WO2001086801A1 - Arrangement for controlling a unit that can be aimed, preferably a weapon sight, by means of a three-phase brushless direct-current motor - Google Patents
Arrangement for controlling a unit that can be aimed, preferably a weapon sight, by means of a three-phase brushless direct-current motor Download PDFInfo
- Publication number
- WO2001086801A1 WO2001086801A1 PCT/SE2001/001009 SE0101009W WO0186801A1 WO 2001086801 A1 WO2001086801 A1 WO 2001086801A1 SE 0101009 W SE0101009 W SE 0101009W WO 0186801 A1 WO0186801 A1 WO 0186801A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signals
- motor
- pulse
- width
- amplifier
- Prior art date
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
Definitions
- This invention relates to an arrangement for controlling a unit that can be aimed, preferably in the form of a weapon sight, by means of a three-phase brushless direct-current motor, using electrical signals (commands) and comprising a motor amplifier for sinusoidal commutation, to which the signals can be fed.
- the arrangement can thereby be of the type that operates with analogue or digital electrical signals and analogue or digital motor amplifier.
- the output stage must be able to cope with temperature ranges of -40° to +85°C and the supply voltage to the direct-current motor must be able to be selected within the range 18-40 V, for example.
- the amplifier must also be able to drive a direct-current motor with 16 poles with angular velocities of up to 1 rad/sec or more.
- the motor amplifier should be able to be constructed from components that provide small external dimensions of the equipment as such.
- the object of the invention is to solve all or parts of the abovementioned problem.
- the principle characteristic of an arrangement according to the invention is that the windings of the motor are Y-connect'ed and each is connected to a separate pair of drive transistors comprised in a transistor bridge and that the motor amplifier is arranged to generate pulse-width-modulated signals and to control the drive transistors in the bridge using these pulse-width-modulated signals and thereby cause the generation of phase drive currents in the windings of the motor.
- the invention can be characterised in that galvanically-isolated circuits effect current feedback from the motor to the input of the amplifier.
- the said analogue or digital input signals or control command signals comprise first and second signals that correspond to two of the phases' sinusoidal moments with 120° ' displacement.
- the motor amplifier must also be able to operate with a third input signal calculated from the said first and second signals.
- the current feedback is effected in two phases and the current feedback for the third phase is extrapolated from the abovementioned two first phases.
- the motor amplifier must be able to effect pulse-width-modulated signals by means of natural sampling of triangular waves. The motor amplifier thereby generates a pulse-width-modulated signal for the respective phase.
- a drive circuit connected to the amplifier or belonging to the amplifier converts the three pulse-width-modulated signals into six pulse-width-modulated signals, each of which controls a drive transistor in the said drive transistor bridge.
- the drive circuit thereby continually supplies the six pulse- width-modulated signals to the drive transistors in the transistor bridge in accordance with a selected pattern, which can constitute a pre-selected pattern.
- the pattern can thereby be obtained automatically by means of the natural sampling.
- the galvanically-isolated circuits for the current feedback are located on semiconductor-technology components that detect the phase currents.
- An adjusting function is thereby arranged in order to eliminate or counteract the components' deviations.
- the adjustment function can work with three adjusting signals, where a first adjusting signal indicates the phase that is to be controlled at the present time, a second adjusting signal indicates whether the adjustment is to take place upwards or downwards and a third adjustment signal effects the change by increments.
- the deviation adjustment can thereby be initiated upon starting up and is essentially the same as long as the supply voltage is connected.
- the adjustment function can work with a storage function, whereby the stored adjustment function can assume the same value until it is changed, whereupon storage takes place of the changed value, and so on.
- the two analogue or digital signals mentioned above form the desired moment for the two first phases.
- the motor amplifier can thereby effect a comparison between the said two input signals and signals from the current feedback. The latter signals can be adjusted for deviations before the comparison.
- the amplifier creates fault indication signals between the desired value and the actual value and amplifies the fault indication signals and transmits these to comparators which compare the amplified fault indication signals with a triangular wave and create the pulse-width-modulated signals. ln the respective pairs of transistors concerned, the first transistor can open when a relevant pulse-width, signal goes high. In the same way, the second transistor in the pair of transistors can open when the pulse-width signal goes low.
- the driving of the transistors in the respective pairs is also arranged to prevent the first and second transistors in the pair conducting at the same time, in order to avoid shorting between the transistors.
- the driving is also arranged to ensure that the distance between the activations of the first and second transistors in the respective pairs of transistors is small, in order to prevent overtones occurring. Additional characteristics of the invention can be that the arrangement works without commutation logic and/or that it works without current feedback logic.
- the output stage can handle currents of up to 10 A and is easily modified to handle currents of different sizes.
- the current-feedback output stage can be implemented in such a way that the moment is proportional to the appropriate input signal or signals.
- a. relatively complex six-stage commutation does not need to be used.
- the system can be constructed as a data-processing card with a digital signal processor, for example of the type TMS 320. Low order harmonics and hysteresis can also be eliminated.
- Figure 1 shows in outline and in block diagram form the construction of parts of the new motor amplifier
- Figure 2 shows in outline and in block diagram form other parts of the new motor amplifier, which in the figure is connected to a direct-current motor that drives a symbolically indicated weapon sight
- FIG 3 shows in schematic form a constructive version of a drive circuit that is incorporated in the. motor amplifier according to Figure 2,
- Figure 4 shows in outline schematic form the windings of the direct-current motor connected to a drive transistor bridge
- Figure 5 shows in diagrammatic form pulse-width-modulated signals for controlling the drive transistors in the bridge according to Figure 4.
- two input signals are required in accordance with Figure 1 , which are indicated by REF_R and REF_S, which correspond to the desired moment for two first phases in the direct-current motor in question.
- These input signals are compared with signals IR and IS that are obtained from a current feedback that is described below.
- the signals IR and IS are offset.
- a fault indication between the desired value and the actual value is created from this comparison.
- the fault indication is amplified and is forwarded to a comparator Kfor each.
- the amplified fault indication is compared with a triangular wave Tl and pulse-width-modulated signals PWM_R, PWM_S and PWM_T are formed.
- the third desired value that is required to drive the third phase is calculated from the abovementioned input signals REF_R and REF_S.
- the current can be measured of the two first phases IR and IS and the third phase can be calculated.
- the current in the motor windings is measured in a known way by current sensors that are based on semiconductor technology and thereby are completely galvanically isolated.
- the sensors' measurement offset (deviation) can be adjusted by an adjusting function incorporated in the amplifier.
- the offset adjustment is controlled in accordance with Figure 1 by three signals INC, PHASE R/S and UP/DOWN.
- the signal PHASE R S controls which phase is to be adjusted, UP/DOWN controls whether the offset is to adjust upwards or downwards and the signal INC changes the offset by increments.
- the offset can thereby be adjusted at each start-up without being stored.
- the adjustment is then the same so long as the supply voltage is connected. When it is disconnected, followed by starting up, the same adjustment procedure must be repeated.
- a storage function can be utilized, whereby the adjustment is stored. The adjustment is then the same as the stored adjustment at each start up, until it is again changed and stored.
- the figure shows filters F and F' for the two input signals.
- the said comparators are indicated by K for the creation of PWM_R, K' for the creation of PWM_S and K" for the creation of PWM_T.
- the triangular wave Tl is generated in a circuit OIK that is controlled by a digital signal SQ that can have a frequency of 19.2 kHz.
- Figure 1 also contains reception circuits EEPOT and EEPOT, of which the latter is connected at its input to an inverter
- the circuit also includes summation nodes of a known type. As the functions of such are completely apparent from the above and from the figure, the said nodes will not be described here in greater detail.
- the signals PWM_R, PWM_S and PWM_T are connected to optocouplers OP, OP', OP" of a known type which galvanically isolate the circuit components according to Figure 1 from the circuit components according to Figure 2.
- an actuation signal ENABLE can be connected to the circuit according to Figure 2 via an optocoupler OP"'.
- the said three pulse-width- modulated signals are applied to a drive circuit DK, which drives the transistors in accordance with what is described below.
- the said three pulse-width-modulated signals are converted into six pulse-width-modulated signals in accordance with what is described below.
- the latter six signals are supplied to six drive transistors described below, which are required to drive the motor MOT in the weapon sight VP.
- the said six transistors are arranged in a drive step DS and signal transmission from the drive circuit DK to the drive step DS is symbolised by the arrow DP.
- Figure 2 shows symbolically two Hall elements HE, HE' arranged to detect the currents in two of the motor's MOT phases.
- the Hall elements are connected to current sensors HS and HS' respectively which effect the said signals IR and IS respectively.
- the drive circuit DS can consist of a known drive circuit, for example a drive circuit HIP 4086, which can handle voltages up to 80 V.
- the drive circuit can consist of a different type of drive circuit.
- the drive circuit drives the control inputs (the gates) on the transistors in each bridge in order to avoid shorting.
- a PWM signal goes high
- a lower transistor in the phase concerned opens.
- the PWM signal goes low
- the upper transistor in the pair opens.
- the six transistors shown in Figure 3 correspond to the pairs of transistors Q1 and Q4, Q2 and Q5, Q3 and Q6.
- the said transistors Q1-Q6 are arranged in a bridge connection that has a supply voltage of +28 V.
- the transistors' gates are indicated by 1 , 2, 3, 4, 5 and 6 respectively.
- the other ends of the Y-connected motor windings are connected to connection points 7, 8, and 9 respectively between the pairs of transistors Q1 , Q4 and Q2, Q5 and Q3, Q6 respectively.
- the R-phase is connected to the connection point 7
- the S-phase is connected to the connection point 8
- the T- phase is connected to the point 9.
- drive or phase currents IRS, 1ST, ITR are obtained, which drive or phase currents are co-ordinated and aligned so that they drive the direct-current motor.
- the six transistors Q1-Q6 are controlled so that all are continually pulse-width modulated. When the moment is zero, all pulse with 50% pulse ratio and no current passes through the windings.
- the resultant pulse-width signal that is created between the different phases is completely different to the one that arrived at the drive step DS.
- Figure 5 shows the three pulse-width-modulated signals that are transmitted to the drive circuit DK. The figure also shows with the three lowest pulse formations how the potential differences arise between the different phases. The three bottom diagrams show here that the resulting signal is sinusoidal. It is hereby essential that the signals are synchronised with each other to some extent, which they are when the signal is created with a triangle wave in accordance with the above.
- the advantage of the invention is that no actual commutation logic is required. The only logic that is required is the logic for the offset adjustment, which does not need to be included in order for the output stage to work. Nor does the current feedback require any logic.
- the current sensors provide the correct sign straight away depending upon the direction in which the current passes through the windings.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP01932444A EP1303906A2 (en) | 2000-05-11 | 2001-05-08 | Arrangement for controlling a unit that can be aimed, preferably a weapon sight, by means of a three-phase brushless direct-current motor |
AU5896901A AU5896901A (en) | 2000-05-11 | 2001-05-08 | Arrangement for controlling a unit that can be aimed, preferably a weapon sight,by means of a three-phase brushless direct-current motor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0001734-3 | 2000-05-11 | ||
SE0001734A SE0001734L (en) | 2000-05-11 | 2000-05-11 | Arrangement for controlling a directional unit by means of a three-phase brushless DC motor, preferably a weapon sight |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2001086801A1 true WO2001086801A1 (en) | 2001-11-15 |
WO2001086801A8 WO2001086801A8 (en) | 2002-05-16 |
Family
ID=20279627
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE2001/001009 WO2001086801A1 (en) | 2000-05-11 | 2001-05-09 | Arrangement for controlling a unit that can be aimed, preferably a weapon sight, by means of a three-phase brushless direct-current motor |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1303906A2 (en) |
AU (1) | AU5896901A (en) |
SE (1) | SE0001734L (en) |
WO (1) | WO2001086801A1 (en) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4978894A (en) * | 1988-09-08 | 1990-12-18 | Kabushiki Kaisha Toshiba | Single phase to three phase rectifier/inverter with DC ripple compensation |
US5254926A (en) * | 1991-11-04 | 1993-10-19 | Ford Motor Company | Current-mode hysteresis control for controlling a motor |
US5705904A (en) * | 1996-03-28 | 1998-01-06 | Mitsubishi Denki Kabushiki Kaisha | Frequency converter device which adaptively responds to a power failure |
US6043624A (en) * | 1997-06-10 | 2000-03-28 | Hitachi, Ltd. | Motor control method and motor control system |
-
2000
- 2000-05-11 SE SE0001734A patent/SE0001734L/en not_active Application Discontinuation
-
2001
- 2001-05-08 EP EP01932444A patent/EP1303906A2/en not_active Withdrawn
- 2001-05-08 AU AU5896901A patent/AU5896901A/en active Pending
- 2001-05-09 WO PCT/SE2001/001009 patent/WO2001086801A1/en not_active Application Discontinuation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4978894A (en) * | 1988-09-08 | 1990-12-18 | Kabushiki Kaisha Toshiba | Single phase to three phase rectifier/inverter with DC ripple compensation |
US5254926A (en) * | 1991-11-04 | 1993-10-19 | Ford Motor Company | Current-mode hysteresis control for controlling a motor |
US5705904A (en) * | 1996-03-28 | 1998-01-06 | Mitsubishi Denki Kabushiki Kaisha | Frequency converter device which adaptively responds to a power failure |
US6043624A (en) * | 1997-06-10 | 2000-03-28 | Hitachi, Ltd. | Motor control method and motor control system |
Also Published As
Publication number | Publication date |
---|---|
SE0001734L (en) | 2001-11-12 |
AU5896901A (en) | 2001-11-20 |
WO2001086801A8 (en) | 2002-05-16 |
EP1303906A2 (en) | 2003-04-23 |
SE0001734D0 (en) | 2000-05-11 |
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