JPS6318439B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a thyristor Leonard control system using a DC compound motor as a drive motor in a vehicle that receives AC power supply from an overhead wire or a third rail, for example.

One of the methods for driving a DC motor using single-phase or three-phase alternating current for an overhead wire or third rail is to use a thyristor Leonard. In this case, in order to be able to perform power running and regenerative braking, a compound motor is used as shown in Figure 1, an example of a three-phase AC power supply. There is a way to use it as a differential double-wound motor. In Figure 1, Vs is a balanced three-phase AC power supply, MTh1 to MTh6 are thyristor pure bridges for armature circuits, LB bridges and disconnectors,
MSL is smooth reactor, A is motor armature, F ₁
is a motor direct winding field, FTh1 to FTh6 are thyristor pure bridges for the power field circuit, FTh7 to FTh1
2 is a thyristor pure bridge for regenerative field circuit, F ₂
indicates the motor shunt field.

During power running, MTh1 to MTh6 thyristors and
By controlling the phase of the thyristors FTh1 to FTh6, the compound-wound motor is used as a harmonic, and a large torque is obtained. On the other hand, during regenerative braking, thyristors MTh1 to MTh6 and FTh7
~By controlling the phase of the thyristor FTh12, the compound motor is used as a differential, and stable regenerative brake control can be performed.

Figure 2 shows the armature circuit bridge output voltage Ed (shown in Figure 1) during power running and regenerative braking, where a shows an example of the waveform during power running and b shows an example of the waveform during regenerative braking. ing. MTh1 during power running
The firing angle α of ~MTh6 is 0≦α≦90°. The firing angle α during regenerative braking is 90° < α < 180°, forming a separately excited inverter circuit.

A conventional control system for this device, which generally operates as described above, is shown in the form of a block diagram in FIG. 3 for power running and in FIG. 4 for regenerative braking. The notch curves are shown in FIG. 7a for power running and in FIG. 7b for regenerative braking. In FIGS. 7a and 7b, FF shows the characteristics in the case of full field control and SF shows the characteristics in case of weak field control.

First, regarding power running, regarding the part in Figure 7a, power running armature constant current control is performed using the voltage generated from power running current pattern 3 that creates the power running armature current reference value in Figure 3 and armature current Ia as input. By circuit 4 and armature phase shifter 5, the thyristor shown in Fig. 1 is constructed.
The gate of MTh is controlled to control the armature circuit at a constant current, and the field circuit uses the reference voltage and field current If from the powering field current pattern 7 that creates the reference value of the powering field current as input, and controls the powering field current. current control circuit 8,
Thyristor FTh of Fig. 1 is formed by field phase shifter 9.
Constant current control is performed by controlling the gate of Regarding the part a in Fig. 7, the output of the motor voltage constant voltage control circuit 2 starts to come out based on the voltage generated from the power running voltage pattern 1, and the output of the power running armature constant current control circuit 4 is limited and the power running voltage pattern is changed. Constant voltage control is used to clip the voltage. Weak field control command Sf
is output and reaches point a in Fig. 7a, the phase detector 6 that detects the maximum conductivity reduces the pattern voltage of the power running field current pattern 7 to the weak field current reference value, and therefore If decreases. Then the F ₂ field is weakened. On the other hand, the armature circuit is subjected to constant current control by the power running armature constant current control circuit 4, resulting in a notch curve as shown in FIG. 7a. Regarding the part, the same control as in the state where the F ₂ field is weakened is performed.

Regarding regenerative braking, consider in advance that the maximum initial brake speed does not fall within the motor overvoltage limit range, and set the maximum speed Vmax as shown in Figure 7b.
It is designed to obtain a constant braking force from the Regarding the constant current control, as shown in FIG. Phase shifter 5
As for the field circuit, the field current pattern 12 that determines the regenerative field current reference value and the field current If are controlled by the regenerative field constant current control circuit 13 and the field phase shifter 9, respectively, using the thyristor shown in FIG. This is done by controlling the gates of MTh and FTh.

However, in the conventional system, the electric motor characteristics are close to those of shunt winding, and high acceleration performance is inferior, and it is hard to avoid that the motor characteristics are inferior in terms of vehicle performance compared to direct winding characteristics. In addition, regenerative braking also has the disadvantage that the initial braking speed Vmax is regulated due to the motor overvoltage limit, and if braking from higher speeds is desired, it becomes necessary to reduce the braking force.

The present invention was made in view of these points, and it is possible to obtain a direct winding characteristic during power running, a direct winding characteristic also in regenerative braking, and to enable regenerative braking from a high speed range by using weak field control in combination. I have to.

Hereinafter, one embodiment of the present invention will be described based on the drawings. That is, the control system is shown in block diagram form in FIG. 5 for power running and in FIG. 6 for regenerative braking. Note that the same reference numerals as in FIGS. 3 and 4 indicate the same components. The notch curves are shown in FIG. 7c for power running and in FIG. 7d for regenerative braking. Here F.
F. shows the case of full field control and SF shows the case of weak field control.

In the case of power running, the control of the armature circuit is the same as the conventional method (upper half of Figure 3) for the parts marked with and in Figure 7c, but the control of the field circuit is required from Figure 5. Only the relevant parts are shown in Figure 8. In a compound-wound motor, if control is performed in which the shunt-wound field current is made proportional to the DC field current, so-called IaαIf proportional control, the same characteristics as a series-wound motor can be obtained. Therefore, in FIG. 8, by inputting Ia and If, the IaαIf total field proportional control circuit 14, the low priority circuit 18, and the field phase shifter 9 obtain the results shown in FIG. 7c. Regarding the part c in Fig. 7, the armature circuit is controlled in the same manner as in Fig. 7, but the field circuit is controlled by the weak field command Sf as shown in Fig. 9, which is extracted from Fig. 5. Control is exercised. That is, based on the output of the power running current pattern 3, the armature current Ia, and the output of the power running armature constant current control circuit 4, the power running weak field constant current control circuit 15, high priority circuit 17, and low priority circuit 1 are controlled.
8. With the field phase shifter 9, the result shown in FIG. 7c is obtained. The transition to the next area is continuously controlled by switching by the low priority circuit 18 shown in FIG.

Regarding the part c in Fig. 7, the armature circuit is controlled in the same manner as in , but the field circuit is controlled as shown in Fig. 10, extracted from Fig. 5, by the weak field command Sf. will be done. That is, the armature current Ia and the field current If are input, and the IaαIf weak field proportional control circuit 16, the high priority circuit 17, the low priority circuit 18, and the field phase shifter 9 generate the direct winding of FIG. 7c. characteristics are obtained. The transition to the next area is continuously controlled by switching by the high-order priority circuit 17 shown in FIG.

In the case of regenerative braking, control as shown in FIG. 11, which is extracted from FIG. 6, is performed for the portion d in FIG. 7. That is, the field circuit is controlled by inputting the output of the regenerative motor voltage pattern 21 that creates the regenerative motor voltage reference value and the motor terminal voltage E _M.
FTh7 to FTh1 by the regenerative motor voltage constant voltage control circuit 22, low priority circuit 23, and field phase shifter 9.
2 gate signals are determined.

The armature circuit is controlled by making the series field current proportional to the shunt field current based on Ia and If. IfαIa weak field proportional control circuit 20, low priority circuit 19, armature phase shifter 5 By doing so, the series winding characteristic shown in FIG. 7d can be obtained. Regarding the part d in FIG. 7, as shown in FIG. 12, the armature circuit is controlled by inputting the regenerative current pattern 10 and Ia, the regenerative armature constant current control circuit 11, the low priority circuit 19, the armature The phase shifter 5 determines the gate signals MTh1 to MTh6. The control of the field circuit is the same as that of the section. The transition to the next area is continuously controlled by switching by the low priority circuit 19 shown in FIG. The part shown in FIG. 13 is the same as the conventional regenerative brake control, and its contents are shown in FIG. 13 extracted from FIG. 6.

Note that when moving to the area from d in Figure 7, the first
It is continuously controlled by switching by the low priority circuit 23 shown in FIG.

As described above, the present invention can achieve series winding characteristics in both full field and weak field control during power running in the thyristor Leonard control system while performing automatic switching using high priority and low priority means, and is suitable for vehicles. This is a convenient characteristic, and in regenerative braking, it is possible to obtain a series winding characteristic of a weak field, making it possible to brake in a high-speed range without entering the motor overvoltage limit range. Although the present invention is a compound-wound motor, it has the characteristics of a series-wound motor and can also perform weak field control, so a wide range of control can be achieved.
It also has the advantage of being able to perform regenerative braking stably, making it extremely useful when applied to vehicles. Although the present invention has been described with respect to three phases, it is not limited thereto, and it goes without saying that the present invention can be applied to a thyristor Leonard system of AC power supply of a single phase or any other phase.

[Brief explanation of the drawing]

Fig. 1 is a main circuit connection diagram of the thyristor Leonard, Fig. 2 is a waveform diagram for explaining operation during power running and regenerative braking, Fig. 3 is a control block diagram showing an example of a conventional system for power running, and Fig. 4 5 is a control block diagram showing an embodiment of a conventional system for regenerative braking, FIG. 5 is a control block diagram showing an embodiment of the present invention for power running, and FIG. 6 is a control block diagram showing an embodiment of the present invention for regenerative braking. Control block diagram showing an embodiment, seventh
The figures are notch curve diagrams according to a conventional system and an embodiment of the present invention, and Figs. 8 to 13 are explanatory control block diagrams of an embodiment of the present invention for power running or regenerative braking. Note that the same reference numerals in the figures indicate the same or corresponding parts. Vs……Three-phase AC power supply, MTh1 to MTh6……
Thyristor pure bridge for armature circuit, LB...Shield breaker, MSL...Smoothing reactor, A...Motor armature, F ₁ ...Motor series winding field, FTh1~
FTh6...Thyristor pure bridge for power running field circuit, FTh7 to FTh12...Thyristor pure bridge for regenerative field circuit, _F2 ...Motor shunt field, 1
... Power running voltage pattern, 2... Motor voltage constant voltage control circuit, 3... Power running current pattern, 4... Power running armature constant voltage control circuit, 5... Armature phase shifter, 6
...Phase detector, 7...Powering field current pattern,
8... Power running field constant current control circuit, 9... Field phase shifter, 10... Regenerative current pattern, 11... Regenerative armature constant current control circuit, 12... Field current pattern, 13... Regeneration Field constant current control circuit, 14...
IaαIf total field proportional control circuit, 15...Power running weak field magnetic constant current control circuit, 16...IaαIf weak field proportional control circuit, 17...High priority circuit, 18, 19, 23
...Low priority circuit, 20...IfαIa weak field proportional control circuit, 21...Regenerative motor voltage pattern, 22
... Regenerative motor voltage constant voltage control circuit, Ia ... Armature current, If ... Field current, E _M ... Motor terminal voltage.

Claims (1)

[Claims] 1 1 set of thyristor bridge, motor armature,
Compound winding has an armature circuit consisting of a motor series field, a smoothing reactor, and a switch, and a field circuit consisting of two anti-parallel connected thyristor bridges and a motor shunt field. In the thyristor Leonard control system in which the motor is driven by a single-phase or higher AC power source, the first control method controls the magnitude of the armature current according to the reference value of the armature current during power running.
and a first current control means for controlling the output of the first current control means in accordance with a reference value of the armature voltage.
a second current control means for controlling the magnitude of the armature current according to a reference value of the armature current during regeneration; and a second current control means for controlling the magnitude of the armature current according to the field current. 3 current control means;
a first low priority means that prioritizes the low outputs of the second and third current control means; a fourth current control means that controls the magnitude of the field current according to the armature current during power running; a fifth current control means for controlling the magnitude of the field current so that the armature current is constant according to a reference value of the armature current; and a high level of the output of the fourth and fifth current control means. a high priority means that gives priority, a sixth current control means that controls the magnitude of the field current according to the armature current during power running, and a second low priority means that gives priority to the low output of the high priority means. , a second voltage control means for controlling the magnitude of the motor terminal voltage according to the reference value of the motor terminal voltage during regeneration, and a seventh voltage control means for controlling the magnitude of the field current according to the reference value of the field current. A thyristor Leonard control system comprising: current control means; and third low priority means for prioritizing low outputs of the second voltage control means and the seventh current control means.