EP1674655B1 - Method of determination of the position of the shaft of a motor for driving a roller shuter and actuator for its operation - Google Patents
Method of determination of the position of the shaft of a motor for driving a roller shuter and actuator for its operation Download PDFInfo
- Publication number
- EP1674655B1 EP1674655B1 EP05027945A EP05027945A EP1674655B1 EP 1674655 B1 EP1674655 B1 EP 1674655B1 EP 05027945 A EP05027945 A EP 05027945A EP 05027945 A EP05027945 A EP 05027945A EP 1674655 B1 EP1674655 B1 EP 1674655B1
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- European Patent Office
- Prior art keywords
- motor
- speed
- electromotive force
- valid
- shaft
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Classifications
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
- E06B2009/6809—Control
- E06B2009/6818—Control using sensors
- E06B2009/6845—Control using sensors sensing position
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
- E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
- E06B9/68—Operating devices or mechanisms, e.g. with electric drive
- E06B2009/6809—Control
- E06B2009/6872—Control using counters to determine shutter position
Definitions
- the invention relates to a method for determining the position and / or the speed of the shaft of a DC motor comprising an armature fed via brushes and a blade commutator and intended for driving an element. mobile building. It also relates to an actuator for the implementation of such a method.
- Some actuators for moving elements such as doors, gates, shutters, blinds, projection screens, ventilation hatches fitted to buildings, include DC motors with power brushes. armature.
- the unreliability is accentuated in applications where the motor supply voltage is provided by a converter powered on the commercial AC grid, for example 230 V, 50 Hz.
- the low-cost converters radiate a non-conductive component. negligible, at least at twice the frequency of the alternative network. When the frequency of these radiated parasites is close to the switching frequency of the brushes: their discrimination is very difficult or impossible.
- Chopper devices for reducing the speed or power of the motor when the movable element arrives near a stopping position also constitute a significant source of noise.
- the object of the invention is to provide a method for determining the position and / or the speed of rotation of a motor shaft which obviates the drawbacks mentioned and provides improvements over the known methods of the prior art.
- the method according to the invention makes it possible to accurately calculate by counting the position and / or the speed of rotation of an engine.
- the object of the invention is also to provide an actuator for carrying out this method.
- the actuator allows the operation of a movable element of the building. It comprises a DC motor having an armature fed via brushes and a commutator with blades and means for counting the commutations between the brushes and the commutator blades. It is characterized in that it comprises means for measuring the electromotive force against the motor and means for inhibiting the use of the switching counting means or the use of the electromotive force measurement means. motor to calculate the position and / or speed of the motor shaft.
- the attached drawing shows, by way of example, an embodiment of the determination method according to the invention and an embodiment of an actuator according to the invention.
- the figure 1 is a diagram of an embodiment of an actuator according to the invention.
- the figure 2 is a diagram illustrating the principle of the determination method according to the invention.
- the figure 3 is a flow chart of an embodiment of the determination method according to the invention.
- the actuator ACT represented at figure 1 is intended to drive a mobile element LD equipping a building. It comprises a MOT motor type winding rotor rotor type, with collector and brushes.
- the inductor is preferably constituted by permanent magnets to the stator.
- the motor is kinematically connected to the movable element by means of a BRK release brake which makes it possible to immobilize the motor shaft when the motor is not powered in order to prevent it being driven by load.
- the motor is also connected to the load via a gear reducer GER.
- MOT motor is powered from a DC voltage DC, provided by a battery or a converter not shown.
- This voltage UDC is applied to the motor terminals by power control means comprising a CPU microcontroller controlling unrepresented switching means for rotating the motor in a first direction or in a second direction.
- the microcontroller is connected to a not shown order receiver for detecting orders issued following an action performed by a user or following an event detected by an automated system.
- One of the functions of the control means is to cut off the power supply of the motor when the shaft thereof has reached a position particular, corresponding for example to a predefined intermediate position or an end position of the movable element LD.
- the position of the motor shaft, and therefore that of the driven moving element, is measured by counting.
- the control means also cause the stopping of the motor supply and possibly a short instant of reverse supply to allow a reverse movement of the movable element in case of detection of an obstacle.
- This obstacle detection can, for example, be carried out by detecting an abnormal deceleration of the motor.
- the control means must therefore make it possible to calculate the position and the speed of the movable element as precisely as possible.
- the microcontroller has an output 01 for controlling the frequency or the duty cycle of a controlled switch TRU connected in series with the motor.
- This controlled switch is for example a MOS transistor whose gate is connected directly to the output O1 of the microcontroller.
- This output is for example a PWM type output.
- the operation of the switch is of the step-down type: the armature voltage UM applied to the motor armature has a mean value lower than the supply voltage UDC.
- the armature current IM is measured using a shunt resistor RS of low value, a terminal of which is connected to a first motor armature terminal and to the GND electrical ground.
- the measurement voltage URS at the terminals of the shunt is low compared to the supply voltage of the motor UDC.
- a detection device comprising at least one comparator CMP makes it possible to transform into a two-level logic signal (up and down), the armature current fluctuations IM caused by commutations of the collector blades as they pass opposite the brushes.
- the output C3 of the comparator CMP is connected to a first input 11 of the microcontroller.
- This input is of digital type: the logic pulses correspond to commutations of the collector. These pulses are summed algebraically (counted positively when the motor rotates in a first direction and counted negatively when the motor rotates in a second direction in a counter CNT which consequently gives the image of the position of the movable element. pulses is also calculated, this frequency is the image of the instantaneous speed of the motor and thus of that of the mobile element.This frequency is stored in a memory FRQ of the microcontroller.
- a second input 12 of the microcontroller is of analog type. This is for example the input of an analog digital converter built into the microcontroller.
- the second input 12 is connected to the second armature terminal of the motor. Since the ground of the circuit is connected to the first armature terminal of the motor, the voltage measured by the analog-digital converter is therefore the armature voltage UM of the motor.
- this voltage is strictly equal to the electromotive force as soon as the armature current IM is zero, that is to say when the controlled switch TRU is open for a sufficient time.
- the periodic opening of the controlled switch TRU therefore allows the precise measurement of the electromotive force against the motor, the value of which is stored in a memory referenced EMF.
- the figure 2 schematically represents the area of validity of the pulse measurement result at the output C3 of the comparator CMP.
- the signal of the output C3 can not be validly considered for calculating the position and / or the speed of the motor shaft: either because of a low signal-to-noise ratio, or because the motor is slightly driven by the load and absorbs a zero current (in the latter case the measurement of switching is impossible).
- the LIM limit of this zone is not precisely determined, which is symbolized by the dashed vertical lines.
- the determination of the position of the motor shaft is carried out by counting as long as the speed of the shaft (and therefore the switching frequency VFRQ) is greater than a first threshold TR1. As soon as the speed of the charge falls below this threshold, then the electromotive force is used: the velocity is obtained by determining the value of the electromotive force against and dividing it by the coefficient VKEMF. The integration of the speed gives the position of the motor shaft thus the position of the movable element.
- the counter CNT which reflects the position of the moving element therefore has two sources of incrementation and decrementation: the pulses from the comparator output C3 when the speed of the motor shaft is greater than the threshold speed TR1 and the integration of speed, calculated from the electromotive force when the speed of the motor shaft is less than the threshold speed TR1.
- the coefficient VKEMF is calculated when the motor shaft has reached a speed TR2 which is preferentially greater than the speed threshold TR1: it is thus ensured that, when the coefficient VKEMF is calculated, the signal coming from the output C3 of the comparator has an equal frequency. the frequency of switching occurring between the brushes and the collector blades.
- VKEMF The coefficient VKEMF is:
- VKEMF VEMF / VFRQ with VEMF: value of the electromotive force stored in the memory EMF and VFRQ: value of the frequency of the signal coming from the output C3 stored in the memory FRQ.
- VKEMF is then stored in a KEMF memory.
- This value of the electromotive force coefficient is therefore related to the engine temperature during the measurement, and corresponds to a value that is practically exact for the following time interval since the heating is not instantaneous.
- a user exerts an action on a command transmitter and that this action is interpreted by the actuator as an order to maneuver the mobile element so that it reaches a target position .
- the motor of the actuator is powered.
- a test step 30 the value VFRQ stored in the memory FRQ is tested.
- step 50 If the value VFRQ stored in the memory FRQ is lower than the speed threshold TR1, proceed to step 50 in which, according to the direction of rotation of the motor, the counter CNT is incremented or decremented using the measurement of the force against electromotive motor.
- the VFRQ is below the speed threshold TR1 especially just after the start of the power supply of the motor due to the inertia of the rotor of the motor, the kinematic chain drive of the movable element and the movable element.
- a test step 60 the current value VCNT of the counter CNT is tested.
- the power supply of the motor is cut off in a step 70.
- step 40 If the value VFRQ stored in the memory FRQ is greater than the speed threshold TR1, proceed to step 40 in which, according to the direction of rotation of the motor, the counter CNT is incremented or decremented using the signal supplied by the output C3 of the comparator CMP. Following this step, the procedure continues with step 60 described above.
- the process is susceptible of several variants.
- the threshold beyond which the voltage measurement ceases to be valid for the calculation of the position of the motor shaft and below which the voltage measurement is valid for the calculation of the position of the motor shaft can be a force threshold against electromotive. Indeed, at least over a range of speed values including the speed threshold TR1, the application giving the values of force against electromotive as a function of the speed values is bijective. Thus, at a value of force against electromotive corresponds a single rotor speed.
- an action reducing the sensitivity of the switching detection device such as in particular the startup "chopper” of the controlled switch, can be performed.
- the measurement of the electromotive force coefficient VKEMF is activated and the use of the electromotive force value for the calculation of the position of the rotor is validated before activating the "chopper" operation of the controlled switch.
- the threshold value may be a threshold value of the intensity of the current flowing in the motor armature. Below a certain filtered value of the current, it is clear that the amplitude of the ripples of the unfiltered current becomes insufficient to detect switching and ensure the validity of the signal from the output C3 of the comparator CMP.
- a second comparator is used. On a first of its inputs is applied the URS voltage filtered by a low-pass circuit, while a reference voltage higher than the voltage URF is applied on his second entrance. The output of the second comparator is applied to a third input of the microcontroller.
- the method according to the invention consists in preferentially using pulse counting as long as it is valid, and using the electromotive force in the opposite case.
- pulse counting as long as it is valid
- electromotive force in the opposite case.
- This third threshold value such as the first threshold value relating to the speed or the second threshold value relative to the electromotive force, is predetermined. In an alternative embodiment, they are calculated, for example in relative value.
- the first or second threshold value is a fraction of the largest value measured during a learning phase
- the third threshold value is a fraction of the lowest value measured during a learning phase. a learning phase.
- the method makes it possible to measure the engine TETA temperature, without using an additional component.
- the coefficient VKEMF is directly related to the temperature of the magnets, an increase in temperature causing a decrease in the coefficient VKEMF. Then, either a mathematical function or a reading in a table, is used to obtain the value of the temperature TETA for a calculated value of the coefficient VKEMF.
- the measurement of the temperature is obtained by using the value of the resistor RA of the armature, this value being calculated by dividing the difference (UM - EMF) by the current IM.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Control Of Direct Current Motors (AREA)
- Control Of Stepping Motors (AREA)
- Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
- Exposure Control For Cameras (AREA)
Abstract
Description
L'invention concerne un procédé de détermination de la position et/ou de la vitesse de l'arbre d'un moteur à courant continu comprenant un induit alimenté via des balais et un collecteur à lames et destiné à l'entraînement d'un élément mobile du bâtiment. Elle concerne également un actionneur pour la mise en oeuvre d'un tel procédé.The invention relates to a method for determining the position and / or the speed of the shaft of a DC motor comprising an armature fed via brushes and a blade commutator and intended for driving an element. mobile building. It also relates to an actuator for the implementation of such a method.
Certains actionneurs pour la manoeuvre d'éléments mobiles tels que des portes, des portails, des volets, des stores, des écrans de projection, des trappes de ventilation équipant les bâtiments, comprennent des moteurs à courant continu présentant des balais d'alimentation d'induit.Some actuators for moving elements such as doors, gates, shutters, blinds, projection screens, ventilation hatches fitted to buildings, include DC motors with power brushes. armature.
Pour commander les manoeuvres de ces éléments mobiles, il est intéressant de connaître leur position afin de déterminer quand doit être couper l'alimentation du moteur en fin de course de l'élément ou lorsque celui-ci se trouve en position intermédiaire.To control the maneuvers of these moving elements, it is interesting to know their position in order to determine when the engine power must be cut at the end of travel of the element or when it is in the intermediate position.
On connaît du
On connaît de la demande
Le manque de fiabilité est accentué dans les applications où la tension d'alimentation du moteur est fournie par un convertisseur alimenté sur le réseau électrique alternatif commercial, par exemple 230 V, 50 Hz. En effet, les convertisseurs à faible coût rayonnent une composante non négligeable, au moins à une fréquence double de celle du réseau alternatif. Quand la fréquence de ces parasites rayonnés est voisine de la fréquence de commutation des balais : leur discrimination est alors très difficile voire impossible.The unreliability is accentuated in applications where the motor supply voltage is provided by a converter powered on the commercial AC grid, for example 230 V, 50 Hz. In fact, the low-cost converters radiate a non-conductive component. negligible, at least at twice the frequency of the alternative network. When the frequency of these radiated parasites is close to the switching frequency of the brushes: their discrimination is very difficult or impossible.
Les dispositifs hacheur permettant de réduire la vitesse ou la puissance du moteur quand l'élément mobile arrive au voisinage d'une position d'arrêt constituent également une source de parasites non négligeable.Chopper devices for reducing the speed or power of the motor when the movable element arrives near a stopping position also constitute a significant source of noise.
Par ailleurs, il est connu du
Le but de l'invention est de fournir un procédé de détermination de la position et/ou de la vitesse de rotation d'un arbre d'un moteur obviant aux inconvénients cités et apportant des améliorations par rapport aux procédés connus de l'art antérieur. En particulier, le procédé selon l'invention permet de calculer de manière précise par comptage la position et/ou la vitesse de rotation d'un moteur. Le but de l'invention est également de fournir un actionneur permettant de mettre en oeuvre ce procédé.The object of the invention is to provide a method for determining the position and / or the speed of rotation of a motor shaft which obviates the drawbacks mentioned and provides improvements over the known methods of the prior art. . In particular, the method according to the invention makes it possible to accurately calculate by counting the position and / or the speed of rotation of an engine. The object of the invention is also to provide an actuator for carrying out this method.
Le procédé selon l'invention est caractérisé en ce qu'il comprend les phases suivantes:
- détecter et compter les commutations se produisant entre les balais et les lames de collecteur pour déterminer la position et/ou la vitesse de l'arbre du moteur lorsque le comptage des commutations est valide et
- mesurer la force contre électromotrice du moteur pour déterminer la position et/ou la vitesse de l'arbre du moteur lorsque le comptage des commutations n'est pas valide.
- detect and count the commutations occurring between the brushes and the collector blades to determine the position and / or the speed of the motor shaft when the counting of the commutations is valid and
- measure the electromotive force of the motor to determine the position and / or the speed of the motor shaft when the counting of the commutations is not valid.
Différents modes d'exécution du procédé sont définis par les revendications dépendantes 2 à 10.Different embodiments of the method are defined by the dependent claims 2 to 10.
L'actionneur selon l'invention permet la manoeuvre d'un élément mobile du bâtiment. Il comprend un moteur à courant continu présentant un induit alimenté via des balais et un collecteur à lames et des moyens de comptage des commutations entre les balais et les lames du collecteur. Il est caractérisé en ce qu'il comprend des moyens de mesure de la force contre électromotrice du moteur et des moyens d'inhibition de l'utilisation des moyens de comptage des commutations ou de l'utilisation des moyens de mesure de la force contre électromotrice du moteur pour calculer la position et/ou la vitesse de l'arbre du moteur.The actuator according to the invention allows the operation of a movable element of the building. It comprises a DC motor having an armature fed via brushes and a commutator with blades and means for counting the commutations between the brushes and the commutator blades. It is characterized in that it comprises means for measuring the electromotive force against the motor and means for inhibiting the use of the switching counting means or the use of the electromotive force measurement means. motor to calculate the position and / or speed of the motor shaft.
Le dessin annexé représente, à titre d'exemple, un mode d'exécution du procédé de détermination selon l'invention et un mode de réalisation d'un actionneur selon l'invention.The attached drawing shows, by way of example, an embodiment of the determination method according to the invention and an embodiment of an actuator according to the invention.
La
La
La
L'actionneur ACT représenté à la
Le moteur MOT est alimenté à partir d'une tension continue UDC, fournie par une batterie ou par un convertisseur non représenté. Cette tension UDC est appliquée aux bornes du moteur grâce à des moyens de commande de l'alimentation comprenant un microcontrôleur CPU commandant des moyens de commutation non représentés permettant de faire tourner le moteur dans un premier sens ou dans un deuxième sens. Le microcontrôleur est relié à un récepteur d'ordres non représenté permettant de détecter des ordres émis suite à une action effectuée par un utilisateur ou suite à un événement détecté par un automatisme.MOT motor is powered from a DC voltage DC, provided by a battery or a converter not shown. This voltage UDC is applied to the motor terminals by power control means comprising a CPU microcontroller controlling unrepresented switching means for rotating the motor in a first direction or in a second direction. The microcontroller is connected to a not shown order receiver for detecting orders issued following an action performed by a user or following an event detected by an automated system.
Une des fonctions des moyens de commande est de couper l'alimentation du moteur lorsque l'arbre de celui-ci a atteint une position particulière, correspondant par exemple à une position intermédiaire prédéfinie ou une position de fin de course de l'élément mobile LD.One of the functions of the control means is to cut off the power supply of the motor when the shaft thereof has reached a position particular, corresponding for example to a predefined intermediate position or an end position of the movable element LD.
La position de l'arbre moteur, et donc celle de l'élément mobile entraîné, est mesurée par comptage. Les moyens de commande provoquent également l'arrêt de l'alimentation du moteur et éventuellement un bref instant d'alimentation inverse pour permettre un mouvement inverse de l'élément mobile en cas de détection d'un obstacle. Cette détection d'obstacle peut, par exemple, être effectuée par une détection d'un ralentissement anormal du moteur. Les moyens de commande doivent donc permettre de calculer la position et la vitesse de l'élément mobile aussi précisément que possible.The position of the motor shaft, and therefore that of the driven moving element, is measured by counting. The control means also cause the stopping of the motor supply and possibly a short instant of reverse supply to allow a reverse movement of the movable element in case of detection of an obstacle. This obstacle detection can, for example, be carried out by detecting an abnormal deceleration of the motor. The control means must therefore make it possible to calculate the position and the speed of the movable element as precisely as possible.
Le microcontrôleur présente une sortie 01 permettant de piloter la fréquence ou le rapport cyclique d'un interrupteur commandé TRU branché en série avec le moteur. Cet interrupteur commandé est par exemple un transistor MOS dont la grille est raccordée directement à la sortie O1 du microcontrôleur. Cette sortie est par exemple une sortie de type PWM. Le fonctionnement de l'interrupteur est de type hacheur abaisseur : la tension d'induit UM appliquée à l'induit du moteur a une valeur moyenne inférieure à la tension d'alimentation UDC. Ainsi, il est possible d'engager des phases de fonctionnement à tension réduite et de produire des rampes d'augmentation de tension ou de décroissance de tension pour réaliser des phases d'accélération ou de décélération progressive du moteur.The microcontroller has an
Le courant d'induit IM est mesuré à l'aide d'une résistance shunt RS de faible valeur, dont une borne est reliée à une première borne d'induit du moteur et à la masse électrique GND. Ainsi, la tension de mesure URS aux bornes du shunt est faible devant la tension d'alimentation du moteur UDC. Un dispositif de détection comportant au moins un comparateur CMP permet de transformer en signal logique à deux niveaux (haut et bas), les fluctuations de courant d'induit IM provoquées par les commutations des lames de collecteur lors de leur passage en regard des balais.The armature current IM is measured using a shunt resistor RS of low value, a terminal of which is connected to a first motor armature terminal and to the GND electrical ground. Thus, the measurement voltage URS at the terminals of the shunt is low compared to the supply voltage of the motor UDC. A detection device comprising at least one comparator CMP makes it possible to transform into a two-level logic signal (up and down), the armature current fluctuations IM caused by commutations of the collector blades as they pass opposite the brushes.
La sortie C3 du comparateur CMP est raccordée à une première entrée 11 du microcontrôleur. Cette entrée est de type numérique : les impulsions logiques correspondent aux commutations du collecteur. Ces impulsions sont sommées algébriquement (comptées positivement lorsque le moteur tourne dans un premier sens et comptées négativement lorsque le moteur tourne dans un deuxième sens dans un compteur CNT qui donne en conséquence l'image de la position de l'élément mobile. La fréquence des impulsions est aussi calculée. Cette fréquence est l'image de la vitesse instantanée du moteur et donc de celle de l'élément mobile. Cette fréquence est stockée dans une mémoire FRQ du microcontrôleur.The output C3 of the comparator CMP is connected to a
Une deuxième entrée 12 du microcontrôleur est de type analogique. Il s'agit par exemple de l'entrée d'un convertisseur analogique numérique intégré au microcontrôleur. La deuxième entrée 12 est reliée à la deuxième borne d'induit du moteur. La masse du circuit étant reliée à la première borne d'induit du moteur, la tension mesurée par le convertisseur analogique numérique est donc la tension d'induit UM du moteur.A
Il est connu que cette tension est rigoureusement égale à la force contre électromotrice dès que le courant d'induit IM est nul, c'est-à-dire quand l'interrupteur commandé TRU est ouvert pendant un temps suffisant. L'ouverture périodique de l'interrupteur commandé TRU permet par conséquent la mesure précise de la force contre électromotrice du moteur, dont la valeur est stockée dans une mémoire référencée EMF.It is known that this voltage is strictly equal to the electromotive force as soon as the armature current IM is zero, that is to say when the controlled switch TRU is open for a sufficient time. The periodic opening of the controlled switch TRU therefore allows the precise measurement of the electromotive force against the motor, the value of which is stored in a memory referenced EMF.
La
Il existe au moins une zone où le signal de la sortie C3 ne peut être valablement considéré pour calculer la position et/ou la vitesse de l'arbre du moteur : soit du fait d'un trop faible rapport signal/bruit, soit parce que le moteur est légèrement entraîné par la charge et absorbe un courant nul (dans ce dernier cas la mesure des commutations est impossible). La limite LIM de cette zone n'est pas déterminée avec précision, ce que symbolisent les traits verticaux pointillés.There is at least one zone where the signal of the output C3 can not be validly considered for calculating the position and / or the speed of the motor shaft: either because of a low signal-to-noise ratio, or because the motor is slightly driven by the load and absorbs a zero current (in the latter case the measurement of switching is impossible). The LIM limit of this zone is not precisely determined, which is symbolized by the dashed vertical lines.
La détermination de la position de l'arbre moteur est réalisée par comptage tant que la vitesse de l'arbre (donc la fréquence de commutation VFRQ) est supérieure à un premier seuil TR1. Dès que la vitesse de la charge devient inférieure à ce seuil, alors c'est la force contre électromotrice qui est utilisée : la vitesse est obtenue en déterminant la valeur de la force contre électromotrice et en la divisant par le coefficient VKEMF. L'intégration de la vitesse donne la position de l'arbre moteur donc la position de l'élément mobile.The determination of the position of the motor shaft is carried out by counting as long as the speed of the shaft (and therefore the switching frequency VFRQ) is greater than a first threshold TR1. As soon as the speed of the charge falls below this threshold, then the electromotive force is used: the velocity is obtained by determining the value of the electromotive force against and dividing it by the coefficient VKEMF. The integration of the speed gives the position of the motor shaft thus the position of the movable element.
De manière simplifiée, en prenant un pas de temps constant pour réaliser la somme algébrique Σ, la valeur VCNT stockée dans le compteur CNT vaut :
VCNT = Σ (VEMF/VKEMF)In a simplified way, by taking a constant step of time to realize the algebraic sum Σ, the value VCNT stored in the counter CNT is worth:
VCNT = Σ (VEMF / VKEMF)
Ainsi, le compteur CNT qui reflète la position de l'élément mobile a donc deux sources d'incrémentation et de décrémentation : les impulsions issues de la sortie C3 du comparateur lorsque la vitesse de l'arbre moteur est supérieure à la vitesse seuil TR1 et l'intégration de la vitesse, calculée à partir de la force contre électromotrice lorsque la vitesse de l'arbre moteur est inférieure à la vitesse seuil TR1.Thus, the counter CNT which reflects the position of the moving element therefore has two sources of incrementation and decrementation: the pulses from the comparator output C3 when the speed of the motor shaft is greater than the threshold speed TR1 and the integration of speed, calculated from the electromotive force when the speed of the motor shaft is less than the threshold speed TR1.
Le coefficient VKEMF est calculé lorsque l'arbre du moteur a atteint une vitesse TR2 préférentiellement supérieure au seuil de vitesse TR1 : on est ainsi assuré que, lorsque le coefficient VKEMF est calculé, le signal issu de la sortie C3 du comparateur présente une fréquence égale à la fréquence des commutations se produisant entre les balais et les lames du collecteur.The coefficient VKEMF is calculated when the motor shaft has reached a speed TR2 which is preferentially greater than the speed threshold TR1: it is thus ensured that, when the coefficient VKEMF is calculated, the signal coming from the output C3 of the comparator has an equal frequency. the frequency of switching occurring between the brushes and the collector blades.
Le coefficient VKEMF vaut:The coefficient VKEMF is:
VKEMF = VEMF / VFRQ avec VEMF: valeur de la force contre électromotrice stockée dans la mémoire EMF et VFRQ: valeur de la fréquence du signal issu de la sortie C3 stockée dans la mémoire FRQ.VKEMF = VEMF / VFRQ with VEMF: value of the electromotive force stored in the memory EMF and VFRQ: value of the frequency of the signal coming from the output C3 stored in the memory FRQ.
On enregistre alors VKEMF dans une mémoire KEMF. Cette valeur du coefficient de force électromotrice est donc en relation avec la température du moteur lors de la mesure, et correspond à une valeur pratiquement exacte pour l'intervalle de temps suivant puisque les échauffements ne sont pas instantanés.VKEMF is then stored in a KEMF memory. This value of the electromotive force coefficient is therefore related to the engine temperature during the measurement, and corresponds to a value that is practically exact for the following time interval since the heating is not instantaneous.
Une procédure de fonctionnement de l'actionneur selon l'invention est décrit en référence à la
On suppose que, dans une première étape 10, un utilisateur exerce une action sur un émetteur d'ordres et que cette action est interprétée par l'actionneur comme un ordre de manoeuvre de l'élément mobile afin que celui-ci atteigne une position cible.It is assumed that, in a
Suite à la réception de cet ordre, dans une étape 20, le moteur de l'actionneur est alimenté.Following receipt of this order, in a
Dans une étape de test 30, la valeur VFRQ stockée dans la mémoire FRQ est testée.In a
Si la valeur VFRQ stockée dans la mémoire FRQ est inférieure au seuil de vitesse TR1, on passe à l'étape 50 dans laquelle, selon le sens de rotation du moteur, on incrémente ou décrémente le compteur CNT en utilisant la mesure de la force contre électromotrice du moteur. La VFRQ est inférieure au seuil de vitesse TR1 notamment juste après le début de l'alimentation du moteur du fait de l'inertie du rotor du moteur, de la chaîne cinématique d'entraînement de l'élément mobile et l'élément mobile.If the value VFRQ stored in the memory FRQ is lower than the speed threshold TR1, proceed to step 50 in which, according to the direction of rotation of the motor, the counter CNT is incremented or decremented using the measurement of the force against electromotive motor. The VFRQ is below the speed threshold TR1 especially just after the start of the power supply of the motor due to the inertia of the rotor of the motor, the kinematic chain drive of the movable element and the movable element.
Dans une étape de test 60, la valeur courante VCNT du compteur CNT est testée.In a
Si la valeur VCNT est égale à la valeur Vcible correspondant à la position cible de l'élément mobile, l'alimentation du moteur est coupée dans une étape 70.If the value VCNT is equal to the value V target corresponding to the target position of the moving element, the power supply of the motor is cut off in a
Dans le cas contraire, la procédure boucle sur l'étape de test 30.In the opposite case, the procedure loops on the
Si la valeur VFRQ stockée dans la mémoire FRQ est supérieure au seuil de vitesse TR1, on passe à l'étape 40 dans laquelle, selon le sens de rotation du moteur, on incrémente ou on décrémente le compteur CNT en utilisant le signal fourni par la sortie C3 du comparateur CMP. Suite à cette étape, la procédure se poursuit avec l'étape 60 décrite précédemment.If the value VFRQ stored in the memory FRQ is greater than the speed threshold TR1, proceed to step 40 in which, according to the direction of rotation of the motor, the counter CNT is incremented or decremented using the signal supplied by the output C3 of the comparator CMP. Following this step, the procedure continues with
Le procédé est susceptible de plusieurs variantes.The process is susceptible of several variants.
Il est par exemple possible que le calcul du coefficient de force contre électromotrice soit fait au moment où la vitesse du rotor du moteur atteint le seuil de vitesse TR1.For example, it is possible for the calculation of the electromotive force coefficient to be made at the moment when the speed of the motor rotor reaches the speed threshold TR1.
Le seuil au-delà duquel la mesure de tension cesse d'être valide pour le calcul de la position de l'arbre du moteur et en deçà duquel la mesure de tension est valide pour le calcul de la position de l'arbre du moteur peut être un seuil de force contre électromotrice. En effet, au moins sur un intervalle de valeurs de vitesse comprenant le seuil de vitesse TR1, l'application donnant les valeurs de force contre électromotrice en fonction des valeurs de vitesse est bijective. Ainsi, à une valeur de force contre électromotrice correspond une seule vitesse du rotor.The threshold beyond which the voltage measurement ceases to be valid for the calculation of the position of the motor shaft and below which the voltage measurement is valid for the calculation of the position of the motor shaft can be a force threshold against electromotive. Indeed, at least over a range of speed values including the speed threshold TR1, the application giving the values of force against electromotive as a function of the speed values is bijective. Thus, at a value of force against electromotive corresponds a single rotor speed.
Au passage du seuil, une action réduisant la sensibilité du dispositif de détection des commutations, telle qu'en particulier la mise en fonctionnement "hacheur" de l'interrupteur commandé, peut être effectuée. Dans ce cas, on active la mesure du coefficient VKEMF de force électromotrice et on valide l'utilisation de la valeur de force contre électromotrice pour le calcul de la position du rotor avant d'activer le fonctionnement "hacheur" de l'interrupteur commandé.At the passage of the threshold, an action reducing the sensitivity of the switching detection device, such as in particular the startup "chopper" of the controlled switch, can be performed. In this case, the measurement of the electromotive force coefficient VKEMF is activated and the use of the electromotive force value for the calculation of the position of the rotor is validated before activating the "chopper" operation of the controlled switch.
La valeur de seuil peut être une valeur de seuil d'intensité du courant circulant dans l'induit du moteur. En dessous d'une certaine valeur filtrée du courant, il est clair que l'amplitude des ondulations du courant non filtré devient insuffisante pour détecter les commutations et assurer la validité du signal issu de la sortie C3 du comparateur CMP. Dans ce cas, un deuxième comparateur est utilisé. Sur une première de ses entrées est appliquée la tension URS filtrée par un circuit passe-bas, tandis qu'une tension de référence supérieure à la tension URF est appliquée sur sa deuxième entrée. La sortie du deuxième comparateur est appliquée sur une troisième entrée du microcontrôleur.The threshold value may be a threshold value of the intensity of the current flowing in the motor armature. Below a certain filtered value of the current, it is clear that the amplitude of the ripples of the unfiltered current becomes insufficient to detect switching and ensure the validity of the signal from the output C3 of the comparator CMP. In this case, a second comparator is used. On a first of its inputs is applied the URS voltage filtered by a low-pass circuit, while a reference voltage higher than the voltage URF is applied on his second entrance. The output of the second comparator is applied to a third input of the microcontroller.
De manière plus générale, le procédé selon l'invention consiste à utiliser préférentiellement le comptage d'impulsions tant que celui-ci est valide, et à utiliser la force contre électromotrice dans le cas contraire. On profite des périodes de validité du comptage pour remettre à jour la valeur du coefficient de force électromotrice, ce qui permet de tenir compte au mieux de la température du moteur.More generally, the method according to the invention consists in preferentially using pulse counting as long as it is valid, and using the electromotive force in the opposite case. We take advantage of periods of validity of the count to update the value of the coefficient of electromotive force, which allows to better take into account the temperature of the engine.
Outre l'utilisation de valeurs de seuil sur la vitesse du moteur ou, de manière équivalente, sur sa force contre électromotrice, il est possible de détecter directement la validité du comptage des impulsions issues du comparateur CMP et correspondant aux commutations par analyse de la régularité temporelle desdites impulsions. En effet, compte tenu de l'inertie mécanique de l'ensemble mobile, il est impossible que les deux intervalles de temps séparant trois impulsions consécutives diffèrent d'une durée supérieure à une valeur de seuil temporel donnée, à moins qu'une erreur de détection de commutation ne se produise.In addition to the use of threshold values on the speed of the motor or, in an equivalent manner, on its electromotive force, it is possible to directly detect the validity of the counting of the pulses coming from the comparator CMP and corresponding to the commutations by analysis of the regularity. time of said pulses. Indeed, given the mechanical inertia of the moving assembly, it is impossible for the two time intervals separating three consecutive pulses to differ by a duration greater than a given time threshold value, unless an error of Switching detection does not occur.
Cette troisième valeur de seuil, comme la première valeur de seuil relative à la vitesse ou comme la deuxième valeur de seuil relative à la force contre électromotrice sont prédéterminées. Dans une variante de réalisation, elles sont calculées, par exemple en valeur relative. Ainsi, la première ou la deuxième valeur de seuil sont une fraction de la valeur la plus grande mesurée au cours d'une phase d'apprentissage, tandis que la troisième valeur de seuil est une fraction de la valeur la plus faible mesurée au cours d'une phase d'apprentissage. Un tel calcul permet d'adapter le seuil à chaque type de moteur et/ou de charge.This third threshold value, such as the first threshold value relating to the speed or the second threshold value relative to the electromotive force, is predetermined. In an alternative embodiment, they are calculated, for example in relative value. Thus, the first or second threshold value is a fraction of the largest value measured during a learning phase, while the third threshold value is a fraction of the lowest value measured during a learning phase. a learning phase. Such a calculation makes it possible to adapt the threshold to each type of engine and / or load.
Le fait de tester directement la validité du comptage des impulsions au moyen d'un test temporel permet de s'adapter immédiatement à une situation où les parasites deviennent nombreux, par exemple du fait du fonctionnement du hacheur abaisseur. Cependant, il est aussi possible de déclarer le comptage non valide dès que le hacheur est activé, ce qui évite d'avoir à réaliser le test temporel.Directly testing the validity of the pulse count by means of a time test makes it possible to immediately adapt to a situation where the parasites become numerous, for example because of the operation of the step-down chopper. However, it is also possible to declare the count invalid as soon as the chopper is activated, which avoids having to perform the time test.
Par exemple, un mode d'exécution du procédé consiste, lorsqu'une phase d'activation du hacheur doit être engagée :
- à réaliser la mesure du coefficient de force électromotrice et à stocker cette valeur VKEMF en mémoire,
- à passer en mode de mesure de la vitesse et/ou du déplacement de l'arbre moteur par mesure de la force contre électromotrice,
- à activer le hacheur.
Pour simplifier la description précédente, on a décrit le stockage de valeurs de calcul dans des mémoires spécifiques. Il est clair pour l'homme du métier que seule la valeur du coefficient de force électromotrice du moteur doit être stockée en mémoire, entre deux remises à jour. Les autres valeurs comme la fréquence VFRQ ne sont mémorisées que pour autant qu'elles servent dans des calculs intermédiaires.
- to measure the electromotive force coefficient and to store this value VKEMF in memory,
- to switch to measuring mode of the speed and / or displacement of the motor shaft by measurement of the force against electromotive,
- to activate the chopper.
To simplify the foregoing description, the storage of calculation values in specific memories has been described. It is clear to those skilled in the art that only the value of the electromotive force coefficient of the engine must be stored in memory, between two updates. Other values such as the VFRQ frequency are stored only as long as they are used in intermediate calculations.
Le procédé permet de mesurer la température TETA du moteur, sans utiliser de composant supplémentaire. Comme vu précédemment, le coefficient VKEMF est directement lié à la température des aimants, une augmentation de la température provoquant une diminution du coefficient VKEMF. Ensuite, soit une fonction mathématique, soit une lecture dans une table, est utilisée pour obtenir la valeur de la température TETA pour une valeur calculée du coefficient VKEMF.The method makes it possible to measure the engine TETA temperature, without using an additional component. As seen previously, the coefficient VKEMF is directly related to the temperature of the magnets, an increase in temperature causing a decrease in the coefficient VKEMF. Then, either a mathematical function or a reading in a table, is used to obtain the value of the temperature TETA for a calculated value of the coefficient VKEMF.
Alternativement, la mesure de la température est obtenue en utilisant la valeur de la résistance RA de l'induit, celle-ci étant calculée en divisant la différence (UM - EMF) par le courant IM.Alternatively, the measurement of the temperature is obtained by using the value of the resistor RA of the armature, this value being calculated by dividing the difference (UM - EMF) by the current IM.
Claims (11)
- A method of determining the position and/or the speed of the shaft of a direct current motor (MOT) including an armature powered via brushes and a bar commutator and designed to drive a moving element (LD) of a building, characterized in that it includes the following phases:- detecting and counting the commutations that occur between the brushes and the commutator bars to determine the position and/or the speed of the motor shaft when the commutation count is valid, and- measuring the back electromotive force of the motor (MOT) to determine the position and/or the speed of the motor shaft when the commutation count is not valid.
- The method as claimed in claim 1, wherein the commutation count is valid when the speed of the shaft is greater than a first threshold value.
- The method as claimed in claim 1, wherein the commutation count is valid when the back electromotive force of the motor is greater than a second threshold value.
- The method as claimed in claim 1, wherein the commutation count is valid when the amplitude of the armature current of the motor is greater than a third threshold value.
- The method as claimed in claim 1, wherein the commutation count is valid when the time difference between two time intervals measured between three consecutive detected commutations is less than a fourth threshold value.
- The method as claimed in one of claims 2 to 4, wherein the threshold value is predetermined.
- The method as claimed in one of claims 2 to 4, wherein the threshold value results from a calculation.
- The method as claimed in one of the preceding claims, wherein, when the commutation count is valid, the back electromotive force coefficient (VKEMF) of the motor linking the electromotive force and the speed of the rotor is calculated and stored in a memory (KEMF).
- The method as claimed in one of the preceding claims, wherein the back electromotive force is used to determine the temperature of the motor.
- The method as claimed in claim 8, wherein the temperature of the motor is derived from the value of the back electromotive force coefficient (VKEMF).
- An actuator (ACT) for operating a moving element (LD) of the building, including:- a direct current motor (MOT) with an armature powered via brushes and a bar commutator, and- means of counting commutations between the brushes and the bars of the commutator,characterized in that it includes means of measuring the back electromotive force of the motor and means of inhibiting the use of the commutation counting means or the use of the means of measuring the back electromotive force of the motor to calculate the position and/or the speed of the motor shaft.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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FR0413892A FR2880125B1 (en) | 2004-12-24 | 2004-12-24 | METHOD FOR DETERMINING THE POSITION OF THE SHAFT OF A DRIVE MOTOR OF A SHUTTER AND ACTUATOR FOR ITS IMPLEMENTATION |
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EP1674655B1 true EP1674655B1 (en) | 2008-10-08 |
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EP05027945A Active EP1674655B1 (en) | 2004-12-24 | 2005-12-20 | Method of determination of the position of the shaft of a motor for driving a roller shuter and actuator for its operation |
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US (1) | US7294981B2 (en) |
EP (1) | EP1674655B1 (en) |
JP (1) | JP5154752B2 (en) |
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DE (1) | DE602005010195D1 (en) |
FR (1) | FR2880125B1 (en) |
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FR2880125B1 (en) * | 2004-12-24 | 2007-03-30 | Siminor Technologies Castres S | METHOD FOR DETERMINING THE POSITION OF THE SHAFT OF A DRIVE MOTOR OF A SHUTTER AND ACTUATOR FOR ITS IMPLEMENTATION |
ATE496421T1 (en) * | 2005-09-05 | 2011-02-15 | Ideassociates Iom Ltd | METHOD FOR CONTROLLING A MECHANICALLY COMMUTATED ELECTRIC MOTOR |
US20080298784A1 (en) * | 2007-06-04 | 2008-12-04 | Mark Allen Kastner | Method of Sensing Speed of Electric Motors and Generators |
CN101638974B (en) * | 2008-07-28 | 2011-07-20 | 陈耀华 | Rolling blind position detection method and sensing device for electric rolling blind drive controller |
EP2409396B1 (en) * | 2009-03-16 | 2013-06-05 | Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Hallstadt | Correction of counting errors upon evaluation of current ripples in a dc motor |
DE102011015450A1 (en) | 2011-03-30 | 2012-10-04 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt | Method and device for processing a motor signal |
FR3024176B1 (en) * | 2014-07-25 | 2016-08-05 | Somfy Sas | METHOD FOR CONTROLLING A WINDING ACTUATOR, CONFIGURED WINDING ACTUATOR FOR SUCH A METHOD AND SOLAR CLOSURE OR PROTECTION PLANT COMPRISING SUCH ACTUATOR |
CN106990356B (en) * | 2016-01-21 | 2023-04-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Measuring device and measuring method for counter potential coefficient of linear motor |
DE102016225079A1 (en) * | 2016-12-15 | 2018-06-21 | Gabrijel Rejc Gmbh & Co. Kg | Gate with a fall protection |
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2004
- 2004-12-24 FR FR0413892A patent/FR2880125B1/en not_active Expired - Fee Related
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FR2880125B1 (en) | 2007-03-30 |
US7294981B2 (en) | 2007-11-13 |
FR2880125A1 (en) | 2006-06-30 |
US20060138982A1 (en) | 2006-06-29 |
EP1674655A1 (en) | 2006-06-28 |
DE602005010195D1 (en) | 2008-11-20 |
ATE410583T1 (en) | 2008-10-15 |
JP5154752B2 (en) | 2013-02-27 |
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