CN106921323B - Device, method and data carrier for providing adjustment parameters for phase groups - Google Patents

Abstract

The invention relates to a device, a method and a computer program for providing adjustment parameters for phase groups. The device for providing a first manipulated variable for a first phase group and a second manipulated variable for a second phase group of a rotating field machine comprises: at least one first and second input for a first and a second input variable, respectively, the first input variable comprising a first setpoint vector for a first phase group and an angular velocity of a rotor of the rotating-field electrical machine, and the second input variable comprising at least one second setpoint vector and an angular velocity for a second phase group; at least a first and a second output for the first and the second control variable, respectively. The device is designed to determine a first control variable for the first phase group on the basis of the first setpoint vector and the angular velocity and to supply it to the first phase group, and to determine a second control variable for the second phase group on the basis of at least the second setpoint vector and the angular velocity and to supply it to the second phase group.

Description

Device, method and data carrier for providing adjustment parameters for phase groups

Technical Field

The following exemplary embodiments relate to the field of devices, methods and data carriers for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine (drehfeldmaschene) and a second manipulated variable for a second phase group of the plurality of phase groups.

Background

For converting electrical energy into kinetic energy, so-called rotating field machines or three-phase alternating current machines and other types of electric motors are used. A rotating field machine may comprise a stator with a ring-shaped arrangement of so-called phases, which may generate a temporally variable magnetic field and thereby may put a magnetic rotor, for example a mover with permanent magnets, into rotation. Rotating field machines, such as permanent magnet synchronous machines (PSM or PMSM) or asynchronous machines (ASM), are used in different applications, such as hybrid vehicles, electric vehicles, servo drives, machine tools, etc. In order to avoid error states, it may be expedient, for example, in an electric drive of a vehicle, to use a polyphase electric machine with redundant current supply. This may be, for example, a rotating-field synchronous machine with six phases, three of which are each controlled by separate control circuits. However, in some operating states the following may be the case: the measurement of the phase currents on the motor phases, which is usually carried out for regulation, is undesirable or impossible. Thus, precise adjustment of the motor may not be possible or difficult to achieve. This may also relate to other types of rotating-field machines, such as asynchronous machines or, in general, machines in which more than one control circuit is used to control the phase currents.

It is therefore desirable to provide an improved solution for operating a polyphase rotating field machine in the event of a failure of the phase current measurement.

Disclosure of Invention

The following relates to a device, a method and a data carrier for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups.

The device according to the invention for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups comprises:

at least one first input for first input variables, which comprise a first setpoint vector for the first phase group and an angular velocity of a rotor of the rotating field machine;

at least one second input for second input variables, the second input variables comprising at least one second setpoint vector for the second phase group and the angular velocity;

at least one first output for the first manipulated variable; and

at least one second output for the second manipulated variable,

wherein the device is designed to determine a first manipulated variable for the first phase group on the basis of the first setpoint vector and the angular velocity and to supply it to the first phase group, and to determine a second manipulated variable for the second phase group on the basis of at least the second setpoint vector and the angular velocity and to supply it to the second phase group,

wherein different combinations between magnetic field orientation adjustment and magnetic field orientation control are possible for the first phase group and the second phase group, wherein the device comprises a decoupling module which is designed to decouple the adjustment variable for the first phase group from an inductive influence on the phase of the second phase group or to decouple the adjustment variable for the second phase group from an inductive influence on the phase of the first phase group.

The method according to the invention for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups comprises:

receiving first input variables, the first input variables comprising a first setpoint vector for the first phase group and an angular velocity of a rotor of the rotating-field electrical machine;

receiving second input quantities comprising a second nominal value vector for the second phase group and the angular velocity;

determining a first control variable for the first phase group on the basis of the first setpoint vector and the angular velocity; and

a second control variable for the second phase group is determined at least on the basis of the second setpoint vector and the angular speed,

wherein different combinations between magnetic field orientation adjustment and magnetic field orientation control are possible for the first phase group and the second phase group, wherein a first adjustment variable for the first phase group is decoupled from an inductive influence on the phase of the second phase group or a second adjustment variable for the second phase group is decoupled from an inductive influence on the phase of the first phase group.

On a machine-readable data carrier according to the invention, a program with a program code for carrying out the method according to the invention is stored, which program code is used when the program is implemented on a computer, a processor or a programmable hardware component.

According to a first aspect, embodiments relate to a device for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups. The device comprises at least one first input for a first input variable, which comprises a first setpoint vector for a first phase group and an angular speed of a rotor of the rotating-field electrical machine. The device further comprises at least one second input for second input variables, which comprise at least one second setpoint vector and an angular velocity for a second phase group. The device further comprises at least one first output for the first manipulated variable and at least one second output for the second manipulated variable. The device is designed to determine a first manipulated variable for the first phase group on the basis of the first setpoint vector and the angular velocity and to supply it to the first phase group, and to determine a second manipulated variable for the second phase group on the basis of the second setpoint vector and the angular velocity and to supply it to the second phase group. The setpoint value vector can be a setpoint value shown in vector form for controlling or regulating the rotating field machine, or in other words a value to be realized by the machine. Showing in vector form may mean describing the nominal value vector in a multidimensional space and comprising a plurality of components. The setpoint value can be an electrical variable, for example a current or a voltage. The control variable may comprise, for example, a predetermined voltage value. A phase group, also referred to as a (polyphase) winding, for example comprises at least three phases. One phase in a rotating field machine can be formed by a coil. The phases may be arranged at the same angular spacing (e.g., 120 °) from each other. The phase groups can be regulated or controlled by their own inverters. In other words, different phase groups can be controlled by different inverters with different supply voltages. This makes it possible to operate the rotating field machine even when no current measurement is performed in one or more phases. Thus, the current measurement may even be interrupted intentionally, FOR example in operating states in which the current measurement in combination with the field-oriented regulation (FOR) may lead to undesirable noise generation.

In some exemplary embodiments, the device is furthermore designed to determine a second manipulated variable for the second phase group based additionally on the actual value vector received from the second phase group via the second input and to provide it to the second phase group. The actual value vector may comprise, for example, the difference between the current or the rated current and the actual current, or in other words, the regulating deviation. Thus, an adjustment of one phase group, FOR example FOR, may be performed, while the other phase group is operated in a controlled manner, FOR example, by means of a field oriented control (FOS). In this way, it is possible to avoid shifting the entire motor into the FOS, if necessary, for example if no current measurement is carried out in only one of the phase groups. Thus, the power efficiency or accuracy of the motor may be improved in some cases.

In some embodiments, the device further comprises a generator module which is designed to generate a first setpoint vector and a second setpoint vector on the basis of a first setpoint torque for a first phase group and a second setpoint torque for a second phase group of the rotating-field electrical machine and to provide them at the respective input. It is thus possible to assign the torques to be generated individually to the phase groups and, if necessary, to better take into account the different operating states of the electric machine.

In some exemplary embodiments, the generator module is designed to generate the first setpoint vector and the second setpoint vector in such a way that, if the first manipulated variable is determined on the basis of the first setpoint vector and the angular velocity and the second manipulated variable is determined on the basis of the angular velocity and the difference of the second setpoint vector and the actual value vector, the first setpoint torque is set to zero and the second setpoint torque corresponds to the total setpoint torque of the rotating field machine. In other words, the total rated torque can therefore only be generated by such a phase group operating with FOR, and the rated torque FOR the phase group operating with FOS is zero, which can further improve the accuracy of the motor and possibly the power efficiency.

In some exemplary embodiments, the generator module is configured to generate the first setpoint vector and the second setpoint vector in such a way that, if the total setpoint torque is greater than the upper torque limit value for the second phase group, the second setpoint torque corresponds to the upper torque limit value for the second phase group, and the first setpoint torque corresponds to the difference between the total setpoint torque and the upper torque limit value for the second phase group. It is thereby achieved that the greatest share of the total rated torque is produced by the regulated components of the electric machine, so that the possible limited influence of FOS on the accuracy or the power of the electric machine can be kept to a small level.

In some exemplary embodiments, the generator module is designed to generate the first setpoint vector and the second setpoint vector in such a way that, if the first manipulated variable is determined on the basis of the first setpoint vector and the angular velocity and the second manipulated variable is determined on the basis of the angular velocity and the second setpoint vector, the first setpoint torque and the second setpoint torque respectively correspond to 50% of the total setpoint torque of the rotating-field electric machine. This may result, for example, in an electric machine with two phase groups, in which the power to be achieved is distributed uniformly over the two phase groups when the two phase groups are in the same operating state (for example FOS).

In some exemplary embodiments, the device is furthermore designed to detect the first or second manipulated variable in such a way that the actual value of the first or second manipulated variable differs from a value based on the first or second setpoint vector and the angular velocity. In other words, this may mean an overcompensation or an undercompensation of the difference between the nominal value and the actual value. Hereby, it may be achieved that the FOS dynamics are adjusted according to the user defined values.

In some embodiments, the first or second manipulated variable corresponds to a variable having a first vector component U, respectively_sdiAnd a second vector component U_sqiIs set to a predetermined voltage value. The apparatus is configured for

Based on equations for the first vector components

And an equation for the second vector component

To know the first or second regulating variable. Here, T_dij、T_qijIs dependent on the time constant, T, of the motor_iIs the desired time constant, s is a bilinear transformation parameter, I_sdiRef、I_sqiRefIs the vector component of the rated value vector, R_sIs the stator resistance of a rotating field machine. The bilinear transformation parameters can be combined, for example, with discretization by the so-called tasitin method (Tustin-Verfahren). The dynamics of the motor control to be set can therefore be known mathematically beforehand.

In some exemplary embodiments, the device further comprises a decoupling module (entkopplungsmodule) which is designed to decouple the manipulated variable for the first phase group from an inductive influence on the phase of the second phase group or to decouple the manipulated variable for the second phase group from an inductive influence on the phase of the first phase group. Thus, for example, improved decoupling can be achieved in the case of an adjustment of the phase groups, and the regulators for the respective actual currents are more heavily loaded.

In some embodiments, the first and second phase groups each include three phases. Here, the rotating field motor is a six-phase rotating field motor. In other words, the stator of a rotating field machine may have exactly six phases. This may be the three phases of the first and second phase groups each. It is thus possible to implement regulation or control in a similar way to the two three-phase motors, which can simplify the implementation of the regulation or control if necessary.

In some embodiments, the rotating field machine is a permanent magnet synchronous machine. In the field of application in which permanent magnet synchronous machines are used, therefore, it is possible to achieve an improvement in the power or accuracy of the machine, if necessary, even in the event of a failure of the current sensor.

According to a further aspect, embodiments relate to a method for providing a first adjustment variable for a first phase group of a plurality of phase groups of a rotating field machine and a second adjustment variable for a second phase group of the plurality of phase groups. The method comprises receiving first input variables, which comprise a first setpoint vector for a first phase group and an angular speed of a rotor of the rotating-field electrical machine. The method further comprises receiving second input variables, which comprise a second setpoint vector for a second phase group and an angular velocity. The method further comprises determining a first manipulated variable for the first phase group on the basis of the first setpoint vector and the angular velocity. The method further comprises determining a second manipulated variable for the second phase group at least on the basis of the second setpoint vector and the angular velocity. Thus, it is possible to perform control of the motor having a plurality of phase groups in which the reception of the feedback parameter may be cancelled. The motor can therefore continue to operate even in the event of an intentionally or unintentionally faulty current sensor.

In some exemplary embodiments, the method further comprises ascertaining a second control variable for the second phase group on the basis of the angular velocity and a difference between the second setpoint value vector and an actual value vector received from the second phase group via the second input. Thus, one phase group of the motor can be operated controllably, while the other phase group can be operated adjustably, and thus it is possible to achieve an improvement in the power or accuracy of the motor.

According to another aspect, embodiments relate to a program with a program code for performing the above-described method when the program code is implemented on a computer, a processor or a programmable hardware component.

Drawings

Further advantageous embodiments are described in detail below with reference to the exemplary embodiments shown in the drawings, to which, however, the invention is not restricted. Wherein:

fig. 1 shows a diagram of different coordinate systems which can be used FOR determining parameters which are important FOR or FOS;

fig. 2 shows a permanent magnet synchronous machine according to a comparative example;

fig. 3 shows a permanent magnet synchronous machine with a decoupling network according to a comparative example;

fig. 4 shows a device for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups according to a simple exemplary embodiment;

fig. 5 shows a device for providing a first manipulated variable and a second manipulated variable in a first operating state according to a specific embodiment;

fig. 6 shows a device for providing a first manipulated variable and a second manipulated variable in a second operating state according to a specific embodiment;

fig. 7 shows a device for providing a first manipulated variable and a second manipulated variable in a third operating state according to a specific embodiment;

FIG. 8 shows a flow diagram of a FOR/FOS algorithm according to one embodiment;

fig. 9 shows the time profile of the nominal and actual currents of the two phase groups, the phase currents of the phases of the phase groups, the nominal and actual torques and rotational speeds with the use of field orientation control and field orientation regulation according to an exemplary embodiment;

fig. 10 shows the time profile of the nominal and actual currents of the two phase groups, the phase currents of the phases of the phase groups, the nominal and actual torques and rotational speeds with the use of field orientation control and field orientation regulation according to a further exemplary embodiment;

fig. 11 shows a flowchart of a method for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups, according to an exemplary embodiment.

Detailed Description

Different embodiments are now described in more detail with reference to the drawings showing some embodiments. In the drawings, the thickness dimensions of the lines, layers and/or regions may be exaggerated for clarity.

In the following description of the drawings, which illustrate only some exemplary embodiments, like reference numerals may designate the same or similar components. Furthermore, the general reference numbers may be used for components and objects that appear multiple times in one embodiment or drawing but are described collectively in terms of one or more features. Components or objects which are described with the same or generalized reference numerals may be implemented identically with respect to a single, multiple or all features (e.g. their specifications), but may also be implemented differently if desired, as long as not explicitly or implicitly indicated otherwise from the description.

While the embodiments may be modified and changed in various ways, the embodiments in the drawings are shown by way of example and are described in detail herein. It is intended that the embodiments not be limited to the various disclosed forms, but that a specific embodiment will cover all modifications, equivalents, and alternatives falling within the scope of the invention functionally and/or structurally. The same reference numbers will be used throughout the drawings to refer to the same or like elements.

It is to be noted that an element referred to as being "connected" or "coupled" to another element may be directly connected or coupled to the other element or there may be an element located therebetween. When an element is referred to as being "directly connected" or "directly coupled" to another element, there are no elements present therebetween. Other concepts for describing relationships between elements should be interpreted in a similar manner (e.g., "between them" as opposed to "directly between them," "abutting" as opposed to "directly abutting," etc.).

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of such embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, provided that the text does not expressly state otherwise. It will be further understood that terms, such as "comprising," "including," "having," and/or "having," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

All concepts (including technical and scientific concepts) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments belong, unless otherwise limited. Further, it is to be noted that expressions such as those defined in commonly used dictionaries are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Three-phase permanent magnet synchronous motors are widely used in industry as rotating field machines with permanent magnets mounted on or in the rotor. The stator may be formed of coils distributed at intervals of 120 °. In an increasing number of cases, assemblies in industry (for example in automobiles or aircraft) are electrified. In addition, additional redundancy can be introduced into the electric drive in order to further improve the operational safety in the electric motor. In this way, disturbances can be avoided as far as possible during operation of the electric machine in the event of a failure of the voltage supply or components of the drive. In the automotive industry, rotating field motors can be used, for example, in servo steering or in electric vehicles in order to generate a desired force or power. However, some errors in the drive (e.g. winding short circuits or voltage supply faults) can lead to the motor being switched off and possibly to a state which is critical to safety. For these reasons, multi-phase motors with redundant voltage supplies are used in many cases.

The state variables of the permanent magnet synchronous machine (e.g. current, voltage and magnetic flux) can be represented in a three-dimensional coordinate system (u, v, w) or (x, y, z) and in a two-dimensional coordinate system (d, q) or (α, β). These coordinate systems will also be explained in detail later. An example for a multiphase rotating field machine that has been mentioned and by means of which some of the subsequent embodiments are described is a six-phase permanent magnet synchronous machine with mounted or embedded magnets. In this case, two three-phase windings or three-phase groups (u, v, w) and (x, y, z) are contained in the stator. Each three-phase group includes three coils distributed 120 ° apart. The two three-phase groups can be shifted, for example, in phase or in potential by γ · Z_PAre arranged in a staggered manner. Where γ denotes the mechanical angle between the coils, Z_PIndicating the number of pole pairs. The rotor may be constructed similarly as in a three-phase motor. The rotor includes, for example, permanent magnets, and has a magnetic field flowing through coils of a three-phase group. The machine can behave like two three-phase permanent-magnet synchronous machines with a common rotor and two different phase groups offset by an angle γ.

Fig. 1 shows an overview of three coordinate systems of a three-phase electric machine for the sake of completeness, which can be used to calculate or describe any desired state variable. Giving 2 shifts of the electric displacement gamma.Z_PThe three-phase group. In the case of a six-phase motor. The electrical displacement may be, for example, 60 °, but may alternatively be smaller, for example, 30 ° or 15 °. The individual coils or phases of the three-phase group are offset from each other by 120 °. Coils u, v and w belong to a first phase group and coils x, y and z belong to a second phase group. Salient-pole rotor and magnetic flux vector (Ψ) of the rotor_PM)100 are depicted in the middle. A three-dimensional coordinate system (u, v, w) with associated axes 110-1, 110-2 and 110-3 corresponds to the coordinate system given by the position of the individual coils of the first phase group of the stator. Another three-dimensional coordinate system (x, y, z) with associated axes 115-1, 115-2 and 115-3 corresponds to the coordinate system given by the position of the respective coils of the second phase group of the stator.

For the control motor or electric motor, state variables, for example phase currents, can be transformed into a coordinate system rotating with the rotor, i.e. into a d, q coordinate system. The d-axis 120-1 extends parallel to the maximum flux 100 of the permanent magnet mover and the q-axis 120-2 extends perpendicular thereto. In other words, the state variable may pass through the coordinate d for the first phase group₁,q₁And by the and-coordinate d for the second phase group₁,q₁Coincident coordinates d₂,q₂To express.

Furthermore, the variables can also be described in a cartesian two-dimensional coordinate system, i.e. an α, β coordinate system, wherein in the illustration shown in fig. 1 α is chosen without limiting the generality₁Axis 130-1, and thus the axis and the u-axis 110-1 of the u, v, w coordinate systemExtend identically, and beta₁Axis 130-2 extends perpendicular thereto. Accordingly, α is selected₂Axis 135-1, and thus the axis, extends identically to x-axis 115-1 of the x, y, z coordinate system, and β₂Axis 135-2 extends perpendicularly thereto. In other embodiments, the rotating field machine may also be an asynchronous machine, or have more than two phase groups, or also more or less than six phases. For example, four phases at 90 ° to one another can also be arranged in the case of a four-phase motor.

By converting the state variables of the two phase groups into the d, q coordinate system, the differential equations of the electric machine, which describe the dynamics of the electric motor, can be simplified. In these coordinates, the two phase groups of the motor can be adjusted similarly to a dc motor. In other words, field orientation adjustment (FOR) may be used FOR each component of the motor, as FOR a three-phase permanent magnet synchronous motor.

Fig. 2 shows a comparison example of FOR a six-phase permanent magnet synchronous motor 202 in overview. The six-phase permanent magnet synchronous machine 202 includes a rotor 204 and a stator 206, the stator including two machine components 208-1 having three phases, respectively; 208-2. The first motor component 208-1 is regulated by a first inverter 210-1 and the second motor component 208-2 is regulated by a second inverter 210-2. Voltage supply u of inverter 210-1_dc1May be the same or different as shown in fig. 2 or may also be independent of the voltage supply u of the second inverter 210-2_dc2And (4) selecting.

The first inverter 210-1 receives the first signal group 212-1 of the first regulator 214-1 and the second inverter 210-2 receives the second signal group 212-2 of the second regulator 214-2. The signal groups respectively include three PWM signals. To determine the PWM signals of the first signal group 212-1, the first regulator 214-1 receives the feedback current 216-1 of the first motor component 208-1 and a first set of nominal or reference quantities 218-1. To determine the PWM signals of the second signal group 212-2, the second regulator 214-2 receives the feedback current 216-2 of the second motor component 208-2 and a second set of nominal or reference quantities 218-2, respectively.

FOR performing FOR, except FOR rotor position and intermediate circuitOut-of-voltage may be required with respect to phase current I_su,v,wOr I_sx,y,zIs used to perform feedback of the regulating circuit. This may mean that a current measuring sensor for measuring the current is required. In addition, in these exemplary embodiments, only two phase currents can be measured in each machine part, and the third current can be calculated using the node law (e.g., I_sw＝-I_su-I_sv) Thereby saving costs when necessary.

To address each motor component 208-1; 208-2 individually compensate the respective actual currents I_sd1,2And I_sq1,2The first regulator 214-1 and the second regulator 214-2 may each include their own decoupling network.

In the following, it is explained with the aid of the coordinate system illustrated in fig. 2 how the permanent magnet synchronous machine can be adjusted with the decoupling network. Considering a six-phase permanent magnet synchronous machine as a specific example, the six-phase permanent magnet synchronous machine comprises a first and a second phase group having three phases, respectively. However, this example is to be understood only as an example; thus, embodiments are not limited to the aforementioned number of phase groups of the motor or the phases of each phase group. Further, in other embodiments, the electric machine may be an asynchronous machine (ASM). Specifically expressed in the following considerations are:

ω_el: the electrical angular velocity of the rotor is such that,

ω_mech: the mechanical angular velocity of the rotor is such that,

θ_mech: the mechanical angle of the rotor is such that,

θ_el: the electrical angle of the rotor is such that,

Z_P: the number of pole pairs of the motor is,

I_su,v,w: phase currents of a first phase group (u, v, w) of a six-phase motor,

I_sx,y,z: phase currents of a second phase group (x, y, z) of the six-phase motor,

U_dc1: the intermediate circuit voltage (which may correspond to the battery voltage in some embodiments in the automotive field) for supplying the first phase group (u, v, w) of the six-phase motor)，

U_dc2: an intermediate circuit voltage for supplying a second phase group (x, y, z) of the six-phase motor,

PWM₁₂₃: for operating the pulse width modulated signal (also: PWM value) of the inverter.

Fig. 3 shows a comparative example of the FOR adjustment circuit 300. Parts having a counterpart in one of the preceding figures have the same reference numeral here and will not be described again. Specifically, only the differences that currently exist are discussed. First, a rated current value I for a first three-phase motor component is calculated in a d, q coordinate system_sd1*302-1 and I_sq1*302-2 and a rated current value I for the second three-phase motor component_sd2*304-1 and I_sq2*304-2. By subtracting the respective actual current values I for the first motor part (u, v, w)_sd1306-1 and I_sq1306-2 and the actual current value I for the second motor part (x, y, z)_sd2308-1 and I_sq2308-2 respectively determine the control deviation Y for the first motor part_d1310-1 and Y_q1310-2 and an adjustment deviation Y for the second motor part_d2312-1 and Y_q2312-2, respectively, by proportional integral regulators 314-1; 314-2; 314-3 and 314-4.

In other words, in the case of FOR, the current Y is generated as the PI regulator 314-1, respectively, depending on the difference; 314-2; 314-3 and 314-4, the current changes after a number of conditioning cycles until the difference disappears. For this purpose, a pre-control section for the regulator may be used.

The FOR adjustment circuit 300 includes a decoupling module 316. The decoupling module decouples the voltage predetermined value for the first motor component from the inductive influence on the phase of the second motor component and vice versa. Actual current value 306-1; 306-2; 308-1; 308-2 and an adjustment bias 310-1; 310-2; 312-1; 312-2 exist as vector components in a d, q coordinate system. Accordingly, the decoupling module 316 is configured to learn the vector component d or q of the voltage predetermined value on the basis thereof. The predetermined value of the voltage for the first motor part comprises a vector component U_sd1k318-1 and U_sq1k318-2. The predetermined value of the voltage for the second motor part comprises a component U_sd2k320-1 and U_sq2k 320-2。

A PI regulator 314-1; 314-2; 314-3 and 314-4 or the regulation deviation Y_d1 310-1、Y_q1 310-2、Y_d2312-1 and Y_q2312-2 may be transmitted to a decoupling module 316 for calculating a desired voltage U for the k-th regulation cycle_sd1k、U_sq1k、U_sd2kAnd U_sq2k. The decoupling module 316 compensates for the interdependence of the two axes d and q for the first motor part and the dependency of each motor part on the further motor part. Each component (u, v, w and x, y, z) of the motor can be handled similarly as in FOR a three-phase motor.

Vector component U_sd1k318-1 and U_sq1k318-2 are provided from the decoupling module 316 to a first coordinate converter 322-1 and vector components U_sd2k320-1 and U_sq2k320-2 to a second coordinate converter 322-2. The coordinate converter provides a converted predetermined voltage value U_sα1 324-1、U_sβ1 324-2、U_sα2326-1 and U_sβ2326-2. For converting the state variable (voltage, current or magnetic flux) of the three-phase machine component from the d1, q1 coordinate system (u, v, w) or into the d1, q1 coordinate system, only the electrical angle θ may be used here_el. Based on the phase groups (u, v, w) and (x, y, Z) being at an angle γ or γ · Z with respect to each other_PThe electrical angle θ can be used in the case of a conversion from the d2, q2 coordinate system into (x, y, z) and back into the d2, q2 coordinate system_elAnd electrical angle (Z)_Pγ). Voltage U_sd1、U_sq1In the comparative example shown in fig. 3, only the electrical angle θ is passed_elInto (U, v, w) system, and a voltage U_sd2、U_sq2Through theta_elAnd (Z)_Pγ) into the (x, y, z) system.

With these stator voltages, a corresponding Pulse Width Modulated (PWM) value is known for each motor component. The FOR adjustment circuit 300 further includes a first vector modulator 328-1 that receives a predetermined value of voltage FOR the first motor component andand based on the predetermined voltage value and the first supply voltage U_dc1Providing a first pulse width modulated signal 330-1 for the phase of the first motor component; 330-2; 330-3. The FOR adjustment circuit 300 further comprises a second vector modulator 328-2 receiving a further voltage predetermined value FOR the second motor component and being based on the further voltage predetermined value and the first supply voltage U_dc1A different second supply voltage U_dc2Providing a second pulse width modulated signal 332-1 for the phase of the second motor component; 332-2; 332-3.

A first pulse width modulated signal 330-1; 330-2; 330-3 is received by the first inverter 210-1 and the second pulse width modulated signal 332-1; 332-2; 332-3 are received by the second inverter 210-2, which may correspond to the inverter already shown in fig. 2, for example. The first inverter 210-1 generates a first phase current 208-1 for a phase u, v or w of the first motor component, while the second inverter 210-2 generates a second phase current 208-2 for a phase x, y or z of the second motor component. First and second phase currents 208-1; 208-2 are used to operate the rotating field machine 202. Additionally, the first phase current 208-1 passes through a first coordinate transformation network 334-1, while the second phase current 208-2 passes through a second coordinate transformation network 334-2, which convert the respective phase current first back into the α, β coordinate system and then back into the d, q coordinate system and then as the actual current 306-1 in order to know the control deviation for the subsequent processes of the control circuit; 306-2; 308-1 and 308-2, and provided to a decoupling module 316.

Transmitter 336 knows the mechanical angular position theta of the mover_mech. By the number of pole pairs Z_pMultiply 338 to learn electrical angle θ_el. The electrical angle may be transmitted to a first coordinate transformation network 334-1 to scale the first actual currents 306-1 and 306-2 from α, β coordinates to d, q coordinates. Electrical angle theta_elCan be separated from the mechanical angle by gamma and the polar pair number Z_pThe products 340 are added to a parameter which is applied to the second coordinate transformation network 334-2 for scaling the second actual currents 308-1 and 308-2 from the α, β coordinate to the d, q coordinate. Angle theta_elDerivation 342 of the time furthermore provides an electrical angular velocity ω_elWhich is provided toA coupling block 316.

Fig. 4 shows a simple embodiment of a device 400 for providing a first adjustment variable 402 for a first phase group of a plurality of phase groups of a rotating field machine and a second adjustment variable 404 for a second phase group of the plurality of phase groups. The device 400 comprises at least one first input 406 for a first input variable 408, which comprises a first setpoint vector 410 for a first phase group and an angular speed 412 of a rotor of the rotating-field electrical machine. The device 400 furthermore comprises at least one second input 414 for second input variables 416, which comprise at least one second setpoint vector 418 and an angular velocity 412 for a second phase group. The device 400 furthermore comprises at least one first output 420 for the first manipulated variable 402 and at least one second output 422 for the second manipulated variable 404. The device 400 is designed to determine and provide to the first phase group the first manipulated variable 402 for the first phase group on the basis of the first setpoint vector 410 and the angular velocity 412, and to determine and provide to the second phase group the second manipulated variable 404 for the second phase group on the basis of the second setpoint vector 418 and the angular velocity 412. This makes it possible to operate the rotating field machine also when no current measurement is carried out in one or more phases. Thus, the current measurement may even be interrupted intentionally, FOR example in operating states in which the current measurement in combination with the field orientation adjustment (FOR) may lead to an undesired noise generation.

The device 400 may optionally be structurally separated into a first region and a second region. The first region includes a first input 406 and a first output 420 and is coupled to the first phase group. The second region includes a second input 414 and a second output 422 and is coupled to the second phase group.

For example only, the rotating field machine may be a six-phase permanent magnet synchronous machine having two phase groups with three phases each. Further embodiments may also relate to motors with a different number of phase groups or a different number of phases per group, or to asynchronous motors. As already explained at the outset, in a three-phase group, current measurements can be carried out in two of the phases and a calculation can be carried out for the third current measurement by means of the node law.

If the current measurement FOR a three-phase group fails in such a way that there are no two phase current measurements, the FOR that phase group may not be performed if necessary. Alternatively, the three-phase group can be switched off without current measurement. Thus, the motor can be run with half the power. If the current measurements in both phase groups fail, the entire motor can be operated without FOR. In this case, the entire motor may be switched off according to a conventional method. In other words, in the first case, the power may be reduced, while in the second case, the motor may be switched off. In both cases, these measures can be critical for some applications (e.g., steering devices, electric drives, etc.).

Furthermore, current measurements in combination with FOR in certain rotational speed ranges may lead to noise generation. It may therefore be desirable in certain applications to switch off the current measurement partially (depending on the rotational speed). To perform this, some embodiments may provide a solution for operating a 6-phase motor, wherein the use of current sensors may be eliminated in some cases. Subsequently, with several embodiments, it is explained how a 6-phase motor can be operated without current measurement for one or two three-phase groups of the motor. Here, some embodiments may relate to FOS with adjustable dynamics. Thus, it is possible to achieve the same dynamics as in FOR.

The FOS can be run in a conventional manner with the dynamics of the motor itself. The own dynamics of the electric machine or the dynamics used to form the current or torque may depend on the electrical parameters of the electric machine. The motor-dependent dynamics can furthermore be variable, since the inductance can be converted into saturation (reduced) in the case of high currents and the resistance can be temperature-dependent.

To overcome the noted problems of the dynamics of the stiffness of the FOS (which may depend on the road segment), some embodiments may be implemented, for example, to addressThe 6-phase permanent magnet synchronous motor arbitrarily adjusts the dynamics of FOS. FOS may be used for both components of the motor with phase groups (u, v, w) and (x, y, z). It is possible here to implement different combinations between FOR and FOS depending on the case FOR the two phase groups. With the device 400 described in fig. 4, it is possible, for example, to develop a separate FOS for each of the two components of the electric machine with the phase groups (u, v, w) and (x, y, z). The differential equation of a 6-phase machine is considered here. The 6-phase machine can be described in the d, q coordinate system (compare fig. 1) by a differential equation. First and second manipulated variables 402; 404 may be, for example, a voltage (represented in vector form) or a component of such a voltage vector. Thus, the first manipulated variable 402 may comprise, for example, a voltage component U_sd1And U_sq1The second control variable 404 may comprise a voltage component U_sd2And U_sq2. The motor current can likewise be regarded as having a component I for the first phase group_sd1、I_sq1And component I for the second phase group_sd2、I_sq2The vector of (c) shows. The electrical angular velocity of the rotor of a rotating field machine may be taken as ω_elOr ω_sFrom the number of revolution n and the number of pole pairs Z_PBy means of a relational expression

And (4) learning. The magnetic flux of the magnetic pole rotor of the motor can be regulated by psi_PMThe resistance of the stator of the motor may be represented by R_sAnd (4) showing. In the d1 and q1 axes, the following relationship applies to the first phase group (u, v, w) of the motor:

in the d2 and q2 axes, the following two voltage equations apply for the second phase group (x, y, z) of the motor:

here, the inductance L is obtained from the axis inductance in the dq coordinate system. The main inductances in the d1 and d2 axes are:

inductance L representing the effect of the d1 axis on the d2 axis_d21And opposite inductance L_d12The method comprises the following steps:

the main inductances in the q1 and q2 axes are:

inductance L representing the effect of the q1 axis on the q2 axis_q21And opposite inductance L_q12The method comprises the following steps:

the inductance of the axis is made up of a maximum of three parts in equations 5 to 8. Specifically, this is the leakage inductance L of the coil_ls(the coil is assigned to one phase of the rotating field machine), constant main inductance L of the coil_aAnd the angle-dependent inductance L of the rotor_b。

As mentioned before, the motor may have its own dynamics, which may be described by a time constant. The time constant may, for example, correspond to the time interval that the motor needs to receive the creditAfter the setting, the corresponding actual value is adjusted. In some exemplary embodiments, the device 400 is furthermore designed to detect the first or second manipulated variable 402 in the following manner; 404, i.e. the first or second manipulated variable 402; 404 and a vector 410 based on the first or second nominal values; 418 and angular velocity (ω)_s)412 are different values. In other words, this may mean an overcompensation or an undercompensation of the difference between the nominal value and the actual value. In the case of overcompensation, the setpoint value can be set more quickly in the possible case and more slowly in the case of undercompensation. Thereby, the dynamics of the FOS can be adjusted to a user defined value, or in other words, the time constant is changed.

In order to compensate for a time constant T for a section of the electrical machine having a first phase group of phases u, v and w_d11And T_q11And in order to adjust the desired time constant T₁(or T)₂) The following additional equations may be used, which are introduced by the transfer function (see further equations 12 and 13):

with component I for the first phase group_sd1Ref、I_sq1RefOr for component I of the second phase group_sd2Ref、I_sq2RefMay correspond, for example, to the first or second nominal value vector 410; 418. s denotes bilinear transformation parameters which are used for time discretization according to the so-called tasiting method, or in other words for the transformation between time-continuous and time-discrete representations of the system function. Taking into account the influence of the further axes (d2, q2, q1) on the axis d1, and by discretizing with the tasiting method:

voltage U of d1 axis_sd1Can utilize an adjustable dynamic transit time constant T₁Determining:

analogously thereto, the voltages in the q1, d2 and q2 axes can be known, wherein the term ψ · ω for the q1 and q2 voltages_sIt can be added last because the mechanical time constant is greater than the electrical time constant and can therefore change more slowly. For the q1 axis, for the voltage U_sq1Using an adjustable dynamic transit time constant T₂Obtaining:

for d2 axis, for voltage U_sd2Using an adjustable dynamic transit time constant T₃Obtaining:

for the q2 axis, for the voltage U_sq2Using an adjustable dynamic transit time constant T₄Obtaining:

here, specifically expressed is:

L_d11: the main inductance in the d1 axis (see equation 5),

L_q11: the main inductance in the q1 axis (see equation 7),

L_d22: the main inductance in the d2 axis (see equation 5),

L_q22: the main inductance in the q2 axis (see equation 7),

L_d12: the inductance corresponding to the effect of the d2 axis on the d1 axis (see equation 6),

L_q12: the inductance corresponding to the effect of the q2 axis on the q1 axis (see equation 8),

L_d21: the inductance corresponding to the effect of the d1 axis on the d2 axis (see equation 6),

L_q21: the inductance corresponding to the effect of the q1 axis on the q2 axis (see equation 8),

I_sd1(k)、I_sq1(k): nominal values of the currents in the d1 and q1 axes for the first phase group (u, v, w) (for the current detection step),

I_sd1(k-1)、I_sq1(k-1): nominal values of the currents in the d1 and q1 axes for the first phase group (u, v, w) (detection steps preceding the current detection step),

U_sd1(k)、U_sq1(k): d1, the required voltage in the q1 coordinate system (for the current probe step),

U_sd1(k-1)、U_sq1(k-1): required voltages in d1, q1 coordinate system (detection step preceding current detection step), where U_sq1(k-1)Can be used in the case of no item (Ψ)_PM·ω_s) In the case of (c) is equivalent to the previous nominal value,

I_sd2(k)、I_sq2(k): nominal values of the currents in the d2 and q2 axes for the second phase group (x, y, z) (for the current detection step),

I_sd2(k-1)、I_sq2(k-1): nominal values of the currents for the second phase group (x, y, z) in the d2 and q2 axes (detection steps preceding the current detection step),

U_sd2(k)、U_sq2(k): the required voltage in the d2 q2 coordinate system (for the current probing step),

U_sd2(k-1)、U_sq2(k-1): the required voltage in the d2, q2 coordinate system (the detection step preceding the current detection step),wherein, U_sq2(k-1)Can be used in the case of no item (Ψ)_PM·ω_s) In the case of (c) is equivalent to the previous nominal value,

T_d11: electric time constant of motor in d1 axis (═ L)_d11/R_s)，

T_q11: electric time constant (═ L) of motor in q1 axis_q11/R_s)，

T_d22: electric time constant of motor in d2 axis (═ L)_d22/R_s)，

T_q22: electric time constant (═ L) of motor in q2 axis_q22/R_s)，

T: the regulator used detects the step distance and,

T₁: for adjusting the dynamic time constant in the d1 axis,

T₂: for adjusting the dynamic time constant in the q1 axis,

T₃: for adjusting the dynamic time constant in the d2 axis, an

T₄: for adjusting the time constant of the dynamics in the q2 axis.

Fig. 5, 6 and 7 show the control of a rotating field machine 602, for example a 6-phase permanent magnet synchronous machine, for different exemplary situations. If FOS is not required, rotating field motor 602 may also be operated with the aid of FIG. 3, FOR example, using FOR. If current measurement in both phase groups is not possible (e.g. due to a current sensor failure or intentionally to reduce the effect of noise due to the current sensor, etc.), then rotating field motor 602 may be manipulated according to an embodiment with FOS with the aid of fig. 5. Apparatus 400 includes a decoupling module 516 configured to adjust quantity 402 for a first phase group; 404 are decoupled from inductive effects on the phase of the second phase group and the effects of one phase of the same phase group on the other phase. Thus, for example, improved decoupling can be achieved in the case of an adjustment of the phase groups, and the PI controller 514-1 for the respective actual current; 514-2; 514-3; 514-4 are more strongly unloaded. The decoupling modules 516 can, as shown in fig. 6 and 7, comprise a decoupling module 516-1 FOR the phase group (u, v, w) and an optionally structurally separate decoupling module 516-2 FOR the phase group (x, y, z), which can be switched independently of one another between FOR operation and FOS operation. Here, the decoupling module 516; 516-2; 516-2 is configured to know the manipulated variable 402 from equations 12 to 15; 404. the decoupling module 516 may be implemented by means of a processor or, in addition, as a network or an electrical line.

In the exemplary embodiment shown in fig. 5, device 400 is designed to perform FOS operation for the first and second phase groups of rotating-field electric machine 602, first input variables 408 comprising only setpoint vector 410 and angular velocity 412, and second input variables 416 comprising only setpoint vector 418 and angular velocity 412. In the embodiment shown in fig. 6 and 7, the apparatus 400 is furthermore configured for additionally basing the actual value vector 506 on the reception from the second phase set via the second input 414; 508 to learn the second adjustment quantities 404 for the second phase group and provide them to the second phase group. A vector of actual values 506; 508 corresponds to having component I, for example, in FIG. 7_sd1And has a component I_sq1Or in fig. 6, corresponds to having a component I_sd2And has a component I_sq2The actual current 508-2. Thus, FOR of one phase group can be performed, while another phase group operates by means of FOS. In this way, when no current measurement is carried out in only one of the phase groups, a transfer of the entire motor into the FOS can be avoided if necessary. It is to be noted here that the concepts "first phase group" and "second phase group" are not associated in fig. 6 and 7 with a particular phase group (u, v, w) or (x, y, z). In particular, these concepts are used to distinguish between a (first) phase group controlled by FOS and a (second) phase group adjusted by FOR. Thus, in fig. 6, the three phases (u, v, w) correspond to the first phase-group being controlled, and (x, y, z) correspond to the second phase-group being adjusted. In contrast, in fig. 7, the three phases (u, v, w) correspond to the adjusted second phase-group, and (x, y, z) correspond to the controlled first phase-group. In other words, in the embodiment of FIGS. 6 and 7The first and second phase groups in an embodiment may be switched in meaning depending on which phase group is operated by FOS and which phase group is operated by FOR.

First, a first setpoint vector 410 (the components of which are the setpoint current values I for the phase group (u, v, w)) is calculated in the d, q coordinate system_sd1*502-1 and I_sq1*502-2) and a second nominal value vector 418 (the components of which are the nominal current values I for the phase group (x, y, z)_sd2*504-1 and I_sq2*504-2). In fig. 6, the respective actual current values I of the phase groups (x, y, z) are subtracted_sd2508-1 and I_sq2508-2 respectively learn the adjustment deviations Y for the phase groups (x, Y, z)_d2512-1 and Y_q2512-2 which are processed by the proportional integral regulators 514-3 and 514-4, respectively, and provided to the decoupling module 516-2 for the phase group (x, y, z). Nominal current value I for phase group (u, v, w)_sd1*502-1 and I_sq1*502-2 are provided directly to the decoupling module 516-1 for phase group (u, v, w).

In fig. 7, the respective actual current values I for the phase groups (u, v, w) are correspondingly subtracted_sd1506-1 and I_sq1506-2 respectively know the adjustment deviations Y for the phase groups (u, v, w)_d1510-1 and Y_q510-2, which are processed by the proportional integral regulators 514-1 and 514-2, respectively, and provided to the decoupling module 516-2 for the phase group (u, v, w). Nominal current value I for phase group (x, y, z)_sd2*504-1 and I_sq2*504-2 is provided directly to the decoupling module 516-2 for phase group (x, y, z).

In both embodiments, the decoupling module 516-2 for the phase group (x, y, z) receives the nominal current value I for the phase group (u, v, w)_sd1*502-1 and I_sq1*502-2 to compensate for inductive effects on the phase group (x, y, z). Likewise, decoupling module 516-1 for phase group (u, v, w) receives nominal current value I for phase group (x, y, z)_sd2*504-1 and I_sq2*504-2 in order to compensate for its inductive influence on the phase group (u, v, w). In FIG. 6, the rated current value I_sd1*502-1 and I_sq1*502-2 here passes through the decoupling module 51 for the phase group (u, v, w)6-1 pass through a filter 612-1, respectively, before receiving; 612-2. Similarly, in FIG. 7, the rated current value I_sd2*504-1 and I_sq2*504-2 passes through a filter 612-1 before being received by the decoupling module 516-2 for phase group (x, y, z), respectively; 612-2.

In the case of FOR, a current Y can be generated as an output of the PI regulator 514 in dependence on the difference between the rated current and the actual current, which current changes over a number of regulation cycles until the difference disappears. For this purpose, a pre-control section for the regulator may be used.

The control variables for the phase group (U, v, w) include in fig. 5, 6 and 7 the vector components U for the phase group (U, v, w) of predetermined voltage values_sd1k518-1 and U_sq1k518-2. The control variable for the phase group (x, y, z) comprises a vector component U of a predetermined voltage value for the phase group (x, y, z)_sd2k520-1 and U_sq2k 520-2。

Vector component U_sd1k518-1 and U_sq1k518-2 are provided from the decoupling module 516 to a first coordinate converter 522-1 and the vector component U_sd2k520-1 and U_sq2k520-2 to a second coordinate converter 522-2. Coordinate transformation provides adjustment parameters 402; 404 as converted voltage predetermined value U_sα1 524-1、U_sβ1 524-2、U_sα2526-1 and U_sβ2526-2. Voltage U_sd1、U_sq1In the embodiments shown in fig. 5, 6 and 7, only the electrical angle θ is passed_elInto (U, v, w) system, and a voltage U_sd2、U_sq2Based on the phase groups (u, v, w) and (x, y, Z) being at an angle γ or γ · Z with respect to each other_PIs passed through by theta_elAnd (Z)_Pγ) into an (x, y, z) system.

By using converted voltage predetermined value U_sα1 524-1、U_sβ1 524-2、U_sα2526-1 and U_sβ2526-2, a corresponding Pulse Width Modulation (PWM) value may be known for each phase group of the motor 602. The first vector modulator 528-1 is configured to receive the converted first voltage predetermined value U for the first phase group_sα1 524-1、U_sβ1524-2, and based thereon and a first supply voltage U_dc1Providing a first pulse width modulated signal 530-1 for the phase of the first phase group; 530-2; 530-3. Furthermore, the second vector modulator 528-2 is configured to receive the converted second voltage predetermined value U for the second phase group_sα2526-1 and U_sβ2526-2 and based on the sum thereof (optionally with the first supply voltage U)_dc1Different) second supply voltage U_dc2A second pulse width modulated signal 532-1 providing a phase for a second phase group; 532-2; 532-3.

A first pulse width modulated signal 530-1; 530-2; 530-3 is received by the first inverter 610-1 and the second pulse width modulated signal 532-1; 532-2; 532-3 is received by second inverter 610-2. The first inverter 610-1 generates a first phase current 608-1 for phase u, v or w of the first phase group, while the second inverter 610-2 generates a second phase current 608-2 for phase x, y or z of the second phase group. First and second phase currents 608-1; 608-2 is used to operate rotating field motor 602.

Additionally in fig. 7, the first phase current 608-1 passes through a first coordinate transformation network 534-1, and in fig. 6 the second phase current 608-2 passes through a second coordinate transformation network 534-2, which transforms the respective phase current first back into the α, β coordinate system and then back into the d, q coordinate system. The phase currents are then supplied to decoupling module 516-1 in fig. 7 as actual currents 506-1 and 506-2 FOR ascertaining the actuating deviation of the subsequent process of the control circuit FOR the phase group (x, y, z) operated in FOR, or to decoupling module 516-2 in fig. 6 as actual currents 508-1 and 508-2 FOR ascertaining the actuating deviation of the subsequent process of the control circuit FOR the phase group (u, v, w) operated in FOR. In the embodiment shown in FIG. 5, the back-conversion is cancelled and the phase current 608-1 is phase current; 608-2 is provided to the decoupling module 516.

Transmitter 536 knows the mechanical angular position θ of the mover_mech. By the number of pole pairs Z_pMultiplying 538 yields the electrical angle θ_el. The electrical angle may be transmitted to a first coordinate transformation network 534-1 to scale the first actual currents 506-1 and 506-2 from α, β coordinates to d, q coordinates. Electric angleDegree theta_elCan be separated from the mechanical angle by gamma and the polar pair number Z_pThe product 540 of (a) is added up to a quantity which is used by the second coordinate converter 522-2 to convert the second manipulated variable 404 from the d, q coordinate to the α, β coordinate. The summed parameters may also be provided to a second coordinate transformation network 534-2 in FIG. 6 for scaling the second actual current 508-2 from the α, β coordinate to the d, q coordinate. Angle theta_elDerivation 542 over time further provides an electrical angular velocity 412(ω)_el) Which is provided to a decoupling module 516.

If the current measurement in the phase group (u, v, w) is no longer possible, but the current measurement in the further phase group (x, y, z) is still available, the operation of the 6-phase motor 602 can be switched to the embodiment of fig. 6. In this case, the voltage U for the phase group (U, v, w)_sd1And U_sq1It can be known by the FOS algorithm using equations 12 and 13. The current of the phase group (x, y, z) can be adjusted by FOR. The difference between the nominal and actual values of the current in the direction of d2 and q2 is known and is transmitted to the input of the PI regulator 514. The PI regulator 514 calculates a corresponding setpoint value Y_d2And Y_q2。

It can again be stated in other words that, in order to compensate for the interaction between the axes of the two three-phase groups and between the two phase groups with one another, the PI controller outputs and filtered setpoint values I of the two further setpoint currents from the phase groups (u, v, w)_sdRef1And I_sqRef1Further to decoupling module 516. The filtering may be used to mimic the dynamics of the road segment with the phase group (u, v, w). Algorithm calculation of voltage U for decoupling networks_sd2And U_sq2. The PI controller can thus be heavily unloaded and first try to compensate for the remaining deviations in order to achieve the static state. Similarly, in the opposite case, when the current measurement in the phase group (x, y, z) is no longer possible, but the current measurement in the other phase group (u, v, w) is still available, the operation of the 6-phase motor can be switched to the embodiment of fig. 7. Voltage U_sd2And U_sq2Can be passed through the FOS (equations 14 and 15), and the voltage U_sd1And U_sq1Can be utilized by FORThe coupling network 516.

The components of the electric machine (phase groups (u, v, w) and (x, y, z)) can each be actuated like an independent three-phase electric machine. For the conversion of the state variables (e.g. voltage, current, magnetic flux) of the phase group (u, v, w) into the d1, q1 coordinates and vice versa, only the electrical angle θ may be used_el. All transformations in the phase groups (x, y, z) into the d2, q2 coordinates and back-to-back transformations may utilize the electrical angle θ, based on the misalignment of the phase groups (u, v, w) and (x, y, z) at the angle γ with respect to each other_elAnd angular offset (Z)_Pγ). Voltage U_sd1、U_sq1Can pass only the electrical angle theta_elConversion into U, v, w system, and voltage U_sd2、U_sq2Can pass through the electrical angle theta_elAnd angular offset (Z)_Pγ) into the x, y, z system (see fig. 3, 5, 6 and 7). With the stator voltage, a corresponding PWM value can be known for each component of the motor. Here, the influence of the change in the individual cell voltages (if the two phase groups have different voltage supplies) on the desired d, q currents in the two phase groups can disappear.

Fig. 8 shows a flow chart of a FOR/FOS algorithm 800 FOR controlling and/or regulating a motor by means of a FOR or FOS. After algorithm 800 begins 802, the total rated torque M is used in this embodiment_RefGTo produce a nominal current value 502-1; 502-2; 504-1; 504-2 (compare fig. 5, 6, and 7). In addition, the sensor flag value is also used to display the failure of the current measurement in the phase group (u, v, w) or (x, y, z). A switching command may be triggered when one or both sensor flag values change. Here, a determination is made 804 as to FOS or FOR the phase groups (u, v, w) and (x, y, z), respectively, referred to herein as windings. A distinction can be made between four cases. In the first case 806, the two phase groups are each operated in FOR. In the second case 808, both phase groups are each operated in FOS. In the third case 810, the phase group (u, v, w) runs in FOS, while the phase group (x, y, z) runs in FOR. In a fourth case 812, the phase group (u, v, w) runs in FOR, while the phase group (x, y, z) runs in FOS.

In some embodiments, apparatus 400 further comprises a generator module configured for use in generating a plurality of data based on the targetFirst rated torque M of first phase group of rotating field machine 602_Ref1And a second rated torque M for a second phase group_Ref2Generating a first nominal value vector 410 and a second nominal value vector 418 and providing them to respective inputs 406; 414. the generator module may for example comprise a current generator. The aforementioned total rated torque M_RefGMay be a sum of the first and second rated torques. In the first case 806, or in the case of FOR of two phase groups, the total rated torque M_RefGFor example, the two phase groups (u, v, w) and (x, y, z) may be distributed according to a first distribution rule 814, according to which M_Ref1＝M_Ref2＝M_RefG/2. FOS may be used, for example, to avoid noise effects in some current or speed ranges, due to a current sensor failing or a determination to switch off the current measurement. If, according to a second case 808, FOS is used for two phase groups, the total nominal torque M_RefGCan be distributed over two phase groups (M) following a second distribution law 816_Ref1＝M_Ref2＝M_RefG/2), the second distribution law may correspond to the first distribution law 814. If FOS is used in one phase group of the electric machine and FOR is used in another phase group of the electric machine (third case 810 and fourth case 812), the FOR-steered phase group of the electric machine may conditionally provide the total rated torque M alone_RefG. This may result in an improvement in the accuracy of the motor power, since FOS is less accurate than FOR. In the third case 810, the total rated torque M may be checked 818_RefGWhether it is greater than the upper limit M of the rated torque FOR the phase group (x, y, z) adjusted by FOR_Ref2max. In the fourth case 812, the total rated torque M may be checked 820_RefGWhether it is greater than an upper limit M FOR the target torque of the phase group (u, v, w) set by FOR_Ref1max. If the components FOR the electric machine require a higher torque (M) than the maximum permissible torque when using FOR_RefG＞M_Refimax(ii) a i 1, 2), then the components of the electric machine may provide a difference (M) using FOS, according to the third 822 or fourth 824 distribution law, with FOS_RefG-M_Refimax). If this is not the case, the set of phases adjusted FOR can alone provide the total rated torque M according to the fifth distribution rule 826 or the sixth distribution rule 828_RefG. The calculated rated torque for the two phase groups may be in all four cases 806; 808; torque (M) limited 830 to its maximum at 810 and 812_Refimax). In addition, the calculated rated torque is transmitted 832 to a generator module or generator for producing the rated current value 502-1; 502-2; 504-1; 504-2. In a first case 806, FOR of the motor may be performed according to the comparative example shown in fig. 3, in a second case 808, FOR may be performed according to the embodiment shown in fig. 5, in a third case 810, FOR and FOR may be performed according to the embodiment shown in fig. 6, and in a fourth case 812, FOR and FOR may be performed according to the embodiment shown in fig. 7. The algorithm then ends 834.

Fig. 9 and 10 show simulation results for different operating conditions of the 6-phase permanent magnet synchronous machine according to the embodiment of fig. 6 and 7. The following variables are shown in fig. 9 and 10 (from top to bottom): curves 910 in the d1 axis for the rated and actual currents of the phase group (u, v, w) of the motor; curves 920 in the 1010 and q1 axes; 1020, a curve 930 of the variation in the d2 axis for the phase group (x, y, z) of the motor; curves 940 in the 1030 and q2 axes; 1040, speed profile 950; 1050, curves 960 of variation of the total nominal value, the total actual value of the torque, the actual values of the (u, v, w) phase group and the actual values of the (x, y, z) phase group; 1060 phase current (I)_su、I_sv、I_sw) A change curve 970; 1070 and phase current (I)_sx、I_sy、I_sz) The variation curve 980; 1080. the motor is accelerated to a speed of 3300 revolutions per minute (rpm). At time t, 0.05s, a load jump in the two phase groups of the electric machine is carried out.

In fig. 9, the maximum torque 960 is required and at time t₁The phase group (u, v, w) runs in FOS 0.3 s. In this case, it can be seen that the corresponding current I_sd1910 and I_sq1920 contain only a small deviation from its nominal value. Current I _sd2930 and I_sq2940 also includesCan be measured and adjusted. They are well matched to their nominal values. The maximum torque 960 is adjusted. Small deviation from t₁0.3s starts to be seen in the phase group (u, v, w) due to FOS. The currents (d1, q1, d2 and q2) have a smooth profile of variation and, according to some embodiments, the interaction between the currents can be better or even optimally compensated by FOS and decoupling networks compared to conventional approaches. Phase currents 970 and 980 of the two phase groups are sinusoidal and have the same magnitude.

In FIG. 10, a smaller torque 1060 of 2.5Nm is required, and at time t₁The phase group (x, y, z) runs in FOS 0.1 s. Here, it can be seen that the current I _sd21010 and I_sq21020 contain only small deviations from their nominal values. Current I _sd11030 and I_sq11040 may also be measured and adjusted. They are well matched to their nominal values. Until a point in time t₁The torque is distributed evenly over the two phase groups 1 s. At t₁After 1s, the phase group (x, y, z) is manipulated in FOS until its maximum torque is reached, and the phase group adjusts for the remaining amount of total torque in FOS (compare 1060). In the so-called field weakening region, the two phase groups are operated until their maximum possible torque is reached in order to set the required overall torque setpoint value. Small deviation from t₁0.1s starts because FOS can be seen in the phase group (x, y, z). The currents (d1, q1, d2 and q2) have a smooth profile of variation and, according to some embodiments, the interaction between the currents can be better or even optimally compensated by FOS and decoupling networks compared to conventional approaches. Phase currents 1070 and 1080 of the two phase groups are sinusoidal.

Fig. 11 shows a flowchart of a method 1100 for providing a first manipulated variable for a first phase group of a plurality of phase groups of a rotating field machine and a second manipulated variable for a second phase group of the plurality of phase groups, according to an exemplary embodiment. Method 1100 includes receiving 1110 a first input variable, the first input variable including a first setpoint vector for a first phase group and an angular velocity of a rotor of the rotating-field electric machine. The method 1100 further comprises receiving 1120 a second input variable comprising at least one second setpoint vector and an angular velocity for a second phase group. The method 1100 furthermore comprises a determination 1130 of the first manipulated variable for the first phase group, or in other words the control of the first manipulated variable, on the basis of the first setpoint vector and the angular velocity. The method 1100 furthermore comprises a determination 1140 of a second manipulated variable for the second phase group, or in other words a control of the second manipulated variable, on the basis of at least the second setpoint vector and the angular velocity. In other words, the first manipulated variable is known 1130 and the second manipulated variable is known 1140 by means of an open-loop control circuit. In this way, a control of the electric machine with a plurality of phase groups can be carried out, wherein the reception of the feedback variable can possibly be cancelled. Further operation of such a motor can therefore take place even in the event of an intentionally or unintentionally occurring fault of the current sensor.

In some exemplary embodiments, method 1100 furthermore comprises ascertaining 1150 a second manipulated variable for the second phase group, or in other words, adjusting the manipulated variable, on the basis of the angular velocity and a difference of the second setpoint vector and an actual value vector received by the second phase group via the second input. Learning 1150 may be implemented by a closed loop regulation circuit and within the detection step alternatively to learning 1140 by an open control circuit. During the operating time of the permanent magnet synchronous machine, it is also possible to switch back and forth between the knowledge 1150 of the second manipulated variable by the closed-loop control circuit and the knowledge 1140 of the second manipulated variable by the open control circuit, once or several times. Thus, one phase group of the electric machine can be operated in a controlled manner, while the other phase group is operated in a regulated manner, and thus an improvement in the power or accuracy of the electric machine is achieved in certain cases.

By means of some embodiments, it is achieved that the accuracy of the drive is improved by means of a rotating-field motor. FOR this purpose, the dependency of the two axes d and q FOR each three-phase group on each other and the dependency of each three-phase group on the further three-phase group FOR the described FOR and FOS combinations can be compensated. It is thus possible to achieve better dynamics and better accuracy of the torque even in the event of a failure of the current sensor.

According to some embodiments, it is possible to avoid a malfunction of the entire electric drive in some error states (voltage supply failure, short circuit, winding failure in the motor components) in a possible manner. In the redundant drive, the costs for the six-phase motor can be considerably smaller than for the two three-phase permanent magnet synchronous motors. In particular, it is possible, for example, to operate a six-phase machine with a single rotor (with magnets which are in some cases expensive) or also with a single stator (with a similar iron content as in a single three-phase permanent-magnet synchronous machine). The space and cost of the drive arrangement can be reduced because a six-phase motor is used and therefore the second (redundant three-phase) motor can be eliminated. Thus, a cheaper solution for redundancy may be provided in the drive arrangement. In the event of an error or a possible failure of the voltage supply in one of the two three-phase groups, the electric machine can be operated at least with half the total power. For example, in the automotive industry, more safety and more redundancy can be provided to the user by some embodiments directed to traction drives (e.g., hybrid or electric) or servo drives (e.g., steering). With the exemplary illustrated control scheme, one can easily control a six-phase motor in the event of a failure of the current sensor. According to some embodiments, by operating the electric machine, the six-phase electric machine can be further operated at full power if necessary in case of partial or complete failure of the current measurement. According to some embodiments, by switching to FOS, noise generation due to current measurements in certain current and speed ranges of the motor may be avoided as much as possible.

The features disclosed in the preceding description and in the drawings can be implemented both individually and in any combination, and are of great significance for the implementation of the embodiments in different embodiments.

Although some aspects have been described in connection with an apparatus, it is to be understood that these aspects are also a description of a corresponding method, so that a structural block or a structural element of an apparatus may also be understood as a corresponding method step or a feature of a method step. Similarly, aspects relating to or operating as a method step are also a description of a corresponding structural block or detail or feature of a corresponding device.

Some embodiments of the invention may be implemented in hardware or software, depending on certain implementation requirements. The implementation can be performed using digital storage media, such as floppy disks, DVD, blu-ray disks, CD, ROM, PROM, EPROM, EEPROM or Flash memory, hard disks or other magnetic or optical memory, on which electronically readable control signals are stored, which cooperate or can cooperate with programmable hardware components to perform the respective methods.

The Programmable hardware component may be formed of a processor, a Computer Processor (CPU), an image Processing Unit (GPU), a computer System, an Application-Specific Integrated Circuit (ASIC), an Integrated Circuit (IC), a single Chip System (SOC), a Programmable logic element, or a Field Programmable Gate Array (FPGA) with a microprocessor.

The digital storage medium may thus be machine or computer readable. Some embodiments also include a data carrier having electronically readable control signals capable of cooperating with a programmable computer system or programmable hardware components to perform one of the methods described herein. Thus, one embodiment is a data carrier (or data storage medium or computer readable medium) on which a program for performing one of the methods described herein is written.

Some embodiments may generally be implemented as a program, firmware, computer program or computer program product with program code or data effective to perform one of the methods when the program is run on a processor or programmable hardware components. The program code or data may also be stored on a machine-readable carrier or data carrier, for example. Program code or data can additionally exist as source code, machine code or bytecode, as well as other intermediate code.

Further, another embodiment is a data flow, a signal sequence or a signal sequence, which are programs for performing one of the methods described herein. The data stream, signal sequence or signal sequence may for example be arranged to be transmitted via a data communication connection, for example via the internet or other network. Some embodiments are therefore also signal sequences representing data, which are adapted to be transmitted over a network or a data communication connection, wherein the data are programs.

According to one exemplary embodiment, the program may implement one of the methods during its execution, for example, in such a way that it reads a memory location or writes data or data into a memory location, thereby causing a switching process or other processes in a transistor structure, amplifier structure or other electrical, optical, magnetic or component operating according to another functional principle, if necessary. Accordingly, by reading the memory location, data, values, sensor values or other information is detected, determined or measured by the program. The program may thus detect, determine or measure quantities, values, measured quantities and other information by reading one or more memory locations, and cause, cause or perform actions by writing to one or more memory locations, as well as manipulate other instruments, machines and components.

The above-described embodiments are merely illustrative of the principles of the present invention. It is to be understood that modifications and variations of the requirements and details described herein will be apparent to others skilled in the art. It is therefore intended that the present invention be limited only by the scope of the appended claims and not by the specific details shown herein having been presented for purposes of illustration and description.

List of reference numerals

100 magnetic flux vector

110-1 u axis

110-2 v axis

110-3 w axis

115-1 x axis

115-2 y axis

115-3 z axis

120-1 d axis

120-2 q axis

130-1 α₁Axial line

130-2 β₁Axial line

135-1 α₂Axial line

135-2 β₂Axial line

202 six-phase permanent magnet synchronous motor

204 rotor

206 stator

208-1 first Motor component

208-2 second Motor component

210-1 first inverter

210-2 second inverter

212-1 first signal group

212-2 second signal group

214-1 first regulator

214-2 second regulator

216-1 feedback current of first motor component

216-2 feedback current of second motor part

218-1 first set of reference parameters

218-2 second set of reference parameters

300 FOR regulating circuit

302-1; 302-2 nominal current value for first phase group

304-1; 304-2 nominal current value for second phase group

306-1; 306-2 actual current value for the first phase group

308-1; 308-2 actual current value for the second phase group

310-1; 310-2 vector components of the first adjusted deviation

312-1; 312-2 vector components of the second adjusted deviation

314-1; 314-2; 314-3; PI regulator

314-4

316 decoupling module

318-1; 318-2 Voltage predetermined value vector component for first phase group

320-1; 320-2 vector component of voltage predetermined value for second phase group

322-1 first coordinate converter

322-2 second coordinate converter

324-1; 324-2 (for the first phase group) converted voltage predetermined values

326-1; 326-2 converted voltage predetermined value (for second phase group)

328-1 first vector modulator

328-2 second vector modulator

330-1; 330-2; 330-3 first pulse width modulation signal

332-1; 332-2; 332-3 second pulse width modulated Signal

334-1 first coordinate transformation network

334-2 second coordinate transformation network

336 transmitter

338 multiplication

Product of 340 angular spacing and pole pair number

342 is derived over time

400 device

402 first control variable

404 second manipulated variable

406 first input terminal

408 first input variable

410 first nominal value vector

Angular velocity 412

414 second input terminal

416 second input variable

418 second nominal value vector

420 first output terminal

422 second output terminal

502-1; 502-2 nominal current values for the phase group (u, v, w)

504-1; 504-2 nominal current values for phase group (x, y, z)

506 vector of actual values

506-1; 506-2 actual current values for phase group (u, v, w)

508 actual value vector

508-1; 508-2 actual current values for phase group (x, y, z)

510-1; regulatory deviation of 510-2 phase group (u, v, w)

512-1; adjustment bias for 512-2 phase group (x, y, z)

514-1; 514-2; 514-3; PI regulator

514-4

516 decoupling module

516-1 decoupling module for phase group (u, v, w)

516-2 decoupling module for phase group (x, y, z)

518-1; vector component for phase group (u, v, w) of 518-2 voltage predetermined value

520-1; 520-2 vector component of voltage predetermined value for phase group (x, y, z)

522-1 first coordinate converter

522-2 second coordinate converter

524-1; 524-2 converted voltage preset values for phase group (u, v, w)

526-1; 526-2 converted Voltage predetermined values for phase group (x, y, z)

528-1 first vector modulator

528-2 second vector modulator

530-1; 530-2; 530-3 first pulse width modulated Signal

532-1; 532-2; 532-3 second pulse width modulated signal

534-1 first coordinate transformation network

534-2 second coordinate transformation network

536 transmitter

538 multiplication by one another

Product of 540 angular spacing and pole pair number

542 time derivative

602 rotating field type motor

Phase current of 608-1 phase group (u, v, w)

Phase current of 608-2 phase group (x, y, z)

610-1 first inverter

610-2 second inverter

800 FOS/FOR algorithm

802 start

804 determine

806 first case

808 second case

810 third case

812 fourth case

814 first distribution law

816 second distribution rule

818 test

820 test

822 third distribution rule

824 th distribution rule

826 the fifth distribution rule

828 sixth distribution rule

830-1; 830-2; 830-3; limiting

830-4

832-1; 832-2; 832-3; transfer of

832-4

834 end

910 d1 curve of rated and actual current in axis

920 d2 change curves of rated current and actual current in axis

Curve of the rated current and the actual current in the axis of 930 q1

Curve of the rated current and the actual current in the 940 q2 axis

960 speed variation curve

950 total rated torque and actual torque (M)_IstG、M_1Ist、M_2Ist)

Curve of change of

970 phase current (I)_su、I_sv、I_sw) Curve of change of

980 phase current (I)_sx、I_sy、I_sz) Curve of change of

Curve of nominal current and actual current in 1010 d1 axis

Curve of rated current and actual current in 1020 d2 axis

Curve of rated current and actual current in 1030 q1 axis

1040 q2 axle rated current and actual current change curve

1050 curve of revolution speed variation

1060 Total rated Torque and actual Torque (M)_IstG、M_1Ist、M_2Ist)

Curve of change of

1070 phase current (I)_su、I_sv、I_sw) Curve of change of

1080 phase Current (I)_sx、I_sy、I_sz) Curve of change of

1100 method

1110 receive (first input parameter)

1120 receive (second input parameter)

1130 know (first regulating parameter)

1140 learned (second regulated quantity)

1150 learned (second regulated quantity)

Claims (13)

1. An apparatus (400) for providing first adjustment quantities (402) for a first phase group of a plurality of phase groups of a rotating field electrical machine and second adjustment quantities (404) for a second phase group of the plurality of phase groups, the apparatus comprising:

at least one first input (406) for first input variables (408) comprising a first setpoint vector (410) for the first phase group and an angular speed (412) of a rotor of the rotating field machine;

at least one second input (414) for second input variables (416) comprising at least one second setpoint vector (418) for the second phase group and the angular velocity (412);

at least one first output (420) for the first manipulated variable (402); and

at least one second output (422) for the second manipulated variable (404),

wherein the device (400) is designed to determine and provide to the first phase group a first manipulated variable (402) for the first phase group on the basis of the first setpoint vector (410) and the angular velocity (412), and to determine and provide to the second phase group a second manipulated variable (404) for the second phase group on the basis of at least the second setpoint vector (418) and the angular velocity (412),

characterized in that different combinations between magnetic field orientation control and magnetic field orientation control can be implemented for the first phase group and the second phase group, wherein the device (400) comprises a decoupling module (516; 516-1; 516-2) which is designed to decouple the control variable (402) for the first phase group from an inductive influence on the phase of the second phase group or to decouple the control variable (404) for the second phase group from an inductive influence on the phase of the first phase group.

2. The apparatus (400) of claim 1, further configured for learning a second adjustment quantity (404) for the second phase group and providing it to the second phase group additionally on the basis of an actual value vector (506; 508) received from the second phase group via the second input (414).

3. The apparatus (400) of claim 2, further comprising a generator module configured for generating and providing the first and second rating vectors (410, 418) to the respective input terminals (406; 414) based on a first rated torque for the first phase group and a second rated torque for the second phase group of the rotating field machine (602).

4. The device (400) according to claim 3, wherein the generator module is configured for generating the first setpoint vector (410) and the second setpoint vector (418) in such a way that, if the first manipulated variable (402) is determined on the basis of the first setpoint vector (410) and the angular velocity (412) and the second manipulated variable (404) is determined on the basis of the angular velocity (412) and the difference of the second setpoint vector (418) and the actual value vector (506; 508), the first setpoint torque is set to zero and the second setpoint torque corresponds to the total setpoint torque of the rotating-field electric machine (602).

5. The apparatus (400) of claim 4, wherein the generator module is configured to generate the first nominal value vector (410) and the second nominal value vector (418) in such a way that, if the total nominal torque is greater than an upper torque boundary value for the second phase group, the second nominal torque is made to correspond to the upper torque boundary value for the second phase group, and the first nominal torque is made to correspond to a difference between the total nominal torque and the upper torque boundary value for the second phase group.

6. The device (400) according to any one of claims 3 to 5, wherein the generator module is configured for generating the first setpoint vector (410) and the second setpoint vector (418) in such a way that, if the first manipulated variable is determined on the basis of the first setpoint vector (410) and the angular velocity (412) and the second manipulated variable is determined on the basis of the second setpoint vector (418) and the angular velocity (412), the first setpoint torque and the second setpoint torque respectively correspond to 50% of a total setpoint torque of the rotating-field electric machine (602).

7. The device (400) as claimed in one of claims 1 to 5, further configured for ascertaining the first or second manipulated variable (402; 404) in such a way that the actual value of the first or second manipulated variable (402; 404) differs from a value based on the first or second setpoint vector (410; 418) and the angular velocity (412).

8. The device according to claim 7, wherein the first or the second manipulated variable (402; 404) corresponds to a variable having a first vector component U, respectively_sdi(518-1; 520-1) and a second vector component U_sqi(518-2; 520-2), wherein the apparatus is configured for

Based on an equation for the first vector component (518-1; 520-1):

and an equation for the second vector component (518-2; 520-2):

to obtain the first or the second regulating variable (402; 404), wherein T_dij、T_qijIs dependent on the time constant, T, of the motor_iIs the desired time constant, s is a bilinear transformation parameter, I_sdiRef、I_sqiRefIs a vector component (502-1; 502-2; 504-1; 504-2), R, of the setpoint vector (410; 418)_sIs a stator resistance of the rotating field machine (602).

9. The apparatus (400) of any of claims 1-5, wherein the first phase group and the second phase group each comprise three phases, and wherein the rotating field machine (602) is a six-phase rotating field machine.

10. The apparatus (400) according to any of claims 1 to 5, wherein the rotating field machine (602) is a permanent magnet synchronous machine.

11. A method (1100) for providing a first adjustment variable for a first phase group of a plurality of phase groups of a rotating field machine and a second adjustment variable for a second phase group of the plurality of phase groups, the method comprising:

receiving (1110) first input quantities, the first input quantities comprising a first setpoint value vector for the first phase group and an angular velocity of a rotor of the rotating-field electrical machine;

receiving (1120) second input quantities comprising a second nominal value vector for the second phase group and the angular velocity;

-learning (1130) a first manipulated variable for the first phase group on the basis of the first setpoint vector and the angular velocity; and

-learning (1140) a second manipulated variable for the second phase group based on at least the second setpoint vector and the angular velocity,

characterized in that different combinations between magnetic field orientation control and magnetic field orientation control are possible for the first phase group and the second phase group, wherein a first control variable for the first phase group is decoupled from an inductive influence on the phase of the second phase group or a second control variable for the second phase group is decoupled from an inductive influence on the phase of the first phase group.

12. The method (1100) of claim 11, the method further comprising:

a second control variable for the second phase group is determined (1150) on the basis of the angular velocity and the difference between the second setpoint value vector and the actual value vector received from the second phase group via a second input.

13. Machine-readable data carrier, on which a program with a program code is stored, for carrying out the method (1100) according to claim 11 or 12, when the program code is implemented on a computer, a processor or a programmable hardware component.

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