DE102014205244A1 - Method and device for initializing a control circuit for a current for operating a three-phase machine - Google Patents

Abstract

A method 300 for initializing a control circuit for a current for operating a three-phase machine at a transition from an active short-circuit state of the three-phase machine to a controlled operation of the three-phase machine at a current sampling time comprises determining 310 a control variable taking into account a target current specification for the three-phase machine for the current sample time. The manipulated variable corresponds to an operating state of the three-phase machine at a previous sampling time. The method 300 further comprises determining 320 an integrative portion of the control loop, which contributes to a determination of the manipulated variable by the control loop. In addition, the method 300 includes initializing 330 an integrator of the loop with the particular integrative fraction.

Description

The present invention is in the field of initializing a control circuit for a current for operating a three-phase machine, in particular at a transition from an active short-circuit state (AK of the three-phase machine to a controlled operation of the three-phase machine.

For the conversion of electrical into kinetic energy, so-called three-phase or three-phase machines are used, among other types of electric motors. Rotary field machines comprise a stator with an annular arrangement of so-called phases, which can generate time-variable magnetic fields, and thereby enable a magnetic rotor, for example a rotor with a permanent magnet, to rotate. Rotary field machines, such as permanent magnet synchronous machines (PSM) or asynchronous machines (ASM), are used in different applications, eg. As hybrid car, electric car, servo drives, machine tools, etc. are used.

In a field-oriented control (FOR), the state variables of the electric motor are transformed into a coordinate system in which the differential equations describing a dynamic behavior of the electric motor are simplified. In these coordinates, the machine can be controlled similar to a DC machine. In addition to the speed, rotor position or the intermediate circuit voltage, information about the phase currents may be required to carry out the FOR in order to ensure the feedback of the control loop. This may mean that current measuring sensors are needed to measure the currents.

In many cases, the machine is put into operation in a whole technically possible speed range. In some cases, the machine can be braked, thereby avoiding unwanted operating conditions, eg. For example, when the speed exceeds the maximum speed due to external influences (eg, load), or when the battery voltage to supply the machine decreases, which may result in lowering the speed of the machine to a lower value. In this case, it may be necessary for the machine to decelerate quickly. This can be done by an active short circuit of the machine (AKS). A voltage equal to zero is applied at the machine input.

In many cases it may be desirable not to decelerate the machine to a standstill, but only so far, until the undesired operating state is left, and then again with the FOR to regulate. This may cause problems when the machine is restarted. For example, during the AKS of the machine, the regulators of currents may take on values that no longer match a current state at power up. The result can be high phase currents, which can possibly lead to a load on the battery, destruction of the output stage or supply voltage source or partial demagnetization of a permanent magnet of the machine.

According to a conventional procedure, integrators of PI controllers in both axes of the used coordinate system are reset to zero at the AKS if the FOR is not active (or the AKS active). The probability of building up the integrator values after infinity or degradation can thereby be reduced. However, this can not completely prevent the risk of high currents when the FOR is switched on. Damage to the machine, for example semiconductor devices located in an inverter and used to control the phases, may be a possible consequence. Furthermore, increased wear, for example, on the output stage or the battery may occur, which can reduce their life.

It is therefore desirable to provide an improved concept for driving a rotating field machine in a transition from an active short circuit state of the three-phase machine to a controlled operation of the three-phase machine.

This need is taken into account by a method and apparatus for initializing a control circuit for a current to operate a three-phase machine in a transition from an active short circuit condition at a previous sample time of the three-phase machine to a controlled operation of the three-phase machine at a current sample time according to the independent claims.

According to a first aspect, embodiments relate to a method for initializing a control circuit for a current for operating a three-phase machine at a transition from an active short-circuit state of the three-phase machine to a controlled operation of the three-phase machine at a current sampling time. The method comprises determining a manipulated variable of the control loop taking into account a target current specification for the three-phase machine for the current sampling time. The manipulated variable corresponds to an operating state of the three-phase machine at a previous sampling time. The method also comprises determining an integrative portion of the control loop, which contributes to a determination of the manipulated variable by the control loop. In addition, the method comprises initializing an integrator of the control loop with the determined integrative component. An occurrence of current peaks can thus be reduced or even avoided. Potential consequential damage from current peaks, such as power amplifier, battery, semiconductor elements or magnets, unwanted noise or unintentional shutdown of the power amplifier of the machine may possibly be prevented.

In some embodiments, the control loop is used for field-oriented control of the three-phase machine. The FOR can allow a controlling of the machine similar to a DC machine.

In some embodiments, the integrative component Y _I , taking into account a target current command I _{ssoll (k)} at the current sample time (k), the manipulated variable Y, which corresponds to the operating state of the synchronous machine at the previous sample time (k-1) and a proportional coefficient for determines a proportional component K _{p of} a proportional-integral control as follows: Y _I = Y - K _P · I _{ssoll (k)} .

This can cause the FOR to behave as if it had already been active at the previous sample time. Also, discontinuities in the newly calculated tensions of the FOR can be reduced.

In some embodiments, the control loop uses only proportional-integral control. Due to the integral element (I element), the control deviation can become zero in a stationary state with a constant setpoint value. A proportional-integral controller (PI controller) can already be operated with two setting parameters.

In some embodiments, the operating state of the three-phase machine at the preceding sample time is at least partially characterized in that a common short-circuit voltage for a plurality of phases of the three-phase machine has a value of zero. Thus, under certain circumstances, the machine can be protected, or in other words, damage in the occurrence of excessive electrical voltages can be avoided.

In some embodiments, the previous sample time immediately precedes the current sample time. A determination of an integrative component Y _{I of} a manipulated variable Y can hereby be facilitated.

In some embodiments, the method further includes overriding the active short-circuit condition. Thereby, a resumption of normal operation of the three-phase machine by means of the FOR can be made possible.

In some embodiments, the three-phase machine is a permanent magnet synchronous machine (PSM). A PSM can be compared to some other three-phase machines z. B. have a higher efficiency or lower maintenance requirements.

In some embodiments, the control circuit regulates a current vector I in a stator-fixed coordinate system for a d-component I _d and separated for a q-component I _{q of} the current vector. In this case, an integrative component is determined separately for each of the components. Furthermore, an integrator corresponding to each of the two components is initialized with the respective integrative component.

In some embodiments, the manipulated variable Y comprises a component Y _d and a component Y _q in a stator-fixed coordinate system. The component Y _d or the component Y _{q is} at least partially determined by a d-component and a q-component of an inductance of a stator winding L _s .

bestimmbar. Dabei sind R_s ein Statorwiderstand und ω_s eine Winkelgeschwindigkeit.In some embodiments, the component Y _d and the component Y _{q are} the manipulated variable Y based on the equations:

determinable. Where R _{s is} a stator resistance and ω _{s is} an angular velocity.

In some embodiments, the three-phase machine is an asynchronous machine (ASM). An ASM can be compared to some other three-phase machines z. B. have a longer life, a wider range of applications or lower production costs.

In some embodiments, the control circuit regulates a current vector I in a reference coordinate system for an A component I _A and separated for a B component I _{B of} the current vector. In this case, an integrative component is determined separately for each of the components. Furthermore, an integrator corresponding to each of the two components is initialized with the respective integrative component.

In some embodiments, the manipulated variable Y comprises a component Y _A and a component Y _B of a co-ordinated with a stator field coordinate system. The component Y _A or the component Y _{B are determined} at least partially by a stator self-inductance L ₁ and a rotor self-inductance L ₂ .

bestimmbar. Dabei sind:

• R₁ ein Statorwiderstand,
• R₂ ein Rotorwiderstand,
• M eine Hauptinduktivität,
  
• L_1σ = σL₁,
• ω_m eine elektrische Winkelgeschwindigkeit eines Rotors,
• ω_K eine Winkelgeschwindigkeit einer Ständergröße, und
• Ψ_2A eine Rotorflusskomponente in A-Achse eines mit einem Statorfeld mitbewegten Koordinatensystems.

In some embodiments, the component Y _A and the component Y _{B are} the manipulated variable Y based on the equations:

determinable. Here are:

• R _{1 is} a stator resistance,
• R _{2 is} a rotor resistance,
• M is a main inductance,
  
• L _1σ = σL ₁ ,
• ω _{m is} an electrical angular velocity of a rotor,
• ω _{K is} an angular velocity of a stator size, and
• _{2A is} a rotor flux component in the A-axis of a coordinate system moving with a stator field.

According to another aspect, embodiments relate to a device for initializing a control circuit for a current for operating a three-phase machine at a transition from an active short-circuit state of the three-phase machine to a controlled operation of the three-phase machine at a current sampling time. The device comprises a control device and a processor. The processor is designed to provide a signal for canceling the active short-circuit state to the control device at a current sample time (k). The processor is further configured to initialize at the current sample time point (k) a calculation of a manipulated variable to a sample instant (k-1) preceding the current sample instant (k). This may result in improved protection of the machine, possibly avoiding shutdown or deceleration of the machine to a standstill.

Some embodiments relate to a system having a device for initializing a control circuit for a current for operating a three-phase machine and a supply voltage source. The supply voltage source is configured to change a voltage for one phase of the three-phase machine in response to the signal. An occurring load on the supply voltage source due to voltage spikes can possibly be reduced or even avoided.

Embodiments also relate to a program having a program code for carrying out the method when the program code is executed on a computer, a processor or a programmable hardware component.

Further advantageous embodiments will be described in more detail below with reference to exemplary embodiments illustrated in the drawings, to which exemplary embodiments are not restricted. Show it:

1a and 1b an illustration of different coordinate systems that can be used in a determination of variables relevant to a field-oriented control, in each case with a PSM and an ASM;

2a and 2 B a block diagram for a field-oriented control according to a comparative example, each at a PSM and an ASM;

3 a method for initializing a control circuit for a current for operating a three-phase machine according to an embodiment;

4 a block diagram of a PI controller with a feedforward control according to an embodiment;

5 a device for initializing a control circuit for a current for operating a three-phase machine according to a simple embodiment;

6a and 6b a device for initializing a control circuit for a current for operating a respective PSM and an ASM according to a detailed embodiment;

7a and 7b a flowchart for the process of initializing a control circuit for a current for operating a respective PSM and an ASM according to an embodiment;

8a Diagrams showing waveforms of PWM, phase currents, components of a current vector, speed and AKS signal in a PSM machine according to a comparative example; and

8b Diagrams showing waveforms of PWM, phase currents, components of a current vector, speed and AKS signal in a PSM machine according to an embodiment.

Various embodiments will now be described in more detail with reference to the accompanying drawings, in which some embodiments are illustrated. In the figures, the thickness dimensions of lines, layers and / or regions may be exaggerated for the sake of clarity.

In the following description of the attached figures, which show only some exemplary embodiments, like reference characters may designate the same or similar components. Further, summary reference numerals may be used for components and objects that occur multiple times in one embodiment or in a drawing but are described together in terms of one or more features. Components or objects which are described by the same or by the same reference numerals may be the same, but possibly also different, in terms of individual, several or all features, for example their dimensions, unless otherwise explicitly or implicitly stated in the description.

Although embodiments may be modified and modified in various ways, exemplary embodiments are illustrated in the figures as examples and will be described in detail herein. It should be understood, however, that it is not intended to limit embodiments to the particular forms disclosed, but that embodiments are intended to cover all functional and / or structural modifications, equivalents and alternatives that are within the scope of the invention. Like reference numerals designate like or similar elements throughout the description of the figures.

Note that an element referred to as being "connected" or "coupled" to another element may be directly connected or coupled to the other element, or intervening elements may be present. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements. Other terms used to describe the relationship between elements should be interpreted in a similar manner (eg, "between" versus "directly in between,""adjacent" versus "directly adjacent," etc.).

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the embodiments. As used herein, the singular forms "a," "an," "an," and "the," are also meant to include the plural forms unless the context clearly indicates otherwise. It should also be made clear that the terms such. "Including," "including," "and / or having," as used herein, indicates the presence of said features, integers, steps, operations, elements, and / or components, but the presence or addition of one or more features, integers, steps, operations, elements, components and / or groups thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly assigned to one of ordinary skill in the art to which the embodiments pertain. Furthermore, it should be clarified that expressions, e.g. For example, those defined in commonly used dictionaries are to be interpreted as having the meaning consistent with their meaning in the context of the relevant art and not to be interpreted in an idealized or overly formal sense, as long as this is so not expressly defined herein.

An induction machine can be designed as a PSM. The PSM comprises a stator consisting of an annular arrangement z. B. from each other by 120 ° offset coils (also referred to as phases) may be constructed, if it is a three-phase machine. The phases may generate time-varying magnetic fields, thereby causing a magnetic rotor, for example a rotor with a permanent magnet mounted on or in the rotor, to rotate.

1a For the sake of completeness, it gives an overview of three coordinate systems of a three-phase machine used for a calculation or a description of any phase current vector 100 can be used. A three-coordinate system (UVW) with axes 110-1 . 110-2 and 110-3 corresponds to a coordinate system which is given by the position of the individual coils of the stator. For a regulation of the machine or of the electric motor, state variables, for example a phase current, a voltage or a flux, can be transformed into a coordinate system rotating the rotor, the d, q coordinate system. The d-axis 120-1 runs parallel to the maximum magnetic flux of the permanently excited rotor and the q-axis 120-2 perpendicular to it.

Furthermore, the quantities can also be described in a Cartesian two-dimensional coordinate system, the α, β coordinate system. It is in the in 1a shown representation without limiting the generality of the α-axis 130-1 chosen so that these are identical to the U-axis 110-1 of the U, V, W coordinate system. The β-axis 130-2 runs perpendicular to it. In other words, the α, β coordinate system is a stator-fixed two-coordinate system.

In the case of the field-oriented control (FOR) described in more detail below, the state variables of the electric motor are transformed into the d, q coordinate system, since the differential equations describing the dynamic behavior of the electric motor can be simplified in these coordinates. In these coordinates, the machine can be controlled similar to a DC machine.

For example, an ASM may have a three-phase rotating field winding. The voltages and currents of the individual strands can be seen in the form of room pointers 140 be summarized as in 1b shown. These space pointers 140 can refer to the stator fixed α, β coordinate system with an α-axis 150-1 and a β-axis 150-2 and therefore rotate asynchronously with the rotor. To refer the magnitudes to the rotor, the pointers to the rotor fixed d, q coordinate system may have a d-axis 160-1 and a q-axis 160-2 be transformed. Also, the space pointers can be for any A, B coordinate system with an A-axis 170-1 and a B axis 170-2 be transformed. It may be possible to determine only transformation angle γ, γ _A. A transformation includes one Twist about the corresponding transformation angle γ, γ _A. The space pointers 140 of a flux Ψ in the rotor-fixed and in the stator-fixed arbitrary A, B coordinate system are in 1b shown. A strategy in controlling a torque of a three-phase AC drive may include controlling a stator or rotor flux linkage to a constant value.

With a respective complementary Flußverkettung the torque can be adjusted so that its time constant limits a current control time. The operation with constant Statorflussverkettung can be implemented with little effort, since required for the control state variables for direct measurement can be accessible.

In contrast, in a constant rotor flux linkage operation, a transformation to a magnetization current vector can be made, which can not be directly measured, but z. B. from a machine model (flow model) can be determined via an online database. The transformed currents can then but as in the foreign-excited DC machine in their field-. or moment-forming components are decomposed and regulated individually. The concept may include maintaining the rotor flux at a constant value and adjusting the stator flooding perpendicular thereto. A regulation of the ASM can be similar to the regulation of a DC machine. For induction machines, in this case one speaks of field-oriented regulation.

2a shows a block diagram for a FOR in a PSM, and 2 B a block diagram of a FOR in an ASM according to a comparative example. For the current measurement, a current sensor is used in each phase or at least in two of the phases. For a better understanding, it will be briefly explained below with reference to 2a and 2 B the general procedure for FOR using the block diagram of a FOR controller 200 ; 250 explained. This receives as a guide 202-1 ; 202-2 ; 252-1 ; 252-1 Target current specifications, a desired speed and a desired torque of the induction machine, more specifically the PSM 240 or the ASM 290 to pretend. These nominal current specifications refer to the d-component in the case of the PSM 202-1 and the q component 202-2 of the current in the d, q coordinate system. The deviation is subtracted from the actual d-component 204-1 and the actual q component 204-2 determined by the target current specification. The d component 204-1 and the q component 204-2 together give a possibility, a feedback signal 205 to provide information about a current in each of the plurality of phases. The setpoint current specifications also refer to the A component for the ASM 252-1 and the B component 252-2 of the current in the A, B coordinate system. The deviation is subtracted from the actual A component 254-1 and the actual B component 254-2 determined by the target current specification. The A component 254-1 and the B component 254-2 together give a possibility, a feedback signal 255 to provide information about a current in each of the plurality of phases.

The control deviation of each component of the current is provided by a proportional-integral (PI) controller 206-1 ; 206-2 ; 256-1 ; 256-2 processed, each one manipulated variable 207-1 ; 207-2 ; 257-1 ; 257-2 produce. From the manipulated variables 207-1 ; 207-2 ; 257-1 ; 257-2 be via a decoupling network (in 2a and 2 B more precisely about sizes, which are due to a decoupler 238 ; 288 provided) a first voltage component 208-1 (U _sd ) or 258-1 (U _1A ) and a second voltage component 208-2 (U _sq ) or 258-2 (U _1B ), that generates a desired voltage vector in the d, q or A, B coordinate system. During operation of the electric motor or induction machine 240 ; 290 in each case a voltage is generated for each phase. Since these voltages are present in the fixed coordinate system, the PSM uses a d, q / 1,2,3 converter 210 in addition, the voltage components 208-1 and 208-2 or to transform the voltages to be set in the three-coordinate system (the coordinates 1, 2 and 3 can in each case the in 1a used coordinates U, V and W correspond) to the voltage specifications 212-1 (U _s1 ), 212-2 (U _s2 ) and 212-3 (U _s3 ). The ASM uses an A, B / α, β-converter 260 in addition, the voltage components 258-1 and 258-2 or to transform the voltages to be set in the α, β coordinate system to the voltage specifications 262-1 (U _1α ) and 262-2 To obtain (U _1β ).

A PWM generator 214 or vector modulator 264 serves to drive signals for an inverter from the voltage vector in the stationary coordinate system 216 ; 266 or to produce for a power amplifier. In particular, the inverter generates 216 ; 266 or pulse inverters for each of the phases U, V and W, a pulse width modulated signal 218-1 ; 218-2 ; 218-3 or 268-1 ; 268-2 ; 268-3 , by means of which the individual phases of the inverter 216 ; 266 be controlled. The generated PWM values from the controller or controller to produce a particular voltage vector may vary with the desired voltage frequency. The magnitude of the voltage amplitude can be a measure of the length of the voltage vector applied to the inverter 216 ; 266 be. Between inverters 216 ; 266 and PWM generator 214 or vector modulator 264 is also an intermediate circuit voltage Udc, the z. B. may correspond to a battery voltage in some applications in the automotive sector.

At the output of the inverter 216 ; 266 are the operating voltages 220-1 ; 220-2 ; 220-3 or 270-1 ; 270-2 ; 270-3 which are applied to each of the coils of the different phases. The in the supply lines of the operating voltage 220-1 ; 220-2 ; 220-3 or 270-1 ; 270-2 ; 270-3 flowing current is measured and used as feedback or feedback signal of the control loop. Since in the field-oriented control of the target current or the reference variable in the d, q or A, B coordinate system is present, the currents in the three supply lines by means of a converter 224 transformed into the d, q coordinate system, or by means of a converter 274 first in the α, β coordinate system, and by means of another converter 276 transformed into the A, B coordinate system where the feedback signal 205 ; 255 can be used directly.

At 2a In order to enable the transformation from the U, V, W coordinate system into the d, q coordinate system, information about a position of the rotor is also required. For this purpose, by means of a position sensor 230 the mechanical angle 232 (Θ _mech ) and made available to the system. From the mechanical angle 232 For example, by multiplying by the pole pair number Z _p, the electrical angle 234 (Θ _el ) needed for transformation from the d, q to the U, V, W coordinate system and back. In the same way, the so-called electrical angular velocity 236 (ω _el ) can be determined. Analog is at 2 B for the transformation of the α, β coordinate system in the A, B coordinate system information about a component of an electrical flux 278 (β _Ψ ) required. For this purpose, by means of an angle encoder 280 the electrical rotor circuit frequency 282 (ω _r ) determined and made available to the system. From the electrical rotor circuit frequency 282 For example, by multiplying by the pole pair number Z _p, the mechanical angular velocity 284 (ω _m ), and from this a flow model 286 the flow component 278 (β _Ψ ) required for transformation from the α, β to the A, B coordinate system and back. The flow model may be used for a calculation of further information about the operating voltages 270-1 ; 270-2 ; 270-3 corresponding currents or the pulse width modulated signals 268-1 ; 268-2 ; 268-3 use.

2a and 2 B show the additional possibility of using the decoupler 238 ; 288 Interactions between the d components and the q components of the current, or also the A components and the B components of the current, an angular velocity of a stator size (ω _K ), a rotor flux component (Ψ _2A ) of an A axis of the A, B coordinate system, the mechanical angular velocity 284 (ω _m ) and the DC link voltage Udc in calculating the voltage components 208-1 ; 208-2 or 258-1 ; 258-2 to take into account. On the functionality of the decoupler 238 ; 288 is not discussed further herein, primarily for clarity.

Embodiments provide a concept for calculating the integrators of the current controllers when switching from AKS to FOR 2a and 2 B , It can thus be achieved a smooth transition AKS / FOR and the risk of high phase currents can be prevented.

3 shows a method 300 according to an embodiment, for initializing a control circuit for a current for operating a three-phase machine at a transition from an active short-circuit state of the three-phase machine to a controlled operation of the three-phase machine at a current sampling time. The procedure 300 includes a determination 310 a manipulated variable of the control loop, taking into account a setpoint current input for the three-phase machine for the current sampling time. The manipulated variable corresponds to an operating state of the three-phase machine at a previous sampling time. The procedure 300 also includes determining 320 an integrative portion of the control loop, which contributes to a determination of the manipulated variable by the control loop. In addition, the process includes 300 an initialize 330 an integrator of the control loop with the determined integrative component. An occurrence of current peaks can thus be reduced or even avoided. Potential consequential damage from current peaks, such as power amplifier, battery, semiconductor elements or magnets, unwanted noise or unintentional shutdown of the power amplifier of the machine may possibly be prevented.

In some embodiments, the method includes 300 also a fuss 340 of the active short circuit condition, which is in 3 is shown as a dashed box. Thereby, a resumption of normal operation of the three-phase machine by means of the FOR can be made possible.

According to embodiments, a concept for better switching between the AKS of the machine and the FOR of the machine is presented below, whereby a smooth transition can be achieved. The AKS can provide better protection of the machine when used.

The FOR is always a PI controller 400-1 ; 400-2 present for a component of a stream, like 4 using an exemplary embodiment shows. The embodiment in 4 is in this case based on a PSM, and in other words refers to the currents I _sd and I _sq . The FOR is performed by the current difference 402-1 ; 402-2 between setpoint and actual value of the current is used as input of the PI controller. Depending on this current difference 402-1 ; 402-2 becomes a voltage or a manipulated variable 404-1 ; 404-2 (Y _d , Y _q ) is generated as the output of the controller, which changes until the current difference 402-1 ; 402-2 disappears. This can be a pre-taxation share 406-1 ; 406-2 be used for the controller. The manipulated variable 404-1 ; 404-2 (Y _d , Y _q ) is calculated from a sum of the pre-tax share 406-1 ; 406-2 , one to the current difference 402-1 ; 402-2 proportional summands, and one, also referred to as Integratorwert, integrative share 408-1 ; 408-2 (Y _Id , Y _Iq ). For the calculation of the integrative share 408-1 ; 408-2 becomes an integrator 410-1 ; 410-2 used. The integrative share 408-1 ; 408-2 is added up until the difference 402-1 ; 402-2 between nominal and actual value of the current disappears. For a calculation of voltage specifications 412-1 ; 412-2 in the d- and q-axis are the manipulated variables 404-1 ; 404-2 (Y _d , Y _q ) a decoupling network 414 passed, which for this additional information about an electrical angular velocity 416 (ω _s ) receives.

The following describes the calculation of the integrator values when using a PSM, and again separately when using an ASM. The coordinate designations used herein are the respective ones in FIG 1a and 1b explained coordinate systems.

For the PSM, the regulator in the d-axis has its output at the output: Y _d = K _{V_d} * I _sdRef + K _{p_d} * ΔI _sd + K _{I_d} ∫ΔI _sd * dt GL. 1a

For the controller in q-axis, the following applies: Y _q = K _{V_q} * I _sqref + K _{p_q} * ΔI _sq + K _{I_q} ∫ΔI _sq * dt GL. 2a In discrete form results from GL. 1a and GL. 2a the GL. 3a and GL. 4a according to the Euler discretization approach: Y _dk = Y _Vdk + Y _Pdk + Y _Idk = K _{V_d} * I _sdRef + k _{p_d} * ΔI _sdk + (Y _Idk-1 + k _{I_d} * T * ΔI _sdk ) GL. 3a Y _qk = Y _Vqk + Y _Pqk + Y _Iqk = K _{V_q} * I _sqref + k _{p_q} * ΔI _sqk + (Y _Iqk-1 + k _{I_q} * T * ΔI _sqk ) GL. 4a

Y_dk:

aktueller Ausgang des PI-Reglers in d-Achse

Y_Vdk:

aktueller Vorsteuerungsanteil des Ausganges des PI-Reglers in d-Achse

Y_pdk:

aktueller P-Anteil des Ausganges des PI-Reglers in d-Achse

Y_Idk:

aktueller I-Anteil (Integratorwert) des Ausganges des PI-Reglers in d-Achse

Y_Idk-1:

I-Anteil des PI-Regler-Ausganges in d-Achse von dem vorherigen Abtastschritt

Δ_Isdk:

aktuelle Differenz zwischen Soll- und Istwert des Stromes in d-Achse

I_sdref:

aktueller Sollwert des Stromes in d-Achse

T:

Abtastzeit des Reglers

Y_qk:

aktueller Ausgang des PI-Reglers in q-Achse

Y_Vqk:

aktueller Vorsteuerungsanteil des Ausganges des PI-Reglers in q-Achse

Y_pqk:

aktueller P-Anteil des Ausganges des PI-Reglers in q-Achse

Y_Iqk:

aktueller I-Anteil (Integratorwert) des Ausganges des PI-Reglers in q-Achse

Y_Iqk-1:

I-Anteil des PI-Regler-Ausganges in q-Achse von dem vorherigen Abtastschritt

Δ_Isqk:

aktuelle Differenz zwischen Soll- und Istwert des Stromes in q-Achse

I_sqref:

aktueller Sollwert des Stromes in q-Achse.

Where:

Y _dk :

Current output of the PI controller in d-axis

Y _Vdk :

Current pilot control component of the output of the PI controller in the d-axis

Y _pdk :

current P-component of the output of the PI controller in the d-axis

Y _Idk :

current I-component (integrator value) of the output of the PI controller in the d-axis

Y _Idk-1 :

I-component of the PI-controller output in d-axis from the previous sampling step

_ΔIsdk :

actual difference between setpoint and actual value of the current in d-axis

I _sdref :

Current setpoint of the current in d-axis

T:

Sampling time of the controller

Y _qk :

Current output of the PI controller in q-axis

Y _Vqk :

Actual pilot control component of the output of the PI controller in q-axis

Y _pqk :

current P-component of the output of the PI controller in q-axis

Y _Iqk :

current I-component (integrator value) of the output of the PI controller in q-axis

Y _Iqk-1 :

I-component of the PI-controller output in q-axis from the previous sampling step

_ΔIsqk :

actual difference between setpoint and actual value of the current in q-axis

I _sqref :

Current setpoint of the current in q-axis.

The outputs of the PI controllers Y _d and Y _q are passed to a decoupling _network to calculate the desired voltages U _{sd_FOR} and U _{sq_FOR} . The decoupling network compensates for the mutual dependence of the two axes d and q and may have different designs in the literature. In general, the relationship between the set voltage, the current (actual or Set point), the electrical angular velocity and the output of the regulator in the decoupling network are shown as a function: U _{sd_FOR} = f (Y _d , I _sd , I _sq , ω _s ) GL. 5a U _{sq_FOR} = f (Y _q , I _sq , I _sd , ω _s ) GL. 6a

In those embodiments where the decoupling network concept does not take into account currents (I _sd , I _sq ), only the output of the PI controllers and the electrical angular velocity ω _{s are used} for the calculations of the voltages U _sd and U _sq .

A smooth transition from AKS to FOR can be achieved by converting the integrator _values Y _Idk and Y _Iqk . At the time of switching AKS to FOR, the integrators are back-calculated, so that the calculated voltages U _sd and U _{sq of} the FOR given decoupling network are equal to the voltages as in the AKS at a previous sample time (k-1). The voltages at the AKS at the previous time (k-1) can thus assume the value zero for several phases. Timing (k-1) in some embodiments immediately precedes sample time (k); in other words, time (k-1) may designate the previous sampling step.

First, consider the machine equations in the d, q coordinate system:

R_s:

Statorwiderstand der Maschine

L_sd:

die Maschineninduktivität in d-Achse

L_sq:

die Maschineninduktivität in q-Achse

I_sd:

die Maschinen-Stromkomponente in d-Achse

I_sq:

die Maschinen-Stromkomponente in q-Achse

U_sd:

die Maschinen-Spannungskomponente in d-Achse

U_sq:

die Maschinen-Spannungskomponente in q-Achse

ω_s:

die elektrische Winkelgeschwindigkeit der Maschine (= n·Zp·2·π/60)

n:

die Drehzahl der Maschine

Zp:

die Polpaarzahl der Maschine

Ψ:

der Fluss des Permanentmagnetes der Maschine.

Where:

R _s:

Stator resistance of the machine

L _sd :

the machine inductance in d-axis

L _sq :

the machine inductance in q-axis

I _sd :

the machine current component in d-axis

I _sq :

the machine current component in q-axis

U _sd :

the machine-voltage component in d-axis

U _sq :

the machine voltage component in q-axis

ω _s :

the electrical angular velocity of the machine (= n · Zp · 2 · π / 60)

n:

the speed of the machine

Zp:

the pole pair number of the machine

Ψ:

the flux of the permanent magnet of the machine.

In steady state, the derivatives are zero, it follows: U _sd = R _s · I _sd - L _sq · ω _s · I _sq GL. 9a U _sq = R _s * I _sq + L _sd * ω _s I _sd + Ψ * ω _s GL. 10a

To calculate back the integrators, first calculate the PI outputs. It will be GL. 9a and GL. 10a used in the stationary state. The outputs of the PI controllers (Y _d and Y _q ) replace the currents I _sd and I _sq . U _sd = R _s * Y _{d -L sq} * ω _s * Y _q GL. 11a U _sq = R _s * Y _q + L _sd * ω _s * Y _d + Ψ * ω _s GL. 12a

By solving the equations 11a and 12a for Y _d and Y _q , the newly calculated outputs of the PI controllers are obtained:

The voltages U _sd and U _sq due to the active short circuit of the machine are equal to 0. From the newly calculated outputs of the two regulators Y _{d (k)} and Y _{p (k)} (GL 13a and GL 14a), the integrator values Y _{Id (k-1)} and Y _{Iq (k-1)} back _calculated . For the q-axis, the following applies: Y _{Iq (k-1)} = Y _{q (k)} - K · I _{V_q sqRef (k)} GL. 15a

For the d-axis, the following applies: Y _{Id (k-1)} = Y _{d (k) -K V_d} * I _{sdRef (k)} GL. 16a

I_sdRef(k):

Sollwert des Stromes in d-Achse zum Zeitpunkt (k)

I_sqRef(k):

Sollwert des Stromes in q-Achse zum Zeitpunkt (k).

Where:

I _{sdRef (k)} :

Setpoint of the current in d-axis at the time (k)

I _{sqRef (k)} :

Setpoint of the current in q-axis at time (k).

If the integrator values are from GL. 15a and GL. 16a is used as start values at the time of switching from the AKS to the FOR, the FOR behaves as if it had been active one sampling step before. The newly calculated voltages from the FOR show only minor or no discontinuities. Thus, if necessary, the current peaks in the transition AKS / FOR can be prevented.

For the ASM, the controller in A-axis has at its output: Y _A = K _{V_A} * I _1ARef + K _{p_A} * ΔI _1A + K _{I_A} ∫ΔI _sA * dt GL. 1b

For the controller in B-axis, the following applies: Y _B = K _{V_B} * I _{1 BRef} + K _{p_B} * ΔI _1B + K _{I_B} ∫ΔI _sB * dt GL. 2 B

In discrete form results from GL. 1b and GL. 2b the GL. 3b and GL. 4b according to the Euler discretization approach: Y _Ak = Y _VAk + Y _PAk + Y _IAk = K _{V_A} * I _1ARef + k _{p_A} * ΔI _1Ak + (Y _IAk-1 + k _{I_A} * T * ΔI _1Ak ) GL. 3b Y _Bk = Y _VBk + Y _PBk + Y _IBk = K _{V_B} · I _1BRef + k _{p_B} · ΔI _1Bk + (Y _IBk-1 + k _{I_B} · T · ΔI _1Bk ) GL. 4b

Y_Ak:

aktueller Ausgang des PI-Reglers in A-Achse

Y_VAk:

aktueller Vorsteuerungsanteil des Ausganges des PI-Reglers in A-Achse

Y_pAk:

aktueller P-Anteil des Ausganges des PI-Reglers in A-Achse

Y_IAk:

aktueller I-Anteil (Integratorwert) des Ausganges des PI-Reglers in a-Achse

Y_IAk-1:

I-Anteil des PI-Regler-Ausganges in A-Achse von dem vorherigen Abtastschritt

ΔI_1Ak:

aktuelle Differenz zwischen Soll- und Istwert des Stromes in A-Achse

I_1ARef:

aktueller Sollwert des Stromes in A-Achse

T:

Abtastzeit des Reglers

Y_Bk:

aktueller Ausgang des PI-Reglers in B-Achse

Y_vBk:

aktueller Vorsteuerungsanteil des Ausganges des PI-Reglers in B-Achse

Y_pBk:

aktueller P-Anteil des Ausganges des PI-Reglers in B-Achse

Y_IBk:

aktueller I-Anteil (Integratorwert) des Ausganges des PI-Reglers in B-Achse

Y_IBk-1:

I-Anteil des PI-Regler-Ausganges in B-Achse von dem vorherigen Abtastschritt

ΔI_1Bk:

aktuelle Differenz zwischen Soll- und Istwert des Stromes in B-Achse

I_1BRef:

aktueller Sollwert des Stromes in B-Achse.

Where:

Y _Ak :

Current output of the PI controller in A-axis

Y _VAk :

Current pilot control component of the output of the PI controller in A-axis

Y _pAk :

current P-component of the output of the PI controller in A-axis

Y _IAk :

current I-component (integrator value) of the output of the PI controller in a-axis

Y _IAk-1 :

I-part of the PI-controller output in A-axis from the previous sampling step

ΔI _1Ak :

Actual difference between setpoint and actual value of the current in A-axis

I _1ARef :

Current setpoint of the current in A-axis

T:

Sampling time of the controller

Y _Bk :

Current output of the PI controller in B axis

Y _vBk :

Current pilot control component of the output of the PI controller in B axis

Y _pBk :

current P-component of the output of the PI controller in B axis

Y _IBk :

current I-component (integrator value) of the output of the PI controller in B-axis

Y _IBk-1 :

I component of the PI controller output in B axis from the previous sampling step

ΔI _1Bk :

Actual difference between setpoint and actual value of the current in B axis

I _1BRef :

current setpoint of the current in B-axis.

The outputs of the PI controllers Y _A and Y _B are passed to a decoupling _network to calculate the desired voltages U _{1A_FOR} and U _{1B_FOR} . The decoupling network compensates the mutual dependence of the two axes A and B and may have different designs in the literature. In general, the relationship between the set voltage, the current (actual or setpoint), the electrical angular velocity and the output of the regulator in the decoupling network can be represented as a function: U _{1A_FOR} = f (Y _A , I _1A , I _1B , ω _k , ω _m , Ψ _2A ) GL. 5b U _{1B_FOR} = f (Y _B , I _1B , I _1A , ω _k , ω _m , Ψ _2A ) GL. 6b

In those embodiments where the decoupling network concept does not include currents (I _1A , I _1B ), only the output of the PI controllers and the angular velocities ω _m and ω _{k are used} for the calculations of the voltages U _1A and U _1B .

A smooth transition from AKS to FOR can be achieved by converting the integrator _values Y _IAk and Y _IBk . At the time of switching AKS to FOR, the integrators are back-calculated so that the calculated voltages U _1A and U _{1B of} the FOR are equal to the voltages as in the AKS at a previous sample time (k-1). The voltages at the AKS at the previous time (k-1) can thus assume the value zero for several phases. The equations of the machine in the rotor flux coordinate system (A, B coordinate system) can be written as follows:

• σ: Streuziffer
  
• M: Hauptinduktivität [H] (gemeinsame Induktivität von Rotor und Stator)
• L₁: Stator-Selbstinduktivität [H]
• L₂: Rotor-Selbstinduktivität [H]
• R₁ Stator-Widerstand [Ω]
• R₂: Rotor-Widerstand [Ω]
• U_1A, U_1B: Maschinenspannungen in dem A,B-Koordinatensystem (Rotorflusskoordinatensystem)
• I_1A, I_1B: Maschinenströme in dem A,B-Koordinatensystem (Rotorflusskoordinatensystem)
• ω_m: elektrische Winkelgeschwindigkeit des Rotors
• ω_k: Winkelgeschwindigkeit der Ständergrößen
• Ψ_2A: Rotorflusskomponente in A-Achse in dem A,B-Koordinatensystem (entspricht dem Rotorflussbetrag).

Where:

• σ: scattering factor
  
• M: main inductance [H] (common inductance of rotor and stator)
• L ₁ : stator self-inductance [H]
• L ₂ : rotor self-inductance [H]
• R ₁ stator resistance [Ω]
• R ₂ : rotor resistance [Ω]
• U _1A , U _1B : machine voltages in the A, B coordinate system (rotor flux coordinate system)
• I _1A , I _1B : machine flows in the A, B coordinate system (rotor flux coordinate system)
• ω _m : electrical angular velocity of the rotor
• ω _k : angular velocity of the stator sizes
• Ψ _2A : A-axis rotor flux component in the A, B coordinate system (corresponds to the rotor flux amount).

A simplified representation of the two equations GL. 1b and GL. 2b gives:

Where:

In steady state, the derivatives will be zero, it follows:

To calculate back the integrators, first calculate the PI outputs. It will be GL. 9b and GL. 10b used in the stationary state. The outputs of the PI controllers (Y _A and Y _B ) replace the currents I _1A and I _1B .

By solving equations 14 and 15 for Y _A and Y _B , the newly calculated outputs of the PI controllers result:

In this case, the voltages U _1A and U _1B are equal to 0 due to the active short circuit of the machine. The integrator values Y become from the newly calculated outputs of the two regulators Y _{A (k)} and Y _{B (k)} (GL 16b and GL 17b) _{IA (k-1)} and Y _{IA (k-1)} back calculated. For the B axis: Y _{IB (k-1)} = Y _{B (k) -K V_B} * I _{1 BRef (k)} GL. 18b

For the A-axis, the following applies: Y _{IA (k-1)} = Y _{A (k) -K V_A} * I _{1ARef (k)} GL. 19b

I_1ARef(k):

Sollwert des Stromes in A-Achse zum Zeitpunkt (k)

I_1BRef(k):

Sollwert des Stromes in B-Achse zum Zeitpunkt (k)

Where:

I _{1ARef (k)} :

Setpoint of current in A-axis at time (k)

I _{1BRef (k)} :

Setpoint of the current in B-axis at time (k)

If the integrator values are from GL. 18b and GL. 19b is used as start values at the time of the changeover from the AKS to the FOR, the FOR behaves as if it had been active one sample step before. The newly calculated voltages from the FOR show only minor or no discontinuities. Thus, if necessary, the current peaks in the transition AKS / FOR can be prevented.

5 shows a device 500 for initializing a control circuit for a current for operating a three-phase machine at a transition from an active short-circuit state of the three-phase machine to a controlled operation of the three-phase machine at a current sampling time, according to a simple embodiment. The device 500 includes a control device 510 and a processor 520 , The processor 520 sets a signal at a current sample time (k) 530 for canceling the active short-circuit state to the control device 510 ready. The processor 520 Furthermore, at the current sample time point (k), a calculation of a manipulated variable is initiated at a sample time point (k-1) preceding the current sample time point (k). This happens at the in 5 shown embodiment by passing an integrator value 540 (Y _I ) or a component of the integrator value. In further embodiments, the control device comprises 510 z. B. a PI controller, and from the PI controller by means of the integrator value 540 the manipulated variable can be determined. In still other embodiments, the processor receives 520 a size, for. As a speed, a battery voltage or a battery current, and compares them with a reference value. If the reference value is undershot or exceeded, the signal can 530 from the processor 520 to be provided. This may result in improved protection of the machine, possibly avoiding shutdown or deceleration of the machine to a standstill.

6a shows a system 600 which is a PSM 640 includes. 6b shows a system 650 which is an ASM 690 includes. system 600 ; 650 Also includes a device for initializing a control circuit for a current to operate the PSM 640 (see. 6a ), and a corresponding device for operating the ASM 690 (see. 6b ) according to an embodiment. For clarity, components that correspond to one of the 2a and 2 B have, not described again. Only the differences are discussed here.

Analogous to 5 is in 6a and 6b a processor 641 ; 691 available. The processor 641 ; 691 receives a speed 642 ; 692 which can correspond to a mechanical angular velocity. The processor 641 ; 691 also receives a battery power 643 ; 693 , a battery voltage 644 ; 694 and an electrical angular velocity 636 ; 687 (ω _s ) The battery voltage 644 ; 694 may correspond to the supply voltage Udc in some embodiments. The received sizes can z. B. are compared with a reference or threshold value, and when exceeding or falling below the threshold, a signal 645 ; 695 from the processor 641 ; 691 to the PWM generator 614 or vector modulator 664 to be provided. By the signal 645 ; 695 For example, in some embodiments, the AKS is first established. The tensions 620-1 to 620-3 or 670-1 to 670-3 for the phases of the three-phase machine 640 ; 690 take in response to the signal 645 ; 695 the value zero. Further, in some embodiments, the signal 645 ; 695 causes the AKS to cancel. The processor 641 ; 691 also receives reference values 602-1 ; 602-2 (I _sd , I _sq ) or 652-1 ; 652-2 (I _1A ; I _1B ), and uses these to calculate integrator values 646-1 ; 646-2 (Y _Id , Y _Iq ) or 696-1 ; 696-2 (Y _IA , Y _IB ). The integrator values 646-1 ; 646-2 or 696-1 ; 696-2 are each to the PI controller 606-1 ; 606-2 or 656-1 ; 656-2 provided. As a result, at the current sample time (k) a calculation of manipulated variables 607-1 ; 607-2 or 657-1 ; 657-2 is initialized to a sample time (k-1) preceding the current sample time (k). By one of a decoupler 638 ; 688 provided size is from the manipulated variables 607-1 ; 607-2 or 657-1 ; 657-2 one voltage component each 608-1 ; 608-2 or 658-1 ; 658-2 calculated. Furthermore, the system includes 600 ; 650 a supply voltage source configured to respond in response to the signal 645 ; 695 a tension 620-1 to 620-3 or 670-1 to 670-3 for one phase of the three-phase machine 640 ; 690 to change. The supply voltage source may be, for example, a battery or the inverter 616 ; 666 include.

7a shows a flow diagram of an algorithm 700-1 to monitor the PSM, and 7b shows a flow diagram of an algorithm 700-2 for monitoring the ASM. The algorithm 700-1 ; 700-2 can for example by means of the processor 641 ; 691 (see. 6a and 6b ). First, a start 702 of the algorithm 700-1 ; 700-2 , In a normal case, the machine is driven by the set current inputs IsdRef and IsqRef with the conventional FOR 704 (see. 2a and 2 B ) operated. By monitoring 706 speed, battery current or battery voltage determines if an AKS is required at a current time. Is an AKS required, or in other words an undesirable operating condition, eg. As excessive speed, low battery voltage at high speeds or high battery currents occurred, the machine is actively shorted via an AKS signal. Thereby an equalization takes place 708 the PWM signals (eg the PWM signals 618-1 to 618-3 in 6a or the PWM signals 668-1 to 668-3 in 6b ) to the same value, e.g. B. 50% of an original value. If no AKS is required, the algorithm includes 700-1 ; 700-2 a check 710 a previous sampling step on a possibly active AKS. If no AKS was active in the previous sampling step, the machine becomes furthermore using the desired currents I _{sd, qRef} or I _{sA, BRef} with the conventional FOR 704 operated. If an AKS was active in the previous sampling step, a back calculation takes place 712 made by the integrators. The PSM is doing a calculation 714-1 the output value of the q-PI controller according to GL. 13a, a calculation 716-1 of the integrator value in q-axis according to GL. 15a, a calculation 718-1 the output value of the d-PI controller according to GL. 14a and a calculation 720-1 of the integrator value in d-axis according to GL. 16a, as in 7a shown. At the ASM a calculation is done 714-2 the output value of B-PI controller according to GL. 16b, a calculation 716-2 of the integrator value in B axis according to GL. 18b, a calculation 718-2 the output value of the A-PI controller according to GL. 17b and a calculation 720-2 of the integrator value in A-axis according to GL. 19b, as in 7b shown. By means of the integrator values thus calculated, a FOR is set in the PSM 722-1 as based on 6a described, and at the ASM a FOR 722-2 as based on 6b described, performed. When switching from AKS to FOR, the integrators become GL. 13a to GL. 16a or GL. 16b to GL. 19b from the electrical angular velocity ω _s , the setpoint currents I _{sd, qRef} or I _{sA, BRef} and possibly further parameters of the machine _calculated back. At the time of the new calculation of FOR 722-1 ; 722-2 the integrator starting values are present, which can lead to a smooth course of the machine currents. The case of the conventional FOR 704 , the FOR 722-1 ; 722-2 or the equalization made by the AKS 708 resulting PWM signals are after a provision 724 to the inverter from this received. There is an end 726 of the algorithm.

8a shows the behavior of a machine at transition AKS / FOR with reset of the integrators to 0. 8b shows the behavior of a machine with calculation of the integrators according to GL. 13a to 16a. In detail in 8a and 8b the time profiles of PWM signals are shown 800-1 ; 800-2 , Phase current vectors 810-1 ; 810-2 , Phase current d component 820-1 ; 820-2 (Isd), phase current q component 830-1 ; 830-2 (Isq), torque 840 ; 840-2 , Rotation speed 850 ; 850-2 and AKS signal 860 ; 860-2 in a PSM machine. For example, the currents exceed 135 amps (A) at the time of switching and may be even greater at higher speeds. In this machine, it may be desirable to have a maximum phase current of, for example 110A is not exceeded. Comparing the temporal characteristics of PWM signals 800-1 when the integrator values are reset to 0 with the time sequences of PWM signals 800-2 when calculating the integrators according to GL. 13a to 16a in 8b , it can be seen that the transition at the time of cancellation of the AKS despite high speeds in 8b less leaps and bounds.

In embodiments, the machine can be well protected by the active shorting. In other words, the machine can be protected, possibly avoiding stopping or decelerating to a stop. Furthermore, under certain circumstances, high rotational speeds (and any resulting destruction of the machine bearings resulting therefrom) or undesired loads on the battery (peak powers) can be avoided. In addition, it may be possible to prevent any consequences of current peaks in the transition AKS to FOR by switching from AKS to FOR according to embodiments (and thereby the possibility of avoiding current peaks). These consequences may include causing acoustic problems, turning off the final stage, reducing the endurance or battery life, destroying semiconductor devices, or at least partially de-magnetizing the magnets of a PSM. Possible applications of embodiments include z. As actuators (eg., Power steering, ERC.) Or traction drives (hybrid vehicle, electric mobility, servo drives in the industry).

The features disclosed in the foregoing description, the appended claims and the appended figures may be taken to be and effect both individually and in any combination for the realization of an embodiment in its various forms.

Although some aspects have been described in the context of a device, it will be understood that these aspects also constitute a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also represent a description of a corresponding block or detail or feature of a corresponding device.

Depending on particular implementation requirements, embodiments of the invention may be implemented in hardware or in software. The implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-Ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk, or other magnetic disk or optical memory, on the electronically readable control signals are stored, which can cooperate with a programmable hardware component or cooperate such that the respective method is performed.

A programmable hardware component may be integrated by a processor, a central processing unit (CPU), a graphics processing unit (GPU), a computer, a computer system, an application-specific integrated circuit (ASIC) Circuit (IC), a system on chip (SOC), a programmable logic element or a field programmable gate array with a microprocessor (FPGA = Field Programmable Gate Array) may be formed.

The digital storage medium may therefore be machine or computer readable. Thus, some embodiments include a data carrier having electronically readable control signals capable of interacting with a programmable computer system or programmable hardware component such that one of the methods described herein is performed. One embodiment is thus a data carrier (or a digital storage medium or a computer readable medium) on which the program is recorded for performing any of the methods described herein.

In general, embodiments of the present invention may be implemented as a program, firmware, computer program, or computer program product having program code or data, the program code or data operative to perform one of the methods when the program resides on a processor or a computer programmable hardware component expires. The program code or the data can also be stored, for example, on a machine-readable carrier or data carrier. The program code or the data may be present, inter alia, as source code, machine code or bytecode as well as other intermediate code.

Another embodiment is further a data stream, a signal sequence, or a sequence of signals that represents the program for performing any of the methods described herein. The data stream, the signal sequence or the sequence of signals can be configured, for example, to be transferred via a data communication connection, for example via the Internet or another network. Embodiments are also data representing signal sequences that are suitable for transmission over a network or a data communication connection, the data representing the program.

For example, a program according to one embodiment may implement one of the methods during its execution by, for example, reading or writing one or more data into memory locations, optionally switching operations or other operations in transistor structures, amplifier structures, or other electrical, optical, magnetic or caused by another operating principle working components. Accordingly, by reading a memory location, data, values, sensor values or other information can be detected, determined or measured by a program. A program can therefore acquire, determine or measure quantities, values, measured variables and other information by reading from one or more storage locations, as well as effect, initiate or execute an action by writing to one or more storage locations and control other devices, machines and components ,

The embodiments described above are merely illustrative of the principles of the present invention. It will be understood that modifications and variations of the arrangements and details described herein will be apparent to others of ordinary skill in the art. Therefore, it is intended that the invention be limited only by the scope of the appended claims and not by the specific details presented in the description and explanation of the embodiments herein.

LIST OF REFERENCE NUMBERS

100

Phase current vector

110-1; 110-2; 110-3

U, V, W-coordinate

120-1; 120-2

d, q-coordinate

130-1; 130-2

α, β coordinates

140

space vector

150-1; 150-2

α, β coordinates

160-1; 160-2

d, q-coordinate

170-1; 170-2

a, b coordinates

200

FOR controller

202-1; 202-2

reference variables

204-1; 204-2

Target current requirements

205

Feedback signal

206-1; 206-2

PI controller

207-1; 207-2

manipulated variables

208-1; 208-2

voltage components

210

d, q / 1,2,3-converter

212-1; 212-2; 212-3

voltage requirements

214

vector modulator

216

inverter

218-1; 218-2; 218-3

PWM signals

220-1; 220-2; 220-3

operating voltage

224

converter

230

position sensor

232

Mechanical angle

234

Electric angle

236

Electric angular velocity

238

decoupler

240

Permanent magnet synchronous machine

250

FOR controller

252-1; 252-2

reference variables

254-1; 254-2

Target current requirements

255

Feedback signal

256-1; 256-2

PI controller

257-1; 257-2

manipulated variables

258-1; 258-2

voltage components

260

A, B / α, β-converter

262-1; 262-2; 262-3

voltage requirements

264

PWM generator

266

inverter

268-1; 268-2; 268-3

PWM signals

270-1; 270-2; 270-3

operating voltage

274

converter

276

Another converter

278

Electric river

280

angle encoder

282

Electrical rotor circuit frequency

284

Mechanical angular velocity

286

flow model

288

decoupler

290

asynchronous

300

method

310

Determine

320

Determine

330

Initialize

340

Cancel

400-1; 400-2

PI controller

402-1; 402-2

Current difference

404-1; 404-2

manipulated variable

406-1; 406-2

Pilot Share

408-1; 408-2

Integrative share

410-1; 410-2

integrator

412-1; 412-2

voltage requirements

414

Decoupling network

416

Electric angular velocity

500

contraption

510

control device

520

processor

530

signal

540

integrator value

600

system

602-1; 602-2

reference variables

604-1; 604-2

Target current requirements

605

Feedback signal

606-1; 606-2

PI controller

607-1; 607-2

manipulated variables

608-1; 608-2

voltage components

610

d, q / 1,2,3-converter

612-1; 612-2; 612-3

voltage requirements

614

vector modulator

616

inverter

618-1; 618-2; 618-3

PWM signals

620-1; 620-2; 620-3

operating voltage

624

converter

630

position sensor

632

Mechanical angle

634

Electric angle

636

Electric angular velocity

638

decoupler

640

Permanent magnet synchronous machine

641

processor

642

rotation speed

643

battery power

644

battery voltage

645

signal

646-1; 646-2

integrator values

650

system

652-1; 652-2

reference variables

654-1; 654-2

Target current requirements

655

Feedback signal

656-1; 656-2

PI controller

657-1; 657-2

manipulated variables

658-1; 658-2

voltage components

660

A, B / α, β-converter

662-1; 662-2; 662-3

voltage requirements

664

PWM generator

666

inverter

668-1; 668-2; 668-3

PWM signals

670-1; 670-2; 670-3

operating voltage

674

converter

676

Another converter

678

Electric river

680

angle encoder

682

Electrical rotor circuit frequency

684

Mechanical angular velocity

686

flow model

687

Electric angular velocity

688

decoupler

690

asynchronous

691

processor

692

rotation speed

693

battery power

694

battery voltage

695

signal

696-1; 696-2

integrator values

700-1; 700-2

algorithm

702

begin

704

conventional FOR

706

Monitor

708

equate

710

To verify

712

Claw-back

714-1; 714-2

calculation

716-1; 716-2

calculation

718-1; 718-2

calculation

720-1; 720-2

calculation

722-1; 722-2

FOR

724

Provide

726

The End

800-1; 800-2

Course of the PWM signals

810-1; 810-2

Course of the phase current vector

820-1; 820-2

Course of the phase current d component

830-1; 830-2

Course of the phase current q-component

840-1; 840-2

Course of the torque

850-1; 850-2

Course of the speed

860-1; 860-2

History of the AKS signal

Claims (17)

A procedure ( 300 ) for initializing a control circuit for a current for operating a three-phase machine at a transition from an active short-circuit state of the three-phase machine to a controlled operation of the three-phase machine at a current sampling time, comprising: determining ( 310 ) a manipulated variable Y of the control loop, which corresponds to an operating state of the three-phase machine at a previous sampling time; taking into account a target current specification for the current sample time, determining ( 320 ) an integrative portion of the control loop, which contributes to a determination of the manipulated variable through the control loop; and initialize ( 330 ) of an integrator of the control loop with the determined integrative component. Procedure ( 300 ) according to claim 1, wherein the control circuit for field-oriented control of the three-phase machine is used. Procedure ( 300 ) according to claim 1 or 2, wherein the integrative component Y _I , taking into account a set current command I _{ssoll (k)} at the current sample time (k), the manipulated variable Y, which corresponds to the operating state of the synchronous machine at the previous sample time (k - 1) and a proportional coefficient for a proportional component K _{p of} a proportional-integral control is determined as follows: Y _I = Y - K _P · I _{ssoll (k)} . Procedure ( 300 ) according to one of the preceding claims, wherein the control circuit uses only a proportional-integral control. Procedure ( 300 ) according to one of the preceding claims, wherein the operating state of the three-phase machine at the previous sampling time is at least partially characterized in that a common short-circuit voltage for a plurality of phases of the three-phase machine has a value of zero. Procedure ( 300 ) according to one of the preceding claims, wherein the preceding sample time immediately precedes the current sample time. Procedure ( 300 ) according to one of the preceding claims, further comprising a cancellation ( 340 ) of the active short circuit condition. Procedure ( 300 ) according to one of the preceding claims, wherein the three-phase machine is a permanent-magnet synchronous machine (PSM). Procedure ( 300 ) according to claim 8, wherein the control circuit separately regulates a current vector I in a stator-fixed coordinate system for a d-component I _d and for a q-component I _{q of} the current vector, wherein an integrative component is determined for each of the components; and an integrator corresponding to each of the two components is initialized with the respective integrative component. Procedure ( 300 ) according to claim 8 or 9, wherein the manipulated variable Y comprises a component Y _d and a component Y _q in a statorfesten coordinate system, and wherein the component Y _d or the component Y _q at least partially by a d-component and a q-component of a Inductance of a stator winding L _{s of} the stator can be determined. Procedure ( 300 ) according to claim 10, wherein the component Y _d and the component Y _{q of} the manipulated variable Y based on the equations:

where R _{s is} a resistance of the stator winding of the stator and ω _{s is} an angular velocity. Procedure ( 300 ) according to one of claims 1 to 7, wherein the three-phase machine is an asynchronous machine (ASM). Procedure ( 300 ) according to claim 12, wherein the control circuit separately controls a current vector I in a co-ordinate system moving with a stator field for an A component I _A and for a B component I _{B of} the current vector, separately determining an integrative component for each of the components; and an integrator corresponding to each of the two components is initialized with the respective integrative component. Procedure ( 300 ) according to one of claims 12 or 13, wherein the manipulated variable Y comprises a component Y _A and a component Y _B of a co-moving with a stator field coordinate system, and wherein the component Y _A or the component Y _B at least partially by a stator self-inductance L _first and a rotor self-inductance 12 be determined. Procedure ( 300 ) according to claim 10, wherein the component Y _A and the component Y _{B of} the manipulated variable Y based on the equations:

where R _{1 is} a resistance of a stator, R _{2 is} a resistance of a rotor, M is a common inductance of rotor and stator,

L _1σ = σL ₁ , ω _{m is} an electrical angular velocity of the rotor, ω _{K is} an angular velocity of an electromagnetic field generated by the stator, and Ψ _{2A is} a rotor _{flux component} in A-axis of a coordinate system moving with an electromagnetic field generated by the stator. Contraption ( 500 ) for initializing a control circuit for a current ( 602-1 ; 602-2 ; 652-1 ; 652-2 ) for operating a three-phase machine ( 640 ; 690 ) at a transition from an active short-circuit state of the three-phase machine ( 640 ; 690 ) to a controlled operation of the three-phase machine ( 640 ; 690 ) at a current sample time, comprising a control device ( 510 ) and a processor ( 520 ; 641 ; 691 ) which is designed to generate a signal (k) at a current sample time (k) 530 ) for canceling the active short-circuit state to the control device ( 510 ), and at the current sample time (k) a calculation of a manipulated variable ( 607-1 ; 607-2 ; 657-1 ; 657-2 ), whereby the manipulated variable ( 607-1 ; 607-2 ; 657-1 ; 657-2 ) is assigned to a sample time point (k-1) preceding the current sample time (k). System ( 600 ), comprising a device ( 500 ) according to claim 16 and a supply voltage source, which is designed in response to the signal ( 530 ) a tension ( 620-1 ; 620-2 ; 620-3 ; 670-1 ; 670-2 ; 670-3 ) for one phase of the three-phase machine ( 640 ; 690 ) to change.

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