WO2005076455A1 - Electronically commutated electric motor, and method for controlling one such motor - Google Patents

Electronically commutated electric motor, and method for controlling one such motor Download PDF

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Publication number
WO2005076455A1
WO2005076455A1 PCT/EP2004/014707 EP2004014707W WO2005076455A1 WO 2005076455 A1 WO2005076455 A1 WO 2005076455A1 EP 2004014707 W EP2004014707 W EP 2004014707W WO 2005076455 A1 WO2005076455 A1 WO 2005076455A1
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Prior art keywords
electric motor
duration
pulse
power
motor
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PCT/EP2004/014707
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German (de)
French (fr)
Inventor
Konstantin Dornhof
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Ebm-Papst St. Georgen Gmbh & Co. Kg
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Priority to EP04804298A priority Critical patent/EP1711996A1/en
Publication of WO2005076455A1 publication Critical patent/WO2005076455A1/en

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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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information
    • 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
    • H02P6/28—Arrangements for controlling current

Definitions

  • the invention relates to an electronically commutated electric motor and a method for controlling such a motor.
  • the losses that occur at the output stage of the motor driver essentially consist of losses when switching the power transistors on and off (switching losses) and losses at the internal resistance R DS of the power transistors in the conductive state (master losses).
  • a change in the motor current is achieved by changing the duty cycle t / T.
  • the period T remains constant. This applies equally to the size of the switching losses.
  • the conduction losses depend on the pulse duration t and increase in proportion to the engine power.
  • the object of the present invention is to reduce the power loss of an electronically commutated electric motor. This object is achieved by an electric motor according to claim 1 or by a method according to claim 9.
  • a basic idea of the invention is to keep the value Tt, ie the duration of the pulse pauses, constant or at least over a substantial working range.
  • a change in the motor current is achieved according to the invention by adapting the period T or pulse duration t with a constant variable Tt. In other words, in contrast to conventional PWM methods, both period T and pulse duration t can be set variably.
  • the level of the switching losses depends on the engine power.
  • the method can be used particularly efficiently in the case of comparatively high engine outputs, since, due to the extended period T and the associated reduction in the clock frequency 1 / T of the switching signal, the switching losses decrease proportionally with increasing engine outputs.
  • the simultaneous increasing conduction losses at the internal resistance of the power transistors are partially compensated for.
  • the value of the pulse pause T-t is preferably set such that a low-noise mode of operation is ensured. This is particularly the case with period durations T ⁇ 50 ⁇ s. It is particularly advantageous if the constant duration of the pulse pause T-t can be variably set depending on the application.
  • the very high power at the edge of the work area ie close to 100% of the maximum power Duration of the pulse pause "soft" reduced to zero. This has the advantage that the maximum power of the motor is available.
  • the pulse duration t is kept constant at very low powers, that is to say in a low power range from 0 to 5% of the maximum power. This has the advantage that even such low outputs can be easily regulated.
  • FIG. 1 shows a greatly simplified circuit diagram of an electronically commutated electric motor
  • FIG. 2 shows a pulse diagram according to the PWM method (prior art)
  • Fig. 3 is a timing diagram according to a method according to the invention.
  • the electronically commutated direct current motor 10 has two stator winding strands 12, 14 and a permanent magnet rotor 16 (only shown symbolically), in the vicinity of which a Hall generator 18 is arranged.
  • the strand 12 is in series with a first power transistor (MOSFET) 20 and the strand 14 is in series with a second power transistor (MOSFET) 22.
  • the source connections of the field effect transistors 20, 22 and the emitters in bipolar transistors are common Source or emitter resistor 24 connected to a negative line 26.
  • the strands 12, 14 are connected to a positive line 28. Plus line 28 and minus line 26 are in Operation connected to a power supply (not shown) or a battery.
  • the strands 12, 14 are usually coupled to one another via the iron of the stator laminated core.
  • the output signal of the Hall generator 18 is fed to the two inputs IN1 and IN2 of a microcontroller ( ⁇ C) 30.
  • the ⁇ C 30 is connected with its VCC connection to the plus line 28 and with its GND connection to the minus line 26.
  • the ⁇ C 30 generates signals OUT1 and OUT2 for controlling the power transistors 20, 22 and at the same time causes the motor to lock.
  • the signal OUT1 is supplied to the gate of the transistor 20 via a resistor 32.
  • the signal OUT2 is supplied to the gate of the transistor 22 via a resistor 34.
  • the gate of the first transistor 20 is connected to the negative line 26 via a resistor 36.
  • the gate of the second transistor 22 is connected to the negative line 26 via a resistor 38.
  • the signals OUT1 and OUT2 are control signals according to a control method according to the invention.
  • the power transistors 20, 22 are therefore driven with an essentially constant pulse pause Tt.
  • the control signals U G for controlling the gate connections of the field effect transistors 20, 22 and the resulting drain voltage U D at the drain connection of the field effect transistor 20 are shown schematically.
  • a speed controller (in ⁇ C 30) is preferably used to control the electric motor 10, with the aid of which the pulse duration t of the control pulses is influenced as a relevant manipulated variable.
  • a torque controller can of course also be used.
  • the control signals are generated by means of program or control routines running in the ⁇ C 30.
  • the control method according to the invention is based on a conventional electric motor without major ones Modifications applicable. Only a corresponding change in the configuration or programming of the ⁇ C 30 is required.
  • the ⁇ C 30 can be designed such that it changes between the method according to the invention and a PWM method or another control method depending on a predetermined or dynamically determined limit value during operation of the engine.
  • the ⁇ C 30 can be designed such that control signals OUT1 and OUT2 with a constant pulse duration t are supplied to the power transistors 20, 22 at very low powers, in particular in a range from 0 to 5% of the maximum power.
  • the ⁇ C 30 can be designed such that the control signals OUT1 and OUT2 have no pulse pauses T-t at all in the range of the maximum power of 100%, which is also referred to as block control.
  • the electric motor 10 has the following preferred characteristic values:
  • a DC motor with a maximum power of 10-50W pulse pauses Tt of 10 ⁇ s have proven to be particularly advantageous.
  • the losses for a conventional PWM method are calculated as follows: p _
  • a special feature of the circuit according to FIG. 1 is that due to the transformer coupling of the stator winding phases, an effective torque only occurs in the electric motor 10 at a pulse pause ratio t to Tt of 50% to 50%, and this produces an output.
  • This type of circuit is advantageous because it generates little noise.
  • the circuit of FIG. 1 can be modified by inserting a feedback diode or by being designed as a full bridge circuit. In these cases, the motor generates an output P> 0 with a pulse pause ratio t> 0% to T-t.
  • FIG. 2 shows the voltage characteristic of a motor control, in which the voltage U D at the drain connection of the field effect transistor 20 or 22 is plotted as a function of the time t, and which is operated using the PWM method known from the prior art ,
  • the characteristic is characterized by a constant period T PWM .
  • the duration t PWM of the pulses 40, 42, 44 and thus also the duration T PWM - t PWM of the pulse pause 46, 48, 50 varies depending on the desired engine power.
  • the level of switching losses is constant because exactly two switching processes take place in each period.
  • the level of the conduction losses occurring at the internal resistance R DS of the power transistor 20, 22 depends on the pulse duration t PWM during which the power transistor 20, 22 conducts the current.
  • FIG. 3 shows a voltage characteristic curve, in which the voltage U D (cf. FIG. 1) is plotted on the drain connection of the field effect transistor 20 or 22 as a function of the time t, for a motor control according to the method according to the invention. While the period T and the duration t of the pulses 52, 54, 56 are variable, the duration T-t of the pulse pause 58, 60, 62 is kept constant. The level of the switching losses is no longer constant, but depends on the engine power. The switching losses are particularly low with high engine outputs.
  • the line losses at the internal resistance of the power transistors which increase with increasing motor power, are more than compensated for by the significant decrease in switching losses.
  • the total losses in the method according to the invention are lower from a power of approximately 30W than in a conventional PWM method.
  • a control of the electric motor using the PWM method can be provided up to a power of 30W.
  • the method according to the invention is then used for higher engine outputs. Tests have shown that the method according to the invention can be used particularly efficiently in a power range above 50% of the maximum power.
  • the method according to the invention is particularly efficient in a power range above 60% of the maximum power of the electric motor.

Abstract

The invention relates to an electronically commutated electric motor (10) comprising at least one stator winding phase (12, 14), and a method for controlling one such motor. The aim of the invention is to reduce power loss. To this end, the duration of the intervals (T-t) between the pulses of the control signals for feeding the at least one stator winding phase (12, 14) is essentially constant.

Description

Elektronisch kommutierter Elektromotor und Verfahren zur Steuerung eines solchen Electronically commutated electric motor and method for controlling one
Die Erfindung betrifft einen elektronisch kommutierten Elektromotor und ein Verfahren zur Steuerung eines solchen Motors.The invention relates to an electronically commutated electric motor and a method for controlling such a motor.
Es ist bekannt, elektronisch kommutierte Elektromotoren unter Verwendung des sogenannten PWM-Verfahrens (Pulsweitenmodulation oder Impulsweitenmodulation) anzusteuern. Die kommutierungsabhängigen Stromimpulse werden dabei dem Motor mit einer konstanten Taktfrequenz zugeführt (Periodendauer T=konstant). Die Impulsdauer t der Stromimpulse ist variabel.It is known to control electronically commutated electric motors using the so-called PWM method (pulse width modulation or pulse width modulation). The commutation-dependent current pulses are fed to the motor at a constant clock frequency (period T = constant). The pulse duration t of the current pulses is variable.
Die an der Endstufe des Motortreibers auftretenden Verluste setzen sich im Wesentlichen zusammen aus Verlusten beim Ein- und Ausschalten der Leistungstransistoren (Schaltverlusten) und Verlusten am inneren Widerstand RDS der Leistungstransistoren im leitenden Zustand (Leitverlusten).The losses that occur at the output stage of the motor driver essentially consist of losses when switching the power transistors on and off (switching losses) and losses at the internal resistance R DS of the power transistors in the conductive state (master losses).
Eine Veränderung des Motorstromes wird durch Veränderung des Tastverhältnisses t/T erreicht. Bei PWM-Verfahren bleibt die Periodendauer T konstant. Dies gilt gleichermaßen für die Größe der Schaltverluste. Die Leitverluste hängen hingegen von der Impulsdauer t ab und steigen proportional zur Motorleistung an.A change in the motor current is achieved by changing the duty cycle t / T. In the PWM process, the period T remains constant. This applies equally to the size of the switching losses. The conduction losses, however, depend on the pulse duration t and increase in proportion to the engine power.
Aufgabe der vorliegenden Erfindung ist es, die Verlustleistung eines elektronisch kommutierten Elektromotors zu verringern. Diese Aufgabe wird durch einen Elektromotor nach Anspruch 1 bzw. durch ein Verfahren nach Anspruch 9 gelöst. Ein Grundgedanke der Erfindung liegt darin, den Wert T-t, also die Dauer der Impulspausen, dauerhaft oder zumindest über einen wesentlichen Arbeitsbereich konstant zu halten. Eine Veränderung des Motorstromes wird erfindungsgemäß durch Anpassung von Periodendauer T bzw. Impulsdauer t bei konstanter Größe T-t erreicht. Mit anderen Worten sind, im Gegensatz zu herkömmlichen PWM-Verfahren, sowohl Periodendauer T als auch Impulsdauer t variabel einstellbar.The object of the present invention is to reduce the power loss of an electronically commutated electric motor. This object is achieved by an electric motor according to claim 1 or by a method according to claim 9. A basic idea of the invention is to keep the value Tt, ie the duration of the pulse pauses, constant or at least over a substantial working range. A change in the motor current is achieved according to the invention by adapting the period T or pulse duration t with a constant variable Tt. In other words, in contrast to conventional PWM methods, both period T and pulse duration t can be set variably.
Bei dem erfindungsgemäßen Verfahren ist die Höhe der Schaltverluste von der Motorleistung abhängig. Das Verfahren ist bei vergleichsweise hohen Motorleistungen besonders effizient einsetzbar, da aufgrund der verlängerten Periodendauer T und der damit verbundenen Verringerung der Taktfrequenz 1/T des Schaltsignals die Schaltverluste mit ansteigenden Motorleistungen proportional abnehmen. Die gleichzeitig ansteigenden Leitverluste am inneren Widerstand der Leistungstransistoren werden teilweise ausgeglichen.In the method according to the invention, the level of the switching losses depends on the engine power. The method can be used particularly efficiently in the case of comparatively high engine outputs, since, due to the extended period T and the associated reduction in the clock frequency 1 / T of the switching signal, the switching losses decrease proportionally with increasing engine outputs. The simultaneous increasing conduction losses at the internal resistance of the power transistors are partially compensated for.
Der Wert der Impulspause T-t wird vorzugsweise derart eingestellt, dass eine geräuscharme Arbeitsweise gewährleistet ist. Dies ist insbesondere bei Periodendauern T ≤ 50 μs der Fall. Von besonderem Vorteil ist es, wenn die konstante Dauer der Impulspause T-t je nach Anwendungsfall variabel eingestellt werden kann.The value of the pulse pause T-t is preferably set such that a low-noise mode of operation is ensured. This is particularly the case with period durations T ≤ 50 μs. It is particularly advantageous if the constant duration of the pulse pause T-t can be variably set depending on the application.
In einer bevorzugten Ausführungsform der Erfindung ist vorgesehen, bei vergleichsweise niedrigen Motorleistungen ein herkömmliches PWM-Verfahren (T=konstant) einzusetzen und nach Erreichen definierter Grenzparameter bei höheren Motorleistungen das erfindungsgemäße Verfahren (T-t=konstant) einzusetzen. Damit kann die Summe aller über den gesamten Arbeitsbereich auftretenden Verluste minimiert werden.In a preferred embodiment of the invention, it is provided that a conventional PWM method (T = constant) is used for comparatively low motor outputs and that the method according to the invention (T-t = constant) is used for higher motor outputs after reaching defined limit parameters. The sum of all losses occurring over the entire work area can thus be minimized.
In einer weiteren bevorzugten Ausführungsform der Erfindung wird bei sehr hohen Leistungen am Rande des Arbeitsbereiches, also nahe 100% der Maximalleistung, die Dauer der Impulspause „weich" auf Null reduziert. Hierdurch ergibt sich der Vorteil, dass die maximale Leistung des Motors zur Verfügung steht.In a further preferred embodiment of the invention, the very high power at the edge of the work area, ie close to 100% of the maximum power Duration of the pulse pause "soft" reduced to zero. This has the advantage that the maximum power of the motor is available.
In einer weiteren bevorzugten Ausführungsform der Erfindung wird bei sehr niedrigen Leistungen, also in einem Niederleistungsbereich von 0 bis 5% der Maximalleistung, die Impulsdauer t konstant gehalten. Hieraus ergibt sich der Vorteil, dass auch solche niedrigen Leistungen einfach geregelt werden können.In a further preferred embodiment of the invention, the pulse duration t is kept constant at very low powers, that is to say in a low power range from 0 to 5% of the maximum power. This has the advantage that even such low outputs can be easily regulated.
Weitere Einzelheiten und vorteilhafte Weiterbildungen der Erfindung ergeben sich aus dem im Folgenden beschriebenen und in den Zeichnungen dargestellten Ausführungsbeispiel sowie aus den Unteransprüchen. Es zeigt:Further details and advantageous developments of the invention result from the exemplary embodiment described below and illustrated in the drawings and from the subclaims. It shows:
Fig. 1 ein stark vereinfachtes Schaltbild eines elektronisch kommutierten Elektromotors, Fig. 2 ein Impulsdiagramm nach dem PWM-Verfahren (Stand der Technik),1 shows a greatly simplified circuit diagram of an electronically commutated electric motor, FIG. 2 shows a pulse diagram according to the PWM method (prior art),
Fig. 3 ein Impulsdiagramm nach einem erfindungsgemäßen Verfahren, undFig. 3 is a timing diagram according to a method according to the invention, and
Fig. 4 einen Vergleich der Verlustleistungen bei einem PWM-Verfahren (Kurve A) und dem erfindungsgemäßen Verfahren (Kurve B).4 shows a comparison of the power losses in a PWM method (curve A) and the method according to the invention (curve B).
Fig. 1 zeigt eine beispielhafte Darstellung eines zweisträngigen Elektromotors, wie er mit der vorliegenden Erfindung verwendet werden kann. Der elektronisch kommutierte Gleichstrommotor 10 weist zwei Statorwicklungsstränge 12, 14 und einen (nur symbolisch dargestellten) permanentmagnetischen Rotor 16 auf, in dessen Nähe ein Hallgenerator 18 angeordnet ist. Der Strang 12 liegt in Serie mit einem ersten Leistungstransistor (MOSFET) 20 und der Strang 14 liegt in Serie mit einem zweiten Leistungstransistor (MOSFET) 22. Die Source-Anschlüsse der Feldeffekttransistoren 20, 22 bzw. die Emitter bei bipolaren Transistoren sind über einen gemeinsamen Source- bzw. Emitterwiderstand 24 mit einer Minusleitung 26 verbunden. Die Stränge 12, 14 sind mit einer Plusleitung 28 verbunden. Plusleitung 28 und Minusleitung 26 sind im Betrieb mit einem Netzgerät (nicht dargestellt) oder einer Batterie verbunden. Die Stränge 12, 14 sind gewöhnlich über das Eisen des Statorblechpaketes transformatorisch miteinander gekoppelt.1 shows an exemplary illustration of a two-strand electric motor as can be used with the present invention. The electronically commutated direct current motor 10 has two stator winding strands 12, 14 and a permanent magnet rotor 16 (only shown symbolically), in the vicinity of which a Hall generator 18 is arranged. The strand 12 is in series with a first power transistor (MOSFET) 20 and the strand 14 is in series with a second power transistor (MOSFET) 22. The source connections of the field effect transistors 20, 22 and the emitters in bipolar transistors are common Source or emitter resistor 24 connected to a negative line 26. The strands 12, 14 are connected to a positive line 28. Plus line 28 and minus line 26 are in Operation connected to a power supply (not shown) or a battery. The strands 12, 14 are usually coupled to one another via the iron of the stator laminated core.
Das Ausgangssignal des Hallgenerators 18 wird den beiden Eingängen IN1 und IN2 eines MikroControllers (μC) 30 zugeführt. Der μC 30 ist mit seinem Anschluss VCC an die Plusleitung 28 und mit seinem Anschluss GND an die Minusleitung 26 angeschlossen. Der μC 30 erzeugt Signale OUT1 und OUT2 zur Steuerung der Leistungstransistoren 20, 22 und bewirkt gleichzeitig eine Blockiersicherung des Motors. Das Signal OUT1 wird über einen Widerstand 32 dem Gate des Transistors 20 zugeführt. In gleicher Weise wird das Signal OUT2 über einen Widerstand 34 dem Gate des Transistors 22 zugeführt. Das Gate des ersten Transistors 20 ist über einen Widerstand 36 mit der Minusleitung 26 verbunden. In gleicher Weise ist das Gate des zweiten Transistors 22 über einen Widerstand 38 mit der Minusleitung 26 verbunden.The output signal of the Hall generator 18 is fed to the two inputs IN1 and IN2 of a microcontroller (μC) 30. The μC 30 is connected with its VCC connection to the plus line 28 and with its GND connection to the minus line 26. The μC 30 generates signals OUT1 and OUT2 for controlling the power transistors 20, 22 and at the same time causes the motor to lock. The signal OUT1 is supplied to the gate of the transistor 20 via a resistor 32. In the same way, the signal OUT2 is supplied to the gate of the transistor 22 via a resistor 34. The gate of the first transistor 20 is connected to the negative line 26 via a resistor 36. In the same way, the gate of the second transistor 22 is connected to the negative line 26 via a resistor 38.
Bei den Signalen OUT1 und OUT2 handelt es sich um Steuersignale entsprechend einem erfindungsgemäßen Steuerverfahren. Die Leistungstransistoren 20, 22 werden demnach mit einer im Wesentlichen konstanten Impulspause T-t angesteuert. Die Ansteuersignale UG zur Ansteuerung der Gate-Anschlüsse der Feldeffekttransistoren 20, 22 sowie die daraus resultierende Drainspannung UD am Drain-Anschluss des Feldeffekttransistors 20 sind schematisch dargestellt.The signals OUT1 and OUT2 are control signals according to a control method according to the invention. The power transistors 20, 22 are therefore driven with an essentially constant pulse pause Tt. The control signals U G for controlling the gate connections of the field effect transistors 20, 22 and the resulting drain voltage U D at the drain connection of the field effect transistor 20 are shown schematically.
Zur Steuerung des Elektromotors 10 wird vorzugsweise ein Drehzahlregler (im μC 30) verwendet, mit dessen Hilfe die Impulsdauer t der Steuerimpulse als relevante Stellgröße beeinflusst wird. Anstelle eines Drehzahlreglers kann selbstverständlich auch ein Drehmomentregler verwendet werden. Die Steuersignale werden mittels in dem μC 30 ablaufenden Programm- oder Steuerroutinen erzeugt. Das erfindungsgemäße Steuerverfahren ist auf einen herkömmlichen Elektromotor ohne größere Modifikationen anwendbar. Lediglich eine entsprechende Änderung in der Konfiguration bzw. der Programmierung des μC 30 ist erforderlich.A speed controller (in μC 30) is preferably used to control the electric motor 10, with the aid of which the pulse duration t of the control pulses is influenced as a relevant manipulated variable. Instead of a speed controller, a torque controller can of course also be used. The control signals are generated by means of program or control routines running in the μC 30. The control method according to the invention is based on a conventional electric motor without major ones Modifications applicable. Only a corresponding change in the configuration or programming of the μC 30 is required.
Gemäß einer weiteren Ausführungsform kann man den μC 30 derart ausbilden, dass er in Abhängigkeit von einem vorbestimmten oder während des Betriebes des Motors dynamisch bestimmten Grenzwert zwischen dem erfindungsgemäßen Verfahren und einem PWM-Verfahren oder einem anderen Steuerverfahren wechselt.According to a further embodiment, the μC 30 can be designed such that it changes between the method according to the invention and a PWM method or another control method depending on a predetermined or dynamically determined limit value during operation of the engine.
Gemäß einer weiteren Ausführungsform der Erfindung kann man den μC 30 derart ausbilden, dass den Leistungstransistoren 20, 22 bei sehr geringen Leistungen, insbesondere in einem Bereich von 0 bis 5% der Maximalleistung, Steuersignale OUT1 und OUT2 mit konstanter Impulsdauer t zugeführt werden.According to a further embodiment of the invention, the μC 30 can be designed such that control signals OUT1 and OUT2 with a constant pulse duration t are supplied to the power transistors 20, 22 at very low powers, in particular in a range from 0 to 5% of the maximum power.
Gemäß einer weiteren Ausführungsform der Erfindung kann man den μC 30 derart ausbilden, dass die Steuersignale OUT1 und OUT2 im Bereich der Maximalleistung von 100% überhaupt keine Impulspausen T-t aufweisen, was man auch als Blocksteuerung bezeichnet.According to a further embodiment of the invention, the μC 30 can be designed such that the control signals OUT1 and OUT2 have no pulse pauses T-t at all in the range of the maximum power of 100%, which is also referred to as block control.
In einem weiteren Ausführungsbeispiel der Erfindung weist der Elektromotor 10 die folgenden bevorzugten Kennwerte auf:In a further exemplary embodiment of the invention, the electric motor 10 has the following preferred characteristic values:
Figure imgf000007_0001
Als besonders vorteilhaft haben sich bei einem Gleichstrommotor mit einer Maximalleistung von 10-50W Impulspausen T-t von 10 μs erwiesen.
Figure imgf000007_0001
A DC motor with a maximum power of 10-50W pulse pauses Tt of 10 μs have proven to be particularly advantageous.
Nachfolgend werden die Endstufenverluste für eine zweisträngige Leistungsendstufe dargestellt, wobei davon ausgegangen wird, dass das Impulspausenverhältnis 1 :1 beträgt. Aufgrund der engen transformatorischen Kopplung der beiden Spulen wird keine Energie an die Last abgegeben.The output stage losses for a two-line power output stage are shown below, assuming that the pulse-pause ratio is 1: 1. Due to the close transformer coupling of the two coils, no energy is delivered to the load.
hS gilt. /erlust = r Leitver|ust+ "schaltverlusthS applies. / loss = r switching loss + "switching loss
Die Verluste für ein ein herkömmliches PWM-Verfahren errechnen sich wie folgt: p _ |2 * p * + rγ _ |2 * p * n _- * /p , n W P r Leitverlust- ■ ^DS LPWI ' PWM ~ ' ADS U J ^Leistung "1" ' Leistung max' ' rLeistung maxThe losses for a conventional PWM method are calculated as follows: p _ | 2 * p * + rγ _ | 2 * p * n _- * / p, n WP r Lead loss - ■ ^ DS L PWI 'PWM ~' A DS UJ ^ power "1" 'power max'' r power max
"schaltverlust "* \" *•> ^ WM' ' PWM"switching loss" * \ "* • > ^ WM '' PWM
Bei dem erfindungsgemäßen Verfahren errechnen sich die Verluste hingegen wie folgt:In contrast, the losses in the method according to the invention are calculated as follows:
D _ |2 * p * f/T _ |2 * p * 0 * (P i D P rLeitveriust— ' aDS u ' ~ ' ^DS J--> Leistung "*" rLeistung max' ' rLeistung maxD _ | 2 * p * f / T _ | 2 * p * 0 * (P i DP r leading loss - ' a DS u ' ~ '^ DS J - > power " * " r power max'' r power max
"schaltverlust Ä ' ^ ^ *' \ ι ~V P Leistung maχ/ (rLeistung maχ"r Leistung))"Switching loss Ä '^ ^ *' \ ι ~ VP Le i stung maχ / (r power ma χ " r power ))
Eine Besonderheit der Schaltung gemäß Fig. 1 besteht darin, dass durch die transformatorische Kopplung der Statorwicklungsstränge erst bei einem Pulspausenverhältnis t zu T-t von 50 % zu 50 % ein effektives Drehmoment in dem Elektromotor 10 auftritt und dieser eine Leistung erzeugt. Bei einem Puls-Pausen- Verhältnis von 50 % zu 50 % erzeugt der Elektromotor 10 somit die Leistung P = 0, bei einem Pulspausenverhältnis von t > T/2 zu T-t erzeugt der Elektromotor 10 eine Leistung P > 0, und bei einem Pulspausenverhältnis von 100 % zu 0 % erzeugt der Elektromotor 10 seine Maximalleistung P = Pmax. Diese Art der Schaltung ist vorteilhaft, da sie nur geringe Geräusche erzeugt.A special feature of the circuit according to FIG. 1 is that due to the transformer coupling of the stator winding phases, an effective torque only occurs in the electric motor 10 at a pulse pause ratio t to Tt of 50% to 50%, and this produces an output. With a pulse-pause ratio of 50% to 50%, the electric motor 10 thus generates the power P = 0, with a pulse-pause ratio of t> T / 2 to Tt, the electric motor 10 generates a power P> 0, and with a pulse-pause ratio of The generates 100% to 0% Electric motor 10 its maximum power P = P max . This type of circuit is advantageous because it generates little noise.
Die Schaltung aus Fig. 1 ist modifizierbar, indem eine Rückkopplungsdiode eingefügt wird, oder indem sie als eine Vollbrückenschaltung ausgebildet wird. In diesen Fällen erzeugt der Motor bereits bei einem Pulspausenverhältnis t > 0 % zu T-t eine Leistung P > 0.The circuit of FIG. 1 can be modified by inserting a feedback diode or by being designed as a full bridge circuit. In these cases, the motor generates an output P> 0 with a pulse pause ratio t> 0% to T-t.
In Fig. 2 ist die Spannungskennlinie einer Motoransteuerung abgebildet, bei der die Spannung UD am Drain-Anschluss des Feldeffekttransistors 20 bzw. 22 als Funktion der Zeit t aufgetragen ist, und die mit dem aus dem Stand der Technik bekannten PWM- Verfahren betrieben wird. Die Kennlinie ist durch eine konstante Periodendauer TPWM gekennzeichnet. Die Dauer tPWM der Impulse 40, 42, 44 und damit auch die Dauer TPWM- tPWM der Impulspause 46, 48, 50 variiert je nach gewünschter Motorleistung. Die Höhe der Schaltverluste ist dabei konstant, da in jeder Periode genau zwei Schaltvorgänge stattfinden. Die Höhe der am inneren Widerstand RDS des Leistungstransistors 20, 22 auftretenden Leitverluste ist von der Impulsdauer tPWM abhängig, während der der Leistungstransistor 20, 22 den Strom leitet.2 shows the voltage characteristic of a motor control, in which the voltage U D at the drain connection of the field effect transistor 20 or 22 is plotted as a function of the time t, and which is operated using the PWM method known from the prior art , The characteristic is characterized by a constant period T PWM . The duration t PWM of the pulses 40, 42, 44 and thus also the duration T PWM - t PWM of the pulse pause 46, 48, 50 varies depending on the desired engine power. The level of switching losses is constant because exactly two switching processes take place in each period. The level of the conduction losses occurring at the internal resistance R DS of the power transistor 20, 22 depends on the pulse duration t PWM during which the power transistor 20, 22 conducts the current.
Fig. 3 zeigt eine Spannungskennlinie, bei der die Spannung UD (vgl. Fig. 1) am Drain- Anschluss des Feldeffekttransistors 20 bzw. 22 als Funktion der Zeit t aufgetragen ist, für eine Motoransteuerung nach dem erfindungsgemäßen Verfahren. Während die Periodendauer T und die Dauer t der Impulse 52, 54, 56 variabel sind, wird die Dauer T- t der Impulspause 58, 60, 62 konstant gehalten. Die Höhe der Schaltverluste ist nicht mehr konstant, sondern von der Motorleistung abhängig. Dabei sind die Schaltverluste bei hohen Motorleistungen besonders gering.3 shows a voltage characteristic curve, in which the voltage U D (cf. FIG. 1) is plotted on the drain connection of the field effect transistor 20 or 22 as a function of the time t, for a motor control according to the method according to the invention. While the period T and the duration t of the pulses 52, 54, 56 are variable, the duration T-t of the pulse pause 58, 60, 62 is kept constant. The level of the switching losses is no longer constant, but depends on the engine power. The switching losses are particularly low with high engine outputs.
Einen Vergleich der Verlustleistungen bei einem PWM-Verfahren und dem erfindungsgemäßen Verfahren zeigt Fig. 4 am Beispiel eines 50W-Elektromotors. Bei der Anwendung eines bekannten PWM-Verfahrens steigen die Verluste mit zunehmender Motorleistung an (Kurve A). Bei der Anwendung des erfindungsgemäßen Verfahrens zeigt die Verlustkurve einen Maximalwert, der bereits bei vergleichsweise geringer Motorleistung (hier 10W) erreicht wird. Mit zunehmender Motorleistung nehmen dann die Gesamtverluste stetig ab (Kurve B).4 shows a comparison of the power losses in a PWM method and the method according to the invention using the example of a 50W electric motor. at Using a known PWM process, the losses increase with increasing engine power (curve A). When using the method according to the invention, the loss curve shows a maximum value which is already achieved with a comparatively low motor power (here 10W). With increasing engine power, the total losses then decrease steadily (curve B).
Es wird deutlich, dass bei dem erfindungsgemäßen Verfahren die mit zunehmender Motorleistung ansteigenden Leitverluste am inneren Widerstand der Leistungstransistoren durch die deutliche Abnahme der Schaltverluste überkompensiert werden. Im vorliegenden Beispiel sind die Gesamtverluste bei dem erfindungsgemäßen Verfahren ab einer Leistung von etwa 30W geringer als bei einem herkömmlichen PWM-Verfahren.It is clear that in the method according to the invention, the line losses at the internal resistance of the power transistors, which increase with increasing motor power, are more than compensated for by the significant decrease in switching losses. In the present example, the total losses in the method according to the invention are lower from a power of approximately 30W than in a conventional PWM method.
Besonders vorteilhaft ist es daher, das erfindungsgemäße Verfahren mit dem bekannten PWM-Verfahren zu kombinieren. Dabei können die Gesamtverluste minimiert werden. Im vorliegenden Beispiel kann z. B. eine Ansteuerung des Elektromotors mit Hilfe des PWM-Verfahrens bis zu einer Leistung von 30W vorgesehen werden. Bei höheren Motorleistungen findet dann das erfindungsgemäße Verfahren Anwendung. Versuche haben gezeigt, dass das erfindungsgemäße Verfahren besonders effizient in einem Leistungsbereich oberhalb von 50% der Maximalleistung eingesetzt werden kann. Ganz besonders effizient ist der Einsatz des erfindungsgemäßen Verfahrens in einem Leistungsbereich oberhalb von 60% der Maximalleistung des Elektromotors. It is therefore particularly advantageous to combine the method according to the invention with the known PWM method. The total losses can be minimized. In the present example, e.g. B. a control of the electric motor using the PWM method can be provided up to a power of 30W. The method according to the invention is then used for higher engine outputs. Tests have shown that the method according to the invention can be used particularly efficiently in a power range above 50% of the maximum power. The method according to the invention is particularly efficient in a power range above 60% of the maximum power of the electric motor.

Claims

Patentansprüche claims
1. Elektronisch kommutierter Elektromotor (10) mit einem Rotor (16) und einem Stator mit mindestens einer Statorwicklung (12, 14), wobei der Statorwicklung (12, 14) ein elektronisches Steuerungselement (20, 22) zugeordnet ist, das durch ein Steuersignal ein- und ausschaltbar ist, welches Steuersignal zumindest in einem vorgegebenen Leistungsbereich während der Bestromung der Statorwicklung (12, 14) aufeinanderfolgende Impulse (52, 54, 56) mit einer Impulsdauer (t) sowie die Impulse (52, 54, 56) trennende Impulspausen (58, 60, 62) aufweist, wobei die Dauer (T-t) der Impulspausen (58, 60, 62) im Wesentlichen konstant ist.1. Electronically commutated electric motor (10) with a rotor (16) and a stator with at least one stator winding (12, 14), the stator winding (12, 14) being associated with an electronic control element (20, 22) which is controlled by a control signal It can be switched on and off, which control signal has successive pulses (52, 54, 56) with a pulse duration (t) and pulse pauses separating the pulses (52, 54, 56) at least in a predetermined power range during energization of the stator winding (12, 14) (58, 60, 62), the duration (Tt) of the pulse pauses (58, 60, 62) being essentially constant.
2. Elektromotor (10) nach Anspruch 1, wobei die Dauer (T-t) der Impulspausen (58, 60, 62) in einem ersten Arbeitsbereich des Elektromotors (10) im Wesentlichen konstant ist und in wenigstens einem zweiten Arbeitsbereich des Elektromotors (10) variabel ist.2. Electric motor (10) according to claim 1, wherein the duration (Tt) of the pulse pauses (58, 60, 62) is substantially constant in a first working area of the electric motor (10) and variable in at least a second working area of the electric motor (10) is.
3. Elektromotor (10) nach Anspruch 1 oder 2, wobei die Dauer (T-t) der Impulspausen (58, 60, 62) in einem oberhalb von 50% der Maximalleistung des Elektromotors (10) gelegenen Arbeitsbereich im Wesentlichen konstant ist.3. Electric motor (10) according to claim 1 or 2, wherein the duration (T-t) of the pulse pauses (58, 60, 62) is substantially constant in a work area located above 50% of the maximum power of the electric motor (10).
4. Elektromotor (10) nach Anspruch 2 oder 3, wobei die Periodendauer (T) der Impulse (52, 54, 56) in einem Arbeitsbereich unterhalb von 50% der Maximalleistung des Elektromotors (10) im Wesentlichen konstant ist. 4. Electric motor (10) according to claim 2 or 3, wherein the period (T) of the pulses (52, 54, 56) is substantially constant in a working range below 50% of the maximum power of the electric motor (10).
5. Elektromotor (10) nach einem der Ansprüche 1 bis 4, wobei die Dauer (T-t) der Impulspausen (58, 60, 62) in einem Arbeitsbereich oberhalb von 95% der Maximalleistung des Elektromotors (10) im Wesentlichen gleich Null ist.5. Electric motor (10) according to one of claims 1 to 4, wherein the duration (T-t) of the pulse pauses (58, 60, 62) in a working range above 95% of the maximum power of the electric motor (10) is substantially zero.
6. Elektromotor (10) nach einem der Ansprüche 1 bis 5, wobei die Dauer (t) der aufeinanderfolgenden Impulse (52, 54, 56) in einem Arbeitsbereich von 0 bis 5% der Maximalleistung des Elektromotors (10) im Wesentlichen konstant ist.6. Electric motor (10) according to one of claims 1 to 5, wherein the duration (t) of the successive pulses (52, 54, 56) is substantially constant in a working range of 0 to 5% of the maximum power of the electric motor (10).
7. Elektromotor (10) nach einem der Ansprüche 1 bis 6, mit einem Drehzahlregler, durch den als Stellgröße die Dauer (t) der aufeinanderfolgenden Impulse (52, 54, 56) beeinflussbar ist.7. Electric motor (10) according to one of claims 1 to 6, with a speed controller, by means of which the duration (t) of the successive pulses (52, 54, 56) can be influenced as a manipulated variable.
8. Elektromotor (10) nach einem der Ansprüche 1 bis 6, mit einem Drehmomentregler, durch den als Stellgröße die Dauer (t) der aufeinanderfolgenden Impulse (52, 54, 56) beeinflussbar ist.8. Electric motor (10) according to one of claims 1 to 6, with a torque controller, by means of which the duration (t) of the successive pulses (52, 54, 56) can be influenced as a manipulated variable.
9. Verfahren zur Steuerung eines elektronisch kommutierten Elektromotors (10), welcher einen Rotor (16) und einen Stator mit mindestens einer Statorwicklung (12, 14) und ein der Statorwicklung (12, 14) zugeordnetes elektronisches Steuerungselement (20, 22) aufweist, mit folgenden Schritten: a) das Steuerungselement (20, 22) wird während der Bestromung der Statorwicklung (12, 14) durch ein Steuersignal ein- und ausgeschaltet, welches Steuersignal aufeinanderfolgende Impulse (52, 54, 56) mit einer Impulsdauer (t) sowie die Impulse (52, 54, 56) trennende Impulspausen (58, 60, 62) aufweist, die Impulsdauer (t) wird zur Beeinflussung des Elektromotors (10) variiert, wobei die Dauer (T-t) der Impulspausen (58, 60, 62) im Wesentlichen konstant gehalten wird. 9. Method for controlling an electronically commutated electric motor (10), which has a rotor (16) and a stator with at least one stator winding (12, 14) and an electronic control element (20, 22) assigned to the stator winding (12, 14), with the following steps: a) the control element (20, 22) is switched on and off during the energization of the stator winding (12, 14) by a control signal, which control signal successive pulses (52, 54, 56) with a pulse duration (t) and the pulse pauses (58, 60, 62) separating the pulses (52, 54, 56), the pulse duration (t) is varied to influence the electric motor (10), the duration (Tt) of the pulse pauses (58, 60, 62) being kept essentially constant.
PCT/EP2004/014707 2004-02-03 2004-12-24 Electronically commutated electric motor, and method for controlling one such motor WO2005076455A1 (en)

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