DE102008007100A1 - Device i.e. pre-controller, for e.g. linear actuator, in field-oriented co-ordinate system, has synchronous machine, where manipulated variable over plugged by device over integral divider of electrical angle in circuit - Google Patents

Abstract

The device i.e. pre-controller (13), has a synchronous machine, where integral electrical speed and/or speed of the machine are compared with frequency of a manipulated variable (U-d, komp). A sinusoidal shaped manipulated variable is over plugged by the device in field-oriented co-ordinates over an integral divider of an electrical angle in a current control circuit or a torque control circuit of the machine. An amplitude (A-d) and phase angle (gamma-d) of the integral divider are mapped by an analytic function of rotational speed and/or longitudinal and/or cross flow of the machine. Independent claims are also included for the following: (1) a method for current or momentum controlling a synchronous machine (2) a computer program with program code unit for performing a method for current or momentum controlling a synchronous machine.

Description

The The present invention relates to an apparatus and a method for current regulation or torque control, a computer program as well a computer program product.

State of the art

synchronous machines are in most cases in the field-oriented coordinate system regulated.

In field-oriented control, two independent current regulators regulate the longitudinal current I _d and the cross-current I _q . For the success of this scheme, the synchronous machine must meet two conditions as well as possible. On the one hand, the magnetic flux density in the air gap of the no-current machine must be sinusoidal over one electrical revolution. This is called a fundamental wave model. Furthermore, at any location in the machine, the magnetic field strength must be proportional to the magnetic flux density. This is called linearity.

If both conditions are satisfied, then the induced by the rotation of the rotor voltage (EMF) is purely sinusoidal and in amplitude proportional to the speed. Furthermore, the inductances are constant. The torque of the machine is proportional to the cross-flow I _q in the field-oriented coordinate system. The induced by the rotation of the rotor voltage (EMF) is in the field-oriented coordinate system, a DC voltage, which is proportional to the speed in height.

in the field-oriented coordinate system results from the fundamental wave model the following differential equation system.

9 shows a time-discrete longitudinal flow controller with a decoupling precontrol. The discrete-time flow regulator has a flow regulator 1 , a time delay 2 by a current controller clock due to computational time and a transverse inductance 3 on.

10 shows a time-discrete cross-flow controller with a decoupling feedforward. The discrete-time cross-flow controller has a time delay 2 by a current controller clock due to computing time, a cross-flow controller 4 , a longitudinal inductance 5 and a rotor flux linkage 6 on.

In addition to the PI controller 1 for the longitudinal branch and the PI controller 4 for the cross-flow branch can in the scheme, as in the 9 and 10 shown, by pre-control a fundamental wave decoupling by the elements shown 3 . 5 . 6 be made. As a result, the fundamental wave couplings in Eq. 1 compensated.

at real synchronous machines are not the above conditions fulfilled in all operating points. For example At high currents, the iron at individual locations of the machine saturated. This has a distortion of the air gap field result.

Out Cost reasons can be very simple with machines molded permanent magnets glued to the rotor and continue the Stator slots are not beveled. As a result, that the voltage induced by the rotation of the rotor is not sinusoidal. The same is the case with certain Motors, which in the past as so-called brushless DC machines operated with rectangular phase currents and for this reason induced with a trapezoidal Voltage EMK were constructed.

In the case of control in field-oriented coordinates, these deviations of a real machine from the ideal, linear fundamental wave model manifest themselves in various ways. For example, in many machines at high currents, oscillations occur in the sirloop control circuits, which oscillate at six times the electrical speed. This corresponds to the sixth harmonic. In machines with non-sinusoidal induced voltages (EMF), these vibrations already occur in the unbe power up state. At low speeds, the current regulators are able to suppress these oscillations to an acceptable level. At high speeds, however, the bandwidth of the current controller is often insufficient, and the amplitudes of the sixth harmonics take on disturbing proportions.

One Another effect is the occurrence of cogging torque and / or torque ripple. The engine torque is no longer proportional in such scenarios to the cross flow. If the torque of the motor is measured or by an observer can be appreciated, a torque controller be implemented, which structured similar to the cross-flow controller is, however, has the deviation of the torque to the input.

11 shows a torque controller with a time delay 2 , a longitudinal inductance 5 , a rotor flux linkage 6 and a torque controller 7 ,

Out View of the current regulator, the oscillations as cyclic Interference voltages are understood. options to compensate for these interference voltages are in the literature not presented.

Out View of a torque controller, the grid moments and the torque ripple are formulated as disturbance torques.

The known methods for torque ripple compensation act through an influence of the current setpoint, which of the bandwidth and the parameterization of the current loop is subject.

Furthermore, there are concepts for the compensation of periodic disturbance torques or disturbing forces, which also affect the setpoint of the current controller. Such concepts are for example in the DE 40 26 091 A1 described. These concepts determine the amplitude and phase of the compensation signal by observers. However, due to the momentum of the observers, these methods do not work at high speed changes.

The Known concepts work through observers or filters fast changing speeds or currents lead to undesirable side effects. Furthermore is on the nominal currents and not directly on voltages acted. This results in a dependence on the Stromreglerparameterisierung.

In front In this background, the present invention provides a device and a method for current regulation or torque control, a computer program and a computer program product according to the independent ones Claims presented. Advantageous embodiments emerge from the respective subclaims and the following description.

Advantages of the invention

Of the inventive approach is suitable for current regulation or torque control of synchronous machines. In particular, lets a smoothing of the current ripple or torque ripple achieve in field-oriented controlled synchronous machines.

Of the inventive approach is suitable for a to compensate for the current oscillations or to compensate for the Torque ripple and the cogging moments.

advantageously, is acted directly on the motor voltage. The inventive Approach is thus independent of current or torque controller settings. Compensation can be achieved by pre-triggering compensation voltages made of maps. This does not require the dynamics of observers be taken into account.

Becomes implemented a torque smoothing for a torque controller, can by a reference trip the current oscillations be automatically taken into account.

A Device according to the invention has all means for carrying out a method according to the invention Procedure on.

The present invention provides a device and a method for current regulation or torque control to sinusoidal in a current control loop or torque control loop of the synchronous machine at least one, in field-oriented coordinates over an integer divisor of the electrical angle Switch on the manipulated variable.

Further may be a frequency of at least one manipulated variable an integer multiple of an electrical speed and / or Speed of the synchronous machine correspond.

A Amplitude and a phase angle of at least one over an integer divider of the electrical angle sinusoidal Manipulated variable can by maps and / or by analytical functions of the rotational speed and / or the longitudinal and / or cross-current and / or the actual torque and / or the desired torque of the Synchronous machine can be imaged.

The The present invention further provides an apparatus and a Method for current regulation or torque control of a synchronous machine with a time-discrete filter connected in parallel with a complex conjugate Polstellenpaar, where the Polstellenpaar in his argument with an integer multiple of an electrical speed and / or Speed of the synchronous machine is trackable.

The Filter may be configured to provide a compensation voltage for Smoothing of a current ripple in a longitudinal and / or cross-flow control loop or for smoothing torque ripple aufzuschalten in a torque control loop of the synchronous machine.

Advantageously, the amplitude and the phase position of the sinusoidal voltage of the manipulated variable are determined by means of a characteristic map, wherein the determination of the characteristic maps in a reference run with parallel-connected filter for control (see, for example. 4 and 5 ) he follows. The synchronous machine can be designed in each case as a linear drive or as a rotary machine.

The Computer program according to the invention with program code means is designed to handle all steps of the invention Procedure to perform when using this computer program on a computer or a corresponding computing unit, in particular a device according to the invention is performed.

The Computer program product according to the invention with program code means, stored on a computer-readable medium are, is to carry out the invention Procedure provided when this computer program on a computer or a corresponding arithmetic unit, in particular an inventive Device is performed.

Further Advantages and embodiments of the invention will become apparent from the Description and the accompanying drawings.

It it is understood that the above and the following yet to be explained features not only in each case specified combination, but also in other combinations or can be used in isolation, without the scope of the present To leave invention.

The Invention is based on embodiments in the drawings schematically and will be described below with reference to the drawings described in detail.

figure description

1 shows a block diagram of a longitudinal flow control with fundamental decoupling and compensation of the Kth harmonic;

2 shows a block diagram of a cross-flow control with fundamental decoupling and compensation of the Kth harmonic;

3 shows a test bench for a reference run;

4 shows a block diagram of a modified longitudinal flow control with fundamental decoupling and tracked Störkompensationsfilter;

5 shows a block diagram of a modified cross-flow control with fundamental decoupling and tracked Störkompensationsfilter;

6 shows a canonical representation of an autonomous disturbance compensation filter in the steady state of the control loop;

7 shows a canonical representation of an autonomous disturbance compensation filter in the steady state of the control loop;

8th shows a block diagram of a torque control with fundamental decoupling and compensation of the Kth harmonic;

9 shows a time-discrete longitudinal flow controller with decoupling precontrol;

10 shows a discrete-time cross-flow controller with decoupling precontrol; and

11 shows a torque controller.

The The present invention is concerned with harmonic compensation or harmonic modification in the longitudinal and cross-flow control loops a field-oriented controlled synchronous machine. The compensation is suitable for harmonics of any order, and will in the following example for the compensation of the sixth Harmonics of a rotary synchronous machine explained. The actual compensation or modification in normal operation can be achieved by switching on pre-controlling sinusoidal voltages, their amplitudes and phase angles either from maps or off Analytical compensation functions dependent on speed, cross-flow and longitudinal flow be adjusted.

The Generation of the map or compensation functions can during a reference run, in which the states of Current controller-parallel rotation counter-dependent tracked Filtering directly into Kennfeldstützpunkte be converted can. During the reference journey, the too operating machine operated in a modified current control be speed controlled by a drive motor become.

Analogous can the harmonics in cross-flow also be modified to that effect that cogging moments and / or torque ripples of the machine compensated can be.

advantage the method described is that the compensation or modification over the connection of an additional voltage is done and thus independent of the bandwidth of the current or torque controller can be done.

According to one Embodiment allows the invention Approach a compensation of any harmonics in the current control circuits by pilot control. Harmonics have a frequency that is integer multiples of the electrical speed corresponds. The Machine type specific parameters of the pilot control can during a reference run from the current regulators parallel interference filters be extracted.

in the will follow the inventive approach to harmonic compensation using the example of the Kth harmonic with a longitudinal current setpoint described by NULL.

It is assumed that the K th harmonic acts as interference voltage (U _{d, disturbance} , U _{q, disturbance} ) on the control circuits. The amplitude (A _d (I _q ) · ω _el , A _q (I _q ) · ω _el ) of the respective noise voltage is due to the local magnetic saturation cross-dependent and speed proportional. If the longitudinal current is not regulated to zero, for example in field weakening mode, a longitudinal current dependency is also taken into account.

The frequency of the interference signals corresponds in each case to K times the electrical speed. The phase position (γ _d (I _q , ω _el ), γ _q (I _q , ω _el )) of the disturbances is speed and cross-current dependent. If the longitudinal current is not regulated to zero, for example in field weakening mode, a longitudinal current dependency is also taken into account. U d, sturgeon = -A d (I q ) · Ω el * Cos (φ 6 · el + γ d (I q )) Eq. 2 U q, sturgeon = -A q (I q ) · Ω el * Cos (φ 6 · el + γ q (I q )) Eq. 3

In order to compensate for these disturbing voltages, the current will now be in the longitudinal and in the cross-circuit control loop The reverse voltage is switched on. Due to the manipulated variable delay, this is a current controller cycle in the block 2 (shown in the 1 and 2 ) takes into account a different phase position (γ * _d (I _q , ω _el ), γ * _q (I _q , ω _el )).

1 shows a block diagram of a longitudinal flow control with fundamental decoupling and compensation of the Kth harmonic according to an embodiment of the present invention. The flow control has a flow regulator 1 , a time delay 2 by a current controller clock due to a computing time, a transverse inductance 3 , a block 8th with an order K of the harmonic to be compensated / manipulated, a map 9 or a compensation function 9 for mapping the phase angle γ * _d as a function of cross-current and electrical speed, one block 10 for forming the cosine of the input signal, a map 11 or a compensation function 11 for mapping the amplitude A _d as a function of cross-flow and electrical speed and a controlled system 12 for the d-current branch on. The blocks 8th . 9 . 10 . 11 form a feedforward control 13 for compensation of the interference voltage or current ripple in the longitudinal current control loop.

The block 1 is ^configured to receive a control deviation e ^Id and a signal to the block via a first summation block 2 provide. The block 2 is configured to apply a signal U _d to the block via a second summation block 12 provide. The second summation block is designed to additionally receive a signal U _{d, fundamental wave coupling} and a signal U _{d, sturgeon} . The block 12 is designed to provide an output signal I _{d of} the flow control. The block 3 is configured to receive a signal from a third multiplier block. The third multiplier block is configured to receive a signal ω _el and a signal I _q . The block 3 is further configured to provide a signal to the first summation block via a fourth summation block.

The block 8th is configured to receive a signal f _el and provide a signal to a fifth summation block. The block 9 is configured to receive a signal I _q and a signal ω _el and to provide a signal γ * _d to the fifth summation block. The fifth summation block is configured to send a signal to the block 10 provide. The block 11 is _configured to receive a signal I _q and provide a signal A _d to a sixth multiplier block. The sixth multiplier block is further configured to receive a signal ω _el and a signal from the block 10 receive and provide a signal U _{d, komp} to the fourth summation block.

2 shows a block diagram of a cross-flow control with fundamental decoupling and compensation of the Kth harmonic according to an embodiment of the present invention. The cross-flow control has a time delay 2 by a current controller cycle due to the computing time, a cross-flow regulator 4 , a longitudinal inductance 5 , a rotor flux linkage 6 , a block 8th with an order K of the harmonic to be compensated / manipulated, one block 10 for forming the cosine of the input signal, a map 14 or a compensation function 14 for mapping the phase position γ * _d as a function of cross-current and electrical speed, a characteristic diagram 15 or a compensation function 15 for mapping the amplitude A _q as a function of the cross flow and a controlled system 17 on.

The blocks 8th . 10 . 14 . 15 form a feedforward control 16 for compensation of the interference voltage or current ripple in the cross-flow control circuit.

The block 4 is ^configured to receive a control deviation e ^Iq and a signal to the block via a first summation block 2 provide. The block 2 is configured to apply a signal U _q to the block via a second summation block 17 provide. The second summation block is designed to additionally receive a signal U _{q, fundamental wave coupling} and a signal U _{q, sturgeon} . The block 17 is designed to provide an output signal I _{q of} the cross-flow control. The block 5 is configured to receive a signal from a third multiplier block. The third multiplier block is configured to receive a signal ω _el and a signal I _d . The block 5 is further configured to provide a signal to the first summation block via a fourth summation block. The block 6 is configured to receive a signal ω _el and to provide a signal to the fourth summation block via a fifth summation block.

The block 8th is configured to receive a signal f _el and provide a signal to a sixth summation block. The block 14 is configured to receive a signal I _q and a signal ω _el and to provide a signal γ * _q to the sixth summation block. The sixth summation block is configured to send a signal to the block 10 provide. The block 15 is _configured to receive a signal I _q and provide a signal A _q to a seventh multiply block. The seventh multiply block is further configured to receive a signal ω _el and a signal from the block 10 to receive and _send a signal U _{q, komp} to the fourth To provide summation block.

While as in the 9 and 10 The scheme shown the basic wave coupling between longitudinal branch, shunt branch and rotor (U _{d, fundamental} coupling, U _{q, fundamental coupling} ) by the fundamental decoupling feedforward control 3 . 5 . 6 can be compensated, in addition to the K-th harmonic by the inventive approach 13 . 16 be compensated. For this purpose, the electrical angle f _{el is} multiplied by the order K of the harmonic to be compensated ( 8th ) and then with the phase γ * _d or γ * _q added. The phase is calculated via a characteristic diagram or an analytical compensation function from the transverse current I _q and the electrical rotational speed ω _el ( 9 . 14 ). The block 10 is the cosine of the sum of phase and multiplied electrical angle. Subsequently, the signal is multiplied by the respective amplitude A _d or A _q and the electrical speed ω _el . The amplitude A _d or A _q is calculated from the cross-current I _q via a characteristic diagram or an analytical compensation function ( 11 . 15 ).

The in the 1 and 2 shown parallel connected feedforward controls 13 . 16 are suitable for current control of the longitudinal and / or transverse branch of a synchronous machine. The pilot controls 13 . 16 are configured to turn on one or more, in field-oriented coordinates sinusoidal manipulated variables over an integer divider of the electrical angle. The frequencies of the manipulated variables thus correspond to an integer multiple of the electrical speed / speed.

The amplitude 11 . 15 and the phase position 9 . 14 The respective sinusoidal voltage can be imaged with nominal values or actual values both by characteristic diagrams and by analytical functions of the rotational speed or of the longitudinal and the transverse flow.

There may be several of the pilot controls 13 . 16 be switched in parallel to compensate for harmonics of different order at the same time.

in the The following describes the parameterization of harmonic compensation.

At the heart of the harmonic compensation are the following functions for mapping the amplitudes and phases of the compensation voltages: function name Block of Figures 1 and 2 γ * _d = f _{d, 1} (I _q , ω _el ) block 9 A _d = f _{d, 2} (I _q ) block 11 γ * _q = f _{q, 1} (I _q , ω _el ) block 14 _Aq = _{fq, 2} ( _Iq ) block 15

The Illustration is done primarily by maps. The maps but also for example about the Gaussian Least squares method in balancing functions, For example, polynomials are transferred.

In any case, the maps are first determined. This can be done in a reference run, in which the synchronous machine to be measured, the test engine is operated in current control with modified current regulators and is rotated by a drive motor with a predetermined speed, as described in 3 is shown.

3 shows a test bench for a reference run with a drive motor 31 that has a clutch 32 with a test engine 33 is coupled.

in the The following is the modification of the current controller for map data generation described.

The current control of the test engine is modified so that parallel to the respective PI current regulator of the longitudinal branch 1 or the transverse branch 4 Speed-dependent tracking of disturbance compensation filters 18 . 19 (shown in the 4 and 5 ).

4 shows a block diagram of a modified longitudinal flow control with fundamental uncoupling and tracked disturbance filter, according to an embodiment of the present invention. The modified flow control has a flow regulator 1 , a time delay 2 by a current controller clock due to the computing time, a transverse inductance 3 , a controlled system 12 for the d-current branch and a speed-dependent tracked disturbance compensation filter 18 on.

The block 1 is ^configured to receive a signal e ^Id and a signal to the block via a first summation block 2 provide. The block 2 is configured to apply a signal U _d to the block via a second summation block 12 provide. The second summation block is designed to additionally receive a signal U _{d, fundamental wave coupling} and a signal U _{d, sturgeon} . The block 12 is designed to provide an output signal I _{d of} the modified flow control. The block 18 is ^configured to receive the signal e ^Id and to provide a signal U _d ^F to the first summation block via a third summation block. The block 3 is configured to receive a signal from a fourth multiplier block. The fourth multiplier block is configured to receive a signal ω _el and a signal I _q . The block 3 is further configured to provide a signal to the third summation block.

5 shows a block diagram of a modified cross-flow control with fundamental decoupling and tracked Störkompensationsfilter according to an embodiment of the present invention. The modified cross-flow control has a time delay 2 by a current controller cycle due to the computing time, a cross-flow regulator 4 , a longitudinal inductance 5 , a rotor flux linkage 6 , a controlled system 17 of the q-current branch and a speed-dependent tracked Störgrößenkompensationsfilter 19 on.

The block 4 is ^configured to receive a signal e ^Iq and a signal to the block via a first summation block 2 provide. The block 2 is configured to apply a signal U _q to the block via a second summation block 17 provide. The second summation block is designed to additionally receive a signal U _{q, fundamental wave coupling} and a signal U _{q, sturgeon} . The block 17 is designed to provide an output signal I _{q of} the modified cross-flow control. The block 19 is ^configured to receive the signal e ^Iq and provide a signal via a third summation ^block to the first summation block. The block 5 is configured to receive a signal from a fourth multiplier block. The fourth multiplying block is configured to receive a signal ω _el and a signal I _d . The block 5 is further configured to provide a signal to the third summation block via a fifth summation block. The block 6 is configured to receive a signal ω _el and provide a signal to the fifth summation block.

wobei T^I _A die Stromreglerabtastzeit und Z_GF(z) ein frei wählbares Zählerpolynom zweiter Ordnung in z ist. Das Zählerpolynom wird anhand von Stabilitätsbetrachtungen bestimmt und wird unter Umständen auch drehzahlabhängig nachgeführt. Das Filter zeichnet sich dadurch aus, dass es ein konjugiert-komplexes Polstellenpaar auf dem Umfang des Einheitskreises in der z-Ebene besitzt, welches in seinem Argument als ein K-faches von ω_el·T^I _A nachgführt wird. K ist eine ganze Zahl und entspricht der Ordnung der zu kompensierenden bzw. zu modifizierenden Oberschwingung.The disturbance compensation filters have the following speed-dependent time-discrete transfer function:

where T ^I _{A is} the current regulator sampling time and Z _GF (z) is a second order arbitrary numerator polynomial in z. The numerator polynomial is determined on the basis of stability considerations and under certain circumstances is also tracked depending on the speed. The filter is characterized by having a conjugate-complex pole pair on the circumference of the unit circle in the z-plane, which is traced in its argument as a K-fold of ω _el · T ^I _A. K is an integer and corresponds to the order of the harmonic to be compensated or modified.

In the steady state of both current controller at a constant engine speed and constant setpoint currents, the output voltages U ^F _d and U ^F _{q of} the filter compensates the interference voltages U _{d, disturbance} or U _{q, noise} .

6 shows a canonical representation of the autonomous disturbance compensation filter 18 in the steady state of the control loop according to an embodiment of the present invention. The disturbance compensation filter 18 has a speed-dependent tracked filter coefficient 20 on.

7 shows a canonical representation of the autonomous disturbance compensation filter 19 in the steady state of the control loop according to an embodiment of the present invention. The disturbance compensation filter 19 has a tracked filter coefficient 20 on.

The 6 and 7 show the canonical action plans of the filters 18 . 19 , Once the control circuits have settled, the interference voltages are compensated and the system deviations disappear. The filter inputs are thus zero and not in the 6 and 7 shown. Since the filter thus acts without input signal, it is spoken of the autonomy of the filter. The block 20 is tracked with 2 · cos (k · ω _el · T ^I _A ) with K times the electrical speed.

The discrete-time filter 20 is for current regulation in the longitudinal and / or transverse branch of a synchronous machine ne suitable. The filter 20 has a conjugate-complex pole pair, which is tracked in its argument with an integer multiple of the electrical speed / speed of the synchronous machine.

It several of these filters can be switched in parallel, to compensate for harmonics of different order at the same time. The peculiarity of this filter is that it is directly a compensation voltage generates the current ripple in the longitudinal and cross-circuit loop smoothes.

The course of the filter state q _d2 or q _q2 corresponds to the inverted and delayed by a controller clock history of the state q _d1 or q _q1 : q d1 = A d · ω el * Cos (K · φ el + γ * d )) Eq. 5 q d2 = -A d · ω el * Cos (K · φ el + γ * d - K · ω el * T I A ) Eq. 6 q q1 = A q · ω el * Cos (K · φ el + γ * q ) Eq. 7 q q2 = -A q · ω el * Cos (K · φ el + γ * q - K · ω el * T I A ) Eq. 8th

K... Ordnung der zu kompensierenden Oberschwingung.From the filter states q _d1 , q _d2 as well as q _q1 and q _{q2 of} the autonomous filter, for the respective operating point (I _q , ω _el and possibly I _d ) the equations Eq. 9 to Eq. 12 the parameters of the two compensation voltages are calculated:

K ... Order of the harmonic to be compensated.

These Evaluation is made for different cross currents and possibly for different longitudinal currents performed at different speeds and forms one support point each for the to be generated Maps. The support points, consisting of amplitude and Phase position of the compensation voltages, are then in maps summarized or converted into suitable compensation functions.

In order to synthesize the filter output in the steady state (precontrol), Eq. 9 to Eq. 12 is a map _{data generation} from the states (q _d1 , q _d2 and q _q1 , q _q2 ) of one or more _filters 18 . 19 respectively. At the filters 18 . 19 it is preferably a current or torque controller connected in parallel, steady, speed-dependent and / or speed-dependent tracked filter.

According to a further embodiment, the inventive approach allows Kompen sation of torque ripple or cogging torque in the torque controller by a vorsteuerndes intrusion of one or more sinusoidal voltages. The machine-type-specific parameters of the precontrol can be extracted during a reference frequency from disturbance-size filters connected in parallel to the torque controller. The actual moment can come from various observers, from machine models or from measured value tables.

in the The following is an approach to Rastmoment- and Momentenwelligkeitskompennsation using the example of the Kth harmonic with a longitudinal current setpoint described by NULL.

It is assumed that an actual torque of the machine is available for a torque control. In this case, the cross-flow regulator 4 by a torque control 7 be replaced. The machine generally has any torque ripple of order k that is periodic over one electrical revolution. The torque _ripple is interpreted for the torque control as a _disturbance torque M _sturgeon with an amplitude A _M (M _ist ) and a phase position γ _M (M _ist ) depending on the longitudinal flow and the actual torque manure. Cogging moments are automatically taken into account. The amplitude (A _M (M _is )) of the disturbance torque is dependent on the actual moment M _ist . If the longitudinal flow is not ZERO regulated, z. B. field weakening operation, a longitudinal flow dependence must also be considered. The frequency of the interference signal corresponds to K times the electrical speed. The phase angle γ _M (M _ist ) of the disturbance variables depends on the actual torque. M sturgeon = -A M (M is ) * Cos (K · φ el + γ M (M is )) Eq. 13

Around To compensate for this disturbance torque is now in the torque control loop a corresponding voltage is applied, the disturbing torque compensated. Phase and amplitude of the compensation voltage depending on the engine speed and the actual torque tracked.

8th shows a block diagram of a torque control with fundamental decoupling and compensation of the Kth harmonic according to an embodiment of the present invention. The torque control has a time delay 2 by a current controller clock due to the computing time, a torque controller 7 , a longitudinal inductance 5 , a rotor flux linkage 6 , a block 8th with an order K of the harmonic to be compensated / manipulated, one block 10 for forming the cosine of the input signal, a controlled system 17 , a map 21 or a compensation function 21 for mapping the phase angle γ * _M , as a function of actual torque and electrical speed, a map 22 or a compensation function 22 for mapping the amplitude A * _M as a function of actual torque and electrical speed and one block 24 with a machine-specific relationship between cross-flow and DC component of the actual torque. The blocks 8th . 10 . 21 . 22 form a feedforward control 23 for compensation of the disturbance torque or torque ripple in the torque control circuit.

The block 7 is configured to receive a signal e ^M and a signal to the block via a first summation block 2 provide. The block 2 is configured to apply a signal U _q to the block via a second summation block 17 provide. The second summation block is designed to additionally receive a signal U _{q, fundamental wave coupling} and a signal U _{q, sturgeon} . The block 17 is formed by a signal I _q to the block 24 provide. The block 24 is configured to provide a signal to a third summation block. The third summation block is adapted to further receive a signal M _sturgeon and an output signal M _is to provide the torque control. The block 5 is configured to receive a signal from a fourth multiplier block. The fourth multiplying block is configured to receive a signal ω _el and a signal I _d . The block 5 is further configured to provide a signal to the first summation block via a fifth multiplier block. The block 6 is configured to receive a signal ω _el and to provide a signal to the fifth summation block via a sixth summation block.

The block 8th is configured to receive a signal f _el and provide a signal to a seventh summation block. The block 21 is formed to a _signal M, and for receiving a signal and provide a signal _el ω γ * _M to the seventh summation block. The seventh summation block is configured to send a signal to the block 10 provide. The block 22 is formed to a _signal M, and for receiving a signal ω _el and to provide a signal A * _M of an eighth multiplier block. The eighth multiplier block is further configured to generate a signal ω _el and a signal from the block 10 to receive and provide a signal U _{q, komp} to the sixth summation block.

In the series current branch harmonic compensation is still useful, as they are based on the 1 to 7 is described.

The generation of the maps can analogous to those based on the 4 to 7 described method. However, the maps are not formed depending on the cross-flow, but the actual or target torque. The filter, which during homing to generate the map data parallel to the torque controller 7 is switched, has as an input signal, the control deviation of the torque controller e ^M. The filter itself can be based on 5 described filter 19 correspond.

The for the torque control of the synchronous machine parallel discrete time discrete Filter has a complex conjugate pair of poles. The pole pair is in his argument with an integer multiple of the electrical Tracking speed and / or speed. It can several of these filters are connected in parallel to harmonics different order at the same time to compensate.

The feedforward control connected in parallel to the torque control of the synchronous machine 23 is designed to turn on one or more in field-oriented coordinates via an integer divider of the electrical angle sinusoidal manipulated variables whose frequencies thus correspond to an integer multiple of the electrical speed and / or speed. An amplitude 21 and phasing 22 The respective sinusoidal voltage can be imaged both by maps and by analytical functions of the rotational speed, the longitudinal current, the actual torque and the target torque. Several of these pilot controls can be connected in parallel to compensate for harmonics of different orders at the same time.

The described embodiments are chosen by way of example and can be combined with each other. In the synchronous machine For example, it can be a linear drive or a act rotary machine. The machine can be powered by permanent magnets or electrically excited. Also operating the machine in Field weakening is possible. Becomes the longitudinal flow not controlled to ZERO in field weakening, so extended the dependence of the maps or compensation functions the equations Eq. 9 to Eq. 12 for the additional dependency from the longitudinal flow. Is an electrically excited synchronous machine operated in field weakening, this results in addition a dependence of the maps of the rotor current.

e^Id

Regelabweichung des Längsstromreglers

e^Iq

Regelabweichung des Querstromreglers

e^M

Regelabweichung des Momentenreglers

T^I _A

Stromreglertaktzeit

z

Operator der z-Transformation

Ψ_R

Rotorflossverkettung

L_d, L_q

Längs- und Querinduktivität

ω_el

Elektrische Drehzahl/Geschwindigkeit

f_el

Elektrischer Winkel/Lage

I_d, I_q

Längs- und Querstrom

U_d,stör, U_q,stör

Periodische Störspannung im Längs- bzw. Querstromregelkreis

M_stör

Periodisches Störmoment

A_d, A_q

Amplitude der Störspannung im Längs- bzw. Querstromregelkreis

A_M

Amplitude des Störmoments

γ_d, γ_q

Phasenlage der Störspannung im Längs- bzw. Querstromregelkreis

γ_M

Phasenlage des Störmoments

γ*_d, γ*_q

Phasenlage der Kompensationsspannung im Längs- bzw. Querstromregelkreis

γ*_M

Phasenlage der Spannung zur Kompensation des Störmoments

A*_M

Amplitude der Spannung zur Kompensation des Störmoments

In the description and claims the following terms and abbreviations are used:

e ^Id

Control deviation of the flow controller

e ^Iq

Control deviation of the cross-flow controller

e ^M

Control deviation of the torque controller

T ^I _A

Current controller cycle time

z

Operator of the z transformation

Ψ _R

Rotor Floss concatenation

L _d , L _q

Longitudinal and transverse inductance

ω _el

Electrical speed / speed

f _el

Electrical angle / position

I _d , I _q

Longitudinal and cross flow

U _{d, sturgeon} , U _{q, sturgeon}

Periodic interference voltage in the longitudinal or cross-circuit control loop

M _sturgeon

Periodic disturbance torque

A _d , A _q

Amplitude of the interference voltage in the longitudinal or cross-circuit control loop

A _M

Amplitude of the disturbance moment

γ _d , γ _q

Phase of the interference voltage in the longitudinal or cross-circuit control loop

γ _M

Phase position of the disturbance moment

γ * _d , γ * _q

Phase angle of the compensation voltage in the longitudinal or cross-circuit control loop

γ * _M

Phase of the voltage to compensate for the disturbance torque

A * _M

Amplitude of the voltage for compensation of the disturbance torque

1

Longitudinal current controller

2

Time delay by one current controller cycle due to the computing time (z ^-1 )

3

Transverse inductance (L _q )

4

Cross-flow regulator

5

Longitudinal inductance (L _d )

6

Rotor flux linkage (Ψ _R )

7

torque controller

8th

order K of the harmonic to be compensated / manipulated

9

Characteristic map or compensation function for mapping the phase position γ * _d as a function of cross-flow and electrical speed

10

forms the cosine of the input signal

11

Map or compensation function for mapping the amplitude A _d as a function of the cross-flow and electrical speed

12

controlled system d-current branch

13

feedforward for compensation of the interference voltage or current ripple in the longitudinal flow control loop

14

Characteristic map or compensation function for mapping the phase position γ * _q as a function of cross-current and electrical speed

15

Characteristic map or compensation function for mapping the amplitude A _q as a function of cross-flow and electrical speed

16

feedforward for compensation of the interference voltage or current ripple in the cross-flow control loop

17

controlled system q current branch

18

Speed Dependent tracked disturbance compensation filter in the longitudinal flow branch

19

Speed Dependent tracked disturbance compensation filter in the crossflow branch

20

tracked filter coefficient

21

Characteristic map or compensation function for mapping the phase position γ * _M , as a function of actual torque and electrical speed

22

Map or compensation function for mapping the amplitude A * _M as a function of actual torque and electrical speed

23

feedforward for compensation of the disturbance torque or torque ripple in torque control loop

24

Specific equipment Relationship between cross-flow and DC component of the actual torque

31

drive motor

32

clutch

33

test engine

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 4026091 A1 [0017]

Claims (14)

Contraption ( 13 ; 16 ; 23 ) for current regulation or torque control of a synchronous machine, which is designed to switch on in a current control loop or torque control loop of the synchronous machine at least one, in field-oriented coordinates over an integer divider of the electrical angle sinusoidal manipulated variable (U _{d, comp} ; U _{q, komp} ). Contraption ( 13 ; 16 ; 23 ) according to claim 1, wherein a frequency of the at least one manipulated variable (U _{d, comp} ; U _{q, comp} ) corresponds to an integer multiple of an electrical speed and / or speed of the synchronous machine. Contraption ( 13 ; 16 ; 23 ) according to one of the preceding claims, wherein an amplitude (A _d ; A _q ; A * _M ) and a phase position (γ * _d ; γ * _q ; γ * _M ;) of the at least one manipulated variable sinusoidal over an integer divisor of the electrical angle (U _{d, comp} ; U _{q, comp} ) are mapped by maps and / or by analytical functions of the speed and / or the longitudinal and / or transverse flow and / or the actual torque and / or the desired torque of the synchronous machine. Contraption ( 13 ; 16 ; 23 ) according to claim 3, which is designed to generate a map _{data generation} from states (q _d1 , q _d2 , q _q1 , q _q2 ) of at least one time-discrete speed-dependent tracked filter ( 18 . 19 ) according to the following equations:

K ... Order of the harmonic to be compensated. Device for current regulation or torque control of a synchronous machine, characterized by a time-discrete filter connected in parallel ( 18 ; 19 ) with a conjugate-complex pole pair, wherein the pole pair in its argument with an integral multiple of an electrical speed and / or speed of the synchronous machine trackable ( 20 ). Apparatus according to claim 5, wherein the filter ( 18 ; 19 ) is designed to smooth a compensation voltage (U ^F _d , U ^F _q ) for smoothing a current ripple in a longitudinal and / or cross-current control circuit and / or a torque ripple in the torque control circuit of the synchronous machine. Device according to one of the preceding claims, characterized in that the synchronous machine as a linear drive or is designed as a rotary machine. Method for current regulation or torque control of a synchronous machine, wherein in a current control loop of the synchronous machine at least one, in field-oriented coordinates over an integer Divider of the electrical angle sinusoidal manipulated variable (U _{d, comp} ; U _{q, komp} ) is switched. The method of claim 7 or 8, wherein a frequency of the at least one manipulated variable (U _{d, comp} ; U _{q, comp} ) corresponds to an integral multiple of an electrical speed and / or speed of the synchronous machine. Method according to one of claims 7 to 9, wherein an amplitude (A _d ; A _q ; A * _M ) and a phase position (γ * _d ; γ * _q ; γ * _M ;) of a sine voltage of at least one over an integer divider of electrical angle sinusoidal manipulated variable (U _{d, comp} ; U _{q, comp} ) by maps and / or by analytical functions of the speed and / or the longitudinal and / or transverse flow and / or the actual torque and / or the desired torque of the Synchronous machine can be imaged. The method of claim 10, wherein for map data generation from states of at least one filter the following equations are executed:

K ... Order of the harmonic to be compensated. Method for current regulation or torque control of a synchronous machine, wherein a time-discrete filter connected in parallel ( 18 ; 19 ) is used in its argument with an integer multiple of an electrical speed and / or speed of the synchronous machine ( 20 ). Computer program with program code means to all Steps of a method according to one of the claims 8 to 12 when the computer program on a Computer or a corresponding computer unit executed becomes. Computer program product with program code means, stored on a computer-readable medium are to complete all steps of a procedure according to one of the claims 8 to 12 perform when the computer program product on a computer or on a corresponding computer unit is performed.