring ends respectively form m pairs of external wiring terminals correspondingly, the m pairs of external wiring terminals are connected with the m pairs of power output terminals in a one-to-one correspondence mode, and m is a positive integer not less than 2.
Description
Technical Field
The invention belongs to the field of direct current motors, and particularly relates to a permanent magnet type direct current motor driving device.
Background
The permanent magnet DC motor is a DC motor with a magnetic field formed by one or more permanent magnets, and has the advantages of small volume, high efficiency, simple structure, convenient speed regulation by changing armature voltage and the like, so the permanent magnet DC motor is widely applied to industries such as automobiles, motorcycles, electric bicycles, storage battery vehicles, ships, aviation and the like.
The DC motor is generally used together with a chopper to form a speed regulating device of the DC motor, and in order to ensure the reliability of a system, the maximum output current of the chopper is generally 2 to 3 times of the rated current of the motor. The high-power high-performance direct current motor, especially the low-voltage high-current direct current motor, needs a chopper with large continuous working current, and related technologies and products are controlled and monopolized by individual countries and companies, so that the price is very high, and the output current value of the chopper for the high-performance motor which can be purchased in the market is only below one thousand amperes, which seriously restricts and influences the development of the low-voltage high-current direct current motor.
The chopper adopts the pulse width modulation technology to control the on-off of the power switch tube to change the output voltage and the output current, the size of the output current ripple is inversely proportional to the switching frequency of the power switch tube, and the size of the switching frequency of the power switch tube is directly proportional to the switching loss (or temperature rise and fault rate). And the motor output torque ripple is proportional to the current ripple. Therefore, in order to reduce the motor output torque ripple or reduce the current ripple, it is necessary to increase the switching frequency; in order to reduce the switching losses, the switching frequency must be reduced. This contradictory relationship has influenced the development of dc motor drives. Which makes it difficult to apply to devices such as numerical control machines with high requirements for rotational speed and torque ripple.
The permanent magnet direct current motor applied to the national defense equipment is particularly sensitive to vibration and electromagnetic interference due to the stealth requirement, namely the ripple requirements on the output torque of the motor and the ripple requirements on the current are particularly strict. At present, the traditional permanent magnet direct current motor applied to high-power national defense electric equipment is difficult to deal with the detection technology which is developed increasingly.
For the above reasons, the development of the permanent magnet dc motor is restricted and affected, and economic construction and national defense construction are affected.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a permanent magnet type dc motor driving device.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a permanent magnet type direct current motor driving device, which is characterized by comprising the following components: a permanent magnet DC motor having a rated voltage; a direct current power supply having a constant voltage corresponding to a rated voltage; and a chopper for converting a constant voltage into a variable voltage according to a drive signal and supplying the variable voltage to the permanent magnet DC motor, wherein the chopper has m chopper units, each chopper unit comprises an upper bridge arm and a lower bridge arm which are connected in series with each other, the upper bridge arm and the lower bridge arm respectively comprise at least one power switching tube and a diode connected in reverse parallel with the power switching tube, a current output end of the power switching tube of the upper bridge arm of each chopper unit and a current input end of the power switching tube of the lower bridge arm of each chopper unit are connected with each other to form a first power supply output end, a current output end of the power switching tube of the lower bridge arm of each chopper unit forms a second power supply output end, m pairs of power supply output terminals are formed by the m first power supply output ends of all chopper units and the m pairs of second power supply output ends of all chopper units correspondingly, and output currents of, the permanent magnet direct current motor includes: a housing; m pairs of electric brushes fixed in the machine shell; the stator is arranged in the shell and comprises m pairs of permanent magnetic main poles corresponding to the m pairs of electric brushes; and a rotor, arranged in the stator, including a plurality of armature windings mutually connected by a predetermined connection mode, each pair of main magnetic poles includes an S-pole main magnetic pole and an N-pole main magnetic pole which are adjacent, the positions of 2 brushes in each pair of brushes are adjacent, each pair of brushes includes a brush corresponding to the S-pole main magnetic pole and a brush corresponding to the N-pole main magnetic pole, the leading-out ends of all the S-pole corresponding brushes form m first terminals, and the leading-out ends of all the N-pole corresponding brushes form m second terminals; or all N poles correspond to leading-out ends of the electric brushes to form m first wiring ends, all S poles correspond to leading-out ends of the electric brushes to form m second wiring ends, the m first wiring ends and the m second wiring ends respectively and correspondingly form m pairs of external wiring terminals, the m pairs of external wiring terminals are connected with the m pairs of power output terminals in a one-to-one correspondence mode, and m is a positive integer not less than 2.
The permanent magnet type dc motor driving device according to the present invention may further include: wherein m is the same as the current ripple frequency of the output current of the power supply output terminal.
The permanent magnet type dc motor driving device according to the present invention may further include: wherein, the phases of the current ripples of the output currents of the m pairs of power supply output terminals are all the same.
The permanent magnet type dc motor driving device according to the present invention may further include: the phases of the current ripples of the output currents of the m pairs of power supply output terminals are sequentially staggered by a half m of the switching period.
The permanent magnet type dc motor driving device according to the present invention may further include: and the driving part generates a driving signal according to the control signal, wherein the driving part is provided with m pairs of signal output ends formed by at least one driving unit, and the m pairs of signal output ends are connected with the m chopping units in a one-to-one correspondence mode.
The permanent magnet type dc motor driving device according to the present invention may further include: the driving part comprises 1 driving unit, and the driving unit comprises m pairs of signal output ends; alternatively, the driving section includes m driving units independent of each other, each driving unit including 1 pair of signal output terminals and including 1 enable control signal input terminal.
The permanent magnet type dc motor driving device according to the present invention may further include: wherein, the upper bridge arm comprises 1 power switch tube, the lower bridge arm comprises 1 power switch tube, when all the power switch tubes have the same maximum output current I1The maximum current of the permanent magnet direct current motor is ImaxWhen m satisfies the following condition: m is more than Imax÷I1(ii) a Or the upper bridge arm comprises p power switch tubes which are mutually connected in parallel, the lower bridge arm comprises p power switch tubes which are mutually connected in parallel, and when all the power switch tubes have the same structureMaximum output current I1The maximum current of the permanent magnet direct current motor is ImaxM satisfies the following condition: m is more than Imax÷(k×p×I1) N is an integer not less than 2, k is a parallel coefficient, 1/p<k<1。
The permanent magnet type dc motor driving device according to the present invention may further include: the direct-current power supply comprises 1 direct-current unit, the direct-current unit comprises m pairs of power supply output terminals, and the m pairs of power supply output terminals are connected with the m chopper units in a one-to-one correspondence manner; or the direct-current power supply comprises m direct-current units which are mutually independent, each direct-current unit comprises 1 pair of power supply output terminals, and the m pairs of power supply output terminals of all the direct-current units are connected with the m chopper units in a one-to-one correspondence mode.
The permanent magnet type dc motor driving device according to the present invention may further include: wherein the predetermined coupling means is any one of a single stack, a multiple stack and a complex wave.
The permanent magnet type dc motor driving device according to the present invention may further include: the power switch tube is a semi-control type or full-control type device, the semi-control type device is a common thyristor, and the full-control type device is any one of an electric field effect transistor, a gate turn-off thyristor, an integrated gate commutation thyristor, an insulated gate bipolar transistor and an electric power bipolar transistor.
Action and Effect of the invention
According to the permanent magnet type dc motor driving device of the present invention, since the chopper has m chopper units each including the upper arm and the lower arm connected in series with each other, the upper arm, the lower bridge arms respectively comprise at least one power switching tube and a diode connected with the power switching tubes in a reverse parallel mode, the current output end of the power switching tube of the upper bridge arm of each chopping unit and the current input end of the power switching tube of the lower bridge arm of each chopping unit are mutually connected to form a first power supply output end, the current output end of the power switching tube of the lower bridge arm of each chopping unit forms a second power supply output end, m first power supply output ends of all chopping units and m second power supply output ends of all chopping units respectively form m pairs of power supply output terminals correspondingly, m first wiring ends are formed by leading-out ends of the electric brushes corresponding to S poles, and m second wiring ends are formed by leading-out ends of the electric brushes corresponding to N poles; or, all N poles correspond to the leading-out ends of the brushes and form m first terminals, all S poles correspond to the leading-out ends of the brushes and form m second terminals, m first terminals and m second terminals respectively and correspondingly form m pairs of external terminals, m pairs of external terminals and m pairs of power output terminals are connected in a one-to-one correspondence manner, that is, branches formed by each pair of brushes in the permanent magnet direct current motor are mutually independent, the current of each branch is also independent, each branch can work independently and is supplied with power by a corresponding pair of power output terminals, that is: each pair of power output terminals only bears the working current of one branch circuit and only has one m-th of the rated current of the motor. For the motor with large rated current, as long as m is large enough, the working current of each branch circuit or the output current of each pair of power supply output terminals can be correspondingly reduced, and the power requirement of each chopper unit is reduced, so that the requirement of the high-power high-performance motor can be met by using a common power switch tube, the cost of the chopper is reduced, the connecting wires and connecting pieces between the power supply output terminals and external wiring terminals are reduced, the requirements on contact resistance and insulation are reduced, the difficulty of production and manufacturing is reduced, and the reliability and safety of a system are improved.
Furthermore, each bridge arm comprises a power switch tube and a diode connected with the power switch tube in an inverse parallel mode, so that currents output by any two chopping units are independent and do not interfere with each other, and energy generated by the motor in the braking process can be fed back to the power supply by adopting a proper control method. Therefore, the chopper has simple and reliable structure and high safety, and simultaneously achieves the purpose of saving electric energy.
Moreover, because the output current of m pairs of power output terminals contains current ripples, namely the output current contains higher harmonic components, and the output current ripples of each pair of power output terminals are independent of each other, in the permanent magnet direct current motor, the ripples of output torque and rotational speed are related to the superposition value of the current ripples, through proper control, the phases of the current ripples of each pair of power output terminals can be different from each other, the ripple peak-to-peak value after the superposition of m current ripples is reduced, thereby the peak-to-peak value of the ripples of output torque and rotational speed is reduced, and further the performance and the service life of the permanent magnet direct current motor are improved.
In conclusion, the permanent magnet type direct current motor driving device has the advantages of simple structure, short connecting line, simple production process, easiness in manufacturing, convenience in maintenance, low production cost and maintenance cost, reasonable and simple structural design, high reliability and safety and the like; the invention can break monopoly and blockade of foreign countries on the power module, the controller and the high-performance electric driving device, so that the invention not only can be applied to large-load electric equipment such as electric automobiles, electric carriers, rail cars, sightseeing vehicles, trucks and ships, but also can improve the performance of the electric equipment, and can be applied to high-performance electric equipment such as numerical control machines, submarines and the like, thereby realizing the localization of the high-performance electric driving device.
Drawings
Fig. 1 is a schematic circuit connection diagram of a permanent magnet type dc motor driving device according to the present invention;
fig. 2 is a schematic circuit connection diagram of a permanent magnet type dc motor driving apparatus according to an embodiment of the present invention;
fig. 3 is a schematic longitudinal cross-sectional view of a permanent magnet dc motor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a transverse cross-sectional circuit connection of a permanent magnet dc motor according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating the unfolding of the armature winding of the permanent magnet dc motor according to the embodiment of the present invention;
FIG. 6 is a schematic circuit diagram of a conventional permanent magnet DC motor driving apparatus;
FIG. 7 is a waveform of input current for three pairs of brushes in an exemplary permanent magnet DC motor in accordance with the present invention;
fig. 8 is a graph comparing the current of a permanent magnet dc motor according to an embodiment of the present invention with the current of a conventional permanent magnet dc motor;
fig. 9 is a graph comparing the torque of a permanent magnet dc motor according to an embodiment of the present invention with the torque of a conventional permanent magnet dc motor;
FIG. 10 is a graph comparing the rotational speed of a permanent magnet DC motor in an embodiment of the present invention with the rotational speed of a conventional permanent magnet DC motor; and
fig. 11 is a circuit connection diagram of the permanent magnet dc motor driving device according to the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
< example >
Fig. 1 is a schematic circuit connection diagram of a permanent magnet type dc motor driving device according to the present invention; fig. 2 is a schematic circuit connection diagram of the permanent magnet dc motor driving apparatus according to the embodiment of the present invention.
As shown in fig. 1 and 2, a permanent magnet dc motor drive device 100 according to the present embodiment includes a permanent magnet dc motor 10, a chopper 20, a dc power supply 30, a command transmitting unit (not shown), a sensing unit 40, a controller 50, and a drive unit 60.
Fig. 3 is a schematic longitudinal cross-sectional view of a permanent magnet dc motor according to an embodiment of the present invention; fig. 4 is a schematic diagram of a transverse cross-sectional circuit connection of the permanent magnet dc motor according to the embodiment of the present invention.
As shown in fig. 1 to 4, the permanent magnet dc motor 10 has a rated voltage and a rated current, and includes a housing 11, a stator 12, a brush 13, a rotor 14, and a terminal block (not shown). As shown in fig. 1, the logarithm of the brushes 13 is set to m, which is an integer not less than 2, according to the value of the rated current. As shown in fig. 2 and 4, m is set to 3 in the present embodiment.
As shown in fig. 3 and 4, the stator 12 is disposed in the housing 11 and includes m pairs of permanent magnet main poles 121. In this embodiment, the stator 12 includes 3 pairs of 6 main poles 121.
As shown in fig. 4, each pair of main poles 121 includes an S-polarity main pole 1211 and an N-polarity main pole 1212 each formed of a permanent magnet. Of all the main poles 121, the polarities of the adjacent 2 main poles 121 are opposite.
As shown in fig. 1 to 4, m pairs of brushes 13 are fixedly disposed in the casing 11 and respectively correspond to the m pairs of main poles 121. In the present embodiment, the number of the brushes 13 is 6 in total for 3 pairs.
As shown in fig. 2 and 4, each pair of brushes 13 includes an S-pole corresponding brush 131 corresponding to the S-polarity main pole 1211 and an N-pole corresponding brush 132 corresponding to the N-polarity main pole 1212. The 2 brushes 13 in each pair of brushes 13 are located adjacently; further, each pair of brushes 13 corresponds to a spatial position of each corresponding pair of main magnetic poles 121.
The brush 13 is any one of a narrow brush and a wide brush, and the brush 13 is a narrow brush in the present embodiment. Each brush 13 comprises one brush body or at least two separately shaped brush bodies arranged axially of the machine and electrically connected in parallel; when the brush 13 includes at least two brush bodies, the actual contact area of each brush with the commutator can be increased, thereby improving the commutation performance of the brush. As shown in fig. 2 to 4, the brush 13 of the present embodiment includes a brush body.
As shown in fig. 1, two terminals of each pair of brushes 13 form a first terminal 1511 and a second terminal 1512, respectively, and m first terminals 1511 and m second terminals 1512 of all brushes 13 form m pairs of external connection terminals 151, respectively, correspondingly.
In this embodiment, as shown in fig. 2 and 4, the first terminal 1511 and the second terminal 1512 form 1-pair external connection terminals 151, the first terminal 1521 and the second terminal 1522 form 1-pair external connection terminals 152, and the first terminal 1531 and the second terminal 1532 form 1-pair wiring terminals 153.
Fig. 5 is a schematic diagram of the unfolding of the armature winding of the permanent magnet dc motor according to the embodiment of the present invention.
As shown in fig. 1 to 4, the rotor 14 is disposed in the stator 12, and includes a plurality of armature windings 141 coupled to each other by a predetermined coupling method, the number of the armature windings 141 is set to 2m × n, and the predetermined coupling method is any one of a single-winding, a multiple-winding, and a complex wave. In this embodiment, as shown in fig. 5, the plurality of armature windings 141 are connected in a single-layer manner, and 2 adjacent brushes 13 are connected to one armature winding branch, each of which contains n armature windings 141.
A junction box (not shown) is fixed to the cabinet 11, and 3 pairs of external connection terminals 151, 152 and 153 are provided in the junction box as shown in fig. 2 and 4.
As shown in fig. 1, the chopper 20 converts a constant voltage of the dc power supply 30 into a variable voltage whose average voltage is controlled according to a driving signal from the controller 50 through the driving part 60, and supplies the variable voltage to the permanent magnet dc motor 10. The chopper 20 includes m chopper units 21 corresponding to the m pairs of brushes 13, respectively. In the present embodiment, as shown in fig. 2, the chopper 20 includes 3 chopper units 21.
Each chopper unit 21 includes an upper arm 211 and a lower arm 212 connected in series with each other, the upper arm 211 including 1 power switching tube 2111 and a diode 210 connected in inverse parallel to the power switching tube 2111, and the lower arm 212 including 1 power switching tube 2121 and a diode 210 connected in inverse parallel to the power switching tube 2121. When the power switch tubes 2111 of all the upper bridge arms 211 and the power switch tubes 2121 of all the lower bridge arms 212 have the same maximum output current I1The maximum current of the permanent magnet DC motor 10 is ImaxWhen m satisfies the following condition: m is more than Imax÷I1. Maximum current I1The power switching tube is an important parameter, the power switching tube can stably operate only under the current value, and if the working current exceeds the current value, the power switching tube is broken down due to overcurrent, so that the power switching tube is damaged.
In this embodiment, all the power switching transistors 2111 and 2121 are half-controlled or full-controlled devices, the half-controlled device is a common thyristor, and the full-controlled device is any one of an electric field effect transistor, a gate turn-off thyristor, an integrated gate commutated thyristor, an insulated gate bipolar transistor, and an electric bipolar transistor.
As shown in fig. 1, the current output terminal of the power switch 2111 of the upper arm 211 and the current input terminal of the power switch 2121 of the lower arm 212 of each chopper unit 21 are mutually connected to form a first power output terminal 2211, and the current output terminal of the power switch 2121 of the lower arm 212 of each chopper unit 21 forms a second power output terminal 2212. The m first power supply outputs 2211 of all the chopper units 21 and the m second power supply outputs 2212 of all the chopper units 21 respectively form m pairs of power supply output terminals 221, the m pairs of power supply output terminals 221 are connected to the m pairs of external connection terminals 151 in a one-to-one correspondence, and the output currents of the m pairs of power supply output terminals 221 all contain current ripples.
In this embodiment, as shown in fig. 2, the first power output 2211 and the second power output 2212 form 1 pair of power output terminals 221, the first power output 2221 and the second power output 2222 form 1 pair of power output terminals 222, the first power output 2231 and the second power output 2232 form 1 pair of power output terminals 223, 3 pairs of power output terminals 221, 222 and 223, and 3 pairs of external connection terminals 151, 152 and 153, which are connected in a one-to-one correspondence.
As shown in fig. 1 and 2, the dc power supply 30 has a constant voltage corresponding to the rated voltage of the permanent magnet dc motor 10, and has m pairs of power supply output terminals connected to the m chopper units in one-to-one correspondence. In this embodiment, the dc power supply 30 includes 1 dc unit 31, and the dc unit 31 includes m positive power supply output terminals 311 and m negative power supply output terminals 312, where the m positive power supply output terminals 311 and the m negative power supply output terminals 312 respectively form m pairs of power supply output terminals correspondingly.
The command transmitting unit (not shown) transmits a command signal corresponding to the displacement, the rotational speed, or the torque output from the permanent magnet dc motor 10.
As shown in fig. 1 and 2, the sensor unit 40 detects a physical quantity of the permanent magnet dc motor 10 and outputs a feedback signal to the control unit 50. The sensing unit 40 includes an output sensor 41 and a current sensor 42.
The output sensor 41 detects the displacement, the rotational speed, or the torque output from the permanent magnet dc motor 10 and outputs a corresponding output feedback signal to the control unit 50.
The current sensor 42 detects a line current value of a brush lead-out wire in the permanent magnet dc motor 10 and outputs a corresponding current feedback signal to the control unit 50.
As shown in fig. 1 and 2, the controller 50 calculates and outputs a motor control signal 51 and an enable control signal 52 to the driving part 60 based on the command signal of the command transmitting part and the output feedback signal and the current feedback signal of the sensing part 40. The controller 50 includes 1 motor control signal output and 1 enable control signal output.
As shown in fig. 1 and 2, the driving section 60 enters an operating state under the control of the enable control signal 52, and generates a driving signal for driving the chopper 20 to operate, based on the motor control signal 51. In this embodiment, the driving unit 60 includes 1 driving unit 61, and the driving unit 61 includes 1 motor control signal input terminal, 1 enable control signal input terminal, and m pairs of signal output terminals 611.
The motor control signal input end and the enable control signal input end are respectively and correspondingly connected with the motor signal output end and the enable control signal output end of the controller 50, and the m pairs of signal output ends 611 are connected with the m chopping units 21 in a one-to-one correspondence mode, specifically: the signal output end 611 is connected to the power switch tube 2111 of the corresponding upper arm 211, and the signal output end 612 is connected to the power switch tube 2121 of the corresponding lower arm 212, so as to control the current ripple of the output current of the power output terminal 221 of each chopper unit 21, so that the frequency and the phase of the current ripple of the output current of the m pairs of power output terminals 221 are the same, or the frequency of the current ripple of the output current of the m pairs of power output terminals 221 are the same, but the phases are sequentially staggered by m times of a switching period.
FIG. 6 is a schematic connection diagram of a conventional permanent magnet DC motor driving device; FIG. 7 is a waveform of input current for three pairs of brushes in an exemplary permanent magnet DC motor in accordance with the present invention; fig. 8 is a graph comparing the current of a permanent magnet dc motor according to an embodiment of the present invention with the current of a conventional permanent magnet dc motor; fig. 9 is a graph comparing the torque of a permanent magnet dc motor according to an embodiment of the present invention with the torque of a conventional permanent magnet dc motor; fig. 10 is a graph comparing the rotation speed of the permanent magnet dc motor according to the embodiment of the present invention with the rotation speed of the conventional permanent magnet dc motor.
As shown in fig. 6, the external connection terminals of the permanent magnet dc motor in the conventional permanent magnet dc motor driving apparatus 600 have only 1 pair of external connection terminals, and the 1 pair of external connection terminals are electrically connected to the 1 pair of power output terminals of the chopper, respectively.
In a steady state, the peak-to-peak value of the current ripple is the difference between the maximum value and the minimum value, and the ripple coefficient is the percentage of the peak-to-peak value and the average value. Next, three pairs of power output terminals 221, 222, and 223 in which the current ripples of the output currents have the same frequency but are sequentially shifted in phase by 1/3 switching periods, and the switching frequency of the chopper is 1 khz will be described as an example.
As shown in fig. 7, the peak-to-peak values of the current ripples of the input currents of the three brushes A1B1, A2B2, and A3B3 of the permanent magnet dc motor 10 in the present embodiment all equal to 99.32-87.36-11.96 amperes, the average values all equal to 93.33 amperes, and the ripple coefficients all equal to 11.96/93.33 × 100% -12.8%.
As shown in fig. 8, in the steady state, the peak-to-peak value of the current ripple of the permanent magnet dc motor 10 in this embodiment is equal to 281.96-278.00-3.96 amperes, the average value is equal to 279.98 amperes, and the ripple coefficients are all equal to 3.96/279.98 × 100% — 1.41%. The peak-to-peak value of the current ripple of the conventional permanent magnet direct current motor is equal to 297.95-261.99-35.96 amperes, the average value is equal to 279.98 amperes, and the ripple coefficient is equal to 3.96/279.98 × 100% -12.8%. Although the average current value of the permanent magnet dc motor 10 in the present embodiment is the same as that of the conventional permanent magnet dc motor, the peak-to-peak value and the ripple coefficient of the current ripple of the permanent magnet dc motor 10 in the present embodiment are only one ninth of those of the conventional permanent magnet dc motor.
As is known, the electromagnetic torque and the equation of motion of a permanent magnet dc motor are as follows
Wherein, TemIs an electromagnetic torque; cTIs a torque constant; phi is the magnetic flux of the main magnetic field; i isaArmature current; t isloadIs the load torque; j is the moment of inertia of the load, which is a constant; Ω is the output angular velocity.
In this embodiment, the input current of the permanent magnet dc motor is equal to the armature current, and the rated current of the permanent magnet dc motor is the maximum input current of the motor in the rated operating state.
In the formula (1), the electromagnetic torque TemAnd armature current IaProportional to the product of the magnetic flux phi of the main magnetic field, the main magnetic field of the DC motor is excited by a permanent magnet, and the electromagnetic torque T is known from the formula (1)emAnd armature current IaIs in direct proportion. Armature current IaWill result in an electromagnetic torque TemA larger ripple factor is generated, and the ripple or ripple of the output angular velocity Ω is larger, which in turn leads to poorer performance of the drive apparatus.
In the present embodiment, in a steady state, as shown in fig. 9, the peak-to-peak value of the torque ripple of the permanent magnet dc motor 10 in the present embodiment is 79503.7-77281.1-2222.6N · m, the average value is 78390.9N · m, and the ripple coefficient is 2.84%. The peak-to-peak value of the torque ripple of the traditional permanent magnet direct current motor is 88776.6-68639.9-20136.7N · m, the average value is 78497.4N · m, and the ripple coefficient is 25.65%.
As shown in fig. 10, in the steady state, the peak-to-peak value of the rotational speed ripple of the permanent magnet dc motor 10 in this embodiment is equal to 1725.5157-1725.5142-0.0015 rpm, the average value is equal to 1725.515 rpm, and the ripple coefficient is equal to 0.000087%. The peak-to-peak value of the rotating speed ripple of the traditional permanent magnet direct current motor is equal to 1725.535-1725.4949-0.0401 r/min, the average value is equal to 1725.515 r/min, and the ripple coefficient is equal to 0.002324%. Although the average rotation speed of the permanent magnet dc motor 10 in the present embodiment is the same as that of the conventional permanent magnet dc motor, the ratio of the peak-to-peak value and the ripple coefficient of the rotation speed ripple of the permanent magnet dc motor 10 in the present embodiment to that of the conventional permanent magnet dc motor is 1/26.7.
That is to say, although the average torque value of the permanent magnet dc motor 10 in this embodiment is substantially the same as that of the conventional permanent magnet dc motor, the peak-to-peak value and the ripple coefficient of the ripple of the torque of the permanent magnet dc motor 10 in this embodiment are only one ninth of those of the conventional permanent magnet dc motor, and the peak-to-peak value and the ripple coefficient of the ripple of the output torque of the motor are reduced, and further the peak-to-peak value and the ripple coefficient of the ripple of the output rotation speed of the motor are reduced.
Examples effects and effects
According to the permanent magnet type direct current motor driving device related to the embodiment, the chopper is provided with m chopping units, each chopping unit comprises an upper bridge arm and a lower bridge arm which are connected in series, the upper bridge arm comprises 1 power switch tube, the lower bridge arm comprises 1 diode, a current output end of the upper bridge arm of each chopping unit and a current output end of the lower bridge arm of each chopping unit are connected with each other to form a first power supply output end, a current input end of the lower bridge arm of each chopping unit forms a second power supply output end, m first power supply output ends of all chopping units and m second power supply output ends of all chopping units respectively form m pairs of power supply output terminals correspondingly, leading-out ends of all brushes corresponding to S poles form m first connecting terminals, and leading-out ends of all brushes corresponding to N poles form m second connecting terminals; or, all N poles correspond to the leading-out ends of the brushes and form m first terminals, all S poles correspond to the leading-out ends of the brushes and form m second terminals, m first terminals and m second terminals respectively and correspondingly form m pairs of external terminals, m pairs of external terminals and m pairs of power output terminals are connected in a one-to-one correspondence manner, that is, branches formed by each pair of brushes in the permanent magnet direct current motor are mutually independent, the current of each branch is also independent, each branch can work independently and is supplied with power by a corresponding pair of power output terminals, that is: each pair of power output terminals only bears the working current of one branch circuit and only has one m-th of the rated current of the motor. For the motor with large rated current, as long as m is large enough, the working current of each branch circuit or the output current of each pair of power supply output terminals can be correspondingly reduced, and the power requirement of each chopper unit is reduced, so that the requirement of the high-power high-performance motor can be met by using a common power switch tube, the cost of the chopper is reduced, the connecting wires and connecting pieces between the power supply output terminals and external wiring terminals are reduced, the requirements on contact resistance and insulation are reduced, the difficulty of production and manufacturing is reduced, and the reliability and safety of a system are improved.
Furthermore, each bridge arm comprises a power switch tube and a diode connected with the power switch tube in an inverse parallel mode, so that currents output by any two chopping units are independent and do not interfere with each other, and energy generated by the motor in the braking process can be fed back to the power supply by adopting a proper control method. Therefore, the chopper has simple and reliable structure and high safety, and simultaneously achieves the purpose of saving electric energy. Moreover, because the output current of m pairs of power output terminals contains current ripples, namely the output current contains higher harmonic components, and the output current ripples of each pair of power output terminals are independent of each other, in the permanent magnet direct current motor, the ripples of output torque and rotational speed are related to the superposition value of the current ripples, through proper control, the phases of the current ripples of each pair of power output terminals can be different from each other, the ripple peak-to-peak value after the superposition of m current ripples is reduced, thereby the peak-to-peak value of the ripples of output torque and rotational speed is reduced, and further the performance and the service life of the permanent magnet direct current motor are improved.
In conclusion, the permanent magnet type direct current motor driving device of the embodiment has the advantages of simple structure, short connecting line, simple production process, easiness in manufacturing, convenience in maintenance, low production cost and maintenance cost, reasonable and simple structural design, high reliability and safety and the like; the invention can break monopoly and blockade of foreign countries on the power module, the controller and the high-performance electric driving device, so that the invention not only can be applied to large-load electric equipment such as electric automobiles, electric carriers, rail cars, sightseeing vehicles, trucks and ships, but also can improve the performance of the electric equipment, and can be applied to high-performance electric equipment such as numerical control machines, submarines and the like, thereby realizing the localization of the high-performance electric driving device.
< modification example >
In this modification, the same components as those in the embodiment are given the same reference numerals and the same description thereof is omitted.
Fig. 11 is a circuit connection diagram of the permanent magnet dc motor driving device according to the present invention.
As shown in fig. 11, permanent magnet dc motor drive device 200 according to the present modification includes permanent magnet dc motor 10, chopper 220, dc power supply 230, a command transmission unit (not shown), sensor unit 40, controller 250, and drive unit 260.
As shown in fig. 11, the chopper 220 includes m chopper units 221 corresponding to the m pairs of brushes, respectively. Each chopper unit 221 includes an upper arm 2211 and a lower arm 2212 connected in series with each other, the upper arm 211 includes 1 power switching tube 2111 and a diode 210 connected in inverse parallel to the power switching tube 2111, and the lower arm 212 includes 1 power switching tube 2121 and a diode 210 connected in inverse parallel to the power switching tube 2121. In the modification, p is 2-4, the parallel technology is mature and reliable, the number of m can be properly reduced, the workload and the complexity in production and manufacturing are reduced, and the cost performance of the product is improved. When all the power switch tubes 22111 of the upper bridge arm 2211 and the power switch tubes 22121 of the lower bridge arm 2212 have the same maximum output current I1The maximum current of the permanent magnet DC motor 10 is ImaxM satisfies the following condition: m is more than Imax÷(k×p×I1) K is a parallel coefficient, 1/p<k<1。
The current output end of the power switch 22111 of the upper arm 2211 of each chopper unit 221 and the current input end of the power switch 22121 of the lower arm 2212 are mutually connected to form a first power output end 22211, and the current output end of the power switch 22121 of the lower arm 2212 of each chopper unit 221 forms a second power output end 22212. The m first power supply outputs 22211 of all the chopper units 221 and the m second power supply outputs 22212 of all the chopper units 221 respectively form m pairs of power supply output terminals 2221 in a corresponding manner, the m pairs of power supply output terminals 2221 and m pairs of external connection terminals 151 are connected in a one-to-one correspondence, and the output currents of the m pairs of power supply output terminals 2221 all contain current ripples.
As shown in fig. 11, the dc power supply 230 includes m independent dc units 231, each dc unit 231 includes 1 positive power supply output terminal 2311 and 1 negative power supply output terminal 2312, the m positive power supply output terminals 2311 and the m negative power supply output terminals 2312 form m pairs of power supply output terminals respectively, and the m pairs of power supply output terminals are connected to the m chopper units 221 in a one-to-one correspondence manner.
As shown in fig. 11, the controller 250 calculates and outputs m motor control signals 251 and m enable control signals 252 to the driving part 260 based on the command signal of the dc transmitting part and the output feedback signal and the current feedback signal of the sensing part 40.
As shown in fig. 11, the driving part 260 includes m driving units 261 independent of each other, and each driving unit 261 includes 1 motor control signal input terminal, 1 enable control signal input terminal, and 1 pair of signal output terminals 2611. The m motor signal control input ends of all the driving units 261 are connected with the m motor control signals 251 in a one-to-one correspondence manner, the m enable control signal input ends of all the driving units 261 are connected with the m enable control signal output ends in a one-to-one correspondence manner, and the m pairs of signal output ends 2611 of the driving units 261 are connected with the m chopper units 221 in a one-to-one correspondence manner, specifically: the signal output terminal 2611 is connected to the power switch tube 22111 of the corresponding upper bridge arm 2211, and the signal output terminal 2612 is connected to the power switch tube 22121 of the corresponding lower bridge arm 2212, so that the driving unit 261 enters an operating state under the control of the corresponding enable control signal 252, and generates a driving signal for driving the corresponding chopper unit 221 to operate according to the corresponding motor control signal 251.
In this modification, since the upper arm of the chopper unit includes p power switching tubes connected in parallel with each other, and p is an integer not less than 2, when the rated current of the motor is constant, compared with the case where p is equal to 1, particularly the case where p is 2 to 4, since the technology is relatively reliable and stable, the output current of each chopper unit can be increased to a certain extent, and the value of m can be correspondingly reduced, so that not only can the number of brushes be reduced, but also the number of power lines of the motor and the number of output lines of the chopper unit be reduced, thereby reducing the difficulty in maintenance and repair, and also appropriately reducing the production cost. But also can increase the heat dissipation area, reduce the temperature rise, improve the reliability and prolong the service life. .
In addition, because DC power supply contains m direct current units, every direct current unit contains 1 to the power supply output terminal, so, when the power supply output terminal or the connecting wire of a certain direct current unit broke down, only need to the trouble place partial shielding can, other normal parts still can work, not only avoid appearing traditional permanent magnet direct current motor's sudden out of control phenomenon, improved the reliability and the security of system, effective output torque is great moreover. In addition, in the aspect of power supply, a plurality of independent direct current units with relatively small capacity replace a single direct current power supply with large capacity, and compared with the traditional parallel battery pack, under the condition that the number of the power supply units is the same, the integral performance attenuation caused by parallel connection of the power supply is reduced, the energy density, the power, the performance, the durability and the safety are improved, and better guarantee can be provided for the endurance and the performance of the electric equipment.
In addition, because the driving part comprises m driving units, each driving unit is correspondingly connected with the bridge arm unit in one chopper unit, one brush and two armature winding branches, when any one of the driving unit, the chopper unit, the electric brush or the armature winding branch generates faults, the permanent magnet type direct current motor driving device of the invention judges the driving unit, the chopper unit, the electric brush or the armature winding branch which generates faults by calculating the current value detected by the current sensor, and the controller outputs an operation control signal to order the corresponding driving unit to stop working, therefore, the damaged driving unit, the chopper unit, the electric brush or the armature winding branch circuit are shielded and isolated, the further expansion of faults is avoided, the electric driving device and the electric equipment can be ensured to continue to work normally or run under light load, and the probability of safety accidents of the electric equipment, particularly the electric equipment running at high speed, is greatly reduced.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
For example, in the above embodiment, 1 diode is connected in reverse parallel to the power switching tube. However, in the present invention, the power switch may also be a plurality of diodes connected in inverse parallel, and in this case, when any one of the diodes fails, the remaining diodes may also operate normally, which contributes to the improvement of the reliability and safety of the system.
For another example, when the driving portion includes only one driving unit, if the permanent magnet dc motor driving system of the present invention needs to operate normally, the driving unit needs to be in the operating mode, and therefore, the enable control signal may not be applied to the driving portion.
For another example, in the case where the accuracy of the armature current, the rotation speed, and the torque required during the steady-state operation of the permanent magnet dc motor is high, m may also be set according to the peak-to-peak value and the ripple coefficient of the corresponding armature current, rotation speed, and torque ripple.
For example, the dc power supply 230 and/or the driving unit 260 may be applied to the driving device 100, or the dc power supply 30 and/or the driving unit 60 may be applied to the driving device 200, as required.
Claims (10)
1. A permanent magnet type DC motor driving device is characterized by comprising:
a permanent magnet DC motor having a rated voltage;
a direct current power supply having a constant voltage corresponding to the rated voltage; and
a chopper for converting the constant voltage into a variable voltage according to a driving signal and supplying the variable voltage to the permanent magnet DC motor,
wherein the chopper has m chopper units,
each of the chopper units includes an upper arm and a lower arm connected in series with each other,
the upper bridge arm and the lower bridge arm respectively comprise at least one power switching tube and a diode reversely connected in parallel with the power switching tube,
the current output end of the power switching tube of the upper bridge arm and the current input end of the power switching tube of the lower bridge arm of each chopping unit are mutually connected to form a first power supply output end, the current output end of the power switching tube of the lower bridge arm of each chopping unit forms a second power supply output end,
m pairs of power supply output terminals are formed by the m first power supply output terminals of all the chopping units and the m second power supply output terminals of all the chopping units respectively corresponding to each other,
the output currents of the m pairs of power supply output terminals all contain current ripples,
the permanent magnet direct current motor includes:
a housing;
m pairs of electric brushes fixed in the machine shell;
the stator is arranged in the shell and comprises m pairs of permanent magnetic main poles corresponding to the m pairs of electric brushes; and
a rotor disposed in the stator and including a plurality of armature windings coupled to each other in a predetermined coupling manner,
each pair of the main magnetic poles comprises an adjacent S-polarity main magnetic pole and an adjacent N-polarity main magnetic pole,
the 2 brushes in each pair are located adjacent,
each pair of the brushes comprises an S-pole corresponding brush corresponding to the S-pole main magnetic pole and an N-pole corresponding brush corresponding to the N-pole main magnetic pole,
leading-out ends of the brushes corresponding to all S poles form m first wiring ends, and leading-out ends of the brushes corresponding to all N poles form m second wiring ends; or all the N poles correspond to the leading-out ends of the brushes to form m first terminals, all the S poles correspond to the leading-out ends of the brushes to form m second terminals,
the m first terminals and the m second terminals respectively form m pairs of external terminals,
the m pairs of external connecting terminals are connected with the m pairs of power output terminals in a one-to-one correspondence manner,
and m is a positive integer not less than 2.
2. The permanent magnet direct current motor drive device according to claim 1, characterized in that:
wherein the current ripple wave frequencies of the output currents of the m pairs of power supply output terminals are all the same.
3. The permanent magnet type dc motor driving device according to claim 2, wherein:
wherein phases of the current ripples of the output currents of the m pairs of power supply output terminals are all the same.
4. The permanent magnet type dc motor driving device according to claim 2, wherein:
wherein phases of the current ripples of the output currents of the m pairs of power output terminals are sequentially staggered by m times of a switching period.
5. The permanent magnet direct current motor drive device according to claim 1, further comprising:
a driving part generating the driving signal according to a control signal,
the driving part is provided with m pairs of signal output ends formed by at least one driving unit, and the m pairs of signal output ends are connected with the m chopping units in a one-to-one correspondence mode.
6. The permanent magnet direct current motor drive device according to claim 5, characterized in that:
wherein the driving part comprises 1 driving unit comprising m pairs of the signal output terminals; alternatively, the first and second electrodes may be,
the driving part comprises m driving units which are independent of each other, each driving unit comprises 1 pair of signal output ends and 1 enabling control signal input end.
7. The permanent magnet direct current motor drive device according to claim 1, characterized in that:
wherein, the upper bridge arm comprises 1 power switch tube, the lower bridge arm comprises 1 power switch tube, when all the power switch tubes have the same maximum output current I1The maximum current of the permanent magnet direct current motor is ImaxWhen m satisfies the following barA piece: m is more than Imax÷I1(ii) a Alternatively, the first and second electrodes may be,
the upper bridge arm comprises p power switching tubes which are mutually connected in parallel, the lower bridge arm comprises p power switching tubes which are mutually connected in parallel, and when all the power switching tubes have the same maximum output current I1The maximum current of the permanent magnet direct current motor is ImaxAnd m satisfies the following condition: m is more than Imax÷(k×p×I1) N is an integer not less than 2, k is a parallel coefficient, 1/p<k<1。
8. The permanent magnet direct current motor drive device according to claim 1, characterized in that:
the direct-current power supply comprises 1 direct-current unit, the direct-current unit comprises m pairs of power supply output terminals, and the m pairs of power supply output terminals are connected with the m chopper units in a one-to-one correspondence manner; alternatively, the first and second electrodes may be,
the direct-current power supply comprises m direct-current units which are mutually independent, each direct-current unit comprises 1 pair of power supply output terminals, and the m pairs of power supply output terminals of all the direct-current units are connected with the m chopper units in a one-to-one correspondence mode.
9. The permanent magnet direct current motor drive device according to claim 1, characterized in that:
wherein the predetermined coupling manner is any one of a single stack, a multiple stack, and a complex wave.
10. The permanent magnet direct current motor drive device according to claim 1, characterized in that:
the power switch tube is a semi-control type or full-control type device, the semi-control type device is a common thyristor, and the full-control type device is any one of an electric field effect transistor, a gate turn-off thyristor, an integrated gate commutation thyristor, an insulated gate bipolar transistor and an electric power bipolar transistor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811404812.7A CN111313777A (en) | 2018-11-23 | 2018-11-23 | Permanent magnet type DC motor driving device |
| PCT/CN2019/120401 WO2020103954A1 (en) | 2018-11-23 | 2019-11-22 | Permanent magnet direct-current motor driving apparatus and electric equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811404812.7A CN111313777A (en) | 2018-11-23 | 2018-11-23 | Permanent magnet type DC motor driving device |
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| CN111313777A true CN111313777A (en) | 2020-06-19 |
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| JPH09182491A (en) * | 1995-12-21 | 1997-07-11 | Nippon Yusoki Co Ltd | Polyphase multiple chopper controller with bridge configuration |
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