CN104272124B - Method for controlling motor, motor are particularly useful for manipulating the actuator in motor vehicle - Google Patents
Method for controlling motor, motor are particularly useful for manipulating the actuator in motor vehicle Download PDFInfo
- Publication number
- CN104272124B CN104272124B CN201380023917.7A CN201380023917A CN104272124B CN 104272124 B CN104272124 B CN 104272124B CN 201380023917 A CN201380023917 A CN 201380023917A CN 104272124 B CN104272124 B CN 104272124B
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- CN
- China
- Prior art keywords
- motor
- mot
- voltage
- impedance
- instantaneous
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 claims description 10
- 238000002372 labelling Methods 0.000 claims description 5
- 230000001052 transient effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 description 7
- 230000005669 field effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
- H01H47/22—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current for supplying energising current for relay coil
- H01H47/32—Energising current supplied by semiconductor device
- H01H47/325—Energising current supplied by semiconductor device by switching regulator
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of method for controlling motor, the motor is particularly useful for manipulating the actuator in motor vehicle, wherein before instantaneous motor voltage is applied to motor, instantaneous motor voltage is compared with voltage boundary values, wherein deriving voltage boundary values from the impedance of motor.In the method for the optimum performance of motor is always to ensure that, impedance is determined during motor running.
Description
Technical field
The present invention relates to a kind of method for controlling motor, motor is particularly useful for manipulating the execution in motor vehicle
Device, wherein before instantaneous motor voltage is applied to motor, instantaneous motor voltage is compared with voltage boundary values,
Wherein voltage boundary values are derived from the impedance of motor.
Background technology
The motor of electricity commutation generally serves as servo-motor in a motor vehicle for controlling automatic speed changer or clutch
Device.Here, it is necessary to ensure that the reliability of control, because the failure of motor can result in the behaviour of the mistake of speed changer or clutch
It is vertical.This failure can affect the driving safety of motor vehicle and may cause accident.Such as from DE 10 2,006 001
It is known in 915A1：For the purpose, the operation variable of motor is monitored, wherein for example measuring instantaneous motor current.
In order to protect final stage of the structure of motor in controller unit, it is necessary to limit maximum allowable motor current.Most
The restriction here of big motor current is carried out by limiting motor voltage.For controlling the maximum allowable motor electricity of motor
Pressure is disposably calculated from the maximum allowable electric current of motor, impedance and mutual voltage by means of software.Then, calculated
Numerical value store in software.Because impedance is with regard to temperature change, always must trade off.If at such as 130 DEG C
At a high temperature of the impedance that sets stored, then flow through maximum allowable electric current in the event of high temperatures
In the case of low temperature, actual impedance is less than the numerical value stored in software.Because the temperature of reality is for software
For it is unknown, so the difference can not be considered.The calculating of maximum allowable voltage boundary values is therefore always with excessive impedance
Carry out, this causes：Voltage is limited to be become inaccurate and applies too high voltage.Thus, electric current can flow through final stage, the electricity
Stream is noticeably greater than maximum allowable electric current.In the case where temperature is -30 DEG C it is：
In order to avoid the above, it is necessary to reduce current limit or the specified impedance in the case where temperature is low.This two
In the case of kind, when temperature is higher, the power of the whole of motor is no longer provided, because unnecessary restriction motor voltage
IEndstufen.max.neu＜ IEndstufen.max
The content of the invention
It is therefore an object of the present invention to：A kind of method for controlling motor is provided, wherein being reliably prevented motor
Power loss.
According to the present invention, the purpose is accomplished by：Impedance is determined during motor running.By there is rule
Rule ground updates impedance to be guaranteed reliably to be matched with the temperature around motor.Therefrom realize correctly determining voltage boundary values, because
Derive from the environmental condition that there are in fact for the voltage boundary values.By continuously determining that voltage boundary values also adjust stream
The dynamic electric current by final stage so that be reliably suppressed final stage overheated.
Advantageously, by means of instantaneous current measurement determining impedance.Because final stage is comprising semiconductor switch and described
Final stage is relatively worked with temperature, so reliably the temperature of environment can be concluded by current measurement, from temperature
Derive actual impedance.
In a design, instantaneous current measurement is assessed by means of the software being integrated in controller unit.It is logical
Crossing reduces implementing the cost of proposed method in controller unit using the software for itself existing of controller unit.
In a variations, impedance is determined during labeling process, wherein electronic by what is loaded with motor voltage
Machine will be pressed against on stop part by the actuator of motor-driven, and the rotating speed of wherein motor is zero.Labeling process is controller
The process of the restriction implemented by motor especially before the driving of actuator script of device.Therefore, start fortune in motor
With current resistance value during row, correspondingly current voltage boundary values are therefrom obtained.
In an alternative, impedance is determined when the motor loaded with instantaneous motor voltage starts, wherein electricity
The rotating speed of motivation is close to zero when starting.Current resistance value is reliably determined also for the process, so as to be motor
The running determine corresponding voltage boundary values.
In an improved form, determine from the business of the electric current of the voltage and transient measurement that are instantaneously applied on motor
The real part of impedance.As the rotating speed of motor is assumed to be zero, cancel the imaginary part of impedance in this case.
Advantageously, impedance is determined in the case of the invariablenes turning speed of motor.Therefore, also in the normal runtime of motor
Between reliably can determine voltage boundary values from the impedance determined in the case of invariablenes turning speed.Reliably determined by this
Voltage boundary values, occur without, and are thus always capable of the power of the maximum of output motor.Pass through
It is determined that the impedance of reality guarantees optimal motor performance in the running status of the whole of motor.
In one embodiment, from the instantaneous motor voltage for applying, the motor current of transient measurement, constant rotating speed,
Inductance and motor extremely to quantity in determine impedance, wherein inductance and extremely to quantity be constant.Therefore, also electronic
The peak power of motor, the Motor Control actuator described in the operation are set in the operation of machine.
Description of the drawings
The present invention allows substantial amounts of embodiment.A large amount of embodiments can be elaborated according to the figure illustrated in drawing
In one.
Which illustrates
Fig. 1 illustrates the one embodiment with the motor of final stage interconnection.
Specific embodiment
Fig. 1 illustrates the motor 1 with the interconnection of final stage 2.Current measuring device 4 is provided with the grounding path 3 of final stage 2.End
Level 2 and 4 here of current measuring device are arranged in controller unit 5.Additionally, final stage 2 is connected with power supply 6, the power supply is same
It is positioned in controller unit 5.This arrangement is for example formed in the clutch system or derailleur control device of electro-hydraulic pressure.
In the operation of such as clutch, motor 1 is commutated by means of block by controller unit 5
(Blockkommutierung) controlling, this expression：Motor 1 with phase U, V, W is controlled so as to so that in phase U, V, W
One always currentless, and two other phase U, V, W are energized.As seen from Figure 1, the center-tap of phase U, V, W in final stage 2
Put to tap.Here, final stage 2 is configured to the bridgt circuit with electronic switching element 7,8,9,10,11,12.Such as current
In B bridges as situation, there are six electronic switching elements 7,8,9,10,11,12, the electronic switch is advantageously formed as field
Effect transistor.When using brushless motor 1, field-effect transistor electricity commutates and thus produces rotating field.
In order to simple, in FIG, field-effect transistor is only illustrated as switch 7,8,9,10,11,12.Switch 7,8 it
Between tap motor 1 phase U, switch 9,10 between tap phase V and switch 11,12 between tap phase W.
In order to protect the final stage 2 of motor 1, maximum allowable electric current is limited.By limiting motor voltage UMotTo carry out maximum
The electric current I of permissionEndstufen, maxRestriction.Here, by the software being included in controller unit 5 from maximum allowable electric current
IEndstufen, max, resistance value Z and mutual voltage UIndIt is middle to calculate for controlling the maximum allowable motor voltage of motor 1
UMot, max.Corresponding numerical value is stored in the software of controller unit 5.
Following association shows calculating：
UMotor, max=IEndstufen, max*Z+UIndUMotor, max=IEndstufen, max*Z+ke*ω
Here is represented：
IEndstufen, maxMaximum allowable electric current
The current impedance of the motor of Z systems, which is made up of all-in resistance R and induction reactance, and the impedance is calculated as below：
The all-in resistance of the side of R motor (includes terminal resistance (Klemmwiderstand), wire harness resistance, controller
Device resistance)
L total inductances
P numbers of pole-pairs
ω rotating speeds
keThe voltage constant of motor
Transient speed measured by ω
IMotMeasured transient current
UMotMeasured instantaneous voltage.
Obtain generally for the impedance Z in the motor 1 of electricity commutation：
Actual impedance Z is arranged by the auxiliary of the current measuring device being integrated in controller unit when motor 1 runs
Apply guiding lattice current measurement resistance 4.Where it determines that the impedance Z in the different running status of motor 1.
In the first variations, resistance value Z is determined in the labeling process of controller unit 5.In the labeling process phase
Between, actuator, such as clutch or speed changer are moved relative to stop part by motor 1, and wherein motor is due to stop part
And do not rotate and rotational speed omega be equal to zero.Therefore, the resistance of real part is obtained according to formula (1)
The current resistance R is considered for determining voltage boundary values UMot, max。
Determine that the alternative plan of impedance Z is realized when motor 1 starts.Because, in first observed starting to motor 1
Shi Bixu overcomes inertia first, so also rotational speed omega is close to zero in this case.For being presently contemplated for determining voltage border
The impedance Z of value also therefrom only obtains real part R.
In a third case, in 1 constant operating of motor, in the case of rotational speed omega=constant, determine impedance
Z, wherein measuring rotational speed omega.The quantity extremely to p and inductance L of motor 1 is known and is regularly stored in controller unit 5
In, because they do not have temperature dependency.Although motor constant keWith temperature dependency, but the motor constant can
It is ignored in the case where ω is little.Therefore, the impedance Z of motor 1 can be determined in the method according to formula (1).
Calculated from accordingly, in a kind of current impedance Z of the determination in three kinds of different methods respectively current
Voltage boundary values UMot, max, the voltage boundary values are then as the basis that motor 1 is controlled by final stage 2.With current
Motor voltage UMotControl motor 1 before, by the motor voltage accordingly with voltage boundary values UMot, maxIt is compared.If
Current motor voltage UMotMore than voltage boundary values UMot, max, then by the motor voltage U of control motor 1MotIt is constrained to electricity
Flanging dividing value UMot, max, the final stage 2 for being thus reliably suppressed motor 1 transships.Additionally, determining impedance Z by the current position
The peak power of motor 1 is extracted always.
Reference numerals list
1 motor
2 final stages
3 grounding paths
4 current measuring devices
5 controller units
6 power supplys
7 switch elements
8 switch elements
9 switch elements
10 switch elements
11 switch elements
12 switch elements
The phase of U motor
The phase of V motor
The phase of W motor
Claims (8)
1. a kind of method for controlling motor, the motor are used to manipulate the actuator in motor vehicle, wherein by wink
When motor voltage be applied to the motor (1) before, by the instantaneous motor voltage (UMot) and voltage boundary values
(UMot, max) compare, if the instantaneous motor voltage (UMot) more than the voltage boundary values (UMot, max), then by institute
State instantaneous motor voltage (UMot) it is constrained to the voltage boundary values (UMot, max), wherein from the impedance of the motor (1)
(Z) voltage boundary values (U is derived inMot, max), it is characterised in that the resistance is determined in the motor (1) run duration
Anti- (Z).
2. method according to claim 1, it is characterised in that the impedance is determined by means of instantaneous current measurement
(Z)。
3. method according to claim 2, it is characterised in that by means of the software being integrated in controller unit to assess
State instantaneous current measurement.
4. the method according to claim 1,2 or 3, it is characterised in that the impedance (Z) is determined during labeling process,
Wherein described actuator is moved to against stop part by the motor (1), the rotating speed (ω) of the motor (1) against
State is close to zero, and the actuator is driven by the motor (1), and the motor (1) is with the instantaneous motor
Voltage (UMot) load, the impedance (Z) is determined when the rotating speed (ω) is close to zero.
5. the method according to claim 1,2 or 3, it is characterised in that with instantaneous motor voltage (UMot) institute that loads
State when motor (1) starts and determine the impedance (Z), wherein the rotating speed (ω) of the motor (1) is close to zero when starting.
6. the method according to claim 4 or 5, it is characterised in that described instantaneous on the motor (1) from being applied to
Motor voltage (UMot) and transient measurement electric current (IMot) business in determine the real part (R) of the impedance (Z).
7. the method according to claim 1,2 or 3, it is characterised in that the rotating speed (ω) in the motor (1) is constant
In the case of determine the impedance (Z).
8. method according to claim 7, it is characterised in that from the described instantaneous motor voltage (U for applyingMot), it is instantaneous
Motor current (the I of measurementMot), constant rotating speed (ω), inductance (L) and the motor (1) extremely in the quantity of (p) really
The fixed impedance (Z), wherein the inductance (L) and it is described be constant extremely to the quantity of (p).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012208119 | 2012-05-15 | ||
| DE102012208119.4 | 2012-05-15 | ||
| PCT/EP2013/058361 WO2013171036A1 (en) | 2012-05-15 | 2013-04-23 | Method for controlling an electric motor, especially for activating actuators in a motor vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104272124A CN104272124A (en) | 2015-01-07 |
| CN104272124B true CN104272124B (en) | 2017-04-05 |
Family
ID=48190951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380023917.7A Expired - Fee Related CN104272124B (en) | 2012-05-15 | 2013-04-23 | Method for controlling motor, motor are particularly useful for manipulating the actuator in motor vehicle |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104272124B (en) |
| DE (2) | DE102013207317A1 (en) |
| WO (1) | WO2013171036A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014225534B3 (en) * | 2014-12-11 | 2015-12-10 | Schaeffler Technologies AG & Co. KG | Method for optimizing a drive dynamics of an electric motor, preferably for use in a hydrostatic clutch actuator of a motor vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4799046A (en) * | 1984-07-06 | 1989-01-17 | Leybold-Heraeus Gmbh | Method and circuit for detecting and monitoring the temperature of a winding |
| US5831809A (en) * | 1995-09-09 | 1998-11-03 | Fev Motorentechnik Gmbh & Co. Kg | Method for controlling an electromagnetic actuator with compensation for changes in ohmic resistance of the electromagnet coil |
| EP1372259A1 (en) * | 2002-06-14 | 2003-12-17 | STMicroelectronics S.r.l. | Method and apparatus for driving complex impedance loads in voltage-mode |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7167334B2 (en) * | 2003-09-16 | 2007-01-23 | Texas Instruments Incorporated | Digital actuator control and method |
| DE102006001915B4 (en) | 2005-02-11 | 2021-10-28 | Schaeffler Technologies AG & Co. KG | Method and arrangement for determining the operating parameters of an EC motor |
-
2013
- 2013-04-23 WO PCT/EP2013/058361 patent/WO2013171036A1/en active Application Filing
- 2013-04-23 DE DE102013207317A patent/DE102013207317A1/en not_active Withdrawn
- 2013-04-23 CN CN201380023917.7A patent/CN104272124B/en not_active Expired - Fee Related
- 2013-04-23 DE DE112013002515.9T patent/DE112013002515A5/en not_active Ceased
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4799046A (en) * | 1984-07-06 | 1989-01-17 | Leybold-Heraeus Gmbh | Method and circuit for detecting and monitoring the temperature of a winding |
| US5831809A (en) * | 1995-09-09 | 1998-11-03 | Fev Motorentechnik Gmbh & Co. Kg | Method for controlling an electromagnetic actuator with compensation for changes in ohmic resistance of the electromagnet coil |
| EP1372259A1 (en) * | 2002-06-14 | 2003-12-17 | STMicroelectronics S.r.l. | Method and apparatus for driving complex impedance loads in voltage-mode |
Also Published As
| Publication number | Publication date |
|---|---|
| DE112013002515A5 (en) | 2015-01-29 |
| DE102013207317A1 (en) | 2013-11-21 |
| CN104272124A (en) | 2015-01-07 |
| WO2013171036A1 (en) | 2013-11-21 |
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Address after: German Herzogenaurach Applicant after: SCHAEFFLER TECHNOLOGIES AG & CO.KG Address before: German Herzogenaurach Applicant before: SCHAEFFLER TECHNOLOGIES GmbH & Co.KG |
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Granted publication date: 20170405 |
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