CN102439843A - Rotating field drive comprising an electric machine - Google Patents

Rotating field drive comprising an electric machine Download PDF

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Publication number
CN102439843A
CN102439843A CN2010800144154A CN201080014415A CN102439843A CN 102439843 A CN102439843 A CN 102439843A CN 2010800144154 A CN2010800144154 A CN 2010800144154A CN 201080014415 A CN201080014415 A CN 201080014415A CN 102439843 A CN102439843 A CN 102439843A
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CN
China
Prior art keywords
rotating field
motor
field driver
convergence point
viewer
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Pending
Application number
CN2010800144154A
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Chinese (zh)
Inventor
I·塞尔班
U·福尔默
E·迈尔-约翰
D·拉姆普雷希特
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Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN102439843A publication Critical patent/CN102439843A/en
Pending legal-status Critical Current

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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
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters

Abstract

The invention refers to a rotating field drive (1,5), comprising a motor, especially an electromotor (10) which at least comprises two stator coils (12,14,16) in connection with a star junction, and control units (18,20,26) in connection with the electromotor (10). The control units is configured to supply power for the stator coils (12,14,16) to generate a rotating field. In order to make the rotating field drive have a simple structure and low costs, the control units (18,20,26) are configured to detect the voltage of a star junction (35)of the rotating field drive (1,5) and supply power for the rotating field drive (1,5) according to the voltage of a star junction (35).

Description

The rotating field driver that has motor
Technical field
The present invention relates to a kind of motor, rotating field driver of motor and/or generator especially of having.Motor have at least two with the coil of star convergence point, especially stator coil, and the control unit that links to each other with motor.This control unit is configured to coil power supply to be used to produce rotating field.
In DE 11 2,004 000 414 T5, disclose a kind of be used under the situation of not using transducer for alternating current motor to amount control method; Wherein in the situation of alternating current motor, detect the phase current of the stator of alternating current motor, and estimate the velocity amplitude of alternating current motor through the magnet speed observer according to said phase current in detection before this by means of vector control and computing unit by current sense resistor.
Summary of the invention
According to the present invention; Control unit in the rotating field driver of the said type of beginning is configured to; Detect at least one star convergence point voltage of at least one the star convergence point star convergence point or the rotating field driver, and said rotating field driver is supplied power according to this star convergence point voltage.
Through the control unit of such structure, can advantageously save the current detection sensor that current sensor, especially current sense resistor or inductive ground makes up.
In a kind of preferred form of implementation; Control unit has observation unit; It is configured to according to star convergence point voltage through estimating to confirm the power supply state of said rotating field driver; And produce data estimator collection or estimated signal, wherein said data estimator collection or estimated signal have characterized through estimating determined power supply state.Control unit preferably is configured to further: come said rotating field driver power supply according to data estimator collection or estimated signal.
For example when being used for confirming that the needed input data redundancy of said power supply state is not capable of using or only part can be utilized, control unit can advantageously be confirmed the power supply state of rotating field driver through the viewer unit.
Preferably, the viewer unit has at least one Kalman filter.Can be advantageously said viewer unit be provided through this Kalman filter with the mode of cheap expense.
Said viewer unit can have (additionally or with Kalman filter irrespectively) Hao Tusi filter (Hautus-Filter) or gilbert filter (Gilbert-Filter).The viewer unit can advantageously generate a kind of regulating system through said Hao Tusi filter or gilbert filter, and this regulating system is advantageously with reference to each characteristic procedure and/or characteristic value.
In a kind of favourable form of implementation, the viewer unit has imperial Burger (Luenberger) viewer robust Fault Detection observer in other words.This dragon Burger viewer can advantageously be reacted to interference in the regulating system and/or inexactness.
Preferably, the viewer cell formation is: form a kind of difference by what estimate with detected star convergence point voltage.Rotating field driver, especially control unit are configured in this form of implementation: supply power for motor, especially motor and/or generator according to this difference.Can advantageously estimate the phase place of the numerical value and/or the phase current of the power supply state of rotating field driver, especially phase current thus with high accuracy.A kind of phase for example forms through stator coil or armature coil.
Viewer unit in another kind of form of implementation (or except viewer described above) can have a kind of fuzzy logic unit.The fuzzy logic unit can advantageously generate regulating system, and this regulating system is configured to: according to coarse input parameter detect the rotating field driver, the especially power supply of motor.Coarse input parameter can for example be the temperature of star convergence point voltage, intermediate loop electric current (Zwischenkreisstrom), motor or by the detected rotor-position of rotor-position sensor.This rotor-position sensor can for example form through at least one Hall element.
Preferably, control unit is configured to: by at least one 2-π periodic current, for example electric current or electric current that at least one is trapezoidal or at least one other forms of 2-π periodic current or its of at least one sine-shaped electric current, at least one rectangle make up control or encourage said motor, the stator coil of motor especially.Therefore by the estimated electric current in viewer unit can be the 2-π cycle, especially sinusoidal, rectangle or trapezoidal or its combination.
In a kind of favourable form of implementation, motor, especially electric tools are magnetic and go up asymmetric rotor.Under the situation of asymmetric rotor on the magnetic, stator inductance preferably so makes up in d-q system, makes stator inductance L dBe not equal to stator inductance L q
Asymmetric rotor can for example provide through following mode on such magnetic: especially the permanent magnet of said rotor is not that rotation is provided with symmetrically under the situation of the rotor that permanent magnetism makes up.
The exemplary form of implementation that is used for the motor of type described above is a kind of motor or synchronous motor permanent-magnet-field and/or separate excitation of electronic commutation.
In another kind of form of implementation, motor is an asynchronous machine.Asynchronous machine for example can have cage rotor.
The present invention also relates to have the servo steering device (Servolenkung) of the motor of type described above.This servo steering device advantageously can be the part of vehicle, especially motor vehicles.
In another kind of form of implementation, the rotating field driver is the part of hybrid drive, for example motor vehicles hybrid drive.With hybrid drive irrespectively, motor vehicles can have the part that the rotating field driver is used as being used to making the electric drive that motor vehicles advance.
The present invention also relates to a kind of electric tools with motor of type described above.This electric tools for example can be hand-held drilling machine, percussive drill, jump bit or highwall-drilling machine.
The present invention also relates to a kind of method that is used to make by the drive electric motor operation of rotation place.In the method, especially to be detected according to the star convergence point voltage (for example on star convergence point terminal) of rotation place generation, and the state of this rotating field, especially power supply state are preferably next definite through estimating according to said star convergence point voltage.Preferably produce said rotating field in addition according to estimated power supply state.
By accompanying drawing and additional embodiments the present invention has been described hereinafter now.
Fig. 1 shows the embodiment that is used for the rotating field driver with viewer unit;
Fig. 2 shows the embodiment of the rotating field driver with viewer unit and difference link; It is configured to by estimated star convergence point voltage and the star convergence point voltage that is detected and forms a kind of difference, wherein can come the rotating field driver is supplied power according to this difference.
Fig. 3 shows and is used to make the embodiment by means of the method for rotation place drive electric motor operation.
Fig. 1 (schematically) shows an embodiment of rotating field driver 1.This rotating field driver 1 has the motor 10 that has stator, and this stator has at least two stator coils, is three stator coils in this embodiment, i.e. stator coil 12, stator coil 14 and stator coil 16.Motor 10 also has Hall element 15, its be used for detection rotor angle, especially rotor 11 rotor-position and/or rotor 11 rotating speed and produce output signal corresponding to said rotor angle and/or rotating speed.Rotating field driver 1 also has viewer unit 18.This viewer unit 18 has Kalman filter 19.
Rotating field driver 1 also has processing unit 20.This processing unit 20 for example forms through microprocessor or microcontroller.This processing unit 20 has current regulator 22 and pulse generator 24.Pulse generator 24 for example is configured to pulse signal generator, especially pulse width modulator.
Rotating field driver 1 also has frequency converter 26.This frequency converter 26 has control input end 27 and is configured to according to the control signal that on control input end 27, receives and produces at least two (being three in this embodiment) phase voltages; Be used to produce phase current; This phase current is used to produce rotating field, and at this phase current of outlet side output.Rotating field driver 1 also has intermediate circuit capacitor 28 and the onboard power system 30 that has battery.
Motor 10 has terminal 34, terminal 36 and terminal 38.Terminal 34 is connected with the first terminal of the stator coil 14 of motor 10, and terminal 36 is connected with the first terminal of the stator coil 16 of motor 10 and terminal 38 is connected with the first terminal of the stator coil 12 of motor 10. Stator coil 12,14 and 16 has second terminal respectively, and wherein second terminal is connected with the star convergence point terminal 35 of motor 10 respectively.The Hall element 15 of motor 10 is connected with output 37 at outlet side, and wherein output 37 is connected with viewer unit 18 through connection line 46.Output 37 also is connected with current regulator 22 through connection line 47, makes current regulator 22 to receive a kind of rotor angle signal that characterizes rotor-position from Hall element 15.Viewer unit 18 and be Kalman filter 19 there at outlet side through connection line 40 with processing unit 20 and be connected with current regulator 22 there.Processing unit 20 also is connected with a kind of input 32 at input side, and this input is used for the control signal, especially the electric current expected value signal that characterize for the torque that will be transmitted.Current regulator 22 is connected with input 32 at input side.Current regulator 22 is connected with pulse generator 24 through connection line 50 at outlet side.Connection line 50 is connected with connection line 42 through a kind of connected node.Viewer unit 18 at input side through connection line 42 and connected node and so be connected with connection line 50.
Pulse generator 24 is connected with the control input end 27 of frequency converter 26 through connection line 48 at outlet side.Frequency converter 20 is connected with intermediate circuit capacitor 28 through connection line 52 at input side, and can through connection line 52 receive by intermediate circuit capacitor 28 level and smooth service voltage.Intermediate circuit capacitor 28 is connected with onboard power system 30 through connection line 54 at input side.Onboard power system 30 for example is the onboard power system of motor vehicles.
The function of rotating field driver 1 is described now hereinafter.
The rotating field driver 1 that for example can be the part of motor vehicles servo steering device can receive control signal on input 32, especially the electric current expected value signal is used for the indirect rotational motion of the rotor 11 of motor 10.Processing unit 20 can receive control signal at input side; And especially produce a kind of control signal that characterizes stator current, and it sends to pulse generator 24 and sends to viewer unit 18 through connection line 42 through connection line 50 by current regulator 22.Current regulator 22 can receive a kind of current signal that is produced by viewer unit 18 at input side through connection line 40, and this current signal characterizes by current value, the especially stator coil 12,14 of viewer unit 18 estimations and 16 power supply state.Current regulator 22 can according to the estimated current value that receives at input side (this current value corresponding to the rotating field driver, the actual power state of motor 10 stators especially), produce through connection line 50 and connection line coil control signal 42 outputs, that characterize at least one coil current of stator coil 12,14 or 16 according to the rotor angle signal that receives through connection line 47 and according to the control signal that on input 32, receives.Current regulator for example can have proportional and integral controller, proportional integral difference adjuster or proportional controller.Pulse generator 24 can produce a kind of pulse modulated control model according to the coil control signal that receives at input side; And produce a kind of and this pulse modulated control model control signal corresponding, and this control signal output to control input end 27 at outlet side through connection line 48.
Frequency converter 26 can receive said by pulse generator 24 control signals that produce, that characterize this control model on input 27; And the control signal according on input 27, receiving is so supplied power to stator coil 12,14 and 16; Make to produce rotating magnetic field, so that the rotor 11 of motor 10 rotatablely moves by stator coil 12,14 and 16.
Frequency converter 26 at input side through connection line 52 and through said intermediate circuit capacitor 28 and further supply with direct currents by onboard power system 30 through connection line 54.
Viewer unit 18 can receive by Hall element 15 produce and anglec of rotation signals that on output 37, provide, the rotor-position of the rotor 11 of this anglec of rotation characterization motor 10 through connection line 46.The numerical value of power supply state, especially phase current, especially flow through numerical value and/or phase place, the especially phase place of stator coil 12,14 and 16 stator coil electric current to each other of phase current of electric current of stator coil 12,14 and 16 can especially be estimated by Kalman filter 19 according to the tach signal that receives through connection line 46 and according to the star convergence point voltage of the star convergence point terminal 35 that receives through connection line 44 in viewer unit 18; And produce estimated signal or data estimator collection, and this estimated signal or data estimator collection are exported to processing unit 20 through connection line 40 corresponding to estimated power supply state.
Processing unit 20 for example can carry out coordinate transform according to the estimated signal that receives through connection line 40; And for example produce current signal by estimated signal, this estimated signal is in the rotor coordinate system, especially characterize the power supply state of said stator coil 12,14 and 16 in the q-d coordinate system.
Fig. 2 (schematically) shows the embodiment that is used for rotating field driver 5.Rotating field driver 5 is compared with the rotating field driver 1 shown in Fig. 1 has corresponding components, and the parts that wherein in Fig. 2, have identical respectively Reference numeral have and corresponding component identical functions shown in Fig. 1 and identical characteristic.
Motor 10 in Fig. 2 (being different from the motor 10 among Fig. 1) also has temperature sensor 64 except the motor shown in Fig. 1 10; It is used for detecting especially temperature stator and/or rotor of motor 10; And produce temperature signal, and it is exported at output through connection line 58 corresponding to the temperature that is detected.Temperature sensor 64 is connected with viewer unit 17 by means of said connection line 58.Rotating field driver 5 in Fig. 2 replaces the viewer unit 18 in Fig. 1 to have viewer unit 17.Therefore this viewer unit 17 also is connected with current regulator 22 with connection line 42 at input side.Viewer unit 17 is connected with current regulator 22 through connection line 40 at outlet side.Viewer unit 17 is connected with output 37 through connection line 46 at input side, and wherein output 37 is connected with Hall element 15.Viewer unit 17 also is connected with star convergence point terminal 35 through connection line 44 at input side.
Viewer unit 17 (different with the viewer unit 18 among Fig. 1) has difference link 62.This difference link 62 utilizes a kind of positive input terminal to be connected with connection line 44, and therefore is connected with star convergence point terminal 35.Difference link 62 has negative input end, and it is connected with the viewer 60 of viewer unit 17 through connection line 56.Viewer 60 is at input side and connection line 46 and therefore be connected with Hall element 15 through terminal 37.
Viewer 60 also is connected with estimation link 66 through connection line 54 at input side.Estimate that link 66 so construct: estimate that according to the temperature signal that receives through connection line 58 at input side (being directed against each coil 12,14 respectively separates with 16 for phase resistance and/or stator coil 12,14 and 16 inductance; Perhaps to common resistance value or inductance value); And produce a kind of signal that characterizes estimated result, and it is exported to viewer 60 at output through connection line 54.Viewer 60 is so constructed: according to the signal (it characterizes phase resistance and/or inductance) of said sign estimated result; And according to the differential signal that produces by difference link 62 by means of estimate, especially by means of Kalman filter and/or imperial Burger (Luenberger) viewer in other words the robust Fault Detection observer produce a kind of estimated signal; This estimated signal characterizes the actual power state of the stator 11 of power supply state, especially motor 10, and this signal is exported to the current regulator 22 of processing unit 20 through connection line 40 at output.Viewer 60 is configured to: confirm estimated star convergence point voltage by said estimated signal, and produce a kind of estimation star convergence point voltage signal that characterizes estimated star convergence point voltage.
Viewer 60 is configured to: the negative input end of said estimation star convergence point voltage signal being exported to difference link 62 through connection line 56.Difference link 62 is configured to: by constituting a kind of difference through connection line signal 44 receptions, that characterize said star convergence point voltage and by the estimation star convergence point voltage signals through estimated star convergence point voltage connection line 56 receptions, the said rotating field driver of sign; And produce a kind of differential signal that characterizes this difference, and this differential signal is exported to viewer 60 at outlet side.Viewer 60 can be so with being used to revise said estimated result by star convergence point voltage measured or that detected and the estimated formed difference of star convergence point voltage.
Fig. 3 (schematically) shows the embodiment of the method 70 that is used for driven in rotation field driver.
In method 70, in step 72, detect the star convergence point voltage of especially deriving by said rotating field.
In another step 74, according to star convergence point voltage, through estimating to confirm said rotating field, especially power supply state.This power supply state comprises the for example numerical value and/or the phase place of a rotating field coil, two rotating field coils or all rotating field coils.The rotating field coil can be stator coil and/or armature coil.
In addition, in step 76, form a kind of difference, and the power supply state of estimated rotating field is revised by this difference by star convergence point voltage that is detected and estimated star convergence point voltage.
In addition, in step 78, produce rotating field according to estimated power supply state.Step 76 also (expression of dotted line ground) can be saved.

Claims (12)

1. rotating field driver (1,5), it has: motor, especially motor (10), wherein motor (10) comprises at least two stator coils that are connected with the star convergence point (12,14,16); And the control unit (18,20,26) that is connected with motor (10); This control unit is configured to said stator coil (12,14,16) power supply to produce rotating field; It is characterized in that said control unit (18) is configured to the star convergence point voltage of the star convergence point (35) that detects said rotating field driver (1,5); And supply power for this rotating field driver (1,5) according to star convergence point voltage (35).
2. rotating field driver according to claim 1 (1,5) is characterized in that; Said control unit has viewer unit (17,18), and this viewer cell formation is for confirming rotating field driver (12 according at least one star convergence point voltage (35) through estimation; 14,16) power supply state, and produce a kind of estimated signal; This estimated signal characterizes through the determined said power supply state of estimation, and according to estimated signal rotating field driver (1,5) is supplied power.
3. rotating field driver according to claim 2 (1,5) is characterized in that, viewer unit (17,18) have at least one Kalman filter (19) or imperial Burger viewer.
4. according to one of aforesaid right requirement described rotating field driver (1; 5); It is characterized in that; Viewer unit (17) is configured to by star convergence point voltage estimated and that detected and forms a kind of difference (62), and the rotating field driver is configured to according to this difference (62) to come motor is supplied power.
5. according to one of aforesaid right requirement described rotating field driver (1; 5); It is characterized in that; Said viewer unit has a kind of fuzzy logic unit, and this fuzzy logic unit forms a kind of regulating system, and wherein this regulating system is configured to according to coarse input parameter and detects the power supply for motor.
6. according to one of aforesaid right requirement described rotating field driver (1,5), it is characterized in that motor (10) is an asynchronous machine.
7. according to one of aforesaid right requirement 1 to 4 described rotating field driver (1,5), it is characterized in that motor (10) is the motor of electronic commutation.
8. according to one of aforesaid right requirement described rotating field driver (1,5), it is characterized in that motor (10) is a synchronous motor especially permanent-magnet-field and/or separate excitation.
9. has servo steering device according to the described rotating field driver of one of aforesaid right requirement (1,5).
10. have be used to make that motor vehicle advances, according to the motor vehicle of the described rotating field driver of one of aforementioned claim 1 to 8.
11. have electric tools according to the described rotating field driver of one of aforementioned claim 1 to 8 (1,5).
12. be used to make a kind of method by means of motor, especially motor (10) operation of rotating the place driving; Wherein detect the star convergence point voltage (35) that especially produces according to said rotation place; And confirm the state of rotating field, especially at least one rotating field generator (12,14 through estimating (17,18) according to this star convergence point voltage (35); 16) power supply state, and produce said rotating field according to estimated power supply state.
CN2010800144154A 2009-03-31 2010-02-11 Rotating field drive comprising an electric machine Pending CN102439843A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102009002002.0 2009-03-31
DE200910002002 DE102009002002A1 (en) 2009-03-31 2009-03-31 Rotary field drive with an electric machine
PCT/EP2010/051679 WO2010112258A2 (en) 2009-03-31 2010-02-11 Synchro drive comprising an electric machine

Publications (1)

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CN102439843A true CN102439843A (en) 2012-05-02

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CN2010800144154A Pending CN102439843A (en) 2009-03-31 2010-02-11 Rotating field drive comprising an electric machine

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EP (1) EP2415163A1 (en)
CN (1) CN102439843A (en)
DE (1) DE102009002002A1 (en)
WO (1) WO2010112258A2 (en)

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Publication number Priority date Publication date Assignee Title
JP4613475B2 (en) 2003-03-12 2011-01-19 株式会社安川電機 Sensorless vector control method and control apparatus for AC motor

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WO2010112258A2 (en) 2010-10-07
EP2415163A1 (en) 2012-02-08
DE102009002002A1 (en) 2010-10-07

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Application publication date: 20120502