• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    In order to provide a method and a device for driving the n LLM coils (L1,... In) of an LLM stator, which permits the polarity of the coil voltage (UL1,..., ULn) of the n LLM with less effort and in a circuit-technically simple manner To change coils (L1, ..., Ln), it is proposed to apply a first operating potential (Ub1) to n first input terminals (A1, ..., An) of n half-bridges (HB1, ..., HBn), a second operating potential (Ub2) to n second input terminals (B1, ... Bn) of the n half-bridges. For each half bridge (HB1, ..., HBn), a first switch (S11,... S1n) is connected between a midpoint (C1,..., Cn) of the respective half bridge (HB1,..., HBn) and the first input port (A1,. connected and a respective second switch (S21, ..., S2n) between the center (C1, ..., Cn) of the respective half-bridge (HB1, ..., HBn) and the second input terminal (B1, ..., Bn) connected. The center point (C1, ..., Cn) of the n half-bridges is respectively connected to n first terminals (L11, ..., L1n) of the n LLM coils (L1, ..., Ln), the second terminals (L11, ..., L1n) of n LLM coils (L1, ..., Ln) are connected in a control point (C), which is regulated to a predetermined potential (Ux).
    公开号:AT518721A1
    申请号:T50476/2016
    申请日:2016-05-25
    公开日:2017-12-15
    发明作者:Dipl Ing Faschang Leopold；Klappauf Christof
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Control of long stator linear motor coils of a long stator linear motor stator
    The subject invention is directed to a method and apparatus for driving a plurality of LLM coils of an LLM stator.
    A stator of a long stator linear motor (LLM) consists of a plurality of juxtaposed LLM coils, which together form the stator of the LLM. These LLM coils are driven individually or in groups, and in the operation of the long stator linear motor, it is often desirable or necessary to have the polarity, i. to change the current direction of the LLM coils. By driving the LLM coils, a moving magnetic field is generated which cooperates with excitation magnets (usually permanent magnets) on a transport unit of the LLM to move the transport unit along the stator. The basic structure and function of an LLM is well known, which is why it will not be discussed in more detail here. For energizing the LLM coils for generating the magnetic field, an operating voltage between a first operating potential and a second operating potential is provided.
    One way to drive LLM coils and to ensure a change in the polarity of the coil voltage, would be the use of a full bridge, as disclosed in US 2006/0220623 A1. The operating voltage is applied in each case to the first and second branch of the full bridge, the LLM coil is connected in the shunt branch of the full bridge. By suitable control of the four switches (bipolar transistors, MOSFETs, IGBTs, etc.) of the full bridge can be applied to the LLM coils a desired, or predetermined by a coil control, coil voltage in the desired polarity and height to the LLM coils. In order to be able to control the LLM coils individually, each LLM coil must be provided with a full bridge. However, this means that four switches are required per LLM coil. In a naturally high number of LLM coils of an LLM stator thus high costs and a high circuit complexity caused by the high number of switches.
    It is an object of the present invention to provide a method and a device for driving the LLM coils of an LLM stator, which can be realized with less effort and circuitry easier and wherein the polarity of the coil voltage of the LLM coils should be interchangeable.
    This object is achieved according to the invention by applying a first operating potential to the n first input terminals of n half-bridges, applying a second operating potential to the n second input terminals of the n half-bridges, one half-bridge connecting a first switch between a mid-point of the respective half-bridge and the first input terminal and a second switch is connected between the mid-point of the respective half-bridge and the second input terminal. The middle point of the n half-bridges is connected in each case to n first terminals of the n LLM coils. The second terminals of the n LLM coils are connected to a control point and regulated by a control unit an actual potential to the control point to a predetermined potential. By closing the n first switches and opening the n second switches of the n half bridges, a coil voltage of the first polarity is applied to the n LLM coils or by opening the n first switches and closing the n second switches of the n half bridges respectively a coil voltage of the second polarity the n LLM coils created. Of course, connecting the n first and second n terminals of the n LLM coils to the center of the n half-bridges or the regulation point does not necessarily have to be directly, i. without any additional electrical components, in particular passive components, between the individual elements. It is conceivable, e.g. additional chokes as filter elements, and in particular shunts for measuring currents through the LLM coils. Thus, only two switches are required per LLM coil, which therefore corresponds to a saving of 2 * n. It should be noted, however, that a larger difference between the first operating potential and the second operating potential, i. a larger operating voltage is needed than with a full-bridge drive.
    Advantageously, the predetermined potential corresponds to half the operating voltage and / or the second operating potential is zero. In the case of an exemplary operating voltage of 60 V, a predetermined potential, and thus a coil voltage of plus-minus 30 V, would thus result in the method according to the invention, whereas a full-bridge drive always supplies the entire operating voltage (here assumed 60 V) positively or negatively to the LLM. Coil applies.
    Advantageously, a comparison unit compares the actual potential at the control point C with the predetermined potential, whereupon the control unit based on a voltage difference between the actual potential and the predetermined potential, a current, e.g. by means of a current source, fed to the control point to control the potential difference to zero. The second terminals of the n LLM coils are connected to each other, whereby only an actual potential must be set. Thus, only one control unit for all LLM coils is necessary.
    The current source may include a choke and a voltage source, wherein the choke is connected to the control point and generates the current via a voltage generated by the voltage source at the choke.
    In turn, the voltage source may include a PWM module and a driver half-bridge, with the PWM module regulating the driver bridge depending on the differential potential. Especially for these, the use of a throttle is advantageous because it integrates a voltage supplied by the voltage source and thus provides a smoothed current. PWM modules _0_ are known to switch driver half-bridges to generate square-wave voltages that are converted by the choke to triangular currents, filtering resulting voltage spikes.
    Especially advantageous is a production of the driver half-bridge with GaN switches. GaN switches allow a very high switching frequency, which can reduce the size of the choke.
    The comparison unit may, for example, include a resistance network which is connected to the first operating potential, the second operating potential and the control point and determines the potential difference from the first operating potential, the second operating potential and the actual potential at the control point. Such a resistor network allows a very simple determination of the potential difference using four resistors.
    In addition, a conversion unit which is connected to the comparison unit and converts the differential potential into a predetermined current, a sensor which measures the actual current at the control point and a current regulator which is connected on the input side to the conversion unit and the current sensor, can be connected on the output side to the current source is, receives the predetermined current from the comparison unit and the actual current from the sensor, determines a differential current and thus controls the power source, be present. Advantageously, the conversion unit is configured as a PI controller, preferably as a transconductance amplifier (Operational Transconductance Amplifier or OTA) with an output-side RC element to ground. The determined predetermined current serves as a reference for the current regulator, which also receives the actual current from the sensor. If there is a deviation between the given current and the actual current, the current source is activated. Thus, for example, the PWM module is controlled, which supplies the driver half-bridge, the switching commands with which the differential current between the predetermined current and the actual current is compensated again. This in turn compensates for the difference potential and regulates the actual potential to the predetermined potential.
    The actual current can be fed into the control point as m phase currents phase-shifted by 3607 m, where m> 1. For this purpose, m current sources which supply the m phase currents can be connected to the control point. This can be done, for example, by m current control m PWM modules drive out of phase, which in turn drive m driver half-bridges out of phase, which impress the phase currents out of phase via a throttle (ie in total m chokes) in the control point. If several identical half bridges and throttle serve as current sources, it is sufficient to measure the actual current only at a half-bridge and to supply these to the m current regulators.
    If the impressing of the actual current takes place in m> 1 phases, then it is also possible for the m phase currents to be switched off partially or completely depending on the differential current. For example, a gap operation can be realized. If the differential current and also the potential difference are zero, then all phases can be deactivated, whereby no actual current is fed into the control point. As a result, the switching losses of the driver half-bridges are avoided at low currents. Also, with a low differential current, only a number of phases can supply a phase current, and if a residual current threshold is exceeded or undershot, a further phase current can be switched on or off.
    The subject invention will be explained in more detail below with reference to Figures 1 to 9, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 shows a transport device in the form of a long stator linear motor,
    2 shows a full-bridge drive of an LLM coil
    3 shows a half-bridge drive according to the invention of an LLM coil
    4 a control of n LLM coils with n half-bridges
    5 shows a control with an embodiment of the control unit
    6 shows a detailed embodiment of the control unit
    7 shows a control unit with three-phase current control
    8a, b a control by means of three phase currents
    9 shows the actual current dependent on disconnection and connection of phase currents
    In Fig. 1, a transport device in the form of a Langstatorlinearmotors (LLM) is exemplified. The transport device consists here only of a transport section, of course, in practice, several transport sections, not forming self-contained webs, which are assembled to the transport device, possible. The transport device is designed as an LLM, in which a transport section in a manner known per se forms part of a long stator of an LLM. A transport section can also be subdivided further in a known manner, for example into a number of individual transport segments in the form of coil assemblies with a plurality of LLM coils. Along the transport section, therefore, a plurality of LLM electrical coils L1,..., Ln are arranged in the longitudinal direction in known manner, which interact with excitation magnets Y1... Yn at the transport units Z1... Zx. In a likewise known way, by means of coil control units 101, 1 on, by controlling the coil voltages UL1 ..... ULn, the individual LLM coils L1 ..... Ln, for each of the transport units Z1 ... Zx, a propulsion force is generated independently of the one Transport units Z1 ... Zx in the longitudinal direction -A. along the transport section along the transport path, moves. In general, act on a transport unit Z1 ... Zx simultaneously several LLM coils L1 ..... Ln, the sam together generate the driving force. For reasons of clarity, only a few LLM coils L1,..., Ln and only two coil control units 101, 1 are shown in FIG. Of course, each coil voltage UL1 ..... ULn of each LLM coil L1, ..., Ln is controlled by a coil control unit 101.1 On, wherein a plurality of coil control unit 101.1 On may also be integrated into one unit. Each of the transport units Z1 ... Zx can by means of the coil control units 101.1 On superordinate transport control 100 individually (speed, acceleration, orbit, direction) and independently (except for the avoidance of possible collisions) from the other transport units Z1 ... Zx be moved. For this purpose, the transport control 100 often predefines a position specification (equivalent also speed specification) for each transport unit Z1... Zx to be moved, which is converted by the coil control units 101, 103n into corresponding coil voltages UL1.. become. After this basic principle of a long stator linear motor is well known, it will not be discussed in detail here.
    2 shows a full bridge of a LLM coil L1 according to the prior art. In this case, the LLM coil L1 is modeled as an inductance L in series with a voltage source Uind. The voltage source Uind describes an induced voltage, e.g. in the event that a transport unit Z1 ... Zx of the LLM with excitation magnet is moved past. In addition, as usual, the LLM coil L1 has a first coil terminal L11 and a second coil terminal L12. The full bridge consists of two main branches, the first main branch consisting of two switches S11, S21, which are connected in series to an operating voltage Ub, which is formed by the difference between a first operating potential Ub1 and a second operating potential Ub2 at the input terminals of the full bridge. The second main branch also consists of two switches S1T, S2T, which are connected in series to the operating voltage Ub. Between the connection point of the first switch S11 and the second switch S21 of the first main branch is the first transverse connection Q1 for a shunt branch. Equivalently, between the connection point of the first switch S1T and the second switch S2T of the second main branch, the second transverse connection Q2 of the shunt branch is located. The first coil terminal L11 of the LLM coil L1 is connected to the first cross terminal Q1, and the second coil terminal L12 of the LLM coil L1 is connected to the second cross terminal Q2. By suitably driving the switches S11, S21, S1T, S2T, a coil voltage UL1 can be applied between the first coil terminal L12 and the second coil terminal L22. The control of the full bridge for generating a coil voltage UL1 provides essentially two switch positions. In the first switch position, the first switch S11 of the first main branch and the second
    Switch S21 'of the second main branch, whereas the second switch S21 of the first main branch and the first switch S11' of the second main branch are open. This is due to the LLM coil L1, the operating voltage Ub as a coil voltage UL1. In the second switch position provided by driving the full bridge, the first switch S11 of the first main branch and the second switch S21 'of the second main branch are open, whereas the second switch S21 of the first main branch and the first switch S11' of the second main branch are closed, thus the negative operating voltage -Ub is applied to the LLM coil L1 as a coil voltage UL1. Thus, both polarities are achieved for the coil voltage UL1 of the LLM coil L1.
    Of course, an LLM stator consists of not only one, but a plurality n of juxtaposed LLM coils L1, ..., Ln. In order to be able to control all n LLM coils L1 ..... Ln individually, it would be necessary for each LLM coil L1 ..... Ln to have a full bridge as shown in FIG. that 4 * n switches S11, S21, S11 ', S21' are required, which are usually designed as semiconductor switches, such as bipolar transistors, MOSFETs, IGBTs, etc. A disadvantage of this high number of switches S11, S21, S11 ', S21' are the high cost and the increased space required for the circuitry implementation. Since a large amount of LLM coils L1, ..., Ln already requires a lot of space for the power components, it is desirable to use fewer switches S11, S21, S11 ', S21'. Also, routing (wiring on a board, for example) becomes more and more complicated as the number of devices increases, and the more components used, the higher the chance of component failure.
    Therefore, according to the invention, a control of the LLM coils L1,..., Ln across half bridges HB1... HBn is proposed. 3 shows an activation according to the invention of n, where n is an integer greater than one, LLM coils L1,..., Ln can be seen by means of an associated half bridge HB1,..., HBn. It is dispensed with the second main branches of the full bridges, whereby the operating voltage Ub only at the first main branches, ie per half-bridge HB1, ..., HBn between the first input terminals A1, ..., An and second input terminals B1, ..., Bn and the series-connected first switches S11, ... S1n and second switches, S21, ... S2n. The respective connection point between first S11,... S1n and second switches, S21,... S2n is referred to as the center C1,... Cn, respectively, and is connected to the first terminal L11,..., Ln1 of an LLM coil L1, ..., Ln connected. The respectively second connection L12,..., Ln2 of the respective LLM coil L1,..., Ln is connected to an electrical potential Ux predetermined by a control unit 3. The second terminals L12,..., Ln2 of the LLM coils L1,..., Ln are thus connected to one another at a control point C.
    The actuation of the switches S11, S21,..., S1n, S2n of the half bridges HB1,..., HBn is effected by a coil control unit 10 (in FIG. 3, for reasons of clarity, only for the switches S1, S2n). The coil control unit 10 controls the switches S11, S21 ..... S1n, S2n in a known manner such that by energizing the LLM coils L1 ..... Ln, or by applying the coil voltages UL1 ..... ULn, the required for the movement of a transport unit magnetic field is generated. For this purpose, the coil control unit 10 can also receive set values SG1,... SGn for the control, e.g. from a transport control 100 as in FIG. 1.
    As a rule, in the case of an LLM, a number of LLM coils L1,..., Ln are combined to form a stator segment (also physically in the form of a component). All LLM coils L1, ..., Ln of a stator segment are then usually controlled by a coil control unit 10, with individual coil control units 101,10n for each LLM coil L1, ..., Ln, which is not for the invention is crucial. Therefore, it is also advantageous to combine all the LLM coils L1,..., Ln of a stator segment as shown in FIG. 3, that is, to connect them to each other on the output side in a control point C. Accordingly, one needs for a long-stator linear motor with multiple stator segments and several circuits as shown in Fig.3.
    The actuation of the switches S11,..., S1n, S21,..., S2n now provides two switch positions. In the first switch position, the first switch S11,... S1n is closed and the second switch S21... S2n open, whereby the coil voltage UL1 results from the difference between the first operating potential Ub1 and the predetermined potential Ux: UL1 = Ub1 -ux. In the second switch position, the first switch S11,..., S1n is open and the second switch S21,..., S2n is closed, which results in the difference between the predetermined potential Ux and the second operating potential Ub2: UL1 = Ux-Ub2. It is clear that different polarities of the coil voltage UL1 result in different switch positions. This applies to all LLM coils L1 ..... Ln analog. For the special case that the second operating potential Ub2 is grounded (Ub2 = 0), and that the predetermined potential Ux corresponds to half the operating voltage Ub (Ux = Ub / 2), the result is a coil voltage UL1 from Ub / in the first switch position. 2 and in the second switch position a coil voltage UL1 of -Ub / 2.
    Since, as mentioned, an LLM stator or a part of an LLM stator consists of n LLM coils, n half-bridges HB1,..., HBn in a design as described above for LLM coils L1,. Ln used, which compared to the previously described Vollbrückenansteue- tion of the prior art, a saving of 2 * n switches results.
    As shown in Fig. 4, the second coil terminals L21, ... L2n, which are all kept at the predetermined potential Ux, are connected to each other to a control point C. The LLM coils UL1 .. ULn are all independently controlled. In general, each coil L1 ... Ln has a different coil voltage UL1 ... ULn _7_. If a coil voltage UL1... ULn is positive, a coil current flows from the relevant coil L1... Ln to the regulation point C and the actual potential Uxist rises. If a coil voltage UL1... ULn is negative, then a coil current flows from the control point C out into the relevant coil L1... Ln and the actual potential Uxist decreases. The sum of all coil currents through the LLM coils UL1 .. ULn accordingly has an increase or a fall in the actual potential Uxist, which is compensated by the control unit 3 in order to keep the actual potential Uxist at a predetermined potential Ux.
    On the input side there is a voltage source 1, e.g. a rectifier, the first one
    Operating potential Ub1 and the second operating potential Ub2 the n half-bridges HB1 ..... HBn provides. The switches SH, S21,..., S1n, S2n of the half bridges HB1,..., HBn are of the coil control unit 10 (not shown in FIG. 4) depending on the desired polarity of the coil voltages UL1, triggered, as described above for an LLM coil L1.
    The control unit 3 serves to set the predetermined potential Ux at the control point C, whereby the current actual potential Uxist is detected (for example measured) and the control unit 3 is present. In one refinement, the control unit 3 controls, dependent on a potential difference dU determined between a comparison unit 4 and a predetermined potential Ux and actual potential Uxist, a current source Iq which injects the actual current Ixist into the control point C, which thus also supplies the n LLM coils L1, ..., Ln flows. Of course, the current flowing through the individual n LLM coils L1 ..... Ln may be positive or negative. Since the actual current Ixist has been changed as a function of the potential difference dU and is fed into the control point C, the actual potential Uxist also changes and is adjusted in the context of control to the predetermined potential Ux, with which the potential difference dU is preferably regulated to zero. However, it can also be regulated to a predetermined potential difference dU not equal to zero. As shown in FIG. 4, the comparison unit 4 can be an integral part of the control unit 3 or can be split off as a separate unit.
    An advantageous embodiment of the control unit 3 is shown in Figure 5. Here, the current source Iq is realized by a voltage source Uq and a choke D (inductance). The voltage source Uq generates the voltage U at the throttle D and thus causes the actual current Ixist in the throttle D, which is fed to the control point C, whereby the actual voltage Uxist is influenced at the control point C.
    6 shows a device according to the invention with a preferred embodiment of the comparison unit 4 and the voltage source Uq and a conversion unit 5. The comparison unit 4 represents here a resistance bridge circuit which verbun with the first operating potential Ub1, the second operating potential Ub2 and the control point C. is. For this purpose, the first operating potential Ub1 is connected via a first resistor bridge branch via a first resistor R1 in series with a second resistor R2 to the second operating potential Ub2. A second resistance bridge branch connects the control point C to the second operating potential Ub2 via a third resistor R3 and a series-connected fourth resistor R4. Between the connection point of the first resistor R1 and the second resistor R2 and the connection point of the third resistor R3 and the fourth resistor R4, with a suitable dimensioning of the resistors R1, R2, R3, R4, the difference potential dU between predetermined potential Ux and actual potential Uxact is present. To achieve a given potential of Ux = (Ub1-Ub2) / 2, for example, a dimensioning of R2 = R3 = R4 = (1/3) R1 would be required. Of course, the predetermined potential Ux could also be specified externally, for example by means of controllable voltage sources. The realization by connections to the operating potentials Ub1, Ub2, however, proves to be particularly simple. 6, optional filter capacitors Cb1, Cb2 are present between the first operating potential Ub1 and the second operating potential Ub2 and the control point C, respectively. The differential potential dU is supplied from the comparison unit 4 to the conversion unit 5. The conversion unit 5 converts the differential potential dU into a predetermined current Ix. The conversion unit 5 may be controlled by a PI controller, e.g. as shown in Fig. 6 by a transconductance amplifier (Operational Transconductance Amplifier) OTA be realized with an output side RC element to ground. For this purpose, the differential potential dU is connected between the inverting input IV, the transconductance amplifier OTA and the non-inverting input NIV of the transconductance amplifier OTA. The transconductance amplifier OTA provides at the output, which is grounded by the RC circuit, a predetermined current Ix, which is proportional to the differential potential dU. The voltage across the capacitor Ca increases with the integral of the current Ix to be given, the voltage across the resistor Ra is proportional to the current to be predetermined. Alternatively, of course, e.g. an OPV circuit with a capacitor and a serial resistor can be used as a feedback to the inverting input as a PI controller. Parallel to the capacitor and the resistor may also be provided another capacitor for damping high-frequency interference. Furthermore, the sensor S in this embodiment does not measure the actual potential Uxist, but the actual current Ixist through the control point C. Thus, the sensor S can be realized in a simple manner as a shunt. A current regulator 53 compares the predetermined current Ix and the actual current Ixist obtained from the sensor S, determines the differential current dl and thus regulates the current source Iq. Preferably, the current controller 53 is designed as a PI controller. In this embodiment, the current source Iq consists of a choke D and a voltage source Uq, which in turn consists of a driver half-bridge 6 controlled by a PWM module PWM1. As is known, PWM indicates pulse width modulation or pulse width modulation. Thus, the differential current dl is generated by the current controller 53 and the PWM module PWM1 controls the driver half bridge 6 so that the differential current dl is controlled to zero. The driver half bridge 6 consists here of two series-connected semiconductor switches 61,62. Advantageously, the upper semiconductor switch 61 connects the first operating potential Ub1 to the second semiconductor switch 62, which in turn is connected to the second operating potential Ub2. The choke D connects the control point C to the connection point between the first semiconductor switch 61 and the second semiconductor switch 62 of the driver half-bridge 6. The PWM module PWM1 switches the first semiconductor switch 61 with a Hi signal, thereby applying the first operating potential Ub1 to the choke D, Similarly, the second operating potential Ub2 is applied to the throttle D at a Lo signal. As a result, a voltage U is applied to the inductor D as a function of the differential current d1 determined by the current regulator 53, which in turn influences the actual current Ixact in the control point C. The inductor D integrates the rectangular voltage U and generates a triangular current Ixist which is smoothed. The semiconductor switches 61, 62 of the driver half-bridge are advantageously designed as GaN (gallium nitride) switches. This technology enables switching frequencies in the MHz range, which allows a choke D to be used with less inductance and therefore smaller overall size.
    Advantageously, m> 1, with m as a positive integer, parallel driver half-bridges 6, used to reduce the ripple and thus the current ripple of the actual current Ixist, as in Figure 7 the example of three parallel driver half-bridges 6 is explained. This also m chokes D1, D2, D3 are required, each of which must have a m-tel so large inductance, as the inductance of the single-phase design. It can be seen from the step response of the actual current Ixist that the actual current Ixact increases m times as fast at m inductors connected in parallel, and thus the predetermined current Ix can be reached more quickly. , However, the main advantage of using multiple driver half-bridges 6 lies in the reduction of the power loss generated. Since the power loss is known to be square to the actual current Ixist, for example, a third of the actual current Ixist causes a reduction in power loss by a factor of nine. Of course, m current regulators 531, 532, 533 and current sources Iq1, Iq2, Iq3 are also necessary. The current sources Iq1, Iq2,
    Iq3 are driven in such a way that they deliver currents i1, i2, i3 with a phase offset of 3607m, which are impressed into the control point C, which in total leads to the actual current Ixist in the control point C.
    7 shows an embodiment with m = 3 driver half-bridges 601, 602, 603 and m = 3 current sources Iq 1, Iq2, Iq3. The m = 3 current sources consist of m = 3 chokes D1, D2, D3 and m = 3 voltage sources Uq1, Uq2, Uq3, the voltage sources Uq1, Uq2, Uq3 in turn consist of m = 3 PWM modules PWM1, PWM2, PWM3 and m = 3 driver half-bridge. 601, 602, 603 together. If the m = 3 driver half-bridges 601, 602, 603 are identical, theoretically a current sensor S would also be sufficient for detecting the actual current Ixist. Since this ideal case of absolutely identical driver half-bridges 601, 602, 603 (and throttles D1, D2, D3, etc.) does not normally occur in reality, FIG. 7 shows the general case of m = 3 sensors S1, S2, S3.
    8a shows a profile of the m = 3 currents Μ, i2, i3 and the resulting actual current Ixact when m = 3 current sources Iq1, Iq2, Iq3 are used without a phase shift. The original rectangular profiles of the voltages U1, U2, U3 generated by the voltage sources Uq1 Uq2, Uq2 are integrated by the m = 3 inductors D1, D2, D3 in each case into triangular current profiles of the m = 3 currents Μ, i2, i3. In Fig. 8a is a drive with three driver half bridges 601,602, 603 without phase shift (corresponds to a qualitatively drive with a driver half bridge 601.602, 603, which provides the actual current Ixist) is shown. It can be seen in FIG. 8b that with an activation of the m = 3 currents i1, i2, i3 that is phase-shifted by 36073 = 120 °, the current ripples of the actual current Ixist are one-ninth as large as in the case of non-phase-shifted activation. In the case of non-phase-shifted driving, the current ripple of the actual current Ixist is three times as large as a peak current of a phase ΐ, whereas the ripple current of the actual current Ixist in phase-shifted driving is (5/3 - 4/3) * ΐ, which is one third of the peak current of one phase ΐ corresponds.
    If the impressing of the actual current Ixact occurs by means of m phase currents i1, i2, i3 in m phases, then it is also possible to switch the m phase currents i1, i2, i3 partially or wholly as a function of the difference current d1, as shown in FIG 9 shows schematically. Each of the m current sources Iq can deliver a maximum phase current Umax, i2max, i3max, which are identical in FIG. The maximum actual current Ixistmax which can be supplied by the control unit 3 to the control point C is therefore m times as high as long as the maximum phase currents ilmax, i2max, i3max are equal, otherwise the maximum deliverable actual current Ixistmax results from the sum of the phase currents ilmax, i2max, i3max. If, due to a differential current dl of zero, an actual current Ixist of zero is output, all current sources Iq are switched off in order to maintain a predetermined potential of Ux. If the actual potential Uxist rises or falls above a certain threshold, a phase current M, i2, i3 is switched to it. If a predetermined current Ix is required, which exceeds the maximum phase current Umax, i2max, i3max, then a second phase current Μ, i2, i3 must be added, if the predetermined current Ix falls below a certain threshold, then a phase current i1, i2, Once a phase current i1, i2, i3 is switched to it, the proportional component of the conversion unit 5 increases, so that the actual current Ixact falls immediately. In FIG. 9, the first phase (first phase current i1) is active (range 1P) and only the second phase (second phase current i2, range 2P) and then the _Ή_ third phase (third phase current i3 connected thereto, range 3P) and then the third phase (area 2P), then the second phase (area 1P) and finally also the first phase switched off. Zero active phases signify a gap operation, which is designated as area OP in FIG. _1 9_
    权利要求:
    Claims (15)
    [1]
    claims
    1. A method for driving a plurality n LLM coils (L1, ..., Ln) of an LLM stator, characterized in that a first operating potential (Ub1) to n first input terminals (A1, ..., An) of n half-bridges (HB1, ..., HBn) is applied, a second operating potential (Ub2) is applied to n second input terminals (B1,.., Βη) of the n half-bridges that each half-bridge (HB1, ..., HBn) a first Switch (S11, ... S1n) between a center (C1, ..., Cn) of the respective half-bridge (HB1,.,., ΗΒη) and the first input terminal (A1, ..., An) is switched and each a second switch (S21, ..., S2n) between the center (C1, ..., Cn) of the respective half-bridge (HB1,.,., ΗΒη) and the second input terminal (B1, ..., Bn) is that the center (C1, ..., Cn) of the n half-bridges respectively with n first terminals (L11 ..... L1 n) of the n LLM coils (L1 ..... Ln) is connected, and that the second terminals (L11 ..... L1 n) of the n LLM coils (L1, ..., Ln) in a control point (C) are connected, which is regulated to a predetermined potential (Ux).
    [2]
    2. The method according to claim 1, characterized in that the predetermined potential (Ux) corresponds to half the potential difference between the first operating potential (Ub2) and the second operating potential (Ub2).
    [3]
    3. The method according to claim 1 or 2, characterized in that the second operating potential (Ub1) is zero.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that an actual potential (Uxist) at the control point (C) is detected and compared with the predetermined potential (Ux) and that based on a potential difference (dU) between the actual potential (Uxist) and predetermined potential (Ux), an actual current (Ixist) is fed to the control point (C) to control the voltage difference (dU) to a predetermined value.
    [5]
    5. The method according to claim 4, characterized in that the actual current (Ixist) from m to 3607m phase-shifted phase currents (i1, i2, i3) composed in the control point (C) is fed.
    [6]
    6. The method according to claim 5, characterized in that the m> 1 phase currents (i1, i2, i3) depending on the differential current (dl) partially or completely off or be turned on.
    [7]
    7. An apparatus for driving a plurality n of LLM coils (L1, ..., Ln) of an LLM stator, characterized in that n half-bridges (HB1, ..., HBn) each having a first input terminal (A1, .. ., An) and a second input terminal (B1, ..., Bn), wherein per half-bridge (HB1,.,., ΗΒη), a first switch (S11, ..., S1n) between a center (C1. .... Cn) of the half-bridge and the first input terminal (A1, ..., An) is provided and a second switch between the midpoint (C1 ..... Cn) of the half-bridge and the second input terminal (B1, .. , Bn), and the n first input terminals (A1 ..... An) are connected to a first operating potential (Ub1), and the n second input terminals (B1, ..., Bn) are connected to a second operating potential ( Ub2), that each LLM coil (L1, ..., Ln) is assigned a half-bridge (HB1 ..... HBn), wherein the n midpoints (C1, ..., Cn) of the n half-bridges respectively with a first connection (L11, ..., L1n) belonging to to the LLM coil (L1, ..., Ln), the second terminals (L11 ..... L1n) of the n LLM coils (L1, ..., Ln) are connected to a control point (C) are and that a control unit (3) is provided, which regulates an actual potential (Uxist) of the control point (C) to a predetermined potential (Ux).
    [8]
    8. The device according to claim 7, characterized in that a comparison unit (4) are provided, wherein the comparison unit (4) determines the potential difference (dU) between predetermined potential (Ux) and actual potential (Uxist) in the control point (C) and that in a current source (Iq) is present in the control unit (3), which feeds an actual current (I) into the control point (C) as a function of the potential difference (dU) in order to regulate the potential difference (dU) to a predetermined value.
    [9]
    9. The device according to claim 8, characterized in that the current source (Iq) includes a throttle (D) and a voltage source (Uq), wherein the throttle (D) is connected to the control point (C) and the actual current (I) via generates a voltage (U) generated by the voltage source (Uq) at the throttle (D).
    [10]
    10. The device according to claim 9, characterized in that the voltage source (Uq) includes a PWM module (PWM1) a driver half-bridge (6), wherein the PWM module (PWM1) controls the driver bridge (6) depending on the differential potential (dU) ,
    [11]
    11. The device according to claim 10, characterized in that the driver half-bridge (6) is made with GaN switches.
    [12]
    12. Device according to one of claims 8 to 11, characterized in that the comparison unit (4) includes a resistor network (R1, R2, R3, R4), with the first operating potential (Ub1), the second operating potential (UB2) and the Control point (C) is connected and from the first operating potential (Ub1), the second operating potential (UB2) and the actual potential (Uxist) at the control point (C) determines the potential difference (dU).
    [13]
    13. Device according to one of claims 8 to 12, characterized in that a conversion unit (5) is present, which is connected to the comparison unit (4) and the differential potential (dU) converts into a predetermined current (Ix) that a sensor (S) is present, which measures the actual current (Ixst) in the control point (C) and that a current regulator _AA_ (52) is present, the input side to the conversion unit (5) and the current sensor (S) is connected and the output side with the power source (Iq), receives the predetermined current (Ix) from the conversion unit (5) and the actual current (Ixist) from the sensor (S), determines a differential current (dl) and thus regulates the current source (Iq).
    [14]
    14. The device according to claim 13, characterized in that the conversion unit (5) is designed as a PI controller.
    [15]
    15. Device according to one of claims 8 to 14, characterized in that m> 1 current sources (Iq1, Iq2, Iq3) are present, wherein the m current sources (Iq1, Iq2, Iq3) are connected to the control point (C), the m current sources (Iq1, Iq2, Iq3) in each case feed a 3607m phase-shifted phase current (i1, i2, i3) in the control point (C). .ις.
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    同族专利:
    公开号 | 公开日
    CA2968179A1|2017-11-25|
    US10250176B2|2019-04-02|
    US20170346434A1|2017-11-30|
    AT518721B1|2021-11-15|
    CN107437916A|2017-12-05|
    EP3249803A1|2017-11-29|
    EP3249803B1|2021-02-17|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50476/2016A|AT518721B1|2016-05-25|2016-05-25|Control of long stator linear motor coils of a long stator linear motor stator|ATA50476/2016A| AT518721B1|2016-05-25|2016-05-25|Control of long stator linear motor coils of a long stator linear motor stator|
    EP17172226.7A| EP3249803B1|2016-05-25|2017-05-22|Control of long stator linear motor coils of a long stator linear motor stator|
    US15/603,956| US10250176B2|2016-05-25|2017-05-24|Control of long-stator linear motor coils of long-stator linear motor stator|
    CA2968179A| CA2968179A1|2016-05-25|2017-05-25|Control of long-stator linear motor coils of long-stator linear motor stator|
    CN201710377244.5A| CN107437916A|2016-05-25|2017-05-25|The control method of the long stator linear motor coil of long stator linear motor rotor|
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