POWER CONVERTER FOR AN ELECTRICALLY-COMPENSATED CONSTANT SPEED DRIVE

Abstract: Electrically-compensated constant speed drive, CSD, (10) which includes a speed summer (18) having first and second input shafts (20, 36) and one output shaft (22). The first input shaft (20) is coupled to a variable speed prime mover (16) and the output shaft (22) develops a constant speed motive power. A speed-compensating permanent magnet machine (PMM2) couples to the second input shaft (36) of the speed summer (18). A control permanent magnet machine (PMM1) couples to the first input shaft (20) of the speed summer (18). A power converter (30) interconnects the power windings (70, 72) of these two permanent magnet machines (PMM1, PMM2). The power converter (30) comprises first and second bi-directional AC/DC converters (54, 56), a bi-directional DC/DC converter (58), and a circuit (44) for controlling the converters (54, 56, 58) so as to maintain the output shaft (22) of the speed summer (18) at a constant, desired speed.

Description: Power Converter for an Electrically- Compensated Constant Speed Drive Description Cross-Reference to Related Application This is a continuation-in-part application of Dishner et al, U.S. Application Serial No. 812,396, filed December 23, 1985, entitled "Power Converter for an Elec¬ trically-Compensated Constant Speed Drive", and assigned to the assignee of the instant application. Technical Field The present invention relates generally to pow¬ er converters, and more particularly to a power converter for use in the speed-compensation link of an electrical¬ ly-compensated constant speed drive. Background Art Constant speed drives (CSD's) are typically used to convert variable speed motive power from a prime mover into constant speed motive power for driving a gen¬ erator so that it produces constant frequency electrical power. Known CSD's are of the hydro echanical type which have been found to encounter difficulties in certain ap¬ plications. For example, when such CSD's are used in aircraft, it has been found that the drives are sensitive to aircraft attitude changes and that maintenance inter- vals are shorter than desired. Electrically-compensated CSD's have been pro¬ posed for use in applications where conventional CSD's have been found to be inadequate. Known electrically- compensated CSD's include a mechanical differential speed sum er having a first input shaft coupled to the output shaft of the prime mover, a second input shaft and an output shaft at which the constant speed motive power is developed. A speed-compensation link is coupled to the second input shaft of the speed summer and includes a first or compensating permanent magnet machine having a power shaft coupled to the second input of the differen¬ tial speed summer and electrical power windings. A mo¬ tive power shaft of a second or control permanent magnet machine is coupled to either the output shaft of the prime mover or the output of the differential speed sum¬ mer. Electrical power is transferred between the wind¬ ings of the first permanent magnet machine and electrical power windings of the second permanent magnet machine by either a DC link inverter or a cycloconverter so that the compensating permanent magnet machine develops compensat¬ ing speed of a magnitude and direction which causes the output of the differential to be driven at the desired constant speed. The DC link inverter for controlling the flow of power between the windings of the permanent magnet machines has been found to cause excessive current flow in one of the machines at certain operating speeds. The cycloconverter was thought to be capable of superior per- for ance as compared to the DC link inverter; however, this type of power converter is also subject to numerous generating difficulties. Chief among these is that the cycloconverter presents a low power factor load to the permanent magnet machines, in turn requiring unduly large and heavy machines. Also, at low speeds the cycloconver¬ ter can cause generation of pulsating torque at frequen¬ cies which are sufficiently low to permit response there¬ to by the mechanical components in the system. Further, at low operating speeds the permanent magnet machines do not produce enough voltage to permit natural commutation of SCR's in the cycloconverter. There is a need, therefore, for a power conver- ter which can be used in an electrically-compensated con¬ stant speed drive that is not subject to the difficulties noted above. Disclosure of Invention In accordance with the present invention, an electrically-compensated constant speed drive includes a power converter which accomplishes the transfer of power between permanent magnet machines in a simple and effec¬ tive manner without the disadvantages noted above. More particularly, an electrically-compensated CSD for developing constant speed motive power from var¬ iable speed motive power developed at an output shaft of a prime mover includes a speed summer having first and second input shafts and an output shaft at which the con¬ stant speed motive power is developed wherein the first input shaft is coupled to the prime mover output shaft. A speed-compensating permanent magnet machine having a motive power shaft is coupled to the second input shaft of the speed summer and includes electrical power wind¬ ings. A control permanent magnet machine includes elec- trical power windings and a motive power shaft coupled to either the first or output shaft of the speed summer. A power converter interconnects the electrical power wind¬ ings of the permanent magnet machines and includes a first bi-directional AC/DC converter coupled to the elec- trical power windings of one of the permanent magnet ma¬ chines, a second bi-directional AC/DC converter coupled to the electrical power windings of the other of the per- manent magnet machines and a bi-directional DC/DC conver¬ ter coupled between the AC/DC converters. Means are in¬ cluded for controlling the AC/DC converters and the DC/DC converter whereby electrical power is transferred between the permanent magnet machines so that the speed compen¬ sating permanent magnet machine develops compensating speed of a magnitude and direction sufficient to maintain the speed summer output shaft at the desired speed. In the preferred embodiment, the AC/DC conver- ters are identical and comprise a plurality of power switches which are connected in a bridge configuration together with flyback diodes coupled across the switches. The DC/DC converter includes a bridge inverter for con¬ verting input DC power from one of the AC/DC converters into intermediate AC power, a transformer having a pri¬ mary winding coupled to the output of the bridge inverter and a secondary winding in which is developed transformer output power and a rectifier circuit coupled to the sec¬ ondary winding for rectifying the transformer output power to develop output DC power for the other of the AC/DC converters. Means are included for bypassing the DC/DC con¬ verter and for directly applying the output of one of the AC/DC converters to the input of the other of the AC/DC converters when the output voltage developed by one of the permanent magnet machines is above a predetermined level. This bypassing increases the overall efficiency of the converter. Brief Description of the Drawings Fig. 1 is a block diagram of an electrically- compensated constant speed drive and power converter ac¬ cording to the present invention; Figs. 2A and 2B, when joined along the dashed lines, together comprise a combined schematic and block diagram of the power converter and permanent magnet ma¬ chines shown in Fig. 1; . Fig. 3 is a table illustrating the state of certain signals and operation of certain switches in the power converter shown in Figs. 2A and 2B; Figs. 4A-4C is a series of waveform diagrams illustrating the operation of the power converter shown in Figs. 2A and 2B; Figs. 5-8 are block diagrams of the control and logic circuits shown in Figs. 2A and 2B; and Fig. 9 is a block diagram of an alternative embodiment of the present invention. Best Mode for Carrying Out the Invention Referring now to Fig. 1, there is illustrated an electrically-compensated constant speed drive (CSD) 10 which develops constant speed motive power for driving a load 12 from variable speed motive power developed at an output shaft 14 of a prime mover 16. The load 12 may comprise, for example, a generator. The CSD 10 includes a mechanical differential 17 comprising a speed summer 18 having a first input shaft 20 coupled to the output shaft 14 of the prime mover 16. The differential 17 acco - plishes a 2:1 speed increase which is represented by the block 21 in Fig. 1. The speed summer further includes an output shaft 22 which is coupled to the load 12. A first or control permanent magnet machine PMMI includes a mo¬ tive power shaft 26 which is coupled by a gear box 27 to the output shaft 14 of the prime mover 16. The PMMI fur¬ ther includes electrical power windings which are coupled by conductors 28 to a power converter 30. A second or speed-compensating permanent magnet machine PMM2 includes electrical power windings which are coupled by conductors 32 to the power converter 30. The PMM2 further includes a motive power shaft 34 which is couple 1 through a gear box 35 to a second input 36 of the differential speed summer 18. The gear boxes 27 and 35 are speed multipliers having speed ratios of R& and Rβ, respectively. More specifically, if Ni is the output speed of the prime mov- er 14, the speed of the motive power shaft 26 of the PMMI is equal to RA I. Likewise, if the speed of the shaft coupled to the input 36 of the speed summer 18 is N2, then the speed of the motive power shaft 34 of the PMM2 is equal to Rβ 2. The speed of the output shaft 22 of the speed summer 18 is detected by a speed sensor 40. The speed sensor 40 develops a speed signal which is coupled to one input of a summing junction 42. A second input of the summing junction 42 receives a speed command signal re- presenting the desired output speed of the speed summer 18. The summing junction 42 subtracts the two signals at the inputs and develops a speed error signal representing the difference between the actual output speed of the speed summer 18 and the commanded speed. The speed error signal is coupled to a converter control circuit 44 which is a part of the power converter 30. The speed of the output shaft 14 of the prime mover 16 is detected by a second speed sensor 46 which develops a signal representative thereof. This signal is coupled to noninverting inputs of first and second thres¬ hold comparators 48,50. The comparators 48,50 include inverting inputs which receive reference signals REF1 and REF2, respectively. The outputs of these comparators are coupled to the converter control circuit 44 in the power converter 30. The power converter 30 further includes power switching circuitry 52 which is controlled by the conver- ter control 44. The power switching circuitry 52 com¬ prises a first bi-directional AC/DC converter 54 which is coupled to the electrical power windings of the PMMI by the conductors 28, a second bi-directional AC/DC conver¬ ter 56 coupled to the electrical power windings of the PMM2 by the conductors 32 and a bi-directional DC/DC con¬ verter 58 which is coupled between and interconnects the AC/DC converters 54,56. Briefly, the converter control 44 operates the converters 54-58 in one of a plurality of modes of opera- tion to control the transfer of power between the perma¬ nent magnet machines PMMI and PMM2 so that the speed- compensating PMM2 drives the shaft coupled to the input 36 at a speed magnitude and direction which causes the speed of the output 22 to be maintained at a desired speed. The comparators 48,50 function as mode selec¬ tion means in that they develop mode command signals on lines 60,62 which are a function of the speed of the out¬ put shaft 14 of the prime mover 16. In the preferred embodiment, there are five modes of operation of the per¬ manent magnet machines PMM1,PMM2 and the power converter 30. These modes of operation are selected depending upon the relationship of the speed Ni of the shaft 14 (or, alternatively the speed of the input of the mechanical differential 17 at the block 21) to a condition referred to as "straight-through". This condition occurs when the following equation is satisfied: 2 x Ni = N 3 where N3 is the desired speed of the output shaft 22 of the speed summer 18. In other words, straight-through occurs when the speed at the first input 20 of the speed summer 18 is equal to the desired output speed N3 so that no speed compensation is effected by the permanent magnet machine PMM2. In the preferred embodiment, the CSD drives a four pole generator 12 at a desired speed of 12,000 rpm. In this case, straight-through occurs when the output shaft 14 of the prime mover 16 is driven at 6,000 rpm. Of course, the constant speed drive 10 illus¬ trated in the figures may be operated to produce a dif¬ ferent constant desired speed, as required. Referring now to Figs. 2A and 2B, there is il- lustrated in greater detail the power converter 30 and the permanent magnet machines PMMI and PMM2. In Figs. 1 and 2A,2B, letters are used to identify signals carried on various lines shown therein. Identical reference let¬ ters in Figs. 1 and/or 2A,2B designate lines which carry the same signal. Each of the AC/DC converters 54,56 comprises six power switches S 1-S 6 and SW7-SW12, respectively. The six power switches in each of the converters 54,56 are connected in a three-phase bridge configuration. Flyback diodes D1-D6 and D7-D12 are coupled in anti- parallel relationship across the switches S 1-S 6 and S 7-SW12, respectively. A filtering capacitor Cl is cou¬ pled across input/output terminals T1,T2 of the converter 54 and a similar capacitor C2 is coupled across input/ output terminals T3,T4 of the power converter 56. Electrical power windings 70a-70c of the PMMI are coupled by lines 28a-28c, respectively, to junctions 71a-71c between pairs of series-connected switches SW1-S 6. In like fashion, electrical power windings 72a-72c of the permanent magnet machine PMM2 are coupled to junctions 73a-73σ between pairs of series-connected switches SW7-SW12 by conductors 32a-32c. The switches S 1-S 6 and S 7-S 12 are operated by inverter/rectifier control circuits 80,82, respective¬ ly. The control circuit 80 receives rotor position and speed signals M,N from sensors 84,86 representing the position and speed of the rotor of the permanent magnet machine PMMI and a current signal 0 developed by a cur¬ rent sensor 88 representing the current in one of the phases of the electrical power windings 70. The control circuit also receives a signal F comprising the speed error signal from the summing junction 42, Fig. 1, and an enable signal E which, when high, enables operation of the switches SW1-S 6, as noted more specifically below. This signal is also developed by a mode selection logic circuit 90 described in greater detail below. The inverter/rectifier control circuit 82 like- wise receives speed and position signals U,V from sensors 92,94 representing the speed and position of the rotor of the permanent magnet machine PMM2. A current signal T is developed by a current sensor 96 and is coupled to the control circuit 82 along with the speed error signal F developed by the summing junction 42. An enable signal D is coupled to the control circuit 82 which, when high, enables operation of the switches S 7-S 12. In addition, the control circuit 82 receives a direction signal C which, when high, indicates that the speed of the shaft 14 is below straight-through and which, when low, indicates that the speed of the shaft 14 is above straight-through. The signals C,D are developed by the mode selection logic circuit 90. The DC/DC converter 58 comprises main switches SW13-SW16 which are connected in a H-bridge configuration and which, when operated, develop intermediate AC power. A transformer 100 includes a primary winding 100P coupled between junctions 102,104 and a secondary winding 100S which develops transformer output power. The secondary winding is coupled across input terminals of a rectifier circuit 106 which comprises a full wave rectifier. The junction 102 comprises the point of connection between the switches SW13 and S 14 while the junction 104 is at the point of connection between the switches SW15 and S 16. An output terminal of the rectifier circuit 106 is coupled by an output inductor 108 to first and second output steering switches SW17,SW18, respectively. These switches are coupled through diodes D13,D14 to DC power buses 120,122 which are in turn coupled to the input/out¬ put terminals T1,T3, respectively. Each of the power buses 120,122 may be selec- tively connected to the switches SW13 and S 15 by closure of one of a pair of input steering switches S 19,S 20. Diodes D15 and D16 are connected in series with the emit¬ ters of the switches S 19,SW20 and are poled to prevent reverse conduction therethrough. First and second bypass switches S 21 and S 22 are coupled together with diodes D17,D18 between the pow¬ er buses 120,122. The switches S 21,SW22, when operated, cause bypassing of the DC/DC converter 58 in opposite directions, as noted more specifically below. Flyback diodes D19-D22 are coupled across the switches SW13-SW16 to provide a path for reactive cur¬ rents. The switches S 13-S 16 are operated by a DC/DC control circuit 124 which controls the transfer of power between the converters 54,56. The control circuit 124 receives voltage signals P,S representing the voltage on the power buses 120,122, respectively, and a current sig¬ nal Q representing the output current of the DC/DC con¬ verter 58. The DC/DC control circuit 124 also receives an enable signal L which, when high, enables operation of the switches S 13-SW16, a signal B comprising the signal developed by the comparator 50, Fig. 1, and the speed error signal F from the summing junction 42. The switches SW17-SW22 are operated by the mode selection logic circuit 90. This circuit receives the signals A and B from the comparators 48,50, Fig. 1, and the voltage signals P,S representing the voltage on the power buses 120,122. With reference to the table of Fig. 3 and the waveforms of Figs. 4A-4C, following is a general descrip- tion of the operation of the circuitry shown in Figs. 1 and 2A,2B in each of the operational modes under the as¬ sumption that the speed of the shaft 14 is increased from a lower limit below straight-through to an upper limit above straight-through. The first operational mode occurs when the speed of the shaft 14 is well below straight-through (re¬ ferred to as the "below" mode) . In this case, the signal A developed by the comparator 48 is in a low state, as indicated by the table of Fig. 3. Under these condi- tions, the permanent magnet machine PMMI must be operated as a generator and the PMM2 must be operated as a motor to provide compensating speed to the speed summer 18. Under this condition, the switches SW1-SW6 are opened so that the power developed by the PMMI is full-wave recti¬ fied by the diodes D1-D6 and filtered by the capacitor Cl. However, the relatively low rotational speed of the shaft 26 of the PMMI results in insufficient voltage be- ing developed at the terminals Tl and T2 to operate the PMM2 at the required speed. It is therefore necessary for the DC/DC control circuit 124 to operate the conver¬ ter 58 as a step up converter so that the voltage on the bus 120 is boosted. While operating in this mode, the switches SW19 and SW18 are closed and the switches SW17 and SW20-SW22 are opened by the mode selection logic cir¬ cuit 90 so that the bus 120 is coupled to the switches SW13-SW16 and the rectifier circuit 106 is coupled to the power bus 122. The switches SW13-SW16 are enabled by a high state signal L and are operated by the DC/DC control circuit 124 to boost the voltage on the power bus 120 and the boosted voltage is delivered to the switches SW7-SW12 via the power bus 122. The switches SW7-SW12 are operat¬ ed by the control circuit 82 to control the flow of power to the PMM2 so that it develops the appropriate rotor speed and direction for compensation. The signal D, as previously mentioned, is high at this time to enable operation of the switches SW7- SW12. The signal E is low so that operation of the switches SW1-SW6 is disabled. The signal C is high at this time to indicate that the permanent magnet machine PMM2 is to operate in a first or positive direction to accomplish positive speed compensation. As the speed of the shaft 14 increases, the voltage developed at the terminals T1,T2 at the output of the AC/DC converter 54 approaches the back EMF voltage developed at the terminals T3,T4 of the AC/DC converter 56. When these voltages become close to one another, or. alternatively when the voltages on the buses 120,122 are within a predetermined range of each other, a "below- bypass" mode of operation is initiated. At this point, the DC/DC converter 58 is not needed since the voltage on the bus* 120 is sufficient to operate the permanent magnet machine PMM2 as a motor at the required speed. When this condition occurs, the mode selection logic circuit 90 closes the switch SW21 to couple the power buses 120,122 to one another. Also, the signal L drops to a low state which in turn disables the switches SW13-SW16 and the switches SW18,SW19 are opened. The DC/DC converter 58 is thereby deactuated, in turn improving the overall effi¬ ciency of the converter 30. As the speed of the shaft 14 continues to in- crease, the voltage developed at the terminals T1,T2 may become greater than that required to operate the PMM2 at the appropriate speed. In such a case, the DC/DC converter 58 may be operated as a step down converter to step down the voltage between the power buses 120 and 122 so that the voltage on the power bus 122 is maintained at an appropriate value. This result may alternatively be achieved by operating the switches SW7-SW12 in a PWM mode of operation, if desired. Eventually, the speed of the shaft 14 will reach and slightly exceed straight-through. Under this condition, the permanent magnet machine PMM2 must sub¬ tract speed from the speed summer 18. However, since the speed of the shaft 14 is only slightly above straight- through, the motive power shaft 34 of the PMM2 is turning at a relatively low rate. This relatively low rotational rate results in a relatively low voltage level being de¬ veloped at the terminals T3,T4 of the converter 56, which voltage does not exceed the threshold level of the DC/DC converter 58. Moreover, the design of the differential speed summer 18 such that the torque at each of the in¬ puts and outputs 20,36,22 must be the same. As a result, the PMM2 must develop torque at the output shaft 34 which torque is normally developed when the PMM2 is operating as a generator by loading the electrical power windings 72 thereof. As a practical matter, this cannot be accom¬ plished at this point due to the relatively low voltage developed by the windings 72. The solution to the above problem is to operate the permanent magnet machine PMM2 as a motor in the plug¬ ging mode so that power is dissipated in the windings 72. This is accomplished by operating the PMMI as a generator and by shifting the phase of each of the switch control signals for the switches SW7-SW12 by 180° as compared with the switch control signals for these switches while operating the below or below-bypass modes. Furthermore, while the PMM2 is operating in the plugging mode, the bypass switch SW21 is turned off and the switches SW18 and SW19 in the DC/DC converter 58 are closed to couple the DC power bus 120 to the switches SW13-SW16 and to couple the rectifier 106 to the conver¬ ter 56. The switches SW13-SW16 are operated so that power developed by the PMMI is delivered to the windings of the PMM2. Once the speed of the shaft 14 rises above straight-through, the signals A and C switch states. The signal B, on the other hand, remains in the low state until a predetermined point is reached at which the PMM2 can be operated as a generator. Once the speed of the shaft 14 has risen suffi¬ ciently above straight-through to permit the PMM2 to be operated as a generator, an "above" straight-through mode of operation is initiated. At this point, the enable signals D and E switch states so that the switches SW7- SW12 are disabled, i.e. opened, while the switches SW1- SW6 are enabled by the signal E. Further, the switches SW18 and SW19 are opened and the switches SW17 and SW20 are closed to connect the DC bus 122 to the switches SW13-SW16 and to connect the output of the rectifier cir¬ cuit 106 to the bus 120. The switches SW13-SW16 are op¬ erated such that the DC/DC converter 58 operates as a step up converter to step up the voltage from the DC bus 122 to the bus 120. The switches SW1-SW6 are operated as an inverter in the full on mode to supply alternating voltage to the electrical power windings 70 of the PMMI. The PMMI is thereby operated as a motor at a speed deter- mined by the speed of the shaft 14. As the speed of the shaft 14 continues to in¬ crease, the voltage developed by the PMM2 also continues to increase. Eventually, a point may be reached at which the DC/DC converter can be bypassed at which point an "above-bypass" mode is initiated. In this mode, the switch SW22 is closed and the switches SW13-SW20 are dis¬ abled. The DC/DC converter 58 is thereby turned off and bypassed so that the voltage on the bus 122 is delivered directly to the bus 120. This bypassing and deactuation of the converter 58 are undertaken in part in response to a change of state of the signal L developed by the mode selection logic circuit 90 which is coupled to the con¬ trol circuit 124. While in the "above-bypass" mode, the switches SW1-SW6 are controlled to inverter the DC voltage on the bus 120 into alternating current power so that the PMMI is operated as a motor. If the speed of the shaft 14 continues to sig¬ nificantly increase, the PMM2 may generate excessive vol¬ tage for operating the PMMI as a motor. In this event, the DC/DC control circuit 124 may operate the converter 58 as a step down converter and/or the switches SW1-SW6 may be operated by the control circuit 80 in a PWM mode of operation so that the proper voltage is developed for the PMMI. Referring now to Fig. 5, there is illustrated in greater detail the inverter/rectifier control circuit 80 shown in block diagram form in Fig. 2A. It should be noted that the waveforms of Figs. 4A-4C for the switches SW1, SW2, SW7 and SW8, when high, indicate the times that these switches are enabled and can turn on and off in response to control signals. En¬ able signals for the remaining switches in the AC/DC con¬ verters 54,56 are identical to those shown for the switches SW1, SW2, SW7 and SW8 except for the usual 120° phase shift common in converters of this type. The speed signal N representing the speed of the motive power shaft of the PMMI is compensated by a compensation circuit 140 and is coupled to one input of a summing junction 142. The summing junction sums the com¬ pensated speed signal with a compensated version of the speed error signal F produced by a block 144 and a com¬ pensated version of the motor phase current signal 0 pro¬ duced by a block 146. The summing junction 142 thereby develops a commutation angle signal which is coupled to a phase advance circuit 148. The circuit 148 develops a signal representative of the required phase advance and couples this signal to one input of a three-phase logic circuit 150. The three-phase logic circuit 150 develops three-phase switching signals from the phase advance sig- nal and the signal M representing rotor position on a series of lines 152. A switch driver circuit 154 con¬ verts the signals on the line 152 to the levels required to properly operate the switches SW1-SW6. A protection circuit 156 monitors the operation of the switches SW1-SW6 to determine whether a fault or undesirable condition has arisen. These conditions may include, for example, shoot-through caused by simultan¬ eous conduction of series-connected switches, an overvol- tage condition, an overtemperature condition or the like. In the event such an undesirable condition arises, a high state signal is generated on a line 158 which is coupled to an inhibit circuit 160 that in turn disables the three-phase logic 150 so that the inverter is shut down. A further protective function is accomplished by a current level detector 162 which causes the inhibit circuit 160 to shut down the inverter when an overcurrent condition arises in one of the three phases of the perma¬ nent magnet machine PMMI. A summing junction 164 sums the signal O repre¬ senting the current in one of the phases of the PMMI with the speed signal N to derive a signal W representing the commanded bus voltage for the DC power bus 120. In other words, this signal represents the voltage necessary on the bus 120 to operate the PMMI as a motor in the desired fashion. Referring now to Fig. 6, the inverter/rectifier control circuit 82 includes circuits 170-178 and 182-192 which are identical to the circuits 140-148 and 152-162 described above in connection with Fig. 5. However, these circuits use the signals T, U and V representing the phase current in one of the phases of the permanent magnet machine PMM2 and the speed and position of the motive power shaft of the PMM2 rather than the signals 0, M and N. Also, the circuit of Fig. 6 includes a direc¬ tion set circuit 179 that is responsive to the signal C which indicates the required direction of rotation of the PMM2 and which causes a 180° phase shift in the three- phase logic signals developed by a circuit 180 when the speed of the shaft 14 is above straight-through. The structure and operation of the three-phase logic circuit 180 is in all other respects identical to the circuit 150 described above in connection with Fig. 5. Further, a summing junction 194 sums the sig¬ nals T and U representing phase current and shaft speed with the speed error signal F to derive a signal X repre- senting the commanded voltage on the bus 122. That is, this signal represents the required voltage on the bus 122 to operate the PMM2 properly. Referring now to Fig. 7, there is illustrated in greater detail the DC/DC control circuit 124 shown in block diagram form in Fig. 2B. The control circuit 124 may be implemented in part by a UC1846 current-mode PWM controller manufactured by Unitrode Corporation of Lex¬ ington, Massachusetts which is identified by the refer¬ ence numeral 200. The numbers adjacent the perimeter of the block shown in the Figure representing the controller 200 designate the pin numbers of the chip. Of course, a different chip or discrete components may be substituted for the controller 200, if desired. The controller further includes four controlled switches 202-208, only two of which are closed at any particular time. More particularly, when the state of the signal B is high representing that the speed of the shaft 14 is high enough to run the PMM2 as a generator. the switches 202 and 206 are closed to couple the signals P and W to pins 6 and 5, respectively of the controller 200. On the other hand, when the signal B is in a low state, an inverter 210 converts this low state signal into a high state signal to close the switches 204 and 208. This action couples the signals S and X to the pins 6 and 5 of the controller 200. The thus-formed signals Y and Z on the lines coupled to the inputs 6 and 5 represent the voltage at the output of the DC/DC converter 58 on one of the buses 120,122 and a reference level for the output voltage of the DC/DC converter, respectively. A pin 7 receives a compensated version of the signal Y via a compensation circuit 212. A pin 8 and a pin 9 are coupled to a timing capacitor C_> and a timing resistor R , respectively. A pin 4 is coupled to the signal Q via a voltage divider consisting of resistors Rl and R2. A pin 3 is coupled to ground while a pin 16 re- ceives the signal L which is the enable signal for the switches SW13-SW16. The control signals for the switches SW14 and SW15 is developed at a pin 11. The switch control sig¬ nals for the switches SW13 and SW16 is developed at a pin 14. Referring now to Fig. 8, there is illustrated a combined block and logic diagram of the mode selection logic circuit 90. A first error amplifier 220 subtracts the sig- nal Y representing the actual voltage at the output of the DC/DC converter 58 from the reference signal Z to develop an error signal which is coupled by a switch 221 to a first input of a summing junction 222. A summing junction 224 subtracts the signals P and s to derive a signal representing the difference in voltage between the two buses 120, 122. This signal is coupled to a second input of the summing junction 222. . A second error amplifier 225 subtracts the sig¬ nal Z from the signal Y to develop a second error signal which is coupled by a switch 226 to the first input of the summing junction 222. The switches 221,226 are oper¬ ated in complementary fashion, i.e. when the switch 221 is closed, the switch 226 is open, and vice versa. Therefore, one of the first and second error signals de¬ veloped by the error amplifiers 220,225 is coupled to the first input of the summing junction 222 as a signal R. An absolute value circuit 227 converts the out- put from the summing junction 222 representing the sum of the signal R with the signal from the output of the sum¬ ming junction 225 to a positive level. The resulting signal is coupled to a level detection circuit 228. The output of the level detection circuit 228 is coupled to a first input of a pair of AND gates 230,232. A second input of the first AND gate 230 receives an inverted ver¬ sion of the signal B from an inverter 234 while a second input of the AND gate 232 directly receives the signal B. The outputs of the AND gates 230,232 are used to control the switches SW21 and SW22, respectively. The function of the just-described circuitry is to close one of the bypass switches SW21 or SW22 when the summation or total of the difference between the command¬ ed and reference output voltages of the DC/DC converter and the difference between the voltages on the buses 120, 122 is below a predetermined value, which value is deter¬ mined by the level detection circuit 228. The mode selection logic circuit 90 also gene¬ rates various signals which are used by other circuits in the converter. The signal A is inverted by an inverter 238 to develop the signal C while an inverter 240 inverts the sigsal B to develop the signal D. The signal B con¬ trols the switch 226 while the signal D controls the switch 221. The switches 226,221 are closed by a low state signal B and D, respectively. The signal B is logically equivalent to the signal E, and hence no additional logic circuitry need be utilized to derive same. The signal L is developed by passing the out¬ puts of the AND gates 230,232 through a NOR gate 242. The signal L is in turn combined with the signal B in an AND gate 244 to derive the switch control signals for the switches SW17 and SW20. The signal L is combined with the output of the inverter 240 in an AND gate 246 to de¬ rive the switch control signals for the switches SW18 and SW19. It should be noted that the foregoing descrip¬ tion assumes that the condition wherein the speed of the output shaft 14 is equal to straight-through will occur infrequently and only for short periods of time and/or that some error in the desired output speed can be tol- erated. However, if this is not the case, then a sixth operational mode may be implemented which is operative when the straight-through condition arises wherein the permanent magnet machine PMM2 is held at zero speed but providing finite torque of a magnitude equal to the torque supplied at the other input and output. The foregoing description is of an "output dif¬ ferential" configuration wherein the differential is cou¬ pled to the PMM2. This configuration may be modified as shown in Fig. 9 to produce an "input differential" con¬ figuration which is shown in simplified form. As seen in Fig. 9, the output shaft 14 of the prime mover 16 is coupled to the first input 20 of the speed summer 18. The speed-compensating permanent magnet machine, in this case PMMI, is coupled to the second in¬ put 36 of the differential 18. The output 22 of the dif¬ ferential 18 is coupled directly to the load 12 and to the motive power shaft of the control permanent magnet machine PMM2. A power converter 250, similar to the converter 30 described in Fig. 1 and subsequent figures, manages the flow of power between electrical power windings of the permanent magnet machines PMMI and PMM2 in part in response to the speed error signal developed by the sum¬ ming junction 42. In this case, the PMMI adds or subtracts speed from the speed at the input 20 in order to obtain the desired speed at the output 22. A further difference in the configuration of Fig. 9 over that shown in the preceding figures is that the control PMM2 is driven at a constant speed so that the design of the power converter 250 is simplified over the power converter 230. It should be noted that it is possible to elim¬ inate the requirement for a DC/DC converter with the in¬ put differential system. This advantage, however, may be outweighed by the fact that the permanent magnet machines which are required would be much larger than for the out- put differential system. It has been found that the output differential is more efficient than the input differential for shaft speeds below straight-through and that the reverse is true for shaft speeds above straight-through. However, it has been found that the controller for the output dif¬ ferential system must process more power and therefore must be heavier. It should also be noted that in the input dif¬ ferential configuration, the PMM2 may be operated as a generator and the PMMI operated as a motor in the "plug¬ ging" mode. Also when operating in this mode, it may be possible to bypass the DC/DC converter 58, if desired, to improve efficiency. Further, either embodiment may be designed whereby the range of speeds of the shaft 14 may be con¬ strained to a range entirely below or entirely above straight-through, if desired. If this is the case, the design of the DC/DC converter 58 can be simplified be¬ cause there may be no requirement to both step up and step down voltages within a single operational mode, and power need flow in only one direction.

Claims: Claims 1. An electrically-compensated constant speed drive (CSD) for developing constant speed motive power from variable speed motive power developed at an output shaft of a prime mover, comprising: a speed summer having first and second input shafts and an output shaft at which the constant speed motive power is developed, the first input shaft being coupled to the prime mover output shaft; a speed-compensating permanent magnet machine having a motive power shaft couple to the second input shaft of the speed summer and electrical power windings; a control permanent magnet machine having a motive power shaft coupled to either of the first and output shafts of the speed summer and also having elec¬ trical power windings; a first bi-directional AC/DC converter coupled to the electrical power windings of one of the permanent magnet machines; a second bi-directional AC/DC converter coupled to the electrical power windings of the other of the per¬ manent magnet machines; a bi-directional DC/DC converter coupled be¬ tween the AC/DC converters; and means for controlling the AC/DC converters and the DC/DC converter whereby electrical power is trans- ferred between the permanent machines so that the speed- compensating permanent magnet machine develops compensat- ing speed of a magnitude and direction sufficient to maintain the speed summer output shaft at the desired speed. 2. The power converter of claim 1, wherein each AC/DC converter comprises a plurality of power switches connected in a bridge configuration. 3. The power converter of claim 2, wherein _ each AC/DC converter further includes flyback diodes cou¬ pled across the power switches. 4. The power converter of claim 1, wherein the DC/DC converter includes a bridge inverter for converting input DC power from one of the AC/DC converters into in- 4 termediate AC power, a transformer having a primary wind¬ ing coupled to the output of the bridge inverter and a 6 secondary winding in which is developed transformer out¬ put power and a rectifier circuit coupled to the secon- 8 dary winding for rectifying the transformer output power to develop output DC power for the other of the AC/DC o converters. 5. The power converter of claim 4, wherein the 2 output shaft of the prime mover is driven at speeds above and below a straight-through speed at which the speed of 4 the first input of the speed summer is equal to the de¬ sired speed and wherein the DC/DC converter includes a 6 first pair of bus switches for selectively coupling an input of the bridge inverter to either of the AC/DC con- 8 verters and means for operating the first pair of bus switches in dependence upon whether the speed of the 0 prime mover output is above or below the straight-through speed. 6. The power converter of claim 5, wherein the DC/DC converter further includes a second pair of bus switches for coupling the rectifier circuit to either of the AC/DC converters and means for operating the second pair ofibus switches in dependence upon the operation of the first pair of switches so that the rectifier circuit is coupled to one of the AC/DC converters while the input of the bridge inverter is coupled to the other of the AC/DC converters, and vice versa. 7. The power converter of claim 3, wherein the first input shaft of the speed summer is driven at speeds above and below the desired speed and each of the perma- nent magnet machines is operated as a motor or a genera¬ tor depending upon the speed of the output shaft, wherein the controlling means includes means for opening all of the power switches in the AC/DC converter coupled to the permanent magnet machine that is operating as a generator so that the power developed thereby is rectified by the flyback diodes. 8. The power converter of claim 1, wherein the controlling means includes means for operating the DC/DC converter as a step up converter when the speed of the output shaft is in a particular range and further includ¬ ing means for bypassing the DC/DC converter when the out- put shaft speed is outside of the particular range. 9. The power converter of claim 8, wherein each of the AC/DC converters includes a plurality of pow¬ er switches connected in a bridge configuration and wherein the controlling means includes means for operat¬ ing one of the AC/DC converters as a rectifier and the other of the AC/DC converters as an inverter in a full-on mode while the DC/DC converter is operated as a step up converter. 10. The power converter of claim 1, wherein the first input shaft of the speed summer is driven at speeds above the desired speed and wherein the control- ling means includes means for operating the AC/DC and DC/DC converters when the first input shaft speed is slightly above the desired speed so that one of the per¬ manent magnet machines is operated as a generator and the other of the permanent magnet machines is operated as a motor in a plugging mode. 11. The power converter of claim 1, wherein the first input shaft of the speed summer is driven at speeds above and below the desired speed and the per a- nent magnet machines are operated as either a motor or a generator depending upon the speed of the output shaft of the prime mover and wherein the DC/DC converter has an input threshold, the controlling means including means for operating one of the permanent magnet machines as a generator and the other of the machines as a motor in a plugging mode when the voltage developed by the machine operated as a generator is less than the input threshold. 12. An electrically-compensated constant speed drive (CSD) for developing motive power at a constant speed from variable speed motive power developed at an output shaft of a prime mover, comprising: . a first permanent magnet machine (PMMI) having electrical power windings and a motive power shaft cou¬ pled to the prime mover output shaft; a second permanent magnet machine (PMM2) having electrical power windings coupled to the windings of the PMMI and a motive power shaft; a differential speed summer having a first in- put coupled to the prime mover output shaft, a second input coupled to the motive power shaft of the PMM2 and an output at which the constant speed motive power is produced; a first bi-directional AC/DC converter coupled to the electrical power windings of the PMMI; a second bi-directional AC/DC converter coupled to the electrical power windings of the PMM2; a bi-directional DC/DC converter coupled be¬ tween the AC/DC converters; and means for controlling the AC/DC converters and the DC/DC converter so that electrical power developed by one of the permanent magnet machines is delivered to the other of the permanent magnet machines whereby motive power is developed by the motive power shaft of the PMM2 in an amount sufficient to maintain the output of the speed summer at a desired speed. 13. The electrically-compensated constant speed drive of claim 12, wherein the controlling means includes means for operating the converters in one of a plurality of operational modes in dependence upon the speed of the prime mover output shaft. 14. The electrically-compensated constant speed drive of claim 12, wherein the prime mover output shaft operates at speeds above and below a straight- through speed at which the speed of the first input of the speed summer is equal to the desired speed, and wherein the controlling means includes first and second inverter/rectifier control circuits for controlling the first and second bi-directional AC/DC converters, respec¬ tively, a DC/DC control circuit for controlling the bi- directional DC/DC converter and mode selection logic cou¬ pled to the control circuits for causing the control cir- cuits to operate the converters and permanent magnet ma¬ chines in one of a plurality of operational modes in de- pendence upon the speed of the prime mover output shaft relative to the straight-through speed. 15. The electrically-compensated constant speed drive of claim 14, wherein the DC/DC converter in¬ cludes at least one bypass switch for bypassing same and wherein the mode selection logic includes means for se¬ lectively closing the bypass switch in accordance with the speed of one of the permanent magnet machines. 16. The electrically-compensated constant speed drive of claim 15, wherein the controlling means includes first means for operating in a first mode of operation when the prime mover output shaft is driven at speeds well below straight-through whereby the PMMI oper- ates as a generator to supply electrical power to the DC/DC converter, the second AC/DC converter and the PMM2 so that the PMM2 operates as a motor. 17. The electrically-compensated constant speed drive of claim 16, wherein the controlling means further includes second means for operating in a second mode of operation whereby the bypass switch is closed and the DC/pc converter is deactuated when the PMMI develops sufficient voltage to operate the PMM2 as a motor. 18. The electrically-compensated constant speed drive of claim 15, wherein the controlling means includes means for operating in a plugging mode when the prime mover output shaft speed is slightly above straight-through whereby the PMMI operates as a generator and the PMM2 operates as a motor in a plugging mode. 19. The electrically-compensated constant speed drive of claim 15, wherein the controlling means includes means for operating in an above straight-through mode of operation when the prime mover output shaft speed is above straight-through whereby the PMM2 operates as a generator to supply electrical power to the DC/DC conver¬ ter, the first AC/DC converter and the PMMI so that the PMMI operates as a motor. 20. The electrically-compensated constant speed drive of claim 19, wherein the controlling means further includes means for operating in an above-bypass mode of operation whereby the bypass switch is closed and the DC/DC converter is deactuated when the PMM2 develops sufficient voltage to operate the PMMI as a motor. 21. The electrically-compensated constant speed drive of claim 12, wherein each AC/DC converter comprises a plurality of power switches connected in a bridge configuration. 22. The electrically-compensated constant speed drive of claim 21, wherein each AC/DC converter further includes flyback diodes coupled across the power switches. 23. The electrically-compensated constant speed drive of claim 12, wherein the DC/DC converter in¬ cludes a bridge inverter for converting input DC power from one of the AC/DC converters into intermediate AC power, a transformer having a primary winding coupled to the output of the bridge inverter and a secondary winding in which is developed transformer output power and a rec- tifier circuit coupled to the secondary winding for rec¬ tifying the transformer output power to develop output DC power for the other of the AC/DC converters. 24. The electrically-compensated constant speed drive of claim 23, wherein the output shaft of the prime mover is driven at speeds above and below a straight-through speed at which the speed of the first input of the speed summer is equal to the desired speed and wherein the DC/DC converter includes a first pair of bus switches for selectively coupling an input of the bridge inverter to either of the AC/DC converters and means for operating the first pair of bus switches in dependence upon whether the speed of the prime mover out¬ put is above or below the straight-through speed. 25. The electrically-compensated constant speed drive of claim 24, wherein the DC/DC converter fur¬ ther includes a second pair of bus switches for coupling the rectifier circuit to either of the AC/DC converters and means for operating the second pair of bus switches in dependence upon the operation of the first pair of switches so that the rectifier circuit is coupled to one of the AC/DC converters while the input of the bridge inverter is coupled to the other of the AC/DC converters, and vice versa. 26. The electrically-compensated constant speed drive of claim 22, wherein the first input shaft of the speed summer is driven at speeds above and below the desired speed and each of the permanent magnet machines is operated as a motor or a generator depending upon the speed of the output shaft, wherein the controlling means includes means for opening all of the power switches in the AC/DC converter coupled to the permanent magnet ma¬ chine that is operating as a generator so that the power developed thereby is rectified by the flyback diodes. 27. An electrically-compensated constant speed drive (CSD) for developing motive power at a constant speed from variable speed motive power developed at an output shaft of a prime mover, comprising: a differential speed summer having a first in- put shaft coupled to the prime mover output shaft, a sec¬ ond input shaft and an output shaft at which the constant speed motive power is produced; a first permanent magnet machine having a mo- tive power shaft coupled to the prime mover output shaft and electrical power windings; a second permanent magnet machine having a mo¬ tive power shaft coupled to the second input of the dif- ferential speed summer and electrical power windings; and a power converter coupled between the electri- cal power windings of the permanent magnet machines in¬ cluding first and second AC/DC converters coupled to the electrical power windings of the first and second permanent magnet machines, respectively, each AC/DC converter including a plurality of controlled switches connected in a bridge configuration and a plurality of flyback diodes each coupled across and associated with one of the controlled switches, the controlled switches and diodes being connected to at least one input/output bus; a bi-directional DC/DC converter cou¬ pled between the AC/DC converters and including a bridge inverter, first and second input steer¬ ing switches coupled between the input/output buses of the first and second AC/DC converters and the bridge inverter, respectively, a recti- fier circuit coupled to an output of the bridge inverter and first and second output steering switches coupled between the rectifier circuit and the input-output buses of the first and second AC/DC converters, respectively; and means responsive to the speed of the prime mover output shaft for controlling the controlled switches, the bridge inverter and the input and output steering switches so that one of the permanent magnet machines operates as a motor and the other of the permanent mag¬ net machines operates as a generator whereby the motive power shaft of the second permanent magnet machine is driven at a speed magnitude and direction which maintains the speed of the output shaft of the speed summer at a desired speed. 28. The electrically-compensated constant speed drive of claim 27, wherein the controlling means includes means for closing the first input steering switch and the second output steering switch when the first permanent magnet machine operates as a generator and the second permanent magnet machine operates as a motor. 29. The electrically-compensated constant speed drive of claim 27, wherein the controlling means includes means for closing the second input steering switch and the first output steering switch when the second permanent magnet machine operates as a generator and the first permanent magnet machine operates as a motor. 30. The electrically-compensated constant speed drive of claim 27, wherein the controlling means includes means for opening all of the controlled switches of the first AC/DC converter and for operating the con¬ trolled, switches of the second AC/DC converter to invert the power developed by the rectifier circuit when the first permanent magnet machine operates as a generator. 31. The electrically-compensated constant speed drive of claim 27, wherein the DC/DC converter in¬ cludes first and second bypass switches and wherein the controlling means includes means for closing one of the bypass switches and for deactuating the bridge inverter when the voltage developed by the permanent magnet ma¬ chine which is operating as a generator is sufficient to operate the other permanent magnet machine as a motor.

Inventors: DHYACHAND P JOHN, DISHNER BRYAN W, JUARROS RICHARD D, DHYACHAND, P., JOHN, DISHNER, BRYAN, W., JUARROS, RICHARD, D.
Applicants: SUNDSTRAND CORP, SUNDSTRAND CORPORATION
Application year: 1986
Main classification: F01D15
IPC codes: F01D15, F01D21, F02C7, H02M5, H02P29