EP0985265A1 - Electronic drive system - Google Patents
Electronic drive systemInfo
- Publication number
- EP0985265A1 EP0985265A1 EP98934897A EP98934897A EP0985265A1 EP 0985265 A1 EP0985265 A1 EP 0985265A1 EP 98934897 A EP98934897 A EP 98934897A EP 98934897 A EP98934897 A EP 98934897A EP 0985265 A1 EP0985265 A1 EP 0985265A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motors
- drive system
- pulse generator
- stator
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/32—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using magnetic devices with controllable degree of saturation
-
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
Definitions
- the invention relates to electrical drive systems with a plurality of slip ring and commutatorless alternating current motors, the respective stator of which is designed in such a way that it is able to generate a rotating magnetic field, furthermore with an electrical line network for supplying electrical energy from a current source to the alternating current motors and with one Control system that contains control units assigned to the AC motors.
- Such electric drive systems are found, for example, on large machines with a large number of asynchronous drive motors for conveyor belts, which have to be switched on and off in a specific order to avoid the jam of conveyed goods.
- an electric drive system contains a plurality of differently arranged motors, each of which requires a speed control or speed control to fulfill its drive task, then by controlling the terminal voltage, speed-controllable DC motors or universal current motors are used which, due to the slip rings or the necessary for the current supply to the rotor Commutators are relatively expensive and also have the disadvantage that sparks occur on the slip rings or on the commutators, which cause interference in a very wide frequency band and thus contradict the requirements of electromagnetic compatibility (EMC). Shielding the interference caused by slip ring fire or commutator fire great difficulties, since these disturbances also penetrate into the entire line network, the line system acting as an interference signal antenna.
- EMC electromagnetic compatibility
- control system contains control units which are designed in a correspondingly varied manner and are assigned to the individual AC motors, and if these control units are to be influenced centrally, a very complicated system of control lines between the central station and the individual control units has to be laid approximately parallel to the line network for supplying the electrical energy.
- This system of control lines for an electric drive system with a large number of electric actuators is manufactured in a conventional manner as a cable harness, which as a part to be handled during assembly the housing or supporting frame is attached and, in its manufacture, its assembly and its electrical connection with a central station on the one hand and the individual control units for the actuators or drives on the other hand, causes a high level of work and costs.
- Control line systems of this known type are moreover susceptible to malfunction, tend to break individual line wires under vibration and can lead to serious malfunctions of the entire drive system in the event of line malfunction-related malfunctions of the motors to be controlled.
- the object of the invention is to design an electric drive system of the general type defined at the outset in such a way that, with a comparatively simple structure of a control system which, with its control units, is assigned a number of different AC motor tasks, the electromagnetic compatibility is ensured and malfunctions are avoided.
- the idea on which the invention is based essentially consists of leading control signals from a central station to the AC motors via a line network, which is the energy distribution network itself, these control signals not being merely the usual on and off signals for actuating motor switches or the like , but directly affect the generation of the magnetic rotating field of the stator windings of the AC motors.
- the individual alternating current motors can each be assigned universal control units which, despite having the same structure, can control alternating current motors with different outputs, different working speed ranges and different stator winding designs.
- One the individual AC motors and the associated ones The wiring harness connecting control units to the central station need not be laid.
- rotor speed control is mandatory for some drive tasks , in particular to realize a desired start-up behavior.
- Such a speed control does not pose any significant difficulties, however, since the operation of the slip-ring and commutatorless AC motors used is in any case not dependent on a frequency of the power source, which in the system specified here can be any DC power source or an AC power source of internationally used AC frequencies.
- FIG. 2 shows an embodiment further developed compared to FIG. 1 in a schematic illustration
- FIG. 3 shows a schematic circuit diagram of a pulse generator unit that can be used in the system according to FIG. 2,
- FIG. 4 shows a schematic perspective illustration of a synchronous motor that can be used as a drive in a system of the type specified here with motor parts shown pulled apart in the direction of the drive shaft,
- FIG. 5 is a perspective view of a short-circuit rotor usable in connection with stator parts according to FIG. 4 to form an asynchronous motor
- Fig. 6 is a schematic view of the synchronous motor rotor of Fig. 4, indicating the stator poles and
- Fig. 7 is a schematic view of a synchronous motor, the stator winding can be controlled in accordance with the operation of a stepper motor.
- 1 contains a line network 1 and drive units 2, 3, etc., each of which contains a slip ring and commutatorless electric AC motor 4.
- An electrical current source 5 is connected to the line network 1, which in the embodiment of FIG. 1 is a direct current source.
- a central station 6 is also coupled to the line network 1. This central station is used to supply control signals for the drive units 2, 3, etc., and for other consumers connected to the line network, such as lights, signal transmitters and the like. Blocking circuits for keeping the voltage of the current source 5 away from the central station 6 and for keeping the signals of the central station 6 away from the current source 5 are omitted in the drawing to simplify the illustration.
- the current source 5 and the central station 6 can also be combined in one device unit, in such a way that a supply voltage is applied to the line network 1 via a single supply line and the control signals are modulated thereon, but for the sake of clarity, this is a separate illustration chosen.
- the central station 6 contains an encoder 7 which encodes the control signals for the control signal receivers connected to the line network 1 in such a way that decoders 8 provided at the location of the control signal receiver are able to separate out the control signals intended for the control signal receiver concerned. Details in this regard are known to the person skilled in the art and do not require any further description here.
- the drive units 2, 3 take the line pending 1
- a decoupling network which generally consists of resistors or capacitors, connects to lines 11 and 12 of decoder 8, which separates the control signals intended for drive unit 2, for example, and delivers them to a pulse generator unit 13, the output lines of which are shown schematically in FIG indicated manner deliver square wave switching pulse sequences that are shifted in their phase relative to each other by 120 °, based on the full pulse period.
- the pulse frequency of the output pulse trains of the pulse generator unit 13 depends on the control signals generated by the central station 6, coded by the encoder 7 and finally separated and decoded by the decoder.
- the switching pulse sequences generated by the pulse generator unit 13 arrive at an inverter 14, which is connected to the lines 11 and 12 carrying the direct voltage of the current source 5 and converts this direct voltage into a three-phase alternating voltage by means of three controllable electric valves, which lines 15, 16, 17 is delivered.
- the voltages on lines 15, 16 and 17 each have approximately the shape of a square wave, insofar as the conditions are considered when idling.
- Stator winding of the motor 4 connected these three phases in the present embodiment are in star connection.
- the rotor 18 assigned to the stator has the shape of a synchronous machine magnet wheel, the shaft of which is coupled to a device 19 to be driven.
- the pulse frequency of the output pulse trains of the pulse generator unit 13 determines the speed of the rotating field generated by the stator of the synchronous motor 4 and thus the speed of the rotor 18 in an unambiguous association.
- the individual phases of the stator winding are excited essentially by square wave currents, which is why the rotating field generated by the stator of the electric motor 4 is relatively non-uniform. This non-uniformity can be eliminated by controlling the individual phases of the stator winding of the motor 4 by a plurality of pulses modulated in their pulse width, which will be discussed in more detail below.
- FIG. 2 Details of the central station 6 are indicated in the illustration of an embodiment according to FIG. 2 which is further developed compared to FIG. 1.
- This contains a control console 20 with a keyboard 21 for the manual input of certain control commands and a display device 22 for the reproduction of feedback from consumers connected to the line network 1, details of the signal paths for returning the acknowledgment signals or feedback information in the present description and the drawings to simplify the Representation are omitted.
- the control console 20 is connected via a series of signal lines to control signal generating devices 23 which contain pulse generators, analog / digital converters and multiplexer devices and the aforementioned encoder 7.
- the current source 5 is in the form of an alternating current source, which can be switched on and off from the control console 20 and whose amplitude can be controlled.
- the pulse generator unit 13 of the embodiment according to FIG. 2 is designed such that it not only supplies the inverter 14 with phase-shifted square-wave switching signals that are phase-shifted by 120 electrical degrees relative to one another, but via three switching pulse lines to the inverter 14, namely a plurality of pulses of different pulse duration are supplied to the controllable electric valves located therein within a period of the AC voltage to be generated in the manner of the operation of a switching regulator.
- the consequence and The duration of the switching pulses supplied in each case is selected such that the electrical valves of the inverter 14 are controlled within the period of an alternating current to be generated such that the integral over time approximates a sinusoidal oscillation based on the level of the respective average DC value.
- the period of the sequence of output pulses from the pulse generator unit, each with a pulse duration that is variably selected to approximate a sinusoidal oscillation of the currents on the lines 15, 16 and 17, is set by a control command signal of the central station 6 which is decoded by the decoding device 8 for the pulse generator unit.
- This control command signal thus determines, in a comparatively simple form, the shape and mutual assignment of a large number of control pulses at the output of the pulse generator unit 13 without providing a large number of control signal transmission channels on the way from the central station 6 to the drive unit 2 or 3, etc. needs to be.
- FIG. 3 shows a possible form of part of the pulse generator unit 13 for the embodiment according to FIG. 2.
- the decoder 8 supplies control signals to a pulse generator 25 which determine the pulse repetition frequency of the output pulses of the pulse generator 25.
- the pulse generator 25 delivers at its output a pulse train with a pulse repetition frequency corresponding to the rotational frequency of the magnetic rotating field to be generated by the stator of the synchronous motor 4.
- These output pulses from the pulse generator 25 set a shift register 26 in motion, whose clock input is fed through the stages of the register from the output of the pulse generator 25 via a pulse multiplier 27 to advance the input signal.
- the pulse repetition frequency of the pulse multiplier 27 is eight times the pulse repetition frequency of the output of the pulse generator 25 in the selected example, which is used only for qualitative explanation.
- Reset signals for the flip-flops 28 are obtained from a shift register 29 operated in parallel with the shift register 26.
- This shift register is excited essentially simultaneously with the shift register 26 by the output of the pulse generator 25, but is switched on with a clock which is significantly higher in frequency than the step-on clock for the shift register 26.
- the shift register 26 has a number of stages corresponding to the number of pulses which are used to approximate a period of a sinusoidal current on one of the lines 15, 16 and 17, in the present example therefore eight stages, which is why the relay clock of the pulse multiplier 27 is eight times that Clock at the output of the pulse generator 25 is.
- the shift register 29 has a number of step groups corresponding to that
- the shift register 29 has a total of twenty-four stages, arranged in eight register stage groups.
- the switching clock frequency of the shift register 29 is twenty-four times the output pulse repetition frequency of the pulse generator 25, for which purpose a pulse multiplier 27a triples the pulse repetition frequency at the output of the pulse multiplier 27.
- switchable switching pulses of modulated pulse width are obtained at the outputs of the flip-flop circuits 28 on an output line of the pulse generator unit 13.
- Other groups of switch-on signals and reset signals for other groups of flip-flop circuits result in switching pulse sequences, for example with a 120 ° phase shift relative to the previously discussed sequence of pulses of different lengths of time, such that the stator windings of the synchronous motor 4, which are phase-shifted by 120 electrical degrees, are magnetic Can produce rotating field of good uniformity.
- the mutual phase shifts of the switching pulse sequences for the inputs of the inverter 14 assigned to the individual strands of the stator winding when the Pulse repetition frequency of the pulse generator 25 in the embodiment according to FIG. 3 can be easily maintained without additional control interventions.
- the tapping of the reset signal for the flip-flop circuits 28 from individual register stages of the shift register 29 at the beginning of the group, in the middle or at the end of the group determines the relative temporal pulse length regardless of the output frequency of the pulse generator 25.
- stator 4 shows, in the axial direction, a synchronous motor 4 with a stator, which is divided in two in the axial direction and has stator parts 30a and 30b.
- the stator parts 30a and 30b each contain an annular yoke and from this axially projecting, opposite one another and in a radial section sector-shaped pole pieces, each of which, as is not shown in FIG. 4, by plugged-on flat coils with an annular sector-shaped coil opening in the radial section are surrounded.
- the magnet wheel 18 of the synchronous motor 4 which is seated on the motor shaft 31 and has a suitably magnetized permanent magnet 32 passing through the magnet wheel and which can consist of ferrite material.
- stator pole arrangement is selected in the embodiment according to FIGS. 4 and 6, in which the individual poles have a geometric orientation at 0 °, 60 ° with respect to the axis of the motor shaft 31 , 180 ° and 240 °.
- Usual further pole pieces in the geometric positions of 120 ° and 300 ° provided for a stator winding with a number of pole pairs of 2 are in the embodiment according to Figures 4 and 6 omitted.
- the windings surrounding the pole pieces in the positions of 0 °, 60 °, 180 ° and 240 ° are excited by appropriate control of the inverter 14, which in this case has four output lines or four pairs of output lines, in such a way that the stator arrangement consists of the stator parts 30a and 30b generate an intense and comparatively even magnetic rotating field in the space between the axially opposing pole pieces.
- the inverter 14 which in this case has four output lines or four pairs of output lines, in such a way that the stator arrangement consists of the stator parts 30a and 30b generate an intense and comparatively even magnetic rotating field in the space between the axially opposing pole pieces.
- FIG. 4a shows an embodiment of a variant of FIG. 4
- Synchronous motor with a stator which is divided in two in the axial direction, the stator parts in turn being designated 30a and 30b. Due to the axially exploded view, the stator parts 30a and 30b are at a large distance from the synchronous machine magnet wheel 18, but are opposed to it with their pole pieces, which are ring-shaped in a radial section, at a small distance when the arrangement is pushed together, as indicated by arrows.
- stator parts 30a and 30b each have only a pair of opposing pole pieces which are in the form of an annular sector in the radial section.
- the stator parts have the same design, but are mounted offset by 60 ° about the axis 31 from one another.
- the stator windings assigned to the pole pieces or the pole pairs of the stator parts 30a and 30b of FIG. 4a are excited in such a way that a synchronous machine Magnet wheel 18 interacting rotating field results, with similar conditions occurring as described in connection with the embodiment according to FIGS. 4 and 6.
- the embodiment according to FIG. 4a is also characterized by a space-saving design (FIG. 6, dimension A) and has the advantage of simple and inexpensive production due to the same design of the stator parts.
- an asynchronous motor short-circuit rotor in a flat disc-shaped configuration corresponding to the shape of the pole wheel 18 can also be provided between the stator parts 30a and 30b, the short-circuit rings of the short-circuit rotor designated here 33 relative to the motor shaft 31 on the one hand are formed by a hub and the other by an outer wheel rim and the radial spokes lying between them form the rotor bars of the squirrel-cage rotor.
- an actual speed encoder 34 for example an electro-optical resolver, an inductive resolver or a capacitive resolver, is provided, the actual value signals of which are used to determine the speed Completion of a control loop can be retransmitted to the pulse generator 25. Also, voltages induced in non-impulsed stator winding parts can be designed as actual speed signals and reported back to the pulse generator 25 for speed control.
- the speed control in particular for realizing a certain starting behavior, takes place in such a way that depending on the desired or to be achieved speed by determining a certain rotational frequency of the magnetic rotating field generated in the stator, certain speed / torque characteristics of the asynchronous motor charged with different frequencies are selected such that For example, from the standstill moment, that characteristic is brought into effect which increases or decreases a certain driving speed or just keeps it constant.
- Conductor rods 36 which extend in the axial direction, are arranged distributed on the inner circumference, for which purpose corresponding grooves are provided in the laminated core of the stator.
- the individual conductor bars 36 are connected to a common return line on the side of the stator 35 located behind the drawing plane of FIG. 7 and are connected to electronic switches 37 on the side of the stator 35 facing the viewer in the manner shown in FIG. 7, which make the connection of individual conductor bars 36 either to the line 11 carrying a positive potential or to the line 12 carrying a negative potential.
- the switch positions of the electronic changeover switch 37 can be changed by switching signals from the individual stages of a register 38 from the current switching state to the respective other switching state, with conductor rods 36 diametrically opposite one another in the stator 35
- Fig. 7 indicated a change at the same time.
- a magnetic rotating field of a certain speed which is excited by the conductor bars 36 as a whole due to the direction of the respective current flow, is generated, this rotating field interacting with the magnet wheel 18. 7 thus realizes a relatively simple rotary stepper motor, within the drive system of the type specified here.
- the electrical drive system specified here allows the entire line network for supplying the electrical energy to the AC motors to be equipped in a simple manner with a few line cores and at the same time to use this line network for supplying the control pulses, the same universally usable control signal receivers being provided at the location of each AC motor. which enables warehousing, assembly and, in particular, a highly fail-safe structure.
- the entire line network can be provided with an electromagnetic shield, in such a way that neither electromagnetic interference penetrates from the line system to other devices, nor does outside interference influence the operation of the electrical drive system specified here.
- the savings achieved can be used to lay multiple lines, which can be used for redundant operation, for example, on all vehicles that require increased safety .
- AC motors of different types can be used in one and the same system without the basic structure of the control circuits having to be changed.
- a pulse generator unit of the type described above can be used for the control of AC motors with different numbers of poles in the stator winding.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19722453A DE19722453C1 (en) | 1997-05-28 | 1997-05-28 | Electrical power drive system |
DE19722453 | 1997-05-28 | ||
PCT/EP1998/003053 WO1998054830A1 (en) | 1997-05-28 | 1998-05-22 | Electronic drive system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0985265A1 true EP0985265A1 (en) | 2000-03-15 |
Family
ID=7830808
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98934897A Withdrawn EP0985265A1 (en) | 1997-05-28 | 1998-05-22 | Electronic drive system |
Country Status (4)
Country | Link |
---|---|
US (1) | US6246192B1 (en) |
EP (1) | EP0985265A1 (en) |
DE (1) | DE19722453C1 (en) |
WO (1) | WO1998054830A1 (en) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW463455B (en) * | 2000-02-22 | 2001-11-11 | Delta Electronics Inc | Control circuit and method of multiple-motor structure |
DE10333318A1 (en) * | 2003-07-22 | 2005-02-24 | Siemens Ag | Method for generating electrical pulses |
KR20050056125A (en) * | 2003-12-09 | 2005-06-14 | 마쯔시다덴기산교 가부시키가이샤 | Inverter control device and inverter control method |
EP1967406B1 (en) * | 2005-12-26 | 2019-01-09 | Toyota Jidosha Kabushiki Kaisha | Vehicle controller, vehicle and vehicle control method |
US7598683B1 (en) | 2007-07-31 | 2009-10-06 | Lsi Industries, Inc. | Control of light intensity using pulses of a fixed duration and frequency |
US8604709B2 (en) | 2007-07-31 | 2013-12-10 | Lsi Industries, Inc. | Methods and systems for controlling electrical power to DC loads |
US8903577B2 (en) | 2009-10-30 | 2014-12-02 | Lsi Industries, Inc. | Traction system for electrically powered vehicles |
ES2605612T3 (en) | 2009-02-24 | 2017-03-15 | Interroll Holding Ag | Transport facility for transporting individual loose goods |
CN104487295B (en) | 2012-07-12 | 2017-04-12 | 株式会社美姿把 | Wiper control method and wiper control device |
WO2014024059A2 (en) * | 2012-08-09 | 2014-02-13 | Danfoss Power Electronics A/S | Automated motor adaptation |
WO2015015342A1 (en) | 2013-08-02 | 2015-02-05 | Danfoss Power Electronics A/S | Automated motor adaptation |
DE202015106174U1 (en) | 2015-11-16 | 2016-12-19 | Viktor Krön | HF and UHF transponders under model vehicles |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT357914B (en) * | 1977-10-31 | 1980-08-11 | Peter W Dipl Ing Dr Ziegler | CONTROL SYSTEM FOR MODEL VEHICLES |
DE2827340C2 (en) * | 1978-06-22 | 1983-08-04 | Keiper Automobiltechnik Gmbh & Co Kg, 5630 Remscheid | Drive device with at least two electric motors |
US4263535A (en) * | 1978-09-29 | 1981-04-21 | Bucyrus-Erie Company | Motor drive system for an electric mining shovel |
JPS5658794A (en) | 1979-10-18 | 1981-05-21 | Fuji Elelctrochem Co Ltd | Restarting device of digital control type brushless motor |
US4644232A (en) * | 1983-10-19 | 1987-02-17 | Hitachi, Ltd. | Method of and an apparatus for controlling a plurality of DC motors |
JPS6277083A (en) * | 1985-09-30 | 1987-04-09 | Nissan Motor Co Ltd | Controlling device for motor |
US4825133A (en) * | 1986-08-05 | 1989-04-25 | Oki Electric Industry Co., Ltd. | Electromechanical actuator control system |
DE3701554A1 (en) | 1987-01-21 | 1988-08-04 | Duerr Gmbh & Co | MACHINE SYSTEM WITH SEVERAL ACTUATORS |
US5162709A (en) * | 1989-04-25 | 1992-11-10 | Diesel Kiki Co., Ltd. | Apparatus for controlling blower motor of automobile air-conditioner |
JPH04121091A (en) | 1990-09-07 | 1992-04-22 | Fanuc Ltd | Driving system for induction motor |
US5087867A (en) * | 1991-02-25 | 1992-02-11 | International Business Machines Corporation | Motor driving apparatus and printer |
JPH06296398A (en) | 1993-04-07 | 1994-10-21 | Topcon Corp | Method and equipment for driving pulse motor |
JP2741154B2 (en) * | 1993-07-29 | 1998-04-15 | ローム株式会社 | Optical disk driver circuit and optical disk drive using the same |
US6121735A (en) * | 1994-03-10 | 2000-09-19 | Igeta; Tamotsu | Actuator with start-stop operation |
US5739648A (en) * | 1995-09-14 | 1998-04-14 | Kollmorgen Corporation | Motor controller for application in a motor controller network |
-
1997
- 1997-05-28 DE DE19722453A patent/DE19722453C1/en not_active Expired - Fee Related
-
1998
- 1998-05-22 WO PCT/EP1998/003053 patent/WO1998054830A1/en not_active Application Discontinuation
- 1998-05-22 EP EP98934897A patent/EP0985265A1/en not_active Withdrawn
- 1998-05-22 US US09/424,287 patent/US6246192B1/en not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO9854830A1 * |
Also Published As
Publication number | Publication date |
---|---|
US6246192B1 (en) | 2001-06-12 |
DE19722453C1 (en) | 1998-10-15 |
WO1998054830A1 (en) | 1998-12-03 |
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