CN105379106B - 用于控制用于对电机进行驱动的多相变频器的方法 - Google Patents
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- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
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Abstract
本发明涉及一种用于控制用于对电机8进行驱动的多相变频器的方法,其中电机8适合于作为交通运输工具的牵引驱动,其中变频器包括功率开关对,这些功率开关对分别具有串联连接的第一功率开关4和第二功率开关7,其中第一功率开关4与直流电压UBAT相连并且第二功率开关7与直流电压UBAT的参考电势GND相连,其中第一与第二功率开关4,7的节点均与电机8的相应的相线相连,所述方法包括步骤:确定是否存在17故障,如果存在故障并且在第一和/或第二功率开关上的控制信号是非激活的:根据相线电流(iU,iV,iW)和/或根据电机(8)的转子的位置,评估应将变频器切换到短路模式还是续流模式。
Description
技术领域
本发明涉及一种用于控制用于对电机进行驱动的多相变频器的方法,一种控制单元和一种交通运输工具。
背景技术
现有技术中公知用于驱动交通运输工具的永磁激励的同步电机。
永磁激励的电机作为电动或混合动力交通运输工具的牵引驱动大多不能从驱动轴、车轮机械地脱开。永磁激励的电机的一个特征是其产生与电机转速成比例的电压。如果该电压上升超过当前的中间电路电压并且功率开关的二极管(或场效应管的体二极管)的导通电压上升,则发生回馈。通过回馈存在危险,即,直流电压源通过过载或变频器通过过电流而被损坏。此外通过回馈产生不期望的与电机轴的旋转方向相反的制动转矩。为了避免该问题,将电机过渡到续流模式(Freilaufmodus)或短路模式。然而在此要考虑,在短路情况下,在低转速时永磁激励的电机会产生高的制动转矩。相反在续流情况下,在高转速时会产生高的制动转矩。由此相应于该情况,在续流模式和短路模式之间切换。电机转速作为关于切换到哪个模式(短路还是续流模式)的决定因素不能作为唯一的标准被考虑,因为该标准的说服力受附加的参数影响。临界的电机转速(作为电机的应当进行变频器切换的转速值)例如取决于在变频器上提供的直流电压(中间电路电压)的当前水平。中间电路电压越低,则按照绝对值的这样的转速/电机转速越低,从该电机转速开始在不受控的运行中发生回馈。此外布置在电机转子上的永久磁铁的温度起重大作用。其磁场强度随着温度增加而降低,由此在相同转速的情况下较冷的转子比较热的转子感应更多电压。通过转子绕组的温度,转子电阻改变,由此同样产生对转速阈值的影响。特别地,转子温度或永久磁铁的磁场强度只能以高的技术开销来测量。
发明内容
本发明的任务是,提供一种用于电机的方法,该方法允许在给定条件下在短路模式和续流模式之间切换,其中为此应当提供更简单或更明确的判断过程。在此特别地描述一种方法,该方法不需要测量中间电路电压和/或转子温度和/或定子温度以实现该任务。
作为本发明的第一实施方式,提供一种用于控制用于对电机进行驱动的多相变频器的方法,其中电机适合于作为交通运输工具的牵引驱动,其中变频器包括功率开关对,所述功率开关对分别具有串联连接的第一功率开关和第二功率开关,其中第一功率开关与直流电压相连并且第二功率开关与直流电压的参考电势相连,其中第一与第二功率开关的节点均与电机的相应的相线相连,所述方法包括步骤:确定是否存在故障,如果存在故障并且在第一和/或第二功率开关上的控制信号是非激活的:根据相线电流和/或根据电机的转子的位置,评估应将变频器是切换到短路模式还是续流模式。
通过使用相线电流或转子位置来判断在故障期间电机的合适模式(续流模式,短路模式),可以弃用作为不唯一的标准的转速并且不需要进行附加的测量,因为已知了相线电流和转子位置。
作为本发明的第二实施方式,提供一种控制单元,用于执行按照权利要求1至11中任一项所述的方法。
作为本发明的第三实施方式,提供一种交通运输工具,具有按照权利要求12所述的控制单元。
示例实施方式在从属权利要求中描述。
按照本发明的示例实施方式,提供一种方法,此外包括步骤:将相线电流数学变换到具有相互正交的电流分量的二维坐标系和/或面向转子的坐标系(koordinatensystem)中。
通过变换到面向转子的坐标系,可以实现简化的关系,由此关于要切换到变频器的哪个模型的判断过程可以被简化。
在另一个本发明实施方式中,提供一种方法,还包括步骤:如果电流分量处于容差区域内:将输出级(Endstufe)转换到续流模式;如果电流分量位于容差区域外:如果控制信号是激活的:如果电流分量位于第一区域外:将变频器转换到续流模式。
按照另一个本发明实施方式,提供一种方法,还包括步骤:如果电流分量处于容差区域外:如果控制信号是非激活的:将变频器转换到短路模式;如果电流分量位于容差区域外:如果控制信号是激活的:如果电流分量位于第一区域内:将变频器转换到短路模式。
按照本发明的一个示例实施方式,其中容差区域是如下区域,在该区域中,对于电流分量成立iq 2+id 2=第一值;和/或其中第一区域是如下区域,在该区域中对于电流分量成立id<0和(iq<=│第二值·id│和iq>=第三值·id);和/或其中第一值,第二值和第三值是任意相同或不同的数值;和/或其中通过计算电流分量的电流角度和/或通过计算电流分量的电流比来确定电流分量是否处于第一区域内。
在另一个本发明实施方式中,提供一种方法,还包括步骤:如果电流分量处于容差区域外:将变频器转换到短路模式;如果电流分量位于容差区域内:将变频器保持在续流模式。
按照另一个本发明实施方式,提供一种方法,其中:如果电流分量处于第二区域内:将变频器保持在短路模式;如果电流分量位于第二区域外:将变频器转换到续流模式(Freischaltmodus)。
按照本发明的一个示例实施方式提供了一种方法,其中第二区域是如下区域,在该区域中,对于电流分量成立id<0和(iq<=0和iq>=第四值·id),其中第四值是任意的数值和/或其中第二区域通过计算电流分量的电流角度和/或通过计算电流分量的电流比来得到。
按照本发明的示例实施方式,提供一种方法,其中在续流模式中全部的第一和全部的第二功率开关是断开的。
在另一个本发明实施方式中,提供一种方法,其中在短路模式中全部的第一功率开关是断开的并且全部的第二功率开关是闭合的,或者其中全部的第一功率开关是闭合的并且全部的第二功率开关是断开的,或者其中每相分别一个功率开关短路。
通过控制变频器的功率开关,可以简单地实现短路模式或续流模式。
按照本发明的另一个实施例,提供一种方法,其中监视单元将变频器转换到续流模式和/或短路模式。
本发明的思路是,在变换到面向转子的坐标系之后定义允许电机安全运行的条件。特别地在此应当确定,何时必须将电机切换到短路模式或续流模式。
当然也可以将各个特征互相组合,由此部分地也可以得到超出单个效果总和的有利的效果。
附图说明
根据在附图中示出的实施例解释本发明的其他特征和优点。附图中:
图1示出了用于驱动永磁同步电机的输出级/逆变器/变频器,
图2示出了在转速改变的情况下产生的逆变器制动转矩的图(在短路模式或在续流模式下不受控的永磁激励的电机的转速-转矩曲线,其中关于电机轴标出转速),
图3示出了用于控制和监视变频器和电机的系统,
图4示出了按照本发明的方法的流程图,
图5示出了面向转子的坐标系,
图6示出了在定子温度为20摄氏度并且转子温度为20摄氏度情况下处于短路模式中的同步电机的曲线图,
图7示出了在定子温度为20摄氏度并且转子温度为150摄氏度情况下处于短路模式中的同步电机的曲线图,
图8示出了在定子温度为150摄氏度并且转子温度为20摄氏度情况下处于短路模式中的同步电机的曲线图,
图9示出了在定子温度为150摄氏度并且转子温度为150摄氏度情况下处于短路模式中的同步电机的曲线图。
具体实施方式
图1示出了用于驱动永磁同步电机的输出级/逆变器/变频器。变频器具有三个半桥/功率路径,分别具有一个高侧功率开关4和一个低侧功率开关7。在半桥的节点处布置了电机8的相线。在功率开关4、7处布置/构造二极管/体二极管5、6。
图2示出了在永磁同步电机的不同运行状态下的两个曲线。在第一曲线31中示出,在短路模式下产生何种制动转矩。在此可以看出,在小的转速情况下产生高的制动转矩。可以确定最大值11,在该最大值情况下产生按照绝对值最高的转矩。在高转速情况下在短路模式中仅产生小的转矩。相反,在续流模式中在低转速情况下仅产生小的转矩(参见曲线30)。在高转速情况下,转矩绝对值增加。在此可以确定过渡10,直至该过渡,在转速增加情况下,有利的是,在续流模式30下运行同步电机,以便仅获得小的制动转矩。在过渡区域10之后最好将同步电机切换到短路模式31,以便将制动转矩保持为小。
图3示出了用于控制和监视变频器和电机的系统。系统包括位置测量装置9,利用其可以确定电机/同步电机的转子的方位/位置。通过电流测量装置12可以确定导线电流iU,iV,iW。此外系统还包括用于控制变频器13的控制单元和干扰和故障识别装置15。干扰和故障识别装置15既对外部的干扰/故障信号16也对由监视单元14识别的干扰/故障做出反应。监视单元14负责系统的各个元件的协调。如果系统得到故障报警16,则按照本发明按照当前电机电流和转子的方位信号评估情形,而不是如现有技术中那样通过转速、中间电路电压、转子温度和/或定子温度或其他物理参量。有利地由此按照本发明可以利用已经存在的测量参量并且不需要进行附加的测量。
图4示出了按照本发明的方法的流程图。首先确定,是否存在干扰情况17。如果是,检查,存在的电流是否位于可以容许的区域内18。在该区域T1中仅存在非常小的并且由此不是主要问题的电流。如果是,则逆变器/变频器可以被转换到续流模式21。在续流模式中检查,是否仍然仅存在与容差区域T1相应的小电流22。如果是,则逆变器保持在续流模式21。如果否,则逆变器被转换到短路模式23。如果识别到故障情况17并且确定电流不是无关紧要的,因为该电流不是位于容差区域T1内18,此外确定存在逆变器的控制信号19,则可以确认逆变器的控制还可以正确运行。相反如果可以确定,不存在激活的控制信号19,则将逆变器转换到短路模式23。如果存在激活的控制信号,则检查,永磁激励的同步电机是否被主动地通过变流器进行场衰减20。如果变换的电流iq,id位于区域S1内部20,则这成立。如果给定这一点,则变流器被切换到短路模式中23,以避免通过来自于电机的回馈电流对系统的损坏或与旋转方向相反的不期望的转矩。如果变换的值iq,id不是位于区域S1内部20,而是还在特征曲线K_mot上,则电机未被主动地进行场衰减并且逆变器可以被切换到续流模式21。
如果逆变器在短路模式中,则必须被检查,其是否产生高的转矩。如果是,则这会导致事故危险。为此检查,电流角度/电流比是否位于区域S2外部24。如果是,则电机产生高的转矩并且逆变器必须被切换到续流模式21。如果电流角度/电流比例的计算得出该值尚位于区域S2内部24,则电机不产生大的转矩并且可以保持在短路模式23。
图5示出具有d和q轴的面向转子的坐标系。示出了特征曲线K_mot 25(表示电动机运行)和K_gen 26(gen表示发电机运行)。如果离开这些特征曲线K_mot 25或K_gen 26,则电机处于场衰减状态并且在续流情况下将发生不期望的回馈。作为是否已经出现明显的场衰减的边界值,可以计算路径/曲线27、28。如果电机关于其运行状态位于由曲线27、28张开的区域S1内部,则可以假定明显的场衰减。在此尚可以确定两个例外情况。如果存在小的电流,则可以假定非临界的运行状态,T1区域。在该运行状态中变频器例如可以被切换到续流模式,而不用担心出现高的回馈电流。如果电流位于区域S2内,则电机仅产生小的制动转矩。该运行状态也可以评估为不太关键并且由此可以单独处理。在隐极转子同步电机的情况下可以根据d分量(id)看出,电机是否在场衰减下运行。如果负电流id非常高,则可以假定,涉及的电机在场衰减运行下工作。关于电流分量id、iq在短路情况下是否处于S2区域内的确定可以根据电流分量id,iq互相的比或从这两个电流分量id,iq得到的电流矢量的角度来进行。分量电流id,iq的电流划分可以与电流角度/电流比阈值S1_mot,27以及S1_gen,28比较,以确定,电流分量是否位于S1区域内。电流角度/电流比阈值S1_mot,27和S1_gen,28既可以通过固定的角度或固定的比例,也可以通过可变的角度/比例(例如基于特征曲线)来确定。S1区域是在曲线27和28之间的总区域。
图6示出了在定子温度为20摄氏度和转子温度为20摄氏度的情况下在短路模式中同步电机的曲线变化。
图7示出了在定子温度为20摄氏度和转子温度为150摄氏度的情况下在短路模式中同步电机的曲线变化。
图8示出了在定子温度为150摄氏度和转子温度为20摄氏度的情况下在短路模式中同步电机的曲线变化。
图9示出了在定子温度为150摄氏度和转子温度为150摄氏度的情况下在短路模式中同步电机的曲线变化。
在全部的图6、7、8、9中可以确定区域S2,在该区域中仅产生小的制动转矩。具有小的制动转矩的该运行状态的出现不取决于定子和/或转子温度的变化。这样确定S2阈值29,使得不超过最大允许的制动力矩。
要指出的是,概念“包括”不排除其他元件或方法步骤,同样概念“一个”不排除多个元件和步骤。
使用的附图标记仅用于提高理解性并且不应当被认为是限制性的,其中本发明的保护范围通过权利要求反映。
附图标记列表
1 电压源
2 电压中间电路
3 中间电路电容器
4 高侧功率开关
5 高侧续流二极管
6 低侧续流二极管
7 低侧功率开关
8 永磁激励的同步电机
9 用于测量转子的位置/方位的部件
10 过渡区域
11 按照绝对值的转速最大值
12 电流测量装置
13 用于驱动变频器的控制单元
14 监视单元
15 干扰和故障识别装置
16 外部干扰/故障信号
17 干扰检测
18 电流位于容差区域T1外部?
19 控制信号是激活的?
20 电流角度/电流比位于S1区域内部?
21 通过监视单元接通续流模式
22 电流位于容差区域T1外部?
23 通过监视单元接通短路模式
24 电流角度/电流比位于S2区域外部?
25 特征曲线K_mot(电动机运行)
26 特征曲线K_gen(发电机运行)
27 线性化的特征曲线,S1_mot
28 线性化的特征曲线,S1_gen
29 曲线
30 曲线
id 在面向转子的坐标系中的d-电流
iq 在面向转子的坐标系中的q-电流
iU 相线U中的电流
iV 相线V中的电流
iW 相线W中的电流
S1 转换平面中的区域,在该区域中存在场衰减
S2 转换平面中的区域,在该区域中在短路情况下仅产生小的制动转矩
T1 转换平面中的区域,在该区域中仅出现小的电流
U 相线电压
V 相线电压
W 相线电压
GND 直流电压的参考电势
PSM 永磁激励的同步电机
UBAT 直流电压
Claims (11)
1.一种用于控制用于对电机(8)进行驱动的多相变频器的方法,其中电机(8)适合于作为交通运输工具的牵引驱动,其中,变频器包括功率开关对,所述功率开关对分别具有串联连接的第一功率开关(4)和第二功率开关(7),其中,第一功率开关(4)与直流电压(UBAT)相连并且第二功率开关(7)与直流电压(UBAT)的参考电势(GND)相连,其中,第一与第二功率开关(4,7)的节点均与电机(8)的相应的相线相连,所述方法包括步骤:
-确定是否存在故障(17),
-如果存在故障并且在第一和/或第二功率开关上的控制信号是非激活的,则根据相线电流(iU,iV,iW)和根据电机(8)的转子的位置,评估应将变频器切换到短路模式还是续流模式;
-将相线电流(iU,iV,iW)数学变换到具有相互正交的电流分量(id,iq)的二维坐标系中;
-如果电流分量(id,iq)处于容差区域(T1)内(18),则将变频器转换到续流模式(21);
-如果电流分量(id,iq)位于容差区域(T1)外(18)并且如果控制信号是激活的(19)并且如果电流分量位于第一区域(S1)外(20),则将变频器转换到续流模式(21);
-如果电流分量(id,iq)处于容差区域(T1)外(18)并且如果控制信号是非激活的(19),则将变频器转换到短路模式(23);
-如果电流分量位于容差区域(T1)外(18)并且如果控制信号是激活的(19)并且如果电流分量位于第一区域(S1)内(20),则将变频器转换到短路模式(23),
其中容差区域(T1)是如下区域,在该区域中,对于电流分量(id,iq)成立iq 2+id 2=第一值。
2.根据权利要求1所述的方法,其中所述坐标系是面向转子的坐标系。
3.根据权利要求1或2所述的方法,其中第一区域(S1)是如下区域,在该区域中对于电流分量(id,iq)成立id<0和iq<=│第二值·id│和iq>=第三值·id;和/或其中第一值,第二值和第三值是任意相同或不同的数值;和/或其中通过计算电流分量(id,iq)的电流角度和/或通过计算电流分量(id,iq)的电流比进行关于电流分量(id,iq)是否处于第一区域(S1)内的确定。
4.根据权利要求1或2所述的方法,还包括步骤:
-如果在续流模式中电流分量(id,iq)处于容差区域(T1)外,则将变频器转换到短路模式;
-如果在续流模式中电流分量(id,iq)位于容差区域(T1)内,则将变频器保持在续流模式。
5.根据权利要求1或2所述的方法,其中:
-如果在短路模式中电流分量(id,iq)处于第二区域(S2)内,则将变频器保持在短路模式;
-如果在短路模式中电流分量(id,iq)位于第二区域(S2)外,则将变频器转换到续流模式。
6.根据权利要求5的方法,其中第二区域(S2)是如下区域,在该区域中,对于电流分量(id,iq)成立id<0和iq<=0和iq>=第四值·id,其中第四值是任意的数值和/或其中第二区域(S2)是通过计算电流分量(id,iq)的电流角度和/或通过计算电流分量(id,iq)的电流比得到的。
7.根据上述权利要求1或2所述的方法,其中,在续流模式中全部的第一和全部的第二功率开关(4,7)是断开的。
8.根据上述权利要求1或2所述的方法,其中在短路模式中全部的第一功率开关(4)是断开的并且全部的第二功率开关(7)是闭合的,或者其中全部的第一功率开关(4)是闭合的并且全部的第二功率开关(7)是断开的,或者其中每相一个功率开关短路。
9.根据上述权利要求1或2所述的方法,其中监视单元将变频器转换到续流模式和/或短路模式。
10.一种控制单元,构造为,用于执行按照上述权利要求中任一项所述的方法。
11.一种交通运输工具,具有按照权利要求10所述的控制单元。
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DE102017207886A1 (de) * | 2016-06-03 | 2017-12-07 | Robert Bosch Engineering And Business Solutions Private Limited | Steuereinheit und Verfahren zum Ansteuern einer Wechselrichterschaltung für einen Permanentmagnet-Synchronmotor |
DE102016210238A1 (de) * | 2016-06-09 | 2017-12-14 | Volkswagen Aktiengesellschaft | Verfahren und Schutzvorrichtung zur Drehmomentbegrenzung für eine elektrische Maschine |
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- 2014-07-02 US US14/902,520 patent/US20160375774A1/en not_active Abandoned
- 2014-07-02 PL PL14734484T patent/PL3017538T3/pl unknown
- 2014-07-02 WO PCT/EP2014/064011 patent/WO2015000930A1/de active Application Filing
- 2014-07-02 EP EP14734484.0A patent/EP3017538B1/de active Active
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DE102013213044A1 (de) | 2015-01-08 |
US20160375774A1 (en) | 2016-12-29 |
EP3017538A1 (de) | 2016-05-11 |
EP3017538B1 (de) | 2017-11-29 |
CN105379106A (zh) | 2016-03-02 |
PL3017538T3 (pl) | 2018-05-30 |
WO2015000930A1 (de) | 2015-01-08 |
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