DE202004012389U1 - Surgical machine has brushless electric motor with space vector pulse width modulation control using rotor position sensing by reverse EMF during coil disconnection - Google Patents
Surgical machine has brushless electric motor with space vector pulse width modulation control using rotor position sensing by reverse EMF during coil disconnection Download PDFInfo
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- DE202004012389U1 DE202004012389U1 DE200420012389 DE202004012389U DE202004012389U1 DE 202004012389 U1 DE202004012389 U1 DE 202004012389U1 DE 200420012389 DE200420012389 DE 200420012389 DE 202004012389 U DE202004012389 U DE 202004012389U DE 202004012389 U1 DE202004012389 U1 DE 202004012389U1
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- 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
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1628—Motors; Power supplies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00137—Details of operation mode
- A61B2017/00154—Details of operation mode pulsed
- A61B2017/00181—Means for setting or varying the pulse energy
- A61B2017/0019—Means for setting or varying the pulse width
Abstract
Description
Die vorliegende Erfindung betrifft eine chirurgische Maschine mit einem sensorlosen Elektromotor, welcher einen Rotor und mindestens zwei Motorwicklungen aufweist, und mit einer Motorsteuerung zum Steuern und/oder Regeln des Elektromotors.The The present invention relates to a surgical machine with a sensorless electric motor, which has a rotor and at least two Has motor windings, and with a motor controller for control and / or rules of the electric motor.
Ferner wird nachfolgend ein Verfahren zum Steuern und/oder Regeln einer chirurgischen Maschine mit einem sensorlosen Elektromotor, welcher einen Rotor und mindestens zwei Motorwicklungen aufweist, und mit einer Motorsteuerung zum Steuern und/oder Regeln des Elektromotors beschrieben.Further is a method for controlling and / or regulating a surgical machine with a sensorless electric motor, which a Has rotor and at least two motor windings, and with one Motor control for controlling and / or regulating the electric motor described.
In der Chirurgie werden zunehmend Maschinen mit einer netzunabhängigen Energieversorgung eingesetzt. Dies hat zur Folge, daß bei üblicherweise als Energieversorgungen eingesetzten Batterien oder Akkumulatoren Umrichterschaltungen vorgesehen werden müssen, um aus von den Energieversorgungen bereitgestellten Gleichspannungen zum Betreiben eines Elektromotors mit mehreren, in der Regel drei Motorwicklungen erforderliche zeitabhängige Spannungs- und Stromverläufe bereitzustellen.In In surgery, machines with an off-grid power supply are increasingly being used. The result of this is that usually at Power supplies used batteries or accumulator converter circuits must be provided to from direct voltages provided by the energy supplies to operate an electric motor with several, usually three To provide motor windings with the required time-dependent voltage and current profiles.
Aufgrund der netzunabhängigen Energieversorgung muß der Elektromotor elektronisch kommutiert werden. Allerdings ergeben sich insbesondere bei kleinen Motordrehzahlen, das heißt bei Drehzahlen von weniger als 1000 Umdrehungen pro Minute, erhöhte Anforderungen an die Motorsteuer- und/oder -regelung. Da ferner hohe Ansprüche an ein optimales Anlaufverhalten des Motors unter Last sowie an dessen Dynamik gestellt werden und gleichzeitig in jedem Arbeitspunkt der bestmögliche Wirkungsgrad erreicht werden soll, ist es erforderlich, die Position oder Lage des üblicherweise durch einen Magneten gebildeten Rotors des Motors zu bestimmen. Erst die genaue Rotorposition ermöglicht es, die als Motor- oder Statorwicklungen bezeichneten Spulen zum geforderten Kommutierungszeitpunkt bestimmungsgemäß bestromen zu können.by virtue of the off-grid The energy supply must Electric motor can be commutated electronically. However, result especially at low engine speeds, i.e. at speeds of less than 1000 revolutions per minute, increased demands on the engine control and / or regulation. Since there are also high demands on optimal start-up behavior the engine under load and its dynamics are placed and at the same time, the best possible efficiency is achieved in every working point it is necessary to change the position or location of the usual to determine the rotor of the motor formed by a magnet. Only the exact rotor position enables it to be used as a motor or Stator windings designated coils at the required commutation time energize as intended to be able to.
Es ist bekannt, zur Positionserkennung Sensorsysteme einzusetzen, beispielsweise digitale oder analoge Hall-Systeme. Nachteilig bei diesen Ausführungen ist, daß Positionssensoren in den Motor integriert und mit der Motorsteuerung verbunden werden müssen. Es müssen folglich für jeden Positionssensor entsprechende Kontakte vorgesehen werden, wenn die Motorsteuerung nicht fest mit dem Elektromotor verbunden ist. Dies kann zu Kontaktkorrosion beim Reinigen, insbesondere beim Sterilisieren der Maschine führen, und im schlimmsten Fall die Maschine außer Betrieb setzen.It is known to use sensor systems for position detection, for example digital or analog Hall systems. A disadvantage of these designs is that position sensors must be integrated into the engine and connected to the engine control. It have to consequently for Corresponding contacts are provided for each position sensor, if the motor control is not firmly connected to the electric motor. This can lead to contact corrosion when cleaning, especially when sterilizing of the machine, and in the worst case, shut down the machine.
Ferner ist es bekannt, für Anwendungen, bei denen keine hohen Anforderungen an die Dynamik, das Anlaufmoment und die Motorqualität im Bereich kleiner Motordrehzahlen gestellt werden, sensorlose Rotorpositionserkennungsverfahren zu nutzen. Da bei herkömmlichen elektronischen Kommutierungsverfahren für Elektromotoren stets eine Motorwicklung nicht bestromt wird, wird zur Ermittlung einer Ist-Motordrehzahl, die Gegen-EMK (Elektro-Motorische-Kraft) an der nicht bestromten Motorwicklung gemessen und ausgewertet.It is also known to use sensorless rotor position detection methods for applications in which there are no high demands on the dynamics, the starting torque and the motor quality in the range of low motor speeds. Since always a motor winding is not energized in the conventional electronic commutation for electric motors, is to determine an actual engine speed, the back EMF (E lektro- M otorische- K raft) on the non-energized motor winding measured and evaluated.
Die oben beschriebenen, bekannten Steuer- und Regelungsverfahren für chirurgische Maschinen erfordern entweder einen erhöhten schaltungstechnischen Aufwand und zusätzliche Bauteile, insbesondere Sensorsysteme mit Positionssensoren, oder sind nicht geeignet, den Elektromotor aus dem Stillstand unter Last gezielt anlaufen zu lassen und auch bei sehr niedrigen Drehzahlen mit hoher Laufruhe zu betreiben.The Known control methods for surgical procedures described above Machines either require increased circuitry Effort and additional Components, in particular sensor systems with position sensors, or are not suitable to target the electric motor from standstill under load to start up and even at very low speeds with high To operate smoothly.
Es ist daher Aufgabe der vorliegenden Erfindung, eine chirurgische Maschine und ein Verfahren zum Steuern und Regeln einer chirurgischen Maschine der eingangs beschriebenen Art so zu verbessern, daß der Elektromotor mit optimalem Wirkungsgrad bei kleinen Drehzahlen betreibbar ist sowie ein bestimmungsgemäßer Motoranlauf auch unter Last ermöglicht wird.It is therefore an object of the present invention, a surgical Machine and a method for controlling and regulating a surgical To improve the machine of the type described above so that the electric motor can be operated with optimum efficiency at low speeds as well as a proper engine start even possible under load becomes.
Diese Aufgabe wird bei einer chirurgischen Maschine der eingangs beschriebenen Art erfindungsgemäß dadurch gelöst, daß mit der Motorsteuerung ein Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren zum Steuern und/oder Regeln des Elektromotors durchführbar ist, bei welchem alle Motorwicklungen gleichzeitig bestrombar sind.This The task is described in the case of a surgical machine Kind according to the invention solved, that with the motor controller uses a space vector pulse width modulation (SVPWM) method for controlling and / or regulating the electric motor can be carried out, in which all motor windings can be energized at the same time.
Die Motorsteuerung so auszubilden, daß die chirurgische Maschine mittels Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren gesteuert und/oder geregelt werden kann, verbessert insbesondere den Motoranlauf und dessen Betrieb bei kleinen Drehzahlen. Grund hierfür ist insbesondere, daß, anders als bei einem herkömmlichen Puls-Weiten-Modulations-(PWM)-Verfahren, alle Motorwicklungen gleichzeitig bestromt werden. Dies bedeutet insbesondere bei einem Elektromotor mit drei Motorwicklungen, daß nicht nur zwei, sondern alle drei Motorleitungen bestromt werden. Bei drei Motorwicklungen können so jeweils 60°-Phasen einer Rotorbewegung des Elektromotors relativ zu den Motorwicklungen stufenlos variiert werden. Bei herkömmlicher beziehungsweise bislang angewandten Puls-Weiten-Modulations-(PWM)-Verfahren konnte ein Feldwinkel des Statorfeldes nicht stufenlos, sondern nur in 60°- Schritten geändert werden. Vor allem bei niedrigen Drehzahlen kann so ein wesentlich ruhigerer Motorlauf erreicht werden. Ferner läßt sich das Anlaufen des Motors unabhängig von einer Rotorposition des Elektromotors ganz gezielt vorgeben.The Engine control train so that the surgical machine controlled by means of space vector pulse width modulation (SVPWM) methods and / or can be regulated, in particular improves the motor start and its operation at low speeds. The reason for this is in particular that, different than with a conventional pulse width modulation (PWM) method, all motor windings are energized at the same time. this means especially with an electric motor with three motor windings, that not only two, but all three motor cables are energized. at three motor windings can so each 60 ° phases a rotor movement of the electric motor relative to the motor windings can be varied continuously. With conventional or previously applied pulse width modulation (PWM) method could field angle of the stator field cannot be changed continuously, but only in 60 ° steps. Especially at low speeds, it can be much quieter Engine run can be achieved. The motor can also be started independently from a rotor position of the electric motor.
Ein optimaler Aufbau der Maschine ergibt sich, wenn die Motorsteuerung eine Steuerungseinheit und eine Leistungseinheit umfaßt. Auf diese Weise läßt sich insbesondere eine Leistungsaufnahme der Maschine minimieren, wenn der Elektromotor stillsteht.On optimal construction of the machine results when the motor control comprises a control unit and a power unit. On this way can be especially minimize power consumption of the machine if the electric motor stops.
Eine elektronische Kommutierung läßt sich auf einfache Weise dadurch erreichen, daß die Leistungseinheit jeweils zwei Leistungstransistoren für jede der mindestens zwei Motorwicklungen umfaßt. Es lassen sich so auf einfache Weise positive und negative Spannungen bezogen auf ein Referenzpotential an die mindestens zwei Motorwicklungen anlegen, auch wenn nur eine Gleichspannungswelle als Energieversorgung zur Verfügung steht.A electronic commutation can be used easily achieved in that the power unit each two power transistors for each which comprises at least two motor windings. It can be so simple Wise positive and negative voltages related to a reference potential Apply to the at least two motor windings, even if only one DC voltage wave is available as an energy supply.
Besonders wartungsfreundlich wird die Maschine, wenn der Elektromotor ein bürstenloser Gleichstrommotor ist. Insbesondere kann der Elektromotor auch elektronisch kommutiert sein.Especially The machine becomes easy to maintain when the electric motor is on brushless DC motor is. In particular, the electric motor can also be commutated electronically his.
Grundsätzlich wäre es denkbar, auf eine Bestimmung der Rotorposition des Rotors des Elektromotors zu verzichten. Um jedoch insbesondere das Anlaufen des Elektromotors unter Last zu optimieren, ist es günstig, wenn zur Steuer- und/oder Regelung einer Bestromung der mindestens zwei Rotorwicklungen eine Rotorposition des Elektromotors bestimmbar ist. Durch das Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren läßt sich bei Kenntnis der Rotor position der Feldwinkel des durch die bestromten Motorwicklungen erzeugten Statorfeldes stufenlos so weiterschalten, daß ein optimaler Wirkungsgrad des Motors erreicht wird.In principle, it would be conceivable to a determination of the rotor position of the rotor of the electric motor to renounce. However, in particular the starting of the electric motor To optimize under load, it is favorable if one for control and / or regulation Powering the at least two rotor windings a rotor position of the electric motor can be determined. By the space vector pulse width modulation (SVPWM) method let yourself with knowledge of the rotor position, the field angle of the one energized by the Motor windings generated stator field continuously so the existence optimal engine efficiency is achieved.
Gemäß einer bevorzugten Ausführungsform der Erfindung kann vorgesehen sein, daß zur Bestimmung der Rotorposition des Elektromotors mindestens eine der mindestens zwei Motorwicklungen für ein Zeitintervall tUnterbrechung von einer Energieversorgung der Maschine trennbar ist, daß während des Zeitintervalls tUnterbrechung eine Gegen-EMK der mindestens einen der mindestens zwei Motorwicklungen meßbar ist, und daß aus der gemessenen Gegen-EMK eine Ist-Position des Rotors berechenbar ist. Mit anderen Worten bedeutet dies, daß die gleichzeitige Bestromung beim Space-Vektor-Puls-Weiten-Modulations(SVPWM)-Verfahren für ein bestimmtes Zeitintervall gezielt kurz unterbrochen wird, und zwar an einer, mehreren oder allen Motorwicklungen. Während der kurzen Unterbrechung kann dann an einer, mehren oder allen Motorwicklungen die Gegen-EMK bestimmt werden und aufgrund deren Größe auf eine Stellung des Rotors relativ zu den Motorwicklungen geschlossen werden kann.According to a preferred embodiment of the invention, provision may be made for determining the rotor position of the electric motor at least one of the at least two motor windings for a time interval t interruption of a power supply of the machine separable is that during the time interval t interrupt a back emf of at least one of at least two motor windings can be measured, and that an actual position of the rotor can be calculated from the measured back emf. In other words, this means that the simultaneous energization in the space vector pulse width modulation (SVPWM) method is specifically briefly interrupted for a specific time interval, specifically on one, several or all motor windings. During the brief interruption, the back emf can then be determined on one, several or all motor windings and, based on their size, a conclusion can be drawn about a position of the rotor relative to the motor windings.
Eine bestimmte Rotorposition läßt sich weiter verbessern, wenn alle Motorwicklungen gleichzeitig für das Zeitintervall tUnterbrechung von der Energieversorgung der Maschine trennbar sind. Es läßt sich so gleichzeitig die Gegen-EMK an allen Motorwicklungen bestimmen, sodaß sich eventuelle Ungenauigkeiten bei der Bestimmung der Gegen-EMK an nur einer Motorwicklung folglich weniger stark auswirken.A specific rotor position can be further improved if all motor windings can be disconnected from the power supply of the machine simultaneously for the time interval t interruption . The back emf on all motor windings can thus be determined simultaneously, so that any inaccuracies in the determination of the back emf on only one motor winding consequently have less of an effect.
Damit das Zeitintervall tUnterbrechung möglichst kurz bleibt, ist es günstig, wenn die an den mindestens zwei Motorwicklungen anliegenden Spannungen vor oder zu Beginn des Zeitintervalls tUnterbrechung oder vor der Messung der Gegen-EMK meßbar sind und wenn diejenige Motorwicklung, an welcher die niedrigste Spannung gemessen wird, mit einem vorgegebenen Spannungspotential verbindbar ist. Durch diese Ausgestaltung wird eine Zeit für das Einschwingen des Systems minimiert, das heißt, die Gegen-EMK kann nach einer minimalen Wartezeit gemessen werden.So that the time interval t interruption remains as short as possible, it is advantageous if the voltages applied to the at least two motor windings can be measured before or at the beginning of the time interval t interruption or before the measurement of the back emf and if the motor winding with the lowest voltage is measured, can be connected to a predetermined voltage potential. With this configuration, a time for the system to settle is minimized, that is to say the back emf can be measured after a minimal waiting time.
Besonders einfach wird der Aufbau der chirurgischen Maschine, wenn das vorgegebene Spannungspotential Masse ist.Especially The construction of the surgical machine becomes simple if the given Voltage potential is ground.
Um eine Bestimmung der Rotorposition weiter zu optimieren, ist es vorteilhaft, wenn die Motorsteuerung derart ausgebildet ist, daß die Gegen-EMK während des Zeitintervalls tUnterbrechung erst nach einer Einschwingzeit tEinschwing gemessen wird. Dies bedeutet mit anderen Worten, daß beispielsweise die Bestromung an mindestens einer Motorwicklung unterbrochen wird, also das Zeitintervall tUnterbrechung beginnt, und erst nach der Einschwingzeit tEinschwing, welche üblicherweise kürzer als das Zeitintervall tUnterbrechung ist, die Gegen-EMK gemessen wird.In order to further optimize a determination of the rotor position, it is advantageous if the motor control is designed such that the back emf is measured during the time interval t interruption only after a settling time t settling . In other words, this means that, for example, the current supply to at least one motor winding is interrupted, i.e. the time interval t interruption begins, and only after the settling time t transient , which is usually shorter than the time interval t interruption , the back emf is measured.
Um die Genauigkeit der Bestimmung der Rotorposition weiter zu verbessern, ist es günstig, wenn die Motorsteuerung derart ausgebildet ist, daß zur Bestimmung der Gegen-EMK ein Spannungsverlauf an der oder den nicht mit dem vorgegebenen Spannungspotential verbundenen Motorwicklungen meßbar ist und wenn die Einschwingzeit tEinschwing mindestens der Zeit tkonstant entspricht, bis die an der oder den nicht mit dem vorgegebenen Spannungspotential Motorwicklungen anliegenden Spannungen im Zeitverlauf konstant oder nahezu konstant sind. Diese Ausgestaltung gestattet es, die Einschwingzeit tEinschwing je nach Bedarf zu variieren. Durch die Bestimmung der Zelt tkonstant kann die Einschwingzeit tEinschwing gezielt eingestellt und minimiert werden.In order to further improve the accuracy of the determination of the rotor position, it is expedient if the motor control is designed in such a way that, in order to determine the back emf, a voltage curve can be measured on the motor winding or windings which are not connected to the specified voltage potential and if the settling time t settling corresponds at least to the time t constant until the voltages applied to the motor winding (s) that are not at the specified voltage potential are constant or almost constant over time. This configuration allows the settling time t settling to be varied as required. By determining the tent t constant , the settling time t settling can be set and minimized.
Vorzugsweise ist die Motorsteuerung derart ausgebildet, daß ein konstanter Wert für das Zeitintervall tUnterbrechung vorgegeben ist. Es läßt sich so die Motorsteuerung wesentlich vereinfachen.The motor controller is preferably designed such that a constant value for the time interval t interruption is specified. The engine control can thus be simplified considerably.
Gemäß einer alternativen Ausführungsform der Maschine kann es jedoch vorteilhaft sein, wenn die Motorsteuerung derart ausgebildet ist, daß das Zeitintervall tUnterbrechung veränderbar ist. Dadurch kann insbesondere das Zeitintervall tUnterbrechung vergrößert oder verkleinert werden, falls die Zelt tkonstant länger als das zunächst vorgegebene Zeitintervall tUnterbrechung ist.According to an alternative embodiment of the machine, however, it can be advantageous if the motor control is designed in such a way that the time interval t interruption can be changed. This can in particular, the time interval t interruption can be increased or decreased if the tent t is constantly longer than the initially specified time interval t interruption .
Einen optimierten Betrieb der Maschine kann man erreichen, wenn die Motorsteuerung derart ausgebildet ist, daß die Dauer des Zeitintervalls tUnterbrechung derart vorgebbar ist, daß während des Zeitintervalls tUnterbrechung die an der oder den nicht mit dem vorgegebenen Spannungspotential verbundenen Motorwicklungen anliegenden Spannungen im Zeitverlauf einen konstanten oder nahezu konstanten Spannungswert annehmen. Insbesondere bei kurzen Abklingzeiten, das heißt, wenn die Zeit tkonstant sehr klein ist, läßt sich das Zeitintervall tUnterbrechung entsprechend anpassen, wodurch die Bestromungsunterbrechung der Motorwicklungen minimal kurz wird. Dadurch wird die Laufruhe des Motors, insbesondere bei niedrigen Drehzahlen und beim Anlaufen, verbessert.Optimized operation of the machine can be achieved if the motor control is designed in such a way that the duration of the time interval t interruption can be predetermined in such a way that during the time interval t interruption the voltages applied to the motor windings or those not connected to the specified voltage potential unite over time assume constant or almost constant voltage value. Particularly in the case of short decay times, that is to say if the time t is constantly very short, the time interval t interruption can be adapted accordingly, as a result of which the current interruption in the motor windings is minimal. This improves the smooth running of the engine, especially at low speeds and when starting.
Vorzugsweise ist die Motorsteuerung derart ausgebildet, daß das Zeitintervall tUnterbrechung vergrößerbar ist, wenn die Zeit tkonstant größer als das Zeitintervall tUnterbrechung ist, und/oder daß das Zeitintervall tUnterbrechung verkleinerbar ist, wenn die Zeit tkonstant kleiner als das Zeitintervall tUnterbrechung ist. So wird sichergestellt, daß das Zeitintervall tUnterbrechung nie länger als unbedingt erforderlich ist, um die Gegen-EMK für die Ermittlung der Rotorposition möglichst genau zu bestimmen.The motor controller is preferably designed such that the time interval t interruption can be increased if the time t is constantly greater than the time interval t interruption , and / or that the time interval t interruption can be reduced if the time t is constantly smaller than the time interval t interruption is. This ensures that the time interval t interruption is never longer than is absolutely necessary in order to determine the back emf for determining the rotor position as precisely as possible.
Grundsätzlich wäre es denkbar, das Zeitintervall tUnterbrechung periodisch zu variieren. Günstig ist es jedoch, wenn die Motorsteuerung derart ausgebildet ist, daß das Zeitintervall tUnterbrechung pro Umdrehung schrittweise veränderbar ist. Insbesondere ist es günstig, wenn das Zeitintervall tUnterbrechung schrittweise vergrößerbar oder verkleinerbar ist. Auf diese Weise kann das Zeitintervall tUnterbrechung verändert werden, bis es mindestens der Zeit tkonstant entspricht, um die Gegen-EMK sicher und genau bestimmen zu können.In principle, it would be conceivable to periodically vary the time interval t interruption . However, it is expedient if the motor control is designed such that the time interval t interruption per revolution can be changed step by step. In particular, it is advantageous if the time interval t interruption can be increased or decreased step by step. In this way, the time interval t interruption can be changed until it corresponds at least to the time t constant in order to be able to determine the back emf reliably and precisely.
Gemäß einer bevorzugten Ausführungsform der Erfindung kann vorgesehen sein, daß die Motorsteuerung derart ausgebildet ist, daß eine Soll-Position mit der aus der Gegen-EMK-Messung bestimmten Ist-Position des Rotors vergleichbar ist und daß ein Feldwinkel der Space-Vektor-Puls-Weiten-Modulation (SVPWM) entsprechend der ermittelten Differenz zwischen Soll- und Ist-Position des Rotors nachregelbar ist. Die Motorsteuerung bestimmt also eine Abweichung der Ist-Position von der Sollposition des Rotors und regelt aufgrund der bestimmten Positionsabweichung den Feldwinkel des durch die Motorwicklungen erzeugten Statorfeldes nach. Es kann so ein optimaler Wirkungsgrad des Motors erreicht werden.According to one preferred embodiment of the Invention can be provided that the engine control in such a way is trained that a Target position with the actual position determined from the back EMF measurement of the rotor is comparable and that a field angle of the space vector pulse width modulation (SVPWM) according to the determined difference between target and The actual position of the rotor can be readjusted. The engine control determines So a deviation of the actual position from the target position of the rotor and regulates the field angle based on the determined position deviation of the stator field generated by the motor windings. It can optimal engine efficiency can be achieved.
Um die Genauigkeit bei der Bestimmung der Gegen-EMK weiter zu erhöhen, ist es vorteilhaft, wenn die Motorsteuerung derart ausgebildet ist, daß die Gegen-EMK erst meßbar ist, wenn der Motorstrom mindestens einer der mindestens zwei Motorwicklungen auf Null abgefallen ist. Es lassen sich so eventuelle, durch das Fließen eines Motorstroms bedingte Meßfehler bei der Ermittlung einer Gegen-EMK vermeiden.Around the accuracy in determining the back emf is to be increased further it is advantageous if the motor control is designed in such a way that the Back EMF is only measurable, if the motor current is at least one of the at least two motor windings has dropped to zero. It is possible to use the Flow measurement errors caused by a motor current avoid when determining a back emf.
Grundsätzlich wäre es denkbar, eine netzabhängige Gleichstromspannungsquelle als Energieversorgung für die chirurgische Maschine zu wählen. Besonders vorteilhaft ist es jedoch, wenn eine netzunabhängige Energieversorgung zur Energieversorgung der Maschine vorgesehen ist. Insbesondere vorteilhaft ist der Einsatz einer Batterie beziehungsweise eines Akkumulators. Denkbar wäre auch die Verwendung einer Brennstoffzelle. Die Maschine läßt sich so ohne störende Kabelverbindungen in gewünschter Weise bei chirurgischen Eingriffen verwenden.In principle, it would be conceivable a network dependent DC voltage source as energy supply for the surgical Machine to choose. Especially However, it is advantageous if a network-independent energy supply for Power supply to the machine is provided. Particularly advantageous is the use of a battery or an accumulator. Would be conceivable also the use of a fuel cell. The machine can be so without distracting Cable connections in the desired Use way in surgical procedures.
Günstigerweise bilden die netzunabhängige Energieversorgung und die Motorsteuerung eine Einheit und ist die Einheit mit der Maschine lösbar verbindbar. Dies hat insbesondere den Vorteil, daß zu Reinigungszwecken, beispielsweise zur Sterilisierung der Maschine, alle hitze- und feuchtigkeitsempfindlichen Teile der Maschine entfernt werden können. Die Ausbildung der Motorsteuerung und der netzunabhängigen Energieversorgung als Einheit verkürzt eine Vorbereitungszeit der chirurgischen Maschine für den Einsatz.conveniently, form the grid-independent energy supply and the motor controller is a unit and is the unit with the Machine detachable connectable. This has the particular advantage that for cleaning purposes, for example to sterilize the machine, all heat and moisture-sensitive parts of the machine can be removed. The Training of the motor control and the network-independent energy supply as Unit shortened a preparation time of the surgical machine for use.
Besonders einfach wird der Aufbau der chirurgischen Maschine, wenn der Elektromotor drei Motorwicklungen aufweist.Especially The construction of the surgical machine becomes simple when the electric motor has three motor windings.
Gemäß einer weiteren bevorzugten Ausführungsform der Erfindung kann vorgesehen sein, daß ein Gesamtdrehzahlbereich der chirurgischen Maschine in mindestens einen unteren Drehzahlbereich für niedrige Drehzahlen und in mindestens einen oberen Drehzahlbereich für höhere Drehzahlen als der mindestens eine untere Drehzahlbereich unterteilt ist und daß die Motorsteuerung derart ausgebildet ist, daß in dem mindestens einen unteren Drehzahlbereich das Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren durchführbar ist. Eine chirurgische Maschine derart weiterzubilden, hat den Vorteil, daß je nach Drehzahlbereich am besten geeignete Steuer- und/oder Regelungsverfahren zum Steuern und/oder Regeln der chirurgischen Maschine durchgeführt werden können. Für den unteren Drehzahlbereich ist die Durchführung des Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahrens günstig, da dieses Verfahren einen ruhigen Motorlauf ermöglicht, insbesondere beim Anlaufen des Motors und bei niedrigen Drehzahlen.According to one another preferred embodiment The invention can provide that a total speed range the surgical machine in at least a lower speed range for low Speeds and in at least one upper speed range for higher speeds than the at least one lower speed range is divided and that the Engine control is designed such that in the at least one lower Speed range the space vector pulse width modulation (SVPWM) method feasible is. The further development of a surgical machine in this way has the advantage that ever The most suitable control and / or regulation methods according to the speed range to control and / or regulate the surgical machine can. For the lower speed range is the implementation of the space vector pulse width modulation (SVPWM) method Cheap, because this procedure allows the motor to run smoothly, especially when starting of the engine and at low engine speeds.
Ferner ist es günstig, wenn in dem mindestens einen oberen Drehzahlbereich ein zweites Verfahren zum Steuern und/oder Regeln der chirurgischen Maschine durchführbar ist, welches ein Puls-Weiten-Modulations-(PWM)-Verfahren ist. Insbesondere ein herkömmliches, dreiphasen-trägergestütztes Puls-Weiten-Modulations-(PWM)-Verfahren bei hohen Drehzahlen anstelle des Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahrens durchzuführen, hat hinsichtlich des Wirkungsgrades der chirurgischen Maschine Vorteile. So wird vor allem bei höheren Drehzahlen die Bestimmung der Rotorposition beim Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren schwieriger, und zudem dämpft dieses Verfahren den Elektromotor bei hohen Drehzahlen in unerwünschter Weise, was sich wiederum negativ auf dessen Wirkungsgrad auswirkt.Further is it convenient if a second in the at least one upper speed range Method for controlling and / or regulating the surgical machine feasible which is a pulse width modulation (PWM) method. In particular a conventional, three-phase carrier-based pulse width modulation (PWM) method high speeds instead of the space vector pulse width modulation (SVPWM) method advantages in terms of the efficiency of the surgical machine. This is especially the case with higher ones Speeds the determination of the rotor position in the space vector pulse width modulation (SVPWM) method more difficult, and also dampens this method undesirable the electric motor at high speeds Wise, which in turn has a negative impact on its efficiency.
Günstig ist es, wenn ein Drehzahlgrenzwert zwischen dem mindestens einen unteren und dem mindestens einen oberen Drehzahlbereich veränderbar ist.Is cheap it when there is a speed limit between the at least one lower and the at least one upper speed range changeable is.
Dies bedeutet mit anderen Worten, daß zwischen einem ersten und einem zweiten Steuer- und/oder Regelungsverfahren beim Drehzahlgrenzwert umgeschaltet werden kann. Wird beispielsweise für den oberen Drehzahlbereich ein anderes Steuer- und/oder Regelungsverfahren gewünscht oder geändert, so kann dies ein unveränderlicher Drehzahlgrenzwert zum Umschalten zwischen dem unteren und dem oberen Drehzahlbereich, beispielsweise einen Wirkungsgrad der Maschine, negativ beeinflussen, so daß eine Veränderung des Drehzahlgrenzwerts positive Auswirkungen auf einen Wirkungsgrad der Maschine hat.This in other words means between a first and a second control and / or regulation method can be switched at the speed limit. For example, for the top Speed range another control and / or regulation method required or changed, so this can be an immutable Speed limit for switching between the lower and the upper Speed range, for example an efficiency of the machine, affect negatively, so that a change of the speed limit has a positive impact on the efficiency of the Machine.
Gemäß einer weiteren bevorzugten Ausführungsform der Erfindung kann vorgesehen sein, daß die Motorsteuerung derart ausgebildet ist, daß eine Umschaltung vom Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren in das Puls-Weiten-Modulations-(PWM)-Verfahren bei einer ersten Umschaltdrehzahl erfolgt und daß eine Umschaltung vom Puls-Weiten-Modulations-(PWM)-Verfahren in das Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren bei einer zweiten Umschaltdrehzahl erfolgt. Beispielsweise kann die erste Umschaltdrehzahl einen höheren Wert aufweisen als die zweite Umschaltdrehzahl, so daß dadurch verhindert werden kann, daß bei einem Betrieb der chirurgischen Maschine im Bereich der Umschaltdrehzahl ein ständiges Umschalten zwischen unterschiedlichen Steuer- und/oder Regelungsverfahren erfolgt. Ein ruhiger Motorlauf, insbesondere im Grenzbereich, wäre dann nicht mehr zu gewährleisten. Im beschriebenen Fall ergibt sich eine Art Hysterese beim Hochfahren der Drehzahl und beim Herunterfahren der Drehzahlen, so daß bei Drehzahlen zwischen den beiden Umschaltdrehzahlen je nach Situation entweder das eine oder das andere Steuer- und/oder Regelungsverfahren durchgeführt wird.According to one another preferred embodiment the invention can be provided that the engine control in such a way is formed that a switchover from the space vector pulse width modulation (SVPWM) method to that Pulse width modulation (PWM) method at a first switchover speed takes place and that a Switching from the pulse width modulation (PWM) method to the space vector pulse width modulation (SVPWM) method at a second switching speed. For example the first switching speed has a higher value than that second switching speed, so that can be prevented at an operation of the surgical machine in the range of the switching speed a constant Switch between different control and / or regulation procedures he follows. A smooth engine running, especially in the limit area, would not be then to ensure more. In the case described, there is a kind of hysteresis when starting up the speed and when shutting down the speeds so that at speeds between the two switching speeds depending on the situation either one or the other control and / or regulation process is carried out.
Grundsätzlich wäre es denkbar, die chirurgische Maschine so auszubilden, daß eine Umschaltung zwischen unterschiedlichen Steuer- und/oder Regelungsverfahren manuell erfolgen kann. Vorzugsweise ist die Motorsteuerung jedoch derart ausgebildet, daß die Umschaltung vom Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren in das Puls-Weiten-Modulations-(PWM)-Verfahren beim Übergang vom mindestens einen unteren in den mindestens einen oberen Drehzahlbereich, und umgekehrt, automatisch erfolgt. Eine Bedienperson der Maschine kann sich dann ganz auf deren chirurgische Anwendung konzentrieren und muß sich nicht um die Umschaltung vom unteren in den oberen Drehzahlbereich, und umgekehrt, kümmern.In principle, it would be conceivable train the surgical machine so that switching between different control and / or regulation procedures take place manually can. However, the motor control is preferably designed such that that the Switching from the space vector pulse width modulation (SVPWM) method into the pulse width modulation (PWM) method during the transition from at least one lower to at least one upper speed range, and vice versa, is done automatically. An operator of the machine can then concentrate entirely on their surgical application and must not about switching from the lower to the upper speed range, and vice versa, take care.
Das Verfahren der eingangs beschriebenen Art kann dadurch verbessert werden, daß mit der Motorsteuerung ein Space-Vektor-Puls-Weiten-Modulations(SVPWM)-Verfahren durchgeführt wird.The Methods of the type described at the outset can be improved as a result be that with the motor controller uses a space vector pulse width modulation (SVPWM) method carried out becomes.
Das eingangs beschriebene Verfahren derart weiterzubilden hat den Vorteil, daß alle Motorwicklungen gleichzeitig bestromt werden können, wodurch sich ein Feldwinkel des durch die bestromten Motorwicklungen vorgebbaren Statorfeldes in gewünschter Weise stufenlos einstellen und variieren läßt. Insbesondere beim Anlaufen des Elektromotors und bei niedrigen Drehzahlen kann dadurch ein optimaler Betrieb und ein ruhiger Lauf des Elektromotors erreicht werden.The The method described at the outset has the advantage of that all Motor windings can be energized simultaneously, creating a field angle of the stator field which can be predetermined by the energized motor windings in the desired way can be continuously adjusted and varied. Especially when starting up of the electric motor and at low speeds can be a optimal operation and quiet running of the electric motor achieved become.
Vorteilhaft ist es, wenn die Motorsteuerung eine Steuerungseinheit und eine Leistungseinheit umfaßt.Advantageous It is when the engine control unit has a control unit and a Power unit includes.
Günstig ist es, wenn die Leistungseinheit jeweils zwei Leistungstransistoren für jede der mindestens zwei Motorwicklungen umfaßt. Dies gestattet es insbesondere, eine Gleichspannungsquelle als Energieversorgung zu verwenden.Is cheap it when the power unit has two power transistors each for every which comprises at least two motor windings. In particular, this allows to use a DC voltage source as a power supply.
Vorzugsweise kann vorgesehen sein, daß der Elektromotor ein bürstenloser Gleichstrommotor ist. Es wird so die Wartungsfreundlichkeit der chirurgischen Maschine verbessert.Preferably can be provided that the Electric motor a brushless one DC motor is. So it becomes the maintainability of the surgical machine improved.
Um eine Bestromung des Elektromotors in optimaler Weise vornehmen zu können, ist es vorteilhaft, wenn zur Steuer- und/oder Regelung einer Bestromung der mindestens zwei Motorwicklungen eine Rotorposition des Elektromotors bestimmt wird. Dies erlaubt es, in Abhängigkeit der Rotorposition die Motorwicklungen zu bestromen. So kann ein Feldwinkel des durch die bestromten Motorwicklungen erzeugten Statorfeldes optimal an die Rotorposition angepaßt werden, so daß ein ruhiger Betrieb und ein sanftes Anlaufen des Elektromotors sichergestellt werden können.In order to be able to optimally apply current to the electric motor, it is advantageous if a rotor position of the electric motor is determined in order to control and / or regulate an energization of the at least two motor windings. This allows the motor windings to be energized depending on the rotor position. Thus, a field angle of the stator field generated by the energized motor windings can be optimally adapted to the rotor position, so that quiet operation and gentle Start of the electric motor can be ensured.
Günstig ist es, wenn zur Bestimmung der Rotorposition des Elektromotors mindestens eine der mindestens zwei Motorwicklungen für ein Zeitintervall tUnterbrechung von einer Energieversorgung der Maschine getrennt wird, wenn während des Zeitintervalls tUnterbrechung die Gegen-EMK der mindestens einen der mindestens zwei Motorwicklungen gemessen wird und wenn aus der gemessenen Gegen-EMK eine Ist-Position des Rotors berechnet wird. Da beim Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren normalerweise alle Motorwicklungen gleichzeitig bestromt werden, kann eine Gegen-EMK nur bestimmt werden, wenn die Bestromung mindestens einer Motorwicklung unterbrochen wird. Dann kann die aufgrund elektromagnetischer Induktion an der kurzzeitig unbestromten Motorwicklung abfallende Spannung als Gegen-EMK gemessen und aus deren Wert die Ist-Position des Rotors berechnet werden.It is advantageous if the electric motor is at least one of the at least two motor windings for a time interval t interruption of a power supply of the machine separately to determine the rotor position, if during the time interval t interruption of the at least one of the at least two motor windings is measured back EMF and if an actual position of the rotor is calculated from the measured back emf. Since in the space vector pulse width modulation (SVPWM) method all motor windings are normally energized simultaneously, a back emf can only be determined if the energization of at least one motor winding is interrupted. Then the voltage drop due to electromagnetic induction on the briefly de-energized motor winding can be measured as a back EMF and the actual position of the rotor can be calculated from its value.
Vorzugsweise werden alle Motorwicklungen gleichzeitig für das Zeitintervall tUnterbrechung von der Energieversorgung der Maschine getrennt. Dies eröffnet die Möglichkeit, die Gegen-EMK an allen Motorwicklungen gleichzeitig zu bestimmen und auf diese Weise die Genauigkeit bei der Bestimmung der Ist-Position des Rotors zu verbessern.All motor windings are preferably disconnected from the power supply of the machine simultaneously for the time interval t interruption . This opens up the possibility of determining the back emf on all motor windings at the same time and in this way improving the accuracy in determining the actual position of the rotor.
Gemäß einer bevorzugten Variante des eingangs beschriebenen Verfahrens kann vorgesehen sein, daß die an den mindestens zwei Motorwicklungen anliegenden Spannungen vor oder zu Beginn des Zeitintervalls tUnterbrechung oder vor der Messung der Gegen-EMK gemessen werden und daß diejenige Motorwicklung, an welcher die niedrigste Spannung gemessen wird, mit einem vorgegebenen Spannungspotential verbunden wird. Da grundsätzlich nicht die Gegen-EMK aller Motorwicklungen gemessen werden muß, um die Ist-Position des Rotors zu bestimmen, läßt sich durch die vorgeschlagene Weiterbildung des Verfahrens die Gegen-EMK besonders schnell bestimmen. Insbesondere wird so nämlich ein Einschwingvorgang optimiert und verkürzt.According to a preferred variant of the method described in the introduction, it can be provided that the voltages applied to the at least two motor windings are measured before or at the beginning of the time interval t interruption or before the measurement of the back emf and that motor winding on which the lowest voltage is measured is connected to a predetermined voltage potential. Since, in principle, it is not necessary to measure the back emf of all motor windings in order to determine the actual position of the rotor, the back emf can be determined particularly quickly by the proposed development of the method. In particular, a transient process is thus optimized and shortened.
Vorzugsweise ist das vorgegebene Spannungspotential Masse.Preferably is the given voltage potential mass.
Um die Rotorposition noch genauer bestimmen zu können, ist es günstig, wenn die Gegen-EMK während des Zeitintervalls tUnterbrechung erst nach einer Einschwingzeit tEinschwing gemessen wird. Beispielsweise kann die Einschwingzeit direkt ab Beginn des Zeitintervalls tUnterbrechung abgewartet werden. Durch das Abwarten der Einschwingzeit tEinschwing kann vermieden werden, einen falschen Wert für die Gegen-EMK zu ermitteln, aus welchem sich wiederum eine falsche Ist-Position des Rotors ableiten würde.In order to be able to determine the rotor position even more precisely, it is advantageous if the back emf is measured during the time interval t interruption only after a settling time t settling . For example, the settling time can be waited for directly from the beginning of the time interval t interruption . By waiting for the settling time t settling, it is possible to avoid determining an incorrect value for the back emf, from which an incorrect actual position of the rotor would in turn be derived.
Gemäß einer weiteren bevorzugten Variante des eingangs beschriebenen Verfahrens kann vorgesehen sein, daß zur Bestimmung der Gegen-EMK ein Spannungsverlauf an der oder den nicht mit dem vorgegebenen Spannungspotential verbundenen Motorwicklungen gemessen wird und daß die Einschwingzeit tEinschwing mindestens einer Zeit tkonstant entspricht, bis die an der oder den nicht mit dem vorgegebenen Spannungspotential verbundenen Motorwicklungen anliegenden Spannungen im Zeitverlauf konstant oder nahezu konstant sind. Die Bestimmung des Spannungsverlaufs an der oder den Motorwicklungen macht es möglich, die Gegen-EMK direkt nach dem Einschwingen zu bestimmen. Das Zeitintervall tUnterbrechung kann auf diese Weise minimiert werden, was zu einer verbesserten Laufruhe und einer verbesserten Anlaufeigenschaft des Motors beiträgt.According to a further preferred variant of the initially described method that a voltage course is measured at the one or more non-connected to the predetermined voltage potential motor windings to determine the back EMF and the settling time t transient at least a time t constant corresponding to which can be provided, voltages applied to the motor windings which are not connected to the specified voltage potential are constant or almost constant over time. The determination of the voltage curve on the motor winding (s) makes it possible to determine the back emf immediately after the transient response. The time interval t interruption can be minimized in this way, which contributes to improved smoothness and improved starting properties of the motor.
Besonders einfach wird das eingangs beschriebene Verfahren, wenn ein konstanter Wert für das Zeitintervall tUnterbrechung vorgegeben wird. Allerdings kann die Ist-Position wesentlich genauer bestimmt und zudem die Laufruhe des Elektromotors weiter verbessert werden, wenn das Zeitintervall tUnterbrechung während des Betriebs der Maschine verändert wird. Insbesondere dann, wenn die Einschwingzeit tEinschwing länger als das Zeitintervall tUnterbrechung dauert, kann das Zeitintervall entsprechend an die Einschwingzeit angepaßt werden, so daß die Gegen-EMK innerhalb des Zeitintervalls tUnterbrechung bestimmt werden kann.The method described at the outset is particularly simple if a constant value is specified for the time interval t interruption . However, the actual position can be determined much more precisely and, in addition, the smooth running of the electric motor can be further improved if the time interval t interruption is changed while the machine is operating. In particular, if the settling time t settling takes longer than the time interval t interruption , the time interval can be adapted accordingly to the settling time so that the back emf can be determined within the time interval t interruption .
Vorteilhaft ist es, wenn die Dauer des Zeitintervalls tUnterbrechung derart vorgegeben wird, daß während des Zeitintervalls tUnterbrechung die an der oder den nicht mit dem vorgegebenen Spannungspotential verbundenen Motorwicklungen anliegenden Spannungen im Zeitverlauf einen konstanten oder nahezu konstanten Spannungswert annehmen. So ist es möglich, die Gegen-EMK an jeder gewünschten Motorwicklung dann zu bestimmen, wenn nach Einschwingen des Systems induzierte Spannungen an der oder den Motorwicklungen konstant oder im wesentlichen konstant sind. Dies erhöht die Genauigkeit bei der Bestimmung der Rotorposition.It is advantageous if the duration of the time interval t interruption is specified such that during the time interval t interruption the voltages applied to the motor windings or those not connected to the specified voltage potential assume a constant or nearly constant voltage value over time. It is thus possible to determine the back emf on each desired motor winding if, after the system has settled, voltages on the motor winding (s) are constant or essentially constant. This increases the accuracy in determining the rotor position.
Vorzugsweise kann vorgesehen sein, daß das Zeitintervall tUnterbrechung vergrößert wird, wenn die Zelt tkonstant größer als das Zeitintervall tUnterbrechung ist, und/oder daß das Zeitintervall tUnterbrechung verkleinert wird, wenn die Zeit tkonstant kleiner als das Zeitintervall tUnterbrechung ist. Durch diese Vorgehensweise wird sichergestellt, daß das Zeitintervall tUnterbrechung nie länger als benötigt ist. Dies stellt einen besonders ruhigen Motorlauf sicher.It can preferably be provided that the time interval t interruption is increased if the tent t is constantly greater than the time interval t interruption , and / or that the time interval t interruption is reduced if the time t is constantly less than the time interval t interruption . This procedure ensures that the time interval t interruption is never longer than required. This ensures a particularly smooth engine running.
Günstig ist es, wenn das Zeitintervall tUnterbrechung periodisch schrittweise verändert wird. Insbesondere kann dies pro Umdrehung des Rotors durchgeführt werden oder mit einer Abtastfrequenz, die kleiner als die Modulationsfrequenz des Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren oder des Puls-Weiten-Modulations-(PWM)-Verfahren ist. Die schrittweise Veränderung kann insbesondere eine Vergrößerung oder Verkleinerung sein. Das erfindungsgemäße Verfahren so weiterzubilden ermöglicht eine kontinuierliche Anpassung des Zeitintervalls tUnterbrechung an die tatsächlich erforderliche Unterbrechungszeit, um die Gegen-EMK an mindestens einer Motorwicklung in erforderlicher Weise zu messen.It is expedient if the time interval t interruption is changed step by step periodically. Insbeson This can be done per revolution of the rotor or with a sampling frequency that is lower than the modulation frequency of the space vector pulse width modulation (SVPWM) method or the pulse width modulation (PWM) method. The gradual change can in particular be an increase or decrease. Developing the method according to the invention in this way enables the time interval t interruption to be continuously adapted to the actually required interruption time in order to measure the back emf on at least one motor winding as required.
Vorzugsweise werden nach Messung der Gegen-EMK alle Motorwicklungen wieder an die Energieversorgung der Maschine angeschlossen. Dies kann direkt oder mit Zeitverzögerung geschehen. Je schneller die Motorleitungen wieder an die Energieversorgung der Maschine angeschlossen werden, umso kürzer wird das Zeitintervall tUnterbrechung und um so ruhiger ein Motorlauf.After measuring the back emf, all motor windings are preferably reconnected to the power supply of the machine. This can be done directly or with a time delay. The faster the motor cables are reconnected to the machine's power supply, the shorter the time interval t interruption and the smoother the motor runs.
Ferner kann es vorteilhaft sein, wenn eine Soll-Position des Rotors mit der aus der Gegen-EMK-Messung bestimmten Ist-Position des Rotors verglichen wird und wenn ein Feldwinkel der Space-Vektor-Puls-Weiten-Modulation (SVPWM) entsprechend der ermittelten Differenz zwischen Soll- und Ist-Position des Rotors nachgeregelt wird. Durch diese Nachregelung wird sichergestellt, daß die Bestromung des Elektromotors mit optimalem Wirkungsgrad geschieht.Further it can be advantageous if a target position of the rotor with the actual position of the rotor determined from the back EMF measurement is compared and when a field angle of space vector pulse width modulation (SVPWM) according to the determined difference between target and Actual position of the rotor is readjusted. Through this readjustment it is ensured that the Powering the electric motor happens with optimal efficiency.
Vorzugsweise wird die Gegen-EMK erst gemessen, wenn der Motorstrom mindestens einer der mindestens zwei Motorwicklungen auf Null abgefallen ist. Es lassen sich so Meßfehler bei der Bestimmung der Gegen-EMK auf einfache Weise vermeiden. Dies erhöht die Genauigkeit bei der Bestimmung der Rotorposition.Preferably the back EMF is only measured when the motor current is at least one of the at least two motor windings has dropped to zero. This allows measurement errors Avoid in a simple way when determining the back emf. This elevated the accuracy in determining the rotor position.
Vorteilhafterweise wird zur Energieversorgung der Maschine eine netzunabhängige Energieversorgung verwendet. Dies kann insbesondere eine Batterie oder ein Akkumulator sein. So läßt sich die Maschine kabellos betreiben.advantageously, a power supply that is independent of the grid becomes a power supply for the machine used. This can in particular be a battery or an accumulator his. So you can operate the machine wirelessly.
Gemäß einer weiteren bevorzugten Variante des eingangs beschriebenen Verfahrens kann vorgesehen sein, daß die netzunabhängige Energieversorgung und die Motorsteuerung eine Einheit bilden und daß die Einheit vor Inbetriebnahme der Maschine mit der Maschine verbunden wird. Auf diese Weise ist es möglich, die chirurgische Maschine von der Energieversorgung und der Motorsteuerung getrennt zu reinigen. Eine Einheit vorzusehen erleichtert zudem das Zusammenfügen und Vorbereiten der Maschine für einen chirurgischen Einsatz.According to one another preferred variant of the method described above can be provided that the grid Power supply and engine control form a unit and that the unit is connected to the machine before starting up the machine. In this way it is possible the surgical machine from power supply and motor control to be cleaned separately. Providing a unit also makes it easier assembling and preparing the machine for one surgical use.
Um eine vorzeitige Entleerung, insbesondere eine Selbstentladung, der netzunabhängigen Energieversorgung zu vermeiden, ist es vorteilhaft, wenn ein Prozessor der Motorsteuerung erst mit der netzunabhängigen Energieversorgung verbunden wird, wenn der Elektromotor mit der Motorsteuerung verbunden ist. Üblicherweise haben Prozessoren von Motorsteuerungen einen im Vergleich zu anderen Bauteilen der Steuerung deutlich erhöhten Energieverbrauch. Eine Selbstentladung der netzunabhängigen Energieversorgung kann dadurch vermieden werden, da eine Aktivierung der Motorsteuerung erst nach Verbinden derselben mit dem Elektromotor möglich wird.Around early emptying, especially self-discharge, the off-grid To avoid energy supply, it is advantageous if a processor the motor control is only connected to the off-grid power supply, when the electric motor is connected to the motor control. Usually processors of motor controls have one compared to others Control components significantly increase energy consumption. A Self-discharge of the off-grid Energy supply can be avoided as an activation the motor control is only possible after connecting the same to the electric motor.
Besonders einfach läßt sich das eingangs beschriebene Verfahren durchführen, wenn ein Elektromotor mit drei Motorwicklungen verwendet wird.Especially easy perform the procedure described above if an electric motor is used with three motor windings.
Vorteilhafterweise kann vorgesehen sein, daß ein Gesamtdrehzahlbereich der chirurgischen Maschine in mindestens einen unteren Bereich für niedrige Drehzahlen und in mindestens einen oberen Drehzahlbereich für höhere Drehzahlen als der mindestens eine untere Drehzahlbereich unterteilt wird, und daß in dem mindestens einen unteren Drehzahlbereich das Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren durchgeführt wird. Das Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren ist besonders vorteilhaft für niedrige Drehzahlen, kann jedoch bei höheren Drehzahlen zu einer Dämpfung des Motors und damit zu einer Absenkung des Wirkungsgrads des Motors führen. Daher ist es vorteilhaft, im oberen Drehzahlbereich ein anderes Steuer- und/oder Regelungsverfahren zur Steuerung des Elektromotors vorzusehen.advantageously, can be provided that a Total speed range of the surgical machine in at least one lower area for low Speeds and in at least one upper speed range for higher speeds than the at least one lower speed range is divided, and that in the space vector pulse width modulation (SVPWM) method in the at least one lower speed range carried out becomes. The space vector pulse width modulation (SVPWM) method is particularly beneficial for low speeds, but can dampen the at higher speeds Motor and thus lead to a reduction in the efficiency of the motor. Therefore it is advantageous to use a different control and / or provide control methods for controlling the electric motor.
Besonders vorteilhaft ist es, wenn im mindestens einen oberen Drehzahlbereich ein zweites Verfahren zum Steuern- und/oder Regeln der chirurgischen Maschine durchgeführt wird, welches ein Puls-Weiten-Modulations-(PWM)-Verfahren ist. Dieses Verfahren im oberen Drehzahlbereich durchzuführen, hat den Vorteil, daß ein unerwünschtes Dämpfen des Motors durch Anwendung des Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahrens nicht auftreten kann. Mit anderen Worten wird durch die Durchführung von zwei unterschiedlichen Steuer- und/oder Regelungsverfahren der Wirkungsgrad des Elektromotors nahezu über den gesamten Drehzahlbereich verbessert.Especially It is advantageous if in at least one upper speed range a second method for controlling and / or regulating the surgical Machine carried out which is a pulse width modulation (PWM) method. This procedure in the above Speed range, has the advantage that a unwanted steaming the Motors using the space vector pulse width modulation (SVPWM) method cannot occur. In other words, by performing two different control and / or regulation methods of efficiency of the electric motor almost over the improved entire speed range.
Günstig ist es, wenn ein Drehzahlgrenzwert zwischen dem mindestens einen unteren und dem mindestens einen oberen Drehzahlbereich verändert wird. Je nach dem im oberen Drehzahlbereich angewandten Steuer- und/oder Regelungsverfahren kann eine Umschaltung zwischen beiden Verfahren bei einem anderen Drehzahlwert vorgenommen werden. Der Drehzahlgrenzwert wird vorzugsweise so gewählt, daß ein Wirkungsgrad beider Verfahren optimal ist.It is expedient if a speed limit value is changed between the at least one lower and the at least one upper speed range. Depending on the control and / or regulation method used in the upper speed range, a switchover between the two methods can be carried out at a different speed value. The speed limit is preferably ge chooses that the efficiency of both methods is optimal.
Besonders vorteilhaft ist es, wenn eine Umschaltung vom Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren in das Puls-Weiten-Modulations(PWM)-Verfahren bei einer ersten Umschaltdrehzahl erfolgt und wenn eine Umschaltung vom Puls-Weiten-Modulations-(PWM)-Verfahren in das Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren bei einer zweiten Umschaltdrehzahl erfolgt. Diese Weiterbildung des eingangs beschriebenen Ver fahrens vermeidet, daß im Bereich eines Drehzahlgrenzwerts zwischen dem oberen und dem unteren Drehzahlbereich dauernd umgeschalten werden muß. Dadurch erhöht sich die Laufruhe des Motors deutlich.Especially It is advantageous if a switchover from the space vector pulse width modulation (SVPWM) method in the pulse width modulation (PWM) method at a first switchover speed and if there is a switchover from the pulse width modulation (PWM) method into the space vector pulse width modulation (SVPWM) method at a second switching speed. This training of the procedure described at the outset avoids that in the area a speed limit between the upper and lower speed range must be switched continuously. This increases the smooth running of the engine becomes clear.
Besonders günstig ist es, wenn die Umschaltung vom Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren in das Puls-Weiten-Modulations-(PWM)-Verfahren beim Übergang vom mindestens einen unteren in den mindestens einen oberen Drehzahlbereich, und umgekehrt, automatisch erfolgt. Dies bedeutet, daß eine Bedienperson nicht zwischen zwei unterschiedlichen Steuer- und/oder Regelungsverfahren manuell umschalten muß, sondern sich auf den Einsatz und die Bedienung der Maschine konzentrieren kann.Especially Cheap it is when switching from the space vector pulse width modulation (SVPWM) method into the pulse width modulation (PWM) method when transitioning from at least one lower to at least one upper speed range, and vice versa, done automatically. This means that an operator is not between two different control and / or regulation procedures must switch manually, but concentrate on the use and operation of the machine can.
Die nachfolgende Beschreibung einer bevorzugten Ausführungsform der Erfindung dient im Zusammenhang mit der Zeichnung der näheren Erläuterung. Es zeigen:The The following description of a preferred embodiment of the invention is used in connection with the drawing of the detailed explanation. Show it:
In
Von
dem den Elektromotor
Bei
dem Elektromotor
In
Die
in
Beim
herkömmlichen
Puls-Weiten-Modulations-(PWM)-Verfahren, welches nachfolgend mit
Bezug zu den
Hiervon
unterscheidet sich das Space-Vektor-Puls-Weiten-Modulations(SVPWM)-Verfahren.
In
Eine beliebige Ausgangsspannung U läßt sich nunmehr periodisch stufenlos variieren durch entsprechende Bestromung aller drei Motorwicklungen. Dadurch läßt sich also ein beliebiger Winkel γ des Statorfeldes relativ zum Rotor des Elektromotors einstellen, also nicht nur in 60°-Schritten wie bei der oben beschriebenen herkömmlichen Puls-Weiten-Modulation (PWM).A any output voltage U can be now vary periodically continuously by appropriate energization of all three motor windings. This means that any one can Angle γ of Adjust the stator field relative to the rotor of the electric motor, that is not only in 60 ° steps as with the conventional pulse width modulation described above (PWM).
Allerdings
kann bei der Space-Vektor-Puls-Weiten-Modulation (SVPWM) eine Gegen-EMK
der Motorwicklungen nicht ohne weiteres bestimmt werden, da grundsätzlich alle
Motorwicklungen gleichzeitig bestromt werden. Aus diesem Grund wird
die Bestromung mindestens einer, vorzugsweise aller Motorleitungen
kurzzeitig unterbrochen. Ein entsprechender Ablaufplan ist in
Ist,
wie in
Als nächstes wird abgewartet, bis auftretende Schwingungen aufgrund der Schaltvorgänge abgeklungen sind. Danach werden alle Motorleitungen gemessen, das heißt an allen Motorleitungen wird gleichzeitig die Gegen-EMK bestimmt. Nach Abschluß der Messungen werden die Motorleitungen wieder entsprechend dem Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren bestromt. Mit den gemessenen Gegen-EMK-Werten wird die Rotorposition berechnet und der Feldwinkel γ entsprechend nachgeregelt, was durch eine entsprechende Anpassung des Space-Vektor-Puls-Weiten-Modulations-Schaltschemas geschieht.The next thing to do is wait until occur de vibrations have subsided due to the switching operations. Then all motor cables are measured, i.e. the back emf is determined on all motor cables at the same time. After the measurements have been completed, the motor lines are energized again in accordance with the space vector pulse width modulation (SVPWM) method. With the measured back EMF values, the rotor position is calculated and the field angle γ is readjusted accordingly, which is done by a corresponding adaptation of the space vector pulse width modulation switching scheme.
Durch
die Space-Vektor-Puls-Weiten-Modulations läßt sich an jeder Motorleitung
ein quasi sinusartiger Verlauf des Phasenstroms erzeugen. Der Phasenstrom
an einer Motorleitung ist beispielhaft in
In
den
In
den bereits beschriebenen Unterbrechungen der Bestromung, also anstelle
jedes achten Pulses, ist ein Spannungsverlauf der Gegen-EMK der Motorwicklung
zu erkennen. Die Gegen-EMK, also die in der Motorwicklung aufgrund
der Drehung des Rotors induzierte Spannung pendelt sich auf einen nach
einer Einschwingzeit tEinschwing in etwa
konstanten Wert ein. Am Ende des Einschwingvorgangs kann die Gegen-EMK
gemessen werden. Dies geschieht für alle drei Motorwicklungen
in gleicher Weise und gleichzeitig, so daß aus den drei ermittelten Gegen-EMK-Werten
sowohl eine Ist-Drehzahl des Elektromotors
In
Die
Unterbrechungsschalteinheit dient dazu, den digitalen Signalprozessor
Zur
Bestimmung einer Ist-Drehzahl des Elektromotors
Die
Motorsteuerung
Im
Falle eines Elektromotors
Mit
Bezug zu den
Betätigen des
Gasdrückers
Folge
dieses Schaltschemas ist, daß in
Die
Funktionsweise der Motorsteuerung
Ist
die ermittelte Ist-Drehzahl zum Zeitpunkt tn größer als
die Umschaltdrehzahl Dgrenz1, dann schaltet
die Motorsteuerung
Das
Umschalten zwischen den beiden Steuer- und/oder Regelungsverfahren
A und B hat insbesondere den Vorteil, daß ein bei niedrigen Drehzahlen
durchgeführtes
Space-Vektor-Puls-Weiten-Modulations-(SVPWM)-Verfahren bei hohen
Drehzahlen unerwünschte
Dämpfungseffekte
zeigt, wodurch sich Motorverluste ergeben und der Wirkungsgrad der
Akkumaschine (
Die beiden Steuer- und/oder Regelungsverfahren A und B können in der Motorsteuerung hardware- oder softwaremäßig implementiert sein.The Both control and / or regulation methods A and B can in the engine control system can be implemented in hardware or software.
Claims (27)
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DE200420012389 DE202004012389U1 (en) | 2004-07-30 | 2004-07-30 | Surgical machine has brushless electric motor with space vector pulse width modulation control using rotor position sensing by reverse EMF during coil disconnection |
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DE200420012389 DE202004012389U1 (en) | 2004-07-30 | 2004-07-30 | Surgical machine has brushless electric motor with space vector pulse width modulation control using rotor position sensing by reverse EMF during coil disconnection |
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DE202004012389U1 true DE202004012389U1 (en) | 2004-09-30 |
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