EP0000709A1 - Méthode et circuit électrique pour la mesure de la pulsation du couple d'un moteur à courant alternatif alimenté par onduleur - Google Patents
Méthode et circuit électrique pour la mesure de la pulsation du couple d'un moteur à courant alternatif alimenté par onduleur Download PDFInfo
- Publication number
- EP0000709A1 EP0000709A1 EP78100417A EP78100417A EP0000709A1 EP 0000709 A1 EP0000709 A1 EP 0000709A1 EP 78100417 A EP78100417 A EP 78100417A EP 78100417 A EP78100417 A EP 78100417A EP 0000709 A1 EP0000709 A1 EP 0000709A1
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- EP
- European Patent Office
- Prior art keywords
- current
- signals
- inverter
- phase winding
- flux
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005259 measurement Methods 0.000 title description 2
- 238000004804 winding Methods 0.000 claims abstract description 49
- 230000004907 flux Effects 0.000 claims abstract description 36
- 239000003990 capacitor Substances 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 5
- 235000001537 Ribes X gardonianum Nutrition 0.000 abstract 1
- 235000001535 Ribes X utile Nutrition 0.000 abstract 1
- 235000016919 Ribes petraeum Nutrition 0.000 abstract 1
- 244000281247 Ribes rubrum Species 0.000 abstract 1
- 235000002355 Ribes spicatum Nutrition 0.000 abstract 1
- 230000006698 induction Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000010349 pulsation Effects 0.000 description 4
- 238000000819 phase cycle Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000010420 art technique Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/06—Controlling the motor in four quadrants
Definitions
- This invention relates to a circuit and method for measuring pulsating torque in ac motors operating from a current source inverter, and more particularly to a scheme for the on-line computation of the instantaneous pulsating component of electromagnetic torque without the need for search or flux sensing coils in the machine.
- the pulsating torque measuring circuit includes means for 'generating signals representative of the inverter input current, the zero current intervals in each phase winding, and the instantaneous voltage across each phase winding sensed at the motor terminals.
- a pulsating torque computation circuit comprises means for successively integrating each phase winding voltage during the interval the current in that winding is zero to thereby produce signals representative of motor air gap flux; means for alternately inverting and summing the opposite polarity flux signals; means for high pass filtering the summed flux signals to reject the dc portion; and means for multiplying the filtered flux signals by the dc link current signal to generate an output representing the instantaneous pulsating component of electromagnetic torque.
- the gating signals for the inverter thyristors are processed to derive signals corresponding to the conduction intervals of the thyristors which are in turn applied to logic gates.
- Electromagnetic torque is due to the superimposed interactions of the d-axis magnetic field cross-coupled with q-axis magnetomotive force and the q-axis magnetic field cross-coupled with d-axis magnetomotive force.
- U.S. Patent 4,088,934 assigned to the same assignee as this invention.
- the instantaneous electromagnetic torque can be expressed by the relation where ⁇ md and ⁇ mg are the d and q axes air gap flux linkages mutually linking the stator and rotor windings, and i qs and i ds are the d and q axes stator currents.
- equation (1) is valid for the synchronously rotating or any rotating reference frame, it is valid in particular when the reference frame is stationary. That is where the superscript s denotes the stationary reference frame. It can be shown that in this reference frame, the d-axis can be located in the axis of maximum current, i.e., maximum MMF.
- Equation (5) indicates a means of calculating the instantaneous pulsating conponent of electromagnetic torque.
- the stator current component in the d-axis (normal to the q-axis) is I d .
- one of the three stator phases is always zero so that the open circuit voltage across this phase is the time derivative of the flux in this axis. Integration of this open circuit voltage yields the q-axis flux which when multiplied with the d-axis current, i.e., the dc link or inverter input current, yields the torque.
- FIGS. 2 and 3 depict the preferred implementation of the circuit and method for measuring the instantaneous pulsating component of electromagnetic torque for use as a cogging feedback variable in an adjustable frequency, current source inverter, induction motor drive.
- the current source is a phase controlled rectifier 10 energized by a three-phase, 60 Hz ac voltage source which supplies adjustable rectified output voltage to a smoothing inductor 11 in the dc link to control the inverter input current I d .
- Current source inverter 12 is a polyphase thyristor bridge inverter such as the improved autosequential commutated inverter disclosed in Patent 3,980,941 to R.F. Griebel, assigned to the assignee of this invention, the disclosure of which is incorporated herein by reference.
- An inverter gating circuit 13 of conventional design generates gating signals to sequentially fire thyristors T1-T6 in the order of their numbering.
- a conducting thyristor is turned off by means of the parallel capacitor commutation mechanism upon supplying a gating pulse to the next thyristor in sequence in the positive bank or negative bank, and blocking diodes in series with the thyristors serve to isolate the commutating capacitors from load 14, which is a three-phase induction motor or other polyphase motor.
- This inverter has the capability of commutating under light load, permits motor reversing by reversing the phase sequence, and is capable of regenerative operation under braking mode conditions to return power to the supply provided that phase controlled rectifier 10 is operated as a line commutated inverter.
- Other controlled current inverters are known in the art and can be used in the practice of the invention, including the third harmonic auxiliary commutated inverter with one commutating capacitor and the auxiliary impulse commutated inverter with three commutating capacitors.
- FIG. 4 illustrates the idealized three-phase nonsinusoidal inverter output currents i a , i b , and i c , assuming that the dc link or input current I d is constant.
- the stator current supplied to each phase winding 14s of the induction motor corresponds to the inverter output current and has the same magnitude as the dc link current I d ; since in effect the inverter thyristors operate to switch the dc link current among the three output lines. It is evident that adjusting the rectifier output voltage changes the magnitude of the dc link current and thus the stator current, while adjusting the inverter operating frequency changes the stator excitation frequency. Feedback loops for accomplishing this are not shown.
- the output current in each phase ideally has a rectangular waveshape with a 120° duration in each half-cycle, neglecting commutation. Since the per phase rectangular wave output currents are 1200 displaced from one another, at any moment two stator windings 14s are conducting while the remaining phase is open-circuited. The combination of conducting and open-circuited phases changes every 60 0 or six times per cycle.
- the fifth and seventh harmonics of the motor frequency are present in the motor current in addition to the fundamental motor frequency, and also the eleventh and thirteenth harmonics, and so on.
- Some harmonics, including the third, ninth, and fifteenth harmonics, are eliminated by the inverter configuration,-and it will be realized that the higher order harmonics do not present as much of a problem because of their small magnitudes.
- the reverse phase sequence fifth harmonic and the forward phase sequence seventh harmonic interact with the fundamental.to produce a sixth harmonic torque , component in the motor's developed torque, and in similar fashion the eleventh and thirteenth harmonics interact to produce a twelfth harmonic torque component, and so on.
- the order of these harmonic or cogging torques is given by an integral multiple of the number of pulses.
- the cogging torque pulsations are objectionable at very low frequencies because it is at these low frequencies that the machine can respond to the harmonics in the motor current.
- the harmonic pulsations are substantially eliminated.
- the sensed information needed to calculate the instantaneous sinusoidal voltage across an open-circuited phase winding is sensed at the motor terminals and requires bringing out the neutral N.
- Transformers 15a, 15b and 15c are connected between the appropriate motor terminals and generate signals e a , e b , and e c .
- the magnitude of the stator current and the zero current intervals in each motor phase winding can be measured directly from the inverter output current, but it is more convenient to sense the level of inverter input current I d , using any suitable sensor 16, and to process the inverter thyristor gating pulses to generate signals representative of the zero current intervals.
- Motor phase winding a is supplied with current whenever either of series-connected thyristors T1 and T4 is conductive, and there is a 60° period in each half cycle when the current is zero (also see the timing diagram of FIG. 5).
- Tl' a signal
- the gate pulse for T1 is fed to the set input, and the gate pulse for T3 to the reset inoput, of a flip-flop or latch 17.
- pairs of gate pulses one indicating turn-on of the device and the other the initiation of turn-off by the parallel commutation mechanism, are fed to a series of flip-flops to generate the signals T2' - T6'.
- phase winding voltages e a , e b' and e c are supplied, rei- pectively, through switches S1, S2, and S3 to an integrator 18 which is reset after each commutation by means of a reset signal derived in inverter gating circuit 13.
- the opposite polarity air gap flux signals are fed directly through a switch S4, or through an inverter gate 19 and switch S5, to a summing circuit 20.
- the summed flux signals are high pass filtered in a capacitor 21 or its operational equivalent to remove the dc portion of the signal, and the filtered flux signals ( ⁇ ) are multiplied with inverter input current I d in a multiplier 22.
- the circuit output is the pulsating component of electromagnetic torque ⁇ T e .
- FIGS. 6a-6d. illustrate the waveforms at several stages in the computation circuit.
- the flux signal at the integrator output is a cosine function, and changes polarity at 60° intervals as the integrator is reset.
- the sinusoidal instantaneous phase winding voltages are successively integrated during the interval the current in that phase winding is zero.
- the flux signals have the same polarity, and high pass filtering the flux signals rejects the dc component. If the dc link current I d is modulated rather than being constant, the modulation also shows up in the pulsating torque component signal AT.
- signals Tl' and T4' are applied to a NOR logic gate 23, which produces an output closing switch S1 during the nonconducting intervals of thyristors T1 and T4 when phase winding a is open-circuited.
- the timing diagram in FIG. 5 clarifies the operation.
- Switch S2 for gatting voltage e b to the integrator, and switch S3 for gating voltage ec, are controlled in the same manner by other NOR gates.
- signals Tl', T3', and T5' are the inputs to an OR logic gate 24, so that switch S4 is closed by conduction of thyristors supplying positive polarity currents to the motor phase windings.
- Switch S5 associated with interver gate 19 is closed, on the other hand, by the conduction of thyristors supplying negative polarity currents to the phase windings.
- the gating pulses are coextensive with the conduction of the thyristors, it will be recognized that the gating pulses can be applied directly to NOR gates 23 and OR gates 24.
- Integrator 18, summer 20, and multiplier 22 are preferably implemented by operational amplifier circuitry, but any conventional components can be used.
- the method and circuit for measuring cogging torque or the instantaneous pulsating component of torque are also applicable to force commutated inverter (CCI) or load commutated inverter fed synchronous machines.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Induction Machinery (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US817625 | 1977-07-21 | ||
| US05/817,625 US4112339A (en) | 1977-07-21 | 1977-07-21 | Measurement of pulsating torque in a current source inverter motor drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP0000709A1 true EP0000709A1 (fr) | 1979-02-21 |
Family
ID=25223490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP78100417A Withdrawn EP0000709A1 (fr) | 1977-07-21 | 1978-07-18 | Méthode et circuit électrique pour la mesure de la pulsation du couple d'un moteur à courant alternatif alimenté par onduleur |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US4112339A (fr) |
| EP (1) | EP0000709A1 (fr) |
| JP (1) | JPS5856426B2 (fr) |
| DE (1) | DE2857215A1 (fr) |
| GB (1) | GB2041543B (fr) |
| SE (1) | SE7908272L (fr) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8579169B2 (en) | 2008-07-31 | 2013-11-12 | Indian Motorcycle Company | Mounting assembly for a vehicle accessory |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54113815A (en) * | 1978-02-27 | 1979-09-05 | Toshiba Corp | Controlling ac motor |
| US4401934A (en) * | 1981-08-07 | 1983-08-30 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Adaptive control system for line-commutated inverters |
| US4445080A (en) * | 1981-11-25 | 1984-04-24 | The Charles Stark Draper Laboratory, Inc. | System for indirectly sensing flux in an induction motor |
| JPS6052353A (ja) * | 1983-08-31 | 1985-03-25 | Nec Corp | インクジェット記録方法および装置 |
| US4633157A (en) * | 1984-08-27 | 1986-12-30 | Franklin Electric Co., Inc. | Control system for permanent magnet synchronous motor |
| DE3871716D1 (de) * | 1987-10-26 | 1992-07-09 | Siemens Ag | Verfahren zur vermeidung eines stromeinbruches in einem nicht an der kommutierung beteiligten strang einer dreiphasigen, blockstromgespeisten synchronmaschine und schaltungsanordnung zur durchfuehrung des verfahrens. |
| US5272429A (en) * | 1990-10-01 | 1993-12-21 | Wisconsin Alumni Research Foundation | Air gap flux measurement using stator third harmonic voltage and uses |
| US5510689A (en) * | 1990-10-01 | 1996-04-23 | Wisconsin Alumni Research Foundation | Air gap flux measurement using stator third harmonic voltage |
| US5334923A (en) * | 1990-10-01 | 1994-08-02 | Wisconsin Alumni Research Foundation | Motor torque control method and apparatus |
| US5870292A (en) * | 1996-09-30 | 1999-02-09 | Electric Power Research Institute, Inc. | Series resonant converter for switched reluctance motor drive |
| US8222855B2 (en) * | 2009-08-28 | 2012-07-17 | General Electric Company | System and method for non-sinusoidal current waveform excitation of electrical machines |
| US8115434B2 (en) | 2010-05-28 | 2012-02-14 | General Electric Company | High-speed self-cascaded electric machine |
| US8901896B2 (en) | 2010-06-29 | 2014-12-02 | General Electric Company | System and method for non-sinusoidal current waveform excitation of electrical generators |
| EP2421146B1 (fr) * | 2010-08-16 | 2015-02-11 | Baumüller Nürnberg GmbH | Dispositif et procédé d'identification des paramètres de référence magnéto-mécaniques d'un moteur synchrone triphasé sans utilisation d'encodeur de vitesse |
| CN112204874B (zh) * | 2018-06-01 | 2024-08-13 | 日本电产株式会社 | 电动机控制装置、电动机控制方法以及电动机系统 |
| RU2733920C1 (ru) * | 2019-09-16 | 2020-10-08 | АО "Элпресс" | Коммутатор мощных двуполярных импульсов тока |
| JP7443020B2 (ja) * | 2019-10-24 | 2024-03-05 | 三菱重工サーマルシステムズ株式会社 | 制御装置、電動圧縮機、リップル電圧の検出方法及びプログラム |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3593083A (en) * | 1968-04-18 | 1971-07-13 | Siemens Ag | Apparatus for providing the pilot values of characteristics of an asynchronous three phase machine |
| FR2193285A1 (fr) * | 1972-07-14 | 1974-02-15 | Siemens Ag | |
| FR2308137A1 (fr) * | 1975-04-14 | 1976-11-12 | Gen Electric | Dispositif de commande pour la regulation du couple d'un moteur a induction a courant alternatif |
| FR2328322A1 (fr) * | 1975-10-14 | 1977-05-13 | Gen Electric | Dispositif de commande d'un moteur asynchrone |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3824437A (en) * | 1969-08-14 | 1974-07-16 | Siemens Ag | Method for controlling asynchronous machines |
| DE2144422C2 (de) * | 1971-09-04 | 1973-09-20 | Siemens Ag | Einrichtung zum Steuern oder Regeln einer Asynchronmaschine |
| US4011489A (en) * | 1974-11-20 | 1977-03-08 | General Electric Company | Apparatus for regulating magnetic flux in an AC motor |
| US4044285A (en) * | 1975-08-19 | 1977-08-23 | General Electric Company | Method and apparatus for controlling variable speed, controlled current induction motor drive systems |
-
1977
- 1977-07-21 US US05/817,625 patent/US4112339A/en not_active Expired - Lifetime
-
1978
- 1978-07-18 DE DE19782857215 patent/DE2857215A1/de not_active Withdrawn
- 1978-07-18 GB GB7923004A patent/GB2041543B/en not_active Expired
- 1978-07-18 EP EP78100417A patent/EP0000709A1/fr not_active Withdrawn
- 1978-07-20 JP JP53087817A patent/JPS5856426B2/ja not_active Expired
-
1979
- 1979-10-05 SE SE7908272A patent/SE7908272L/ not_active Application Discontinuation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3593083A (en) * | 1968-04-18 | 1971-07-13 | Siemens Ag | Apparatus for providing the pilot values of characteristics of an asynchronous three phase machine |
| FR2193285A1 (fr) * | 1972-07-14 | 1974-02-15 | Siemens Ag | |
| FR2308137A1 (fr) * | 1975-04-14 | 1976-11-12 | Gen Electric | Dispositif de commande pour la regulation du couple d'un moteur a induction a courant alternatif |
| FR2328322A1 (fr) * | 1975-10-14 | 1977-05-13 | Gen Electric | Dispositif de commande d'un moteur asynchrone |
Non-Patent Citations (1)
| Title |
|---|
| IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, vol. 1A-13, no. 2, March/April 1977, New York: A.B. PLUNKETT: "Direct Flux and Torque Regulation in a PWM Invertor-Induction Motor Drive", pages 139 to 146 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8579169B2 (en) | 2008-07-31 | 2013-11-12 | Indian Motorcycle Company | Mounting assembly for a vehicle accessory |
Also Published As
| Publication number | Publication date |
|---|---|
| SE7908272L (sv) | 1979-10-05 |
| GB2041543A (en) | 1980-09-10 |
| JPS5441416A (en) | 1979-04-02 |
| US4112339A (en) | 1978-09-05 |
| JPS5856426B2 (ja) | 1983-12-14 |
| GB2041543B (en) | 1982-05-19 |
| DE2857215A1 (de) | 1980-01-24 |
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| AK | Designated contracting states |
Designated state(s): DE FR GB SE |
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| STAA | Information on the status of an ep patent application or granted ep patent |
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| 18D | Application deemed to be withdrawn | ||
| 32 | Conversion | ||
| RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: LIPO, THOMAS ANTHONY |