CN114268252B - Series excited DC motor controller without mechanical contactor - Google Patents
Series excited DC motor controller without mechanical contactor Download PDFInfo
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- CN114268252B CN114268252B CN202111585516.3A CN202111585516A CN114268252B CN 114268252 B CN114268252 B CN 114268252B CN 202111585516 A CN202111585516 A CN 202111585516A CN 114268252 B CN114268252 B CN 114268252B
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Abstract
The invention discloses a series excited direct current motor controller without a mechanical contactor, and belongs to the technical field of power electronics and motor control. The central signal processing unit is used for acquiring and processing the electric signals of the circuit and outputting control logic signals to the gate control driving module. The gate control driving module is used for realizing power amplification of control signals and synchronously driving on and off of semiconductor switching devices in the main circuit according to the input control logic signals. The dynamic characteristics and the power density of a motor control system are improved through a full-bridge circuit, so that the torque and the rotating speed of the motor are adjustable; the two follow current loops are used for avoiding overlarge instantaneous current in the circuit during motor reversing or protection actions, reducing the current stress of the follow current diode device and improving the reliability, stability and safety of a motor control system; the smooth commutation of the direct-current series excited motor is realized through the main circuit, and the speed regulation performance of a speed regulation system of the direct-current series excited motor is obviously improved, so that the running efficiency of a motor control system is improved.
Description
Technical Field
The invention belongs to the technical field of power electronics and motor control, and relates to a series excited direct current motor controller without a mechanical contactor.
Background
The direct current motor has wide application in the fields of servo speed regulation systems, locomotives and the like, and the series excited direct current motor has wide application in a plurality of large-load systems by virtue of the characteristics of good starting performance and strong overload capacity.
The internal commutator of the series excited direct current motor with the traditional structure mostly adopts a mechanical contactor, and the mechanical switch has the limitations of self, such as easy abrasion of the mechanical structure and short service life, thereby reducing the reliability of a motor system; when the contacts are attracted and disconnected, sparks and arcing can occur because the current is not zero, so that the safety of the system is reduced; the slow switching action limits the dynamic performance of the motor, and the mechanical contactor is large in size and the coil is seriously heated.
In the previous patents, there are series-wound dc motor controllers that use semiconductor device switches instead of conventional mechanical contactors. The invention of China patent application No. 201210236249.3 uses a semiconductor device to replace the traditional structure, combines a reversing unit and a modulating unit, adopts a full-bridge circuit to realize the control of motor steering and speed regulation, improves the defects of a mechanical contactor, but when current flows, instantaneous current generated by an exciting winding and an armature winding can flow through the same freewheeling diode, and the excessive instantaneous current has the risk of damaging the diode device.
Disclosure of Invention
The invention discloses a series excited direct current motor controller without a mechanical contactor, which improves the dynamic characteristics and power density of a motor control system through a full-bridge circuit consisting of controllable semiconductor switches, so that the torque and the rotating speed of the motor are adjustable; the transient current in the circuit is prevented from being overlarge when the motor commutates or protects the motor, the current stress of a freewheel diode device is reduced, and the reliability, stability and safety of a motor control system are improved; the smooth commutation of the direct-current series excited motor is realized through the main circuit, and the speed regulation performance of a speed regulation system of the direct-current series excited motor is obviously improved, so that the running efficiency of a motor control system is improved.
The aim of the invention is achieved by the following technical scheme.
The invention discloses a series excited direct current motor controller without a mechanical contactor, which comprises a main circuit, a central signal processing unit and a gate control driving module. The central signal processing unit is a full digital processor and is used for acquiring and processing electric signals of a circuit and outputting control logic signals to the gate control driving module. The gate control driving module is used for realizing power amplification of control signals, the output of the gate control driving module is connected with a full-bridge circuit in the main circuit, and the gate control driving module synchronously drives the on and off of a semiconductor switching device in the main circuit according to the input control logic signals. The dynamic characteristics and the power density of a motor control system are improved through a full-bridge circuit, so that the torque and the rotating speed of the motor are adjustable; the two follow current loops are used for avoiding overlarge instantaneous current in the circuit during motor reversing or protection actions, reducing the current stress of the follow current diode device and improving the reliability, stability and safety of a motor control system; the smooth commutation of the direct-current series excited motor is realized through the main circuit, and the speed regulation performance of a speed regulation system of the direct-current series excited motor is obviously improved, so that the running efficiency of a motor control system is improved.
Preferably, the main circuit includes a power supply P, a diode D1, a diode D2, a diode D3, a semiconductor switch S1, a semiconductor switch S2, a semiconductor switch S3, and a semiconductor switch S4. The main circuit and the motor winding form two follow current loops. The motor winding comprises an armature winding La and an excitation winding Lm. And one continuous flow loop comprises a first continuous flow loop by the continuous flow diode D1, an anti-parallel diode of the semiconductor switch and the armature winding La, and the other continuous flow loop comprises a second continuous flow loop by the continuous flow diode D2 and the excitation winding Lm, and the two continuous flow loops are shunted by the shunt diode D3.
The positive pole of the power supply P is connected with the cathodes of the diode D1 and the diode D2 at the same time, the anode of the diode D2 is connected with the anode of the diode D3, the anode of the diode D1 and the cathode of the diode D3 are commonly connected to the high-side common end of the full-bridge circuit, and the excitation winding Lm is connected in parallel with the two ends of the diode D2. The four semiconductor switches S1, S2, S3 and S4 form a standard full-bridge circuit, and the armature winding La is connected with the output end of the full-bridge circuit. And finally, the low-side common terminal of the full-bridge circuit is connected to the negative electrode of the power supply P.
Preferably, the semiconductor switching device in the full-bridge circuit comprises one or more of MOSFET, IGBT, GTO, IGCT, thyristors and triodes.
The invention discloses a working method of a series excited direct current motor controller without a mechanical contactor, which comprises the following steps: the central signal processing unit sends out a control signal which acts on the semiconductor switch through the power amplifying circuit to control the on and off of the semiconductor switch. The current starts from the power supply and sequentially passes through the exciting winding Lm, the diode D3, the semiconductor switch S2, the armature winding La and the semiconductor switch S3, and returns to the negative electrode of the power supply, and the positive rotation of the direct current motor is defined at the moment. If the semiconductor switch is made to work in the chopping state, the duty ratio of the control signal can regulate the average current flowing through the winding, so that the speed regulating function can be realized. If the semiconductor switch S2 and the semiconductor switch S3 are turned off and the semiconductor switch S1 and the semiconductor switch S4 are turned on, the motor is reversed at this time, so that the semiconductor switch still can realize the speed regulation function when working in the chopping state.
When the motor commutates or triggers fault protection, the semiconductor switch state is switched according to the control signal, but the winding current is not commutated immediately, at this time, the current on the exciting winding Lm passes through the diode D2, and the current on the armature winding La is fed back to the power supply P through the antiparallel diode and the diode D1 of the semiconductor switch. The current of the two windings flows through two different loops of the first freewheeling loop and the second freewheeling loop, so that the current stress of the diode device is reduced, and the reliability, stability and safety of the motor control system are improved. In addition, the motor is started, commutated, accelerated and decelerated and braked by controlling the turn-off and turn-on states of the four semiconductor switches of the full bridge, so that the running efficiency of a motor control system is improved.
The beneficial effects are that:
1. The invention discloses a series excited direct current motor controller without a mechanical contactor, which comprises a main circuit, a central signal processing unit and a gate control driving module. The dynamic characteristics and the power density of a motor control system are improved through a full-bridge circuit, so that the torque and the rotating speed of the motor are adjustable; through the fact that the two follow current loop currents flow through different paths, the phenomenon that the instantaneous current in a circuit is overlarge during motor commutation or protection action is avoided, the current stress of a follow current diode device is reduced, and the reliability, stability and safety of a motor control system are improved; the smooth commutation of the direct-current series excited motor is realized through the main circuit, and the speed regulation performance of a speed regulation system of the direct-current series excited motor is obviously improved, so that the running efficiency of a motor control system is improved.
2. The invention discloses a series excited direct current motor controller without a mechanical contactor, which uses a semiconductor switch to replace a traditional mechanical contactor, thereby obviously improving the defects of the traditional controller, prolonging the service life of the controller, improving the reliability of a motor control system, enabling the state switching of an electronic switch to be quicker, enabling the motor to be smoothly excessive and improving the dynamic characteristic of the motor.
3. The invention discloses a series excited direct current motor controller without a mechanical contactor, which is characterized in that a semiconductor switch works in a chopping state by changing the conduction state of a full-bridge circuit switch, forward rotation, reverse rotation and speed regulation functions of a motor are realized, and instant current in a circuit is prevented from being overlarge during motor starting, reversing, acceleration and deceleration and braking control through two follow current loop currents flowing through different paths, so that the running efficiency of a motor control system is improved.
Drawings
FIG. 1 is a schematic diagram of a series DC motor controller without a mechanical contactor according to the present invention;
FIG. 2 is a schematic diagram of the current flow when the motor is in operation;
Fig. 3 is a schematic diagram of the current flow when the motor is freewheeling.
Detailed Description
As shown in fig. 1, the series excited dc motor controller without a mechanical contactor disclosed in this embodiment includes a main circuit, a central signal processing unit, and a gate driving module. The central signal processing unit core is an all-digital processor, for example DIGITAL SIGNAL Processor (DSP) series can be adopted for circuit electric signal acquisition and processing, and control logic signals are output to the gate control driving module. The gate control driving module is used for realizing power amplification of control signals, the output of the gate control driving module is connected with a full-bridge circuit in the main circuit, and the gate control driving module synchronously drives the on and off of a semiconductor switching device in the main circuit according to the input control logic signals. The two follow current loops are used for avoiding overlarge instantaneous current in the circuit during motor reversing or protection actions, reducing the current stress of the follow current diode device and improving the reliability, stability and safety of a motor control system; the smooth commutation of the direct-current series excited motor is realized through the main circuit, and the speed regulation performance of a speed regulation system of the direct-current series excited motor is obviously improved, so that the running efficiency of a motor control system is improved.
The main circuit comprises a power supply P, a diode D1, a diode D2, a diode D3, a semiconductor switch S1, a semiconductor switch S2, a semiconductor switch S3 and a semiconductor switch S4. The semiconductor switching device in the full-bridge circuit comprises one or more of MOSFET, IGBT, GTO, IGCT, thyristors and triodes.
The positive pole of the power supply P is connected with the cathodes of the diode D1 and the diode D2 at the same time, the anode of the diode D2 is connected with the anode of the diode D3, the anode of the diode D1 and the cathode of the diode D3 are commonly connected to the high-side common end of the full-bridge circuit, and the excitation winding Lm is connected in parallel with the two ends of the diode D2. The four semiconductor switches S1, S2, S3 and S4 form a standard full-bridge circuit, and the armature winding La is connected with the output end of the full-bridge circuit. And finally, the low-side common terminal of the full-bridge circuit is connected to the negative electrode of the power supply P.
The embodiment discloses a series excited direct current motor controller without a mechanical contactor, which can realize the reversing, speed regulation control and fault protection mechanism of the series excited direct current motor, and the working method is as follows:
when the motor rotates positively, the semiconductor switches S1 and S4 are turned off, the S2 and S3 are turned on, the diodes D1 and D2 bear back pressure and are turned off, the diode D3 is turned on positively, and at the moment, the power supply P, the exciting winding Lm, the diode D3, the semiconductor switch S2, the armature winding La and the semiconductor switch S3 form a complete loop. The motor speed regulation has three control modes:
(1) Keeping the semiconductor switch S2 on all the time, and keeping the S3 in a chopping state;
(2) Keeping the semiconductor switch S3 on all the time, and keeping the S2 in a chopping state;
(3) Both semiconductor switches S2 and S3 are in the chopping state;
Taking the first control mode as an example, the semiconductor switch S3 is turned on when receiving a high-level control signal, and at this time, the power supply charges two windings, and the current flowing through the windings gradually increases; the semiconductor switch S3 is turned off when receiving the low-level control signal, and at this time, the exciting winding Lm and the diode D2 form a loop to follow current, and the armature winding La and the semiconductor switch S2 and the diode antiparallel to the semiconductor switch S1 form a loop to follow current, and the current flowing through the winding gradually decreases. In one control period, the proportion of the time occupied by the high level is the duty ratio, and the average current flowing through the winding can be changed by adjusting the duty ratio, so that the torque and the rotating speed of the motor are regulated.
When the motor is reversed, the semiconductor switches S2 and S3 are turned off, the S1 and S4 are turned on, the diodes D1 and D2 are turned off, the diode D3 is turned on in the forward direction, and the power supply P, the exciting winding Lm, the diode D3, the semiconductor switch S1, the armature winding La and the semiconductor switch S4 form a complete loop. The motor speed regulation has three control modes:
the three control modes are as follows:
(1) Keeping the semiconductor switch S1 always on and S4 in a chopping state;
(2) Keeping the semiconductor switch S4 always on, and keeping the S1 in a chopping state;
(3) The semiconductor switches S1 and S4 are both in a chopping state;
Taking the first control mode as an example, S4 is in a chopping state, when S4 receives a high-level control signal, the switch is turned on, and the current flowing through the winding is increased; when the S4 receives the low-level control signal, the armature winding La forms a loop with the semiconductor switch S1 and a diode which is in anti-parallel connection with the semiconductor switch S2, and the current flowing through the winding gradually decreases. The speed regulation principle is the same as that of the motor in forward rotation.
When the motor is switched from forward rotation to reverse rotation, the exciting winding Lm and the diode D2 form a freewheeling circuit, the armature winding La and the antiparallel diodes of the semiconductor switches S1 and S4, the diode D1 and the power supply P form a circuit, and current flows from the armature winding La to the power supply. During this time, the diode D3 is in the reverse off state, and the current of the armature winding La does not flow through the diode D2, and the diode D3 functions to separate the two loops.
When the motor is switched from reverse rotation to forward rotation, the exciting winding Lm and the diode D2 still form a freewheeling circuit, the armature winding La and the antiparallel diodes of the semiconductor switches S2 and S3, the diode D1 and the power supply P form a circuit, and current flows from the armature winding La to the power supply.
When the fault protection is triggered, the four semiconductor switches S1, S2, S3 and S4 are simultaneously turned off, and if the motor rotates in the forward direction at the moment, the current loop is the same as that of the motor when the motor rotates in the forward direction and rotates in the reverse direction; if the motor is rotating in the reverse direction at this time, the current loop is the same as when the motor is rotating in the reverse direction.
While the foregoing detailed description has described the objects, aspects and advantages of the invention in further detail, it should be understood that the foregoing description is only illustrative of the invention, and is intended to cover various modifications, equivalents, alternatives, and improvements within the spirit and scope of the present invention.
Claims (3)
1. A series excited dc motor controller without a mechanical contactor, characterized by: the system comprises a main circuit, a central signal processing unit and a gate control driving module; the central signal processing unit is a full digital processor and is used for acquiring and processing electric signals of a circuit and outputting control logic signals to the gate control driving module; the gate control driving module is used for realizing power amplification of control signals, the output of the gate control driving module is connected with a full-bridge circuit in the main circuit, and the gate control driving module synchronously drives the on and off of a semiconductor switching device in the main circuit according to the input control logic signals;
The main circuit comprises a power supply P, a diode D1, a diode D2, a diode D3, a semiconductor switch S1, a semiconductor switch S2, a semiconductor switch S3 and a semiconductor switch S4; the main circuit and the motor winding form two follow current loops; the motor winding comprises an armature winding La and an excitation winding Lm; the two follow current loops, wherein one follow current loop comprises a first follow current loop by a follow current diode D1, an anti-parallel diode of a semiconductor switch and an armature winding La, the other follow current loop comprises a second follow current loop by a follow current diode D2 and an excitation winding Lm, and the two follow current loops are shunted by a shunt diode D3;
The positive electrode of the power supply P is connected with the cathodes of the diode D1 and the diode D2 at the same time, the anode of the diode D2 is connected with the anode of the diode D3, the anode of the diode D1 and the cathode of the diode D3 are commonly connected to the high-side common end of the full-bridge circuit, and the excitation winding Lm is connected in parallel with the two ends of the diode D2; four semiconductor switches S1, S2, S3 and S4 form a standard full-bridge circuit, and an armature winding La is connected with the output end of the full-bridge circuit; finally, the low-side common end of the full-bridge circuit is connected to the negative electrode of the power supply P; the dynamic characteristics and the power density of a motor control system are improved through a full-bridge circuit, so that the torque and the rotating speed of the motor are adjustable; and the two follow current loops prevent the transient current in the circuit from being overlarge during the motor reversing or protecting action, and reduce the current stress of the follow current diode device.
2. A series excited dc motor controller without mechanical contactor as claimed in claim 1, wherein: the semiconductor switching device in the full-bridge circuit comprises one or more of MOSFET, IGBT, GTO, IGCT, thyristors and triodes.
3. A series excited dc motor controller without mechanical contactor as claimed in claim 1 or 2, wherein: the central signal processing unit sends out a control signal, and the control signal acts on the semiconductor switch through the power amplifying circuit to control the on and off of the semiconductor switch; the current starts from the power supply and sequentially passes through the exciting winding Lm, the diode D3, the semiconductor switch S2, the armature winding La and the semiconductor switch S3, and returns to the negative electrode of the power supply, and the positive rotation of the direct current motor is defined at the moment; if the semiconductor switch is enabled to work in a chopping state, the duty ratio of the control signal can regulate and control the average current flowing through the winding, so that the speed regulation function can be realized; if the semiconductor switch S2 and the semiconductor switch S3 are turned off and the semiconductor switch S1 and the semiconductor switch S4 are turned on, the motor is reversed at the moment, so that the semiconductor switch works in a chopping state and still can realize a speed regulation function;
When the motor commutates or triggers fault protection, the semiconductor switch state is switched according to the control signal, but the winding current is not commutated immediately, at the moment, the current on the exciting winding Lm passes through the diode D2, and the current on the armature winding La is fed back to the power supply P through the anti-parallel diode and the diode D1 of the semiconductor switch; the current of the two windings flows through two different loops of the first follow current loop and the second follow current loop, and the motor starting, reversing, accelerating and decelerating and braking control are realized by controlling the turn-off and turn-on states of the four semiconductor switches of the full bridge.
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| CN202111585516.3A CN114268252B (en) | 2021-12-20 | 2021-12-20 | Series excited DC motor controller without mechanical contactor |
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| CN114268252B true CN114268252B (en) | 2024-08-09 |
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Citations (2)
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| CN101425771A (en) * | 2008-08-18 | 2009-05-06 | 王创社 | Control circuit, braking method, energy production method and device for DC motor |
| CN101917149A (en) * | 2010-06-09 | 2010-12-15 | 扬州中凌自动化技术有限公司 | Method and device for controlling electronic torque commutation of direct current series excited machine |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1379512A (en) * | 1970-10-22 | 1975-01-02 | Sevcon Ltd | Control systems for dc motors |
| GB1423980A (en) * | 1971-11-18 | 1976-02-04 | Sevcon Ltd | Separately excited speed controlled dc motors |
| US4384240A (en) * | 1980-03-18 | 1983-05-17 | Technical Operations Limited | Regenerative braking system for three-terminal d.c. motor |
| CN201805396U (en) * | 2010-06-18 | 2011-04-20 | 扬州中凌自动化技术有限公司 | Device for realizing electronic commutation and four-quadrant working of series motor |
| CN103546079B (en) * | 2012-07-10 | 2017-02-08 | 北京友信宏科电子科技有限公司 | Novel method and novel device for controlling series excited motor |
| CN104283466A (en) * | 2013-07-05 | 2015-01-14 | 北京友信宏科电子科技有限公司 | Method and device for controlling novel series machine |
| CN103414337A (en) * | 2013-08-23 | 2013-11-27 | 中国矿业大学 | Topological structure of power converter of electric car switch reluctance motor |
| CN105207548A (en) * | 2015-09-15 | 2015-12-30 | 扬州大学 | Electronic commutation series excited direct-current motor four-quadrant operation control device and method |
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2021
- 2021-12-20 CN CN202111585516.3A patent/CN114268252B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101425771A (en) * | 2008-08-18 | 2009-05-06 | 王创社 | Control circuit, braking method, energy production method and device for DC motor |
| CN101917149A (en) * | 2010-06-09 | 2010-12-15 | 扬州中凌自动化技术有限公司 | Method and device for controlling electronic torque commutation of direct current series excited machine |
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