DE102015226076A1 - Method and apparatus for determining a temperature of a component in a mechatronic system - Google Patents

Abstract

The invention relates to a method for determining a temperature (T) of a component in a mechatronic system (1) having a plurality of components, comprising the following steps: providing a temperature observer model, the heat transfer between the components (2, 3, 41, 42, 5, 6) of the mechatronic system (1) and its heat storage capacity taken into account to reflect a temperature of at least one of the components (2, 3, 41, 42, 5, 6); - Cyclically calculating the temperature observer model to obtain a current temperature of the at least one component (2, 3, 41, 42, 5, 6).

Description

Technical area

The invention relates to mechatronic systems, in particular possibilities for determining temperatures of individual components of mechatronic systems.

Technical background

Mechatronic systems typically include electrical and mechanical components as well as a component for converting electrical power to mechanical power and / or vice versa. As a rule, mechatronic systems have sensors, logic and actuators which are suitably coupled to one another in an appropriate manner and arranged spatially relative to one another.

Since the exact modeling of the temperature of individual components in a mechatronic system places very high demands on computing power and abstraction, hitherto mostly simplistic approaches for determining the temperature of individual components have been selected. Such methods use, for example, a measurement of the energization duration and a simple cooling curve or indirectly measured temperatures.

Since the temperatures of individual components are usually determined to realize a thermal overload protection, such minimalistic modeling approaches usual in real-time applications usually lead to the performance of the relevant component of the mechatronic system being significantly reduced before or even reaching a component-specific limit temperature due to the high tolerance a thermal overload can not be reliably detected.

From the publication DE 102 08 115 A1 a method for protection against overload of motors of electric drives is known which comprise at least one control electronics. This is done by determining the temperature of the engine during operation. This is followed by a comparison of the ambient temperature of the engine with a limit temperature, before the determination of the temperature increase of the environment of the engine is performed during operation. This is followed by the determination of the temperature curve of the engine during cooling.

It is an object of the present invention to provide a method for improved determination of a temperature of components in a mechatronic system, with which in real time temperatures of components can be determined in an improved manner.

Disclosure of the invention

This object is solved by the method for determining temperatures of components in a mechatronic system according to claim 1 and by the device and the system according to the independent claims.

Further embodiments are specified in the dependent claims.

• – Bereitstellen eines Temperaturbeobachtermodells, das Wärmeübergänge zwischen den Komponenten des mechatronischen Systems und deren Wärmespeicherkapazität berücksichtigt, um eine Temperatur der Komponenten abzubilden;
• – Zyklisches Berechnen des Temperaturbeobachtermodells, um eine aktuelle Temperatur der mindestens einen Komponenten zu erhalten.

According to a first aspect, a method for determining a temperature of at least one component in a multi-component mechatronic system is provided, comprising the following steps:

• - Providing a temperature observer model that takes into account heat transfers between the components of the mechatronic system and their heat storage capacity to map a temperature of the components;
• Cyclically calculating the temperature observer model to obtain an actual temperature of the at least one component.

With the help of a temperature observer model as a system model, taking into account heat influences, the temperatures of components can be determined with high accuracy even without providing temperature sensors. The accuracy is sufficient to realize a thermal overload protection. Furthermore, the heat transfers of the individual components to adjacent components or into the environment may be taken into account so that a modeling accuracy of the temperature of the components may be determined as needed via the accuracy of the heat transfer behavior to adjacent components determining the thermal coupling of the components.

It can be provided that the heat flows and the temperature distribution, taking into account the heat transfer behavior between the components and / or possibly existing temperature sensors, are mapped with an nth-order observer algorithm, the order n corresponding to the number of states or components to be observed.

Furthermore, in the temperature observer model for each component, the power dissipated into the environment can be taken into account.

It can be provided that the heat transfers between each two components are represented linearly as a function of a temperature difference between the instantaneous temperatures between the respective two components.

• – Bestimmen einer Temperatur einer Komponente nach dem obigen Verfahren;
• – Überwachen der Temperatur der Komponente basierend auf einer für die Komponente vorgegebenen Abschalttemperaturschwelle; und
• – Anpassen einer der Komponente zugeführten Leistung abhängig von einem Erreichen oder Überschreiten der Abschalttemperaturschwelle durch die bestimmte Temperatur.

According to a further aspect, a method for overload protection of a component in a mechatronic system is provided, with the following steps:

• Determining a temperature of a component according to the above method;
• - monitoring the temperature of the component based on a predetermined shutdown temperature threshold for the component; and
• - Adjustment of a component supplied power depending on reaching or exceeding the shutdown temperature threshold by the specific temperature.

Furthermore, the adaptation of the power supplied to the at least one component can be carried out in several stages or steplessly.

• – ein Temperaturbeobachtermodell bereitzustellen, das Wärmeübergänge zwischen den Komponenten des mechatronischen Systems und deren Wärmespeicherkapazität berücksichtigt, um eine Temperatur der Komponenten abzubilden; und
• – das Temperaturbeobachtermodell zyklisch zu berechnen, um eine aktuelle Temperatur mindestens einer der Komponenten zu erhalten.

In another aspect, an apparatus for determining a temperature of a component in a multi-component mechatronic system is provided, the apparatus being configured to:

• To provide a temperature observer model that takes into account heat transfers between the components of the mechatronic system and their heat storage capacity to map a temperature of the components; and
• - Cyclically calculate the temperature observer model to obtain an actual temperature of at least one of the components.

• – eine Temperatur einer Komponente nach dem obigen Verfahren zu bestimmen;
• – die Temperatur der Komponente basierend auf einer für die Komponente vorgegebenen Abschalttemperaturschwelle zu überwachen, und
• – eine der Komponente zugeführten Leistung abhängig von einem Erreichen oder Überschreiten der Abschalttemperaturschwelle durch die bestimmte Temperatur anzupassen.

In another aspect, an apparatus for implementing overload protection of a component in a mechatronic system is provided, the apparatus being configured to:

• To determine a temperature of a component according to the above method;
• To monitor the temperature of the component based on a shutdown temperature threshold set for the component, and
• - Adjust the power supplied to the component depending on reaching or exceeding the shutdown temperature threshold by the specific temperature.

Brief description of the drawings

Embodiments are explained below with reference to the accompanying drawings. Show it:

1 a schematic representation of a Leistungsmechatronischen system with a power unit, a motor encoder, a suppression device and a temperature sensor as components; and

2 a flowchart for illustrating a method for limiting the temperature of one of the components of the power mechatronic system of 1 ,

Description of embodiments

In 1 is schematically a performance mechatronic system 1 shown. The system 1 includes a motor positioner 2 which may be in the form of an electric motor or the like.

The electric motor 2 is in a conventional manner with a suppression device 3 coupled, which may be formed for example as an electrolytic capacitor, choke coil or the like. In general, the suppression device 3 locally close to the motor actuator 2 arranged.

The control of the electromotive positioner 2 can via a power unit 4 one or more bridge circuits 41 . 42 ..., which usually have power components, such as transistors, which emit the heat dissipated heat dissipation via heat sinks. The power components of the bridge circuits 41 are usually using a control unit 5 driven to a predetermined power to the electromotive encoder 2 to transfer this into mechanical power.

It is still a temperature sensor 6 provided on one of the components, ie the electromotive positioner 2 or one of the power parts 41 . 42 , ... is arranged to measure the temperature of the component in question.

wobei die Matrix A einer invertierten Matrix der Wärmewiderstände R_th zwischen jeweils zwei der Komponenten beschreibt. Each of the components is a heat energy H ₂ , H ₃ , H ₄₁ , H ₄₂ , H ₅ , H ₆ stored therein a heat capacity C _p2 ; C _p3 , C _p41 , C _p42 , C _p5 , C _p6 and a temperature T ₂ , T ₃ , T ₄₁ , T ₄₂ , T ₅ , T ₆ assigned. Furthermore, there is a heat flow Q between each of the components. _2,3 , Q. _6.2 , generally Q. _{k, i} , from component k to component i, each of the components further having a heat flux Q. ₂ ... Q. ₆ to the environment, which represents the output to the environment heat loss. In particular, temperatures of the individual components arise

wherein the matrix A describes an inverted matrix of the thermal resistances R _th between any two of the components.

The temperature of a single component is determined by:

In discrete notation results

It is thus possible to map the temperatures of the individual components by taking account of the energy inputs and power losses by an observer algorithm of the nth order, the order n corresponding to the number of component states to be observed. The nonlinearities mainly result from the heat transfer between two components, which can be linearized approximately or can not be estimated linearly with knowledge of convection processes.

Furthermore, it can be provided to control the energy input into individual components depending on the temperature thus determined. In particular, a power reduction in several stages or continuously can be realized.

By the central calculation of the temperatures of all components of the electromechanical system 1 The temperature information can also be made available in a higher-level regulator cascade or a user of the system can be informed in a corresponding manner about the temperatures of the components.

In particular, the shutdown temperature thresholds can be set more at the critical temperature of the individual components, since the model used allows the temperatures of the individual components to be estimated more accurately.

In 2 FIG. 12 is a flowchart illustrating monitoring a temperature of a component based on a temperature determined by the above method.

For this purpose, the temperature of a component to be monitored is determined according to the above temperature observer model in step S1.

In step S2, it is checked whether the modeled temperature of the component to be monitored exceeds a predetermined shutdown temperature threshold. If this is the case (alternative: yes), the power supplied to the component can be reduced or switched off in step S3. Otherwise, it returns to step S1.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10208115 A1 [0005]

Claims (9)

Method for determining a temperature (T) of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) in a mechatronic system ( 1 ) comprising a plurality of components, comprising the following steps: providing a temperature observer model, the heat transfer between the components ( 2 . 3 . 41 . 42 . 5 . 6 ) of the mechatronic system ( 1 ) and their heat storage capacity to a temperature (T) of at least one of the components ( 2 . 3 . 41 . 42 . 5 . 6 ); Cyclically calculating the temperature observer model to obtain a current temperature (T) of the at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) to obtain. The method of claim 1, wherein in the temperature observer model for each component ( 2 . 3 . 41 . 42 . 5 . 6 ) the loss of power dissipated into the environment is taken into account. Method according to claim 1 or 2, wherein the heat transfers between each two components ( 2 . 3 . 41 . 42 . 5 . 6 ) linearly dependent on a temperature difference between the instantaneous temperatures (T) between the respective two components ( 2 . 3 . 41 . 42 . 5 . 6 ) being represented. Method for thermal overload protection of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) in a mechatronic system ( 1 ), comprising the following steps: determining a temperature of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) according to a method according to any one of claims 1 to 3; Monitoring the temperature of the at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) based on one for the component ( 2 . 3 . 41 . 42 . 5 . 6 ) predetermined shutdown temperature threshold; and - adjusting one of the components ( 2 . 3 . 41 . 42 . 5 . 6 ) supplied power depending on reaching or exceeding the shutdown temperature threshold by the specific temperature. The method of claim 4, wherein adjusting the at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) supplied power in several stages or continuously. Device for determining a temperature (T) of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) in a mechatronic system ( 1 ) with several components ( 2 . 3 . 41 . 42 . 5 . 6 ), wherein the device is designed to: - provide a temperature observer model, the heat transfer between the components ( 2 . 3 . 41 . 42 . 5 . 6 ) of the mechatronic system ( 1 ) and their heat storage capacity to a temperature (T) of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ); and cyclically calculating the temperature observer model to obtain a current temperature of at least one of the components ( 2 . 3 . 41 . 42 . 5 . 6 ) to obtain. Device for realizing a thermal overload protection of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) in a mechatronic system ( 1 ), wherein the device is designed to: - a temperature (T) of at least one component ( 2 . 3 . 41 . 42 . 5 . 6 ) to be determined by a method according to any one of claims 1 to 3; The temperature of the component ( 2 . 3 . 41 . 42 . 5 . 6 ) based on one for the component ( 2 . 3 . 41 . 42 . 5 . 6 ) to monitor the predetermined switch-off temperature threshold, - one of the components ( 2 . 3 . 41 . 42 . 5 . 6 ) power to be adjusted depending on reaching or exceeding the shutdown temperature threshold by the specific temperature. Computer program which is set up to carry out all the steps of a method according to one of Claims 1 to 5. Machine-readable storage medium on which a computer program according to claim 7 is stored.

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