EP2856632A1 - Method for controlling the electromagnetic torque of a high speed synchronous machine - Google Patents

Method for controlling the electromagnetic torque of a high speed synchronous machine

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Publication number
EP2856632A1
EP2856632A1 EP13727299.3A EP13727299A EP2856632A1 EP 2856632 A1 EP2856632 A1 EP 2856632A1 EP 13727299 A EP13727299 A EP 13727299A EP 2856632 A1 EP2856632 A1 EP 2856632A1
Authority
EP
European Patent Office
Prior art keywords
component
current
quadratic
direct
machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13727299.3A
Other languages
German (de)
French (fr)
Inventor
Ludovic MERIENNE
Adbelmalek MALOUM
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
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Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Publication of EP2856632A1 publication Critical patent/EP2856632A1/en
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Definitions

  • a method of controlling the electromagnetic torque of a high speed synchronous machine is a method of controlling the electromagnetic torque of a high speed synchronous machine.
  • the invention relates to a method for controlling the electromagnetic action of a three - phase synchronous motor with permanent magnets, and more particularly to controlling the torque when the voltages saturate.
  • the currents in the three phases of the stator are sinusoidal and phase shifted each by
  • ⁇ - rad These currents create a rotating magnetic field in the electric machine.
  • the rotor is composed of permanent magnets, for example between 1 and 5 pairs of poles. Like a bousso, the rotor aligns naturally with the rotating magnetic field created by the rotor.
  • the rotation frequency of the rotor is equal to the frequency of the stator currents (synchronous). It is the magnitudes of the stator currents and the power of the rotor magnets that create the torque needed to rotate the machine. To control these currents, it is therefore necessary to apply to each phase of the stator sinusoidal voltages phase shifted by ⁇ each.
  • the Park transform is generally used to project a three-phase system on a two-dimensional space to find itself in an equivalent rotating reference. It is thus possible to transpose the three currents and the three sinusoidal voltages of the stator relating to the three phases of a three-phase system into a space where the three sinusoidal signals of current or voltage are expressed in the form of two constant signals. current or voltage (a component on the direct axis X d and a component on the quadrature axis X q ).
  • the Park mark is based on a reference linked to the rotating field, in the case of the synchronous machine to a reference linked to the rotor.
  • the objective is to ensure the stability of the currents in the machine during its regulation despite voltage limitations. If, with these constraints, the instructions are unreachable then the objective is to get as close as possible to the setpoint as far as possible.
  • US 3,812,234 discloses a method for avoiding magnetic saturation by reducing the speed of the torque providing motor.
  • US 5,015,937 discloses a method of controlling an open-loop coiled rotor synchronous machine with data tables to avoid saturation.
  • US 6,181,091 discloses a method of controlling a permanent magnet synchronous machine in which saturation is avoided by changing the operation of the phase width modulating module providing the voltages on each branch of the motor.
  • the electromagnetic torque accessible by the synchronous machine is reduced so to avoid voltage saturation, in particular by directly controlling a current component in the Park space.
  • a mapping of the direct component of the corresponding current is calculated in order to be able to reach the set point for the quadratic component.
  • This method has the disadvantage of having to run a mapping campaign for the currents.
  • nothing makes it possible to ensure obtaining optimal currents for a given electromagnetic torque.
  • a safety margin is provided on the value of the direct current component, that is to say that the direct component of current is decreased more than necessary so as not to risk seeing saturations in control of the system at the expense of the efficiency of the machine.
  • the invention proposes to provide a method for controlling the electromagnetic torque of a synchronous machine with permanent magnets for ensuring the stability of the currents in the synchronous machine while the latter is operating at high speed with saturated voltages.
  • a method for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets comprising measuring the current delivered on the three phases of the machine, a transposition of the three measured currents into a direct component and a quadratic current component from a three-phase system transform, the reception of a setpoint for the quadratic current component.
  • a control mode is activated in the field where the machine is controlled from a direct component and a quadratic voltage component of said machine, the direct component and the quadratic voltage component being determined in the plane related to the transformation of three-phase systems.
  • the transform of three-phase systems can be a Park transform. It can also be a Fortescue transform, a Clarke transform, or a Ku transform.
  • the system to be controlled comprises a direct component and a quadratic component of voltages applied on the two axes of the Park plane (direct axis and quadrature axis) of the synchronous machine, the two voltage components being expressing as a function of the direct component and the quadratic component of the current of the synchronous machine; the two current components applying to the two axes of the Park plane.
  • the direct current component When the rotor of the synchronous machine is operating at high speed, the direct current component has a negative value and generates losses if it is not compensated.
  • the control mode in defluxing makes it possible to compensate the term due to the magnetic flux of the permanent magnets which is proportional to the speed of rotation of the rotor, the flux of the magnets being constant, and which therefore becomes significant at high speed.
  • the term due to the magnetic flux also called electromagnetic force of the machine, introduces disturbances to compensate.
  • the voltage control of the high-speed synchronous machine thus makes it possible to always compensate as much as possible for the disturbance due to the magnetic flux.
  • the synchronous machine advantageously has a perfect symmetry between the direct axis and the quadrature axis of the transform plane of the three - phase systems making it possible to obtain equality between the equivalent inductances on each axis of the plane of the transform of the three - phase systems.
  • the direct component and the quadratic component of the control voltage of the synchronous machine depend on the same control parameter determined so as to maintain a value of the direct current component close to zero and making it possible to compensate the term due to the magnetic flux of permanent magnets.
  • this component represents losses for the machine. It is therefore necessary to maintain a value for this direct component of the lowest possible current to minimize losses while retaining said value of this direct component of current sufficient to compensate for the electromagnetic force corresponding to the term due to the magnetic flux generated by the permanent magnets of the rotor.
  • the direct component and the quadratic component of control voltage are preferentially proportional to the same maximum amplitude, and sinusoidally depend on the control parameter ( ⁇ ), the control parameter ( ⁇ ) varying for example ⁇ ⁇
  • control ( ⁇ ) varies in a range of amplitude less than or equal to Pi.
  • a system for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets comprising means for measuring the current delivered over the three phases of the machine, means for transposition adapted to transpose the three measured currents into a direct component and a quadratic current component from the Park transform, means for receiving a setpoint for the quadratic current component, characterized in that it comprises means control system capable of activating, when the direct component of the current is negative, a control mode in the context of weaving in which the machine is controlled from a direct component and a quadratic voltage component of said machine, the direct component and the quadratic component of voltage being determined in the plan of Park.
  • control means may comprise an activation module capable of activating the control mode when the direct component of the current is negative, and of deactivating the control mode when the direct current component is positive.
  • control means comprise an integral proportional regulator able to determine the same control parameter related to the direct component and the quadratic voltage component from the difference between the setpoint for the quadratic current component and the value of the quadratic component of current and a module able to determine the direct and quadratic components of voltage from the control parameter.
  • the control system may also include transposition means capable of applying a Park transform to the measured currents to obtain the direct component and the quadratic current component.
  • FIG. 1 presents a flowchart of a method for controlling the electromagnetic torque of a synchronous machine according to an implementation mode:
  • FIG. 2 schematically illustrates a system for controlling the electromagnetic torque of a synchronous machine according to one embodiment of the invention.
  • FIG. 1 shows a flowchart, according to one embodiment of the invention, of a method for controlling the electromagnetic torque of a synchronous machine when the voltages at its terminals saturate.
  • a first step 1 10 the current is measured for each of the three phases of the three-phase synchronous machine with permanent magnets.
  • the Park transform is applied to the three measured currents so as to obtain a direct component Ia and a quadratic component I q of current.
  • Va and V q the applied voltage liquefied on the two axes respectively direct and in quadrature of the Park plane of the machine
  • I d and I q currents flowing in the machine on the two axes respectively direct and in quadrature of the plan of Park
  • R s the equivalent resistance of the stator of the machine
  • L d and L q the inductances on each axis respectively direct and in quadrature of the Park plane of the machine
  • co r the speed of rotation of the magnetic field of the machine ie the rotational speed of the rotor multiplied by the number of pairs of poles of the machine
  • ⁇ ⁇ the flux generated by the magnets of the rotor.
  • V d and V q are created by an inverter powered by a battery.
  • the constraints to be respected therefore are:
  • V the battery voltage that powers the inverter and the chopper.
  • the objective is to generate an electromagnetic torque with the best possible performance for the synchronous machine over a known speed range and more precisely at high speed.
  • the control voltages of the machine are saturated and the direct component I d of the current in the Park plane is negative.
  • a control loop in the context of a defluxing step is activated in a step 140.
  • the electromagnetic torque generated by the synchronous machine can be calculated from the following expression:
  • the synchronous machine has a perfect symmetry between the direct axis and the quadrature axis of the Park space.
  • La L q
  • the electromagnetic force can no longer be ⁇
  • step 150 causes control of the motor voltage from the control parameter ⁇ varying in the interval ⁇ ⁇
  • the quadratic component of the current I q varies in the positive and negative domain, thus making the synchronous machine operate in motor operation and in generator operation, while still compensating for the term disturbatiorid as much as possible. thus limiting the direct component the generator of joules losses.
  • the synchronous machine is thus maintained with saturated voltages for obtaining maximum electromagnetic torque, but while controlling the currents by means of a machine voltage control via the control parameter ⁇ .
  • a step 160 it is determined whether the direct component la of the current is no longer negative. If it still is it continues to control the synchronous machine voltage from the control parameter ⁇ . With the control parameter ⁇ , to increase the quadratic component of current I q , it is necessary to increase the control parameter ⁇ up to a maximum value of ⁇ / 2 to obtain the maximum power achievable by the machine, the direct component the current decreasing automatically with increasing control parameter ⁇ . Conversely, to reduce the quadratic component of current I q , it is necessary to reduce the control parameter ⁇ to a minimum value of - ⁇ / 2 to obtain the maximum regenerative torque. The invention thus allows self-adaptation of the direct component of the current.
  • FIG. 2 illustrates a system for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets according to one embodiment of the invention.
  • the control system 1 of the electromagnetic torque of a three-phase synchronous machine with permanent magnets comprises means 2 for measuring the current delivered over the three phases of the machine. These measurement means 2 are coupled to transposition means 3 for transposing the three measured currents into a direct component la and a quadratic component I q current from the Park transform.
  • the control system also comprises means 4 for receiving an instruction I q req for the quadratic component I q of current.
  • the control system 1 comprises regulating means
  • an activation module 6 receiving as input the direct component current and able to activate a control mode in the context of the machine where the machine is controlled from a direct component and a quadratic component of voltage in the Park space of said machine, when the direct component of the current is negative.
  • the regulating means 5 comprise an integral proportional regulator 7 capable of determining the same control parameter whose direct component and the quadratic voltage component depend on the difference between the setpoint I qreq for the quadratic current component and the value the quadratic component I q of current calculated by the subtractor 8.
  • the regulating means also comprise a module 9 able to determine the direct components Va and quadratic V q in voltage from the control parameter ⁇ .
  • the invention thus makes it possible to control the electromagnetic torque of a permanent magnet synchronous machine by ensuring the stability of the currents in the synchronous machine while it operates at high speed with saturated voltages.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A method for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets, which comprises measuring the current delivered to the three phases of the machine, transposing the three measured currents into a direct current component (Id) and a quadratic current component (Iq) using Park's transformation, and receiving an instruction (Iq_req) for the quadratic current component (Iq). When the direct current component (Id) is negative, a defluxing control mode is activated in which the machine is controlled from a direct voltage component (Ud) and a quadratic voltage component (Uq) of said machine, the direct voltage component (Ud) and the quadratic voltage component (Uq) being determined in Park's plane.

Description

Procédé de commande du couple électromagnétique d' une machine synchrone à haute vitesse.  A method of controlling the electromagnetic torque of a high speed synchronous machine.
L ' invention concerne un procédé de commande du coup le électromagnétique d ' un moteur synchrone triphasé à aimants permanents, et plus particulièrement la commande du couple lorsque les tensions saturent . The invention relates to a method for controlling the electromagnetic action of a three - phase synchronous motor with permanent magnets, and more particularly to controlling the torque when the voltages saturate.
Dans un véhicule automobile à traction électrique, le couple fourni par un moteur électrique doit être contrôlé . Le couple d ' une machine électrique étant directement lié aux courants circulant dans celle-ci, ces courants doivent être commandés de façon précise .  In a motor vehicle with electric traction, the torque supplied by an electric motor must be controlled. Since the torque of an electric machine is directly related to the currents flowing in it, these currents must be precisely controlled.
Dans une machine synchrone, notamment une machine synchrone triphasée à aimants permanents et à flux axial, les courants dans les trois phases du stator sont sinusoïdaux et déphasés chacun de In a synchronous machine, in particular a three-phase synchronous machine with permanent magnets and axial flux, the currents in the three phases of the stator are sinusoidal and phase shifted each by
^- rad . Ces courants créent un champ magnétique tournant dans la machine électrique . Le rotor est compo sé d ' aimants permanents, p ar exemple entre 1 et 5 paires de pôles . Comme une bousso le, le rotor s ' aligne naturellement sur le champ magnétique tournant créé par le rotor. Ainsi, la fréquence de rotation du rotor est égale à la fréquence des courants du stator (synchrone) . C e sont les amplitudes des courants du stator et la puissance des aimants du rotor qui créent le couple nécessaire à la rotation de la machine . Pour commander ces courants, il faut donc app liquer à chaque phase du stator des tensions sinusoïdales déphasées de αά chacune également. ^ - rad. These currents create a rotating magnetic field in the electric machine. The rotor is composed of permanent magnets, for example between 1 and 5 pairs of poles. Like a bousso, the rotor aligns naturally with the rotating magnetic field created by the rotor. Thus, the rotation frequency of the rotor is equal to the frequency of the stator currents (synchronous). It is the magnitudes of the stator currents and the power of the rotor magnets that create the torque needed to rotate the machine. To control these currents, it is therefore necessary to apply to each phase of the stator sinusoidal voltages phase shifted by αά each.
Généralement, il est plus simple d ' appliquer une régulation sur des constantes que sur des signaux sinusoïdaux . La transformée de Park est généralement utilisée pour projeter un système triphasé sur un espace bidimensionnel pour se retrouver dans un repère tournant équivalent. I l est ainsi possib le de transposer les trois courants et les trois tensions sinusoïdales du stator relatives aux trois phases d ' un système triphasé dans un espace où les trois signaux sinusoïdaux de courant ou de tension s ' expriment sous la forme de deux signaux constants de courant ou de tension (une compo sante sur l ' axe direct Xd et une composante sur l ' axe en quadrature Xq) . Pour cela, le repère de Park s ' appui sur un repère lié au champ tournant, soit dans le cas de la machine synchrone à un repère lié au rotor. Generally, it is easier to apply a regulation on constants than on sinusoidal signals. The Park transform is generally used to project a three-phase system on a two-dimensional space to find itself in an equivalent rotating reference. It is thus possible to transpose the three currents and the three sinusoidal voltages of the stator relating to the three phases of a three-phase system into a space where the three sinusoidal signals of current or voltage are expressed in the form of two constant signals. current or voltage (a component on the direct axis X d and a component on the quadrature axis X q ). For this, the Park mark is based on a reference linked to the rotating field, in the case of the synchronous machine to a reference linked to the rotor.
En travaillant avec des courants et des tensions exprimées dans l ' espace de Park, il est ainsi possible d' agir sur des courants ou des tensions constantes plutôt que des signaux sinusoïdaux pour réguler la machine triphasée à commander.  By working with currents and voltages expressed in the Park space, it is thus possible to act on constant currents or voltages rather than sinusoidal signals to regulate the three - phase machine to be controlled.
En faisant la transformée inverse, il est possible de se ramener au repère normal de la machine et donc de savoir exactement quelles tensions ou quels courants appliquer sur chaque phase de la machine .  By doing the inverse transform, it is possible to reduce to the normal mark of the machine and therefore to know exactly what voltages or which currents to apply on each phase of the machine.
L 'utilisation d'une batterie comme alimentation de la machine électrique triphasée impose des contraintes supplémentaires en ce que les tensions applicables sont limitées par les capacités de la batterie. I l n' est en effet pas possible d' atteindre certaines consignes à cause de ces limitations. Une consigne en dehors de l ' espace atteignable est souvent génératrice d' instabilité.  The use of a battery as a power supply for the three-phase electric machine imposes additional constraints in that the applicable voltages are limited by the capacities of the battery. It is not possible to achieve certain instructions because of these limitations. A setpoint outside the reachable space is often generating instability.
L 'obj ectif est d' assurer la stabilité des courants dans la machine lors de sa régulation malgré les limitations en tension. Si, avec ces contraintes, les consignes sont inatteignables alors l'objectif est de se rapprocher au maximum de la consigne dans la mesure du possible.  The objective is to ensure the stability of the currents in the machine during its regulation despite voltage limitations. If, with these constraints, the instructions are unreachable then the objective is to get as close as possible to the setpoint as far as possible.
Le document US 3 85 1 234 décrit une méthode pour éviter la saturation magnétique en réduisant la vitesse du moteur fournissant le couple.  US 3,812,234 discloses a method for avoiding magnetic saturation by reducing the speed of the torque providing motor.
Le document US 5 015 937 décrit un procédé de commande d'une machine synchrone à rotor bobiné en boucle ouverte avec des tables de données pour éviter la saturation.  US 5,015,937 discloses a method of controlling an open-loop coiled rotor synchronous machine with data tables to avoid saturation.
Le document US 6 1 8 1 091 décrit un procédé de commande d'une machine synchrone à aimants permanents dans laquelle la saturation est évitée en modifiant le fonctionnement du module de modulation de largeur de phase assurant les tensions sur chaque branche du moteur.  US 6,181,091 discloses a method of controlling a permanent magnet synchronous machine in which saturation is avoided by changing the operation of the phase width modulating module providing the voltages on each branch of the motor.
Dans ces procédés de commande connus, le couple électromagnétique accessible par la machine synchrone est réduit afin d' éviter la saturation en tension, notamment en commandant directement une composante de courant dans l ' espace de Park. In these known control methods, the electromagnetic torque accessible by the synchronous machine is reduced so to avoid voltage saturation, in particular by directly controlling a current component in the Park space.
En effet, usuellement, pour permettre de garder le contrôle de la composante quadratique de courant, est calculée une cartographie de la composante directe du courant correspondante pour pouvoir atteindre la consigne pour la composante quadratique. Cette méthode présente le désavantage de devoir faire une campagne de mise au point des cartographies des courants. De plus, rien ne permet d' assurer l'obtention de courants optimaux pour un couple électromagnétique donné. En effet, avec cette méthode de cartographie, pour s ' assurer de ne pas entrer dans des conditions de saturation de tension, une marge de sécurité est prévu sur la valeur de la composante directe de courant, c ' est-à-dire que la composante directe de courante est diminuée plus que nécessaire afin de ne pas risquer de voir des saturations en commande du système au détriment du rendement de la machine.  Indeed, usually, to allow the control of the quadratic current component, a mapping of the direct component of the corresponding current is calculated in order to be able to reach the set point for the quadratic component. This method has the disadvantage of having to run a mapping campaign for the currents. In addition, nothing makes it possible to ensure obtaining optimal currents for a given electromagnetic torque. In fact, with this mapping method, in order to ensure that voltage saturation conditions are not reached, a safety margin is provided on the value of the direct current component, that is to say that the direct component of current is decreased more than necessary so as not to risk seeing saturations in control of the system at the expense of the efficiency of the machine.
Une telle réduction de la composante directe du courant implique une réduction des tensions et donc une diminution du couple électromagnétique accessible.  Such a reduction of the direct component of the current implies a reduction of the voltages and thus a reduction of the accessible electromagnetic torque.
L 'invention se propose de fournir un procédé de commande du couple électromagnétique d'une machine synchrone à aimants permanents permettant d' assurer la stabilité des courants dans la machine synchrone alors que celle-ci fonctionne à haute vitesse avec des tensions saturées .  The invention proposes to provide a method for controlling the electromagnetic torque of a synchronous machine with permanent magnets for ensuring the stability of the currents in the synchronous machine while the latter is operating at high speed with saturated voltages.
Selon un aspect de l 'invention, il est proposé dans un mode de mise en œuvre, un procédé de commande du couple électromagnétique d'une machine synchrone triphasée à aimants permanents, comprenant la mesure du courant délivré sur les trois phases de la machine, une transposition des trois courants mesurés en une composante directe et une composante quadratique de courant à partir d'une transformée des systèmes triphasés, la réception d'une consigne pour la composante quadratique de courant.  According to one aspect of the invention, there is provided in one embodiment, a method for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets, comprising measuring the current delivered on the three phases of the machine, a transposition of the three measured currents into a direct component and a quadratic current component from a three-phase system transform, the reception of a setpoint for the quadratic current component.
Selon une caractéristique de l 'invention, lorsque la composante directe du courant est négative, on active un mode de commande en défluxage dans lequel on commande la machine à partir d'une composante directe et d'une composante quadratique de tension de ladite machine, la composante directe et la composante quadratique de tension étant déterminées dans le plan lié à la transformée des systèmes triphasés . According to a characteristic of the invention, when the direct component of the current is negative, a control mode is activated in the field where the machine is controlled from a direct component and a quadratic voltage component of said machine, the direct component and the quadratic voltage component being determined in the plane related to the transformation of three-phase systems.
La transformée des systèmes triphasés peut être une transformée de Park. Elle peut également être une transformée de Fortescue, une transformée de Clarke, ou une transformée de Ku.  The transform of three-phase systems can be a Park transform. It can also be a Fortescue transform, a Clarke transform, or a Ku transform.
Dans l ' espace de Park, le système à commander comprend une composante directe et une composante quadratique de tensions appliquées sur les deux axes du plan de Park (axe directe et axe en quadrature) de la machine synchrone, les deux composantes de tension s ' exprimant en fonction de la composante directe et de la composante quadratique du courant de la machine synchrone ; les deux composantes de courant s ' appliquant sur les deux axes du plan de Park. Lorsque le rotor de la machine synchrone fonctionne à haute vitesse, la composante directe de courant possède une valeur négative et engendre des pertes si elle n ' est pas compensée.  In the Park space, the system to be controlled comprises a direct component and a quadratic component of voltages applied on the two axes of the Park plane (direct axis and quadrature axis) of the synchronous machine, the two voltage components being expressing as a function of the direct component and the quadratic component of the current of the synchronous machine; the two current components applying to the two axes of the Park plane. When the rotor of the synchronous machine is operating at high speed, the direct current component has a negative value and generates losses if it is not compensated.
Le mo de de commande en défluxage permet de compenser le terme dû au flux magnétique des aimants permanents qui est proportionnel à la vitesse de rotation du rotor, le flux des aimants étant constant, et qui devient donc non négligeable à haute vitesse. Le terme dû au flux magnétique, nommé également force électromagnétique de la machine, introduit des perturbations à compenser. La commande en tension de la machine synchrone à haute vitesse permet ainsi de compenser toujours au maximum la perturbation due au flux magnétique.  The control mode in defluxing makes it possible to compensate the term due to the magnetic flux of the permanent magnets which is proportional to the speed of rotation of the rotor, the flux of the magnets being constant, and which therefore becomes significant at high speed. The term due to the magnetic flux, also called electromagnetic force of the machine, introduces disturbances to compensate. The voltage control of the high-speed synchronous machine thus makes it possible to always compensate as much as possible for the disturbance due to the magnetic flux.
Avantageusement, lorsque la composante directe du courant redevient positive ou nulle, on sort du mode de commande en défluxage.  Advantageously, when the direct component of the current returns to positive or zero, it leaves the control mode defluxing.
La machine synchrone possède avantageusement une symétrie parfaite entre l ' axe direct et l ' axe en quadrature du plan de la transformée des systèmes triphasés permettant d' obtenir l ' égalité entre les inductances équivalentes sur chaque axe du plan de la transformée des systèmes triphasés . De préférence, la composante directe et la composante quadratique de tension de commande de la machine synchrone dépendent d'un même paramètre de commande déterminé de manière à maintenir une valeur de la composante directe de courant proche de zéro et permettant de compenser le terme dû au flux magnétique des aimants permanents . The synchronous machine advantageously has a perfect symmetry between the direct axis and the quadrature axis of the transform plane of the three - phase systems making it possible to obtain equality between the equivalent inductances on each axis of the plane of the transform of the three - phase systems. Preferably, the direct component and the quadratic component of the control voltage of the synchronous machine depend on the same control parameter determined so as to maintain a value of the direct current component close to zero and making it possible to compensate the term due to the magnetic flux of permanent magnets.
Lorsque la composante directe de courant possède une valeur négative, cette composante représente des pertes pour la machine . I l faut donc maintenir une valeur pour cette composante directe de courant la plus faible possible pour réduire au maximum les pertes, tout en conservant ladite valeur de cette composante directe de courant suffisante pour compenser la force électromagnétique correspondant au terme dû au flux magnétique généré par les aimants permanents du rotor.  When the direct current component has a negative value, this component represents losses for the machine. It is therefore necessary to maintain a value for this direct component of the lowest possible current to minimize losses while retaining said value of this direct component of current sufficient to compensate for the electromagnetic force corresponding to the term due to the magnetic flux generated by the permanent magnets of the rotor.
La composante directe et la composante quadratique de tension de commande sont préférentiellement proportionnelles à une même amplitude maximale, et dépendent sinusoïdalement du paramètre de commande (Θ), le paramètre de commande (Θ) variant par exemple π π  The direct component and the quadratic component of control voltage are preferentially proportional to the same maximum amplitude, and sinusoidally depend on the control parameter (Θ), the control parameter (Θ) varying for example π π
dans un intervalle Plus généralement le paramètre de in an interval More generally the parameter of
2 ; 2 2 ; 2
commande (Θ) varie dans un intervalle d' amplitude inférieure ou égale à Pi. control (Θ) varies in a range of amplitude less than or equal to Pi.
Selon un autre aspect, il est proposé dans un mode de réalisation, un système de commande du couple électromagnétique d'une machine synchrone triphasée à aimants permanents, comprenant des moyens de mesure du courant délivré sur les trois phases de la machine, des moyens de transposition aptes à transposer les trois courants mesurés en une composante directe et une composante quadratique de courant à partir de la transformée de Park, des moyens de réception d'une consigne pour la composante quadratique de courant, caractérisé en ce qu' il comprend des moyens de régulation aptes à activer, lorsque la composante directe du courant est négative, un mode de commande en défluxage dans lequel la machine est commandée à partir d'une composante directe et d'une composante quadratique de tension de ladite machine, la composante directe et la composante quadratique de tension étant déterminées dans le plan de Park. According to another aspect, there is provided in one embodiment, a system for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets, comprising means for measuring the current delivered over the three phases of the machine, means for transposition adapted to transpose the three measured currents into a direct component and a quadratic current component from the Park transform, means for receiving a setpoint for the quadratic current component, characterized in that it comprises means control system capable of activating, when the direct component of the current is negative, a control mode in the context of weaving in which the machine is controlled from a direct component and a quadratic voltage component of said machine, the direct component and the quadratic component of voltage being determined in the plan of Park.
Avantageusement, les moyens de commande peuvent comprendre un module d' activation apte à activer le mode de commande en défluxage lorsque la composante directe du courant est négative, et à désactiver le mode de commande en défluxage lorsque la composante directe du courant est positive .  Advantageously, the control means may comprise an activation module capable of activating the control mode when the direct component of the current is negative, and of deactivating the control mode when the direct current component is positive.
De préférence, les moyens de commande comprennent un régulateur proportionnel intégral apte à déterminer un même paramètre de commande lié à la composante directe et la composante quadratique de tension à partir de la différence entre la consigne pour la composante quadratique de courant et la valeur de la composante quadratique de courant et un module apte à déterminer les composantes directe et quadratique de tension à partir du paramètre de commande.  Preferably, the control means comprise an integral proportional regulator able to determine the same control parameter related to the direct component and the quadratic voltage component from the difference between the setpoint for the quadratic current component and the value of the quadratic component of current and a module able to determine the direct and quadratic components of voltage from the control parameter.
Le système de commande peut également comprendre des moyens de transposition aptes à appliquer une transformée de Park aux courants mesurés pour obtenir la composante directe et la composante quadratique de courant.  The control system may also include transposition means capable of applying a Park transform to the measured currents to obtain the direct component and the quadratic current component.
D ' autres avantages et caractéristiques de l' invention apparaîtront à l ' examen de la description détaillée d'un mo de de mise en œuvre, nullement limitatif, et des dessins annexés, sur lesquels :  Other advantages and characteristics of the invention will appear on examining the detailed description of an embodiment, in no way limiting, and the appended drawings, in which:
la figure 1 présente un organigramme d'un procédé de commande du couple électromagnétique d'une machine synchrone selon un mode de mise en œuvre :  FIG. 1 presents a flowchart of a method for controlling the electromagnetic torque of a synchronous machine according to an implementation mode:
la figure 2 illustre, de manière schématique, un système de commande du couple électromagnétique d'une machine synchrone selon un mode de réalisation de l 'invention.  FIG. 2 schematically illustrates a system for controlling the electromagnetic torque of a synchronous machine according to one embodiment of the invention.
Sur la figure 1 , est représenté un organigramme, selon un mode de mise en œuvre de l ' invention, d'un procédé de commande du couple électromagnétique d'une machine synchrone lorsque les tensions à ses bornes saturent.  FIG. 1 shows a flowchart, according to one embodiment of the invention, of a method for controlling the electromagnetic torque of a synchronous machine when the voltages at its terminals saturate.
Dans une première étape 1 10, on mesure le courant pour chacune des trois phases de la machine synchrone triphasée à aimants permanents . Dans une seconde étape 120, on applique la transformée de Park aux trois courants mesurés de manière à obtenir une composante directe la et une composante quadratique Iq de courant. In a first step 1 10, the current is measured for each of the three phases of the three-phase synchronous machine with permanent magnets. In a second step 120, the Park transform is applied to the three measured currents so as to obtain a direct component Ia and a quadratic component I q of current.
Dans l ' espace de Park, le système d' équation à commander pour la machine synchrone est le suivant : In the Park space, the equation system to be controlled for the synchronous machine is as follows:
Avec Va et Vq les tension app liquées sur les deux axes respectivement direct et en quadrature du plan de Park de la machine, Id et Iq les courants circulant dans la machine sur les deux axes respectivement direct et en quadrature du plan de Park, Rs la résistance équivalente du stator de la machine, Ld et Lq les inductances sur chaque axe respectivement direct et en quadrature du plan de Park de la machine, cor la vitesse de rotation du champ magnétique de la machine (soit la vitesse de rotation du rotor multipliée par le nombre de paires de pôles de la machine), et φί le flux généré par les aimants du rotor. With Va and V q the applied voltage liquefied on the two axes respectively direct and in quadrature of the Park plane of the machine, I d and I q currents flowing in the machine on the two axes respectively direct and in quadrature of the plan of Park , R s the equivalent resistance of the stator of the machine, L d and L q the inductances on each axis respectively direct and in quadrature of the Park plane of the machine, co r the speed of rotation of the magnetic field of the machine (ie the rotational speed of the rotor multiplied by the number of pairs of poles of the machine), and φ ί the flux generated by the magnets of the rotor.
Les tensions Vd et Vq sont créées par un onduleur alimenté par une batterie. Les contraintes à respecter par conséquent sont : The voltages V d and V q are created by an inverter powered by a battery. The constraints to be respected therefore are:
Avec Vbat la tension de la batterie qui alimente l'onduleur et le hacheur. With V beats the battery voltage that powers the inverter and the chopper.
L 'obj ectif est de générer un couple électromagnétique avec le meilleur rendement possible pour la machine synchrone sur une plage de vitesse connue et plus précisément à grande vitesse. Or, à grande vitesse de rotation du moteur, les tensions de commande de la machine sont saturées et la composante directe Id du courant dans le plan de Park est négative. The objective is to generate an electromagnetic torque with the best possible performance for the synchronous machine over a known speed range and more precisely at high speed. However, at high engine rotation speed, the control voltages of the machine are saturated and the direct component I d of the current in the Park plane is negative.
Par conséquent, dans une étape 130, on détermine si la composante directe de courant possède une valeur négative. Dès que la composante directe Id du courant dans l' espace de Park possède une valeur négative, on active, dans une étape 140, un mo de de commande en défluxage. Le couple électromagnétique généré par la machine synchrone peut se calculer à partir de l ' expression suivante : Therefore, in a step 130, it is determined whether the direct current component has a negative value. As soon as the direct component I d of the current in the Park space has a negative value, a control loop in the context of a defluxing step is activated in a step 140. The electromagnetic torque generated by the synchronous machine can be calculated from the following expression:
Cem = p(*dIq - *qId ) (3) C em = p (* d I q - * q I d ) (3)
Avec Cem le couple électromagnétique généré par la machine, p le nombre de paires de pôles du rotor de la machine, et φ,ι et φ¾ les composantes du flux généré sur les axes respectivement direct et en quadrature de la machine qui s ' expriment sous la forme :With C em the electromagnetic torque generated by the machine, p the number of pairs of poles of the rotor of the machine, and φ, ι and φ ¾ the components of the flux generated on the axes respectively direct and in quadrature of the machine which s' express in the form:
Dans le cas présent, la machine synchrone possède une symétrie parfaite entre l ' axe direct et l ' axe en quadrature de l ' espace de Park. On a alors la propriété remarquable La=Lq, ce qui permet d' écrire In the present case, the synchronous machine has a perfect symmetry between the direct axis and the quadrature axis of the Park space. We then have the remarkable property La = L q , which makes it possible to write
Cem = P^>flq (5) C em = P ^> f l q (5)
Ainsi, dans une telle machine, pour commander le couple en limitant au maximum les pertes Joules générées par la composante directe la du courant, il faut s ' arranger pour avoir une composante directe la du courant la plus proche de zéro, car seule la composante quadratique Iq contribue au couple électromagnétique. Thus, in such a machine, to control the torque by limiting as much as possible the Joule losses generated by the direct component of the current, it is necessary to arrange to have a direct component of the current closest to zero, since only the component quadratic I q contributes to the electromagnetic torque.
L 'invention s ' applique également dans le cas où La=Lq si La est supérieur à Lq, mais dans ce cas il est nécessaire de corriger la consigne de la composante quadratique Iq en fonction de la composante directe la de courant subie de manière à assurer un couple constant. En effet, dans ce cas la composante directe la de courant étant négative, elle engendre une diminution du couple généré par la machine . Il est ainsi possible de minimiser la perte de couple en rapprochant au maximum la composante directe la de courant de zéro . The invention also applies in the case where La = L q if La is greater than L q , but in this case it is necessary to correct the setpoint of the quadratic component I q as a function of the direct current component la undergone in order to ensure a constant torque. Indeed, in this case the direct component current is negative, it causes a decrease in the torque generated by the machine. It is thus possible to minimize the loss of torque by bringing the direct component of the current zero closer to zero.
Or, à haute vitesse, il est impossible d ' annuler complètement la composante directe la du courant car il faut compenser le terme ωΓφ/ nommé force électromagnétique dû au flux magnétique des aimants permanents qui devient trop important. Pour être optimal, il faut utiliser toute la tension disponible, soit : However, at high speed, it is impossible to completely cancel the direct component of the current because it is necessary to compensate the term ω Γ φ / called electromagnetic force due to the magnetic flux of the permanent magnets which becomes too important. To be optimal, you must use all the available voltage, ie:
<Jvd 2 + Vq 2 = - (6) On peut exprimer Va et Vq à l'aide d'une variable de commande Θ qui se calcule par la transformation suivante : <Jv d 2 + V q 2 = - (6) We can express Va and V q using a command variable Θ which is calculated by the following transformation:
Les courants en régime établi à grande vitesse s'expriment alors sous la forme : The steady-state currents at high speed are then expressed as:
Or à grande vitesse on obtient Rs<<corLd=corLq, ce qui permet d'obtenir pour l'équation (8) : At high speed, we get R s << co r L d = co r L q , which gives for equation (8):
Le flux des aimants étant constant, il ne joue aucun rôle d'un point de vue commande. Il est donc perçu comme une perturbation. On a ainsi en régime haute vitesse établi, à partir de l'équation (7) :  Since the flux of the magnets is constant, it plays no role from a control point of view. It is therefore perceived as a disturbance. Thus, in established high speed regime, from equation (7):
Gd cos($)- perturbation d G d cos ($) - disturbance d
(10) 11 q = Gq sin(^)- perturbation q et (10) 11 q = G q sin (^) - perturbation q and
A grande vitesse, la force électromagnétique ne peut plus être γ  At high speed, the electromagnetic force can no longer be γ
complètement compensée, ce qui entraîne que —^< ^f impliquant, completely compensated, which implies that - ^ <^ f
V3 par conséquent que Gd<perturbationd, et Gq>perturbationq car V3 therefore Gd <perturbationd, and G q > disturbance q
L ' activation du mode de commande en défluxage à l ' étape 140, entraîne alors, dans une étape 150, une commande en tension du moteur à partir du paramètre de commande Θ variant dans l' intervalle π π Activation of the control mode in the context of step 140, then, in a step 150, causes control of the motor voltage from the control parameter Θ varying in the interval π π
En faisant varier le paramètre de commande Θ dans cet intervalle, la composante quadratique du courant Iq varie dans le domaine positif et négatif, faisant ainsi fonctionner la machine synchrone en fonctionnement moteur et en fonctionnement générateur, tout en compensant toujours au maximum le terme perturbatiorid limitant ainsi la composante directe la génératrice de pertes joules. La machine synchrone est ainsi maintenue avec des tensions saturées permettant d' obtenir un couple électromagnétique maximal, mais tout en contrôlant les courants grâce à une commande en tension de machine via le paramètre de commande Θ . By varying the control parameter Θ in this interval, the quadratic component of the current I q varies in the positive and negative domain, thus making the synchronous machine operate in motor operation and in generator operation, while still compensating for the term disturbatiorid as much as possible. thus limiting the direct component the generator of joules losses. The synchronous machine is thus maintained with saturated voltages for obtaining maximum electromagnetic torque, but while controlling the currents by means of a machine voltage control via the control parameter Θ.
Dans une étape 160, on détermine si la composante directe la du courant n' est plus négative. Si elle l ' est encore on continue de commander la machine synchrone en tension à partir du paramètre de commande Θ . Avec le paramètre de commande Θ, pour augmenter la composante quadratique de courant Iq, il faut augmenter le paramètre de commande Θ jusqu' à une valeur maximale de π/2 pour avoir la puissance maximale atteignable par la machine, la composante directe la du courant diminuant automatiquement avec l ' augmentation du paramètre de commande Θ . Inversement, pour diminuer la composante quadratique de courant Iq, il faut diminuer le paramètre de commande Θ jusqu' à une valeur minimale de -π/2 pour avoir le couple régénératif maximal. L 'invention permettant ainsi une auto-adaptation de la composante directe la du courant. In a step 160, it is determined whether the direct component la of the current is no longer negative. If it still is it continues to control the synchronous machine voltage from the control parameter Θ. With the control parameter Θ, to increase the quadratic component of current I q , it is necessary to increase the control parameter Θ up to a maximum value of π / 2 to obtain the maximum power achievable by the machine, the direct component the current decreasing automatically with increasing control parameter Θ. Conversely, to reduce the quadratic component of current I q , it is necessary to reduce the control parameter Θ to a minimum value of -π / 2 to obtain the maximum regenerative torque. The invention thus allows self-adaptation of the direct component of the current.
En revanche dès qu' elle ne l ' est plus, on sort du mode de commande en défluxage dans une étape 170.  On the other hand, as soon as it is no longer in use, it leaves the control mode in the context of a step 170.
Sur la figure 2 est illustré un système de commande du couple électromagnétique d'une machine synchrone triphasée à aimants permanents selon un mode de réalisation de l 'invention. Le système de commande 1 du couple électromagnétique d' une machine synchrone triphasée à aimants permanents comprend des moyens de mesure 2 du courant délivré sur les trois phases , , de la machine . Ces moyens de mesure 2 sont couplés à des moyens de transposition 3 permettant de transposer les trois courants mesurés en une composante directe la et une composante quadratique Iq de courant à partir de la transformée de Park. Le système de commande comprend également des moyens de réception 4 d'une consigne Iq req pour la composante quadratique Iq de courant. FIG. 2 illustrates a system for controlling the electromagnetic torque of a three-phase synchronous machine with permanent magnets according to one embodiment of the invention. The control system 1 of the electromagnetic torque of a three-phase synchronous machine with permanent magnets comprises means 2 for measuring the current delivered over the three phases of the machine. These measurement means 2 are coupled to transposition means 3 for transposing the three measured currents into a direct component la and a quadratic component I q current from the Park transform. The control system also comprises means 4 for receiving an instruction I q req for the quadratic component I q of current.
Le système de commande 1 comprend des moyens de régulation The control system 1 comprises regulating means
5 comportant un module d' activation 6 recevant en entrée la composante directe la de courant et aptes à activer un mode de commande en défluxage dans lequel la machine est commandée à partir d'une composante directe et d'une composante quadratique de tension dans l ' espace de Park de ladite machine, lorsque la composante directe la du courant est négative. 5 comprising an activation module 6 receiving as input the direct component current and able to activate a control mode in the context of the machine where the machine is controlled from a direct component and a quadratic component of voltage in the Park space of said machine, when the direct component of the current is negative.
Les moyens de régulation 5 comprennent un régulateur 7 proportionnel intégral apte à déterminer un même paramètre de commande dont la composante directe et la composante quadratique de tension dépendent à partir de la différence entre la consigne Iq req pour la composante quadratique de courant et la valeur de la composante quadratique Iq de courant calculée par le soustracteur 8. Les moyens de régulation comprennent également un mo dule 9 apte à déterminer les composantes directes Va et quadratique Vq en tension à partir du paramètre de commande Θ . The regulating means 5 comprise an integral proportional regulator 7 capable of determining the same control parameter whose direct component and the quadratic voltage component depend on the difference between the setpoint I qreq for the quadratic current component and the value the quadratic component I q of current calculated by the subtractor 8. The regulating means also comprise a module 9 able to determine the direct components Va and quadratic V q in voltage from the control parameter Θ.
L 'invention permet ainsi de commander le couple électromagnétique d'une machine synchrone à aimants permanents en assurant la stabilité des courants dans la machine synchrone alors que celle-ci fonctionne à haute vitesse avec des tensions saturées.  The invention thus makes it possible to control the electromagnetic torque of a permanent magnet synchronous machine by ensuring the stability of the currents in the synchronous machine while it operates at high speed with saturated voltages.

Claims

REVENDICATIONS
1 . Procédé de commande du couple électromagnétique d 'une machine synchrone triphasée à aimants permanents, comprenant la mesure du courant délivré sur les trois phases de la machine, une transposition des trois courants mesurés en une composante directe (la) et une composante quadratique (Iq) de courant à partir d'une transformée des systèmes triphasée, la réception d'une consigne (Iq req) pour la composante quadratique (Iq) de courant, et, lorsque la composante directe (la) du courant est négative, l ' activation d'un mode de commande en défluxage dans lequel on commande la machine à partir d'une composante directe (Va) et d'une composante quadratique (Vq) de tension de ladite machine, la composante directe (Va) et la composante quadratique (Vq) de tension étant déterminées dans le plan lié à la transformée des systèmes triphasés, caractérisé en ce que la composante directe (Va) et la composante quadratique (Vq) de tension de commande de la machine synchrone dépendent d'un même paramètre de commande (Θ) déterminé de manière à maintenir une valeur de la composante directe (la) de courant proche de zéro et permettant de compenser le terme dû au flux magnétique des aimants permanents . 1. A method of controlling the electromagnetic torque of a three-phase permanent magnet synchronous machine, comprising measuring the current delivered on the three phases of the machine, transposing the three measured currents into a direct component (1a) and a quadratic component (I q ) of current from a three-phase system transform, receiving a setpoint (I qreq ) for the quadratic component (I q ) of current, and, when the direct component (la) of the current is negative, activating a control mode in which the machine is controlled from a direct component (Va) and a quadratic component (V q ) of voltage of said machine, the direct component (Va) and the quadratic component (V q ) of voltage being determined in the plane related to the transform of the three-phase systems, characterized in that the direct component (Va) and the quadratic component (V q ) of the control voltage of the machine synchronous depend on the same control parameter (Θ) determined so as to maintain a value of the direct component (la) of current close to zero and to compensate for the term due to the magnetic flux of the permanent magnets.
2. Procédé selon la revendication 1 , dans lequel, lorsque la composante directe (la) du courant redevient positive ou nulle, on sort du mode de commande en défluxage.  2. The method of claim 1, wherein, when the direct component (la) of the current becomes positive or zero, it leaves the control mode defluxing.
3. Procédé selon l'une des revendications 1 ou 2 , dans lequel la machine synchrone possède une symétrie parfaite entre l ' axe direct et l ' axe en quadrature du plan de la transformée des systèmes triphasés permettant d' obtenir l ' égalité entre les inductances équivalentes (La et Lq) sur chaque axe du plan de la transformée des systèmes triphasés . 3. Method according to one of claims 1 or 2, wherein the synchronous machine has a perfect symmetry between the direct axis and the quadrature axis of the plane of the transform of the three-phase systems to obtain equality between them. equivalent inductances (La and L q ) on each axis of the transform plane of the three-phase systems.
4. Procédé selon l 'une des revendications 1 à 3 , dans lequel la composante directe (Va) et la composante quadratique (Vq) de tension de commande sont proportionnelles à une même amplitude maximale (Vbat) et dépendent sinusoïdalement du paramètre de commande (Θ) , le paramètre de commande (Θ) variant dans un intervalle ——■— 4. Method according to one of claims 1 to 3, wherein the direct component (Va) and the quadratic component (V q ) control voltage are proportional to the same maximum amplitude (V bat ) and sinusoidally depend on the control parameter (Θ), the control parameter (Θ) varying in a range - ■ -
l 2 2. l 2 2 .
5. Procédé selon la revendication 4, dans lequel la composante directe et la composante quadrati ' expriment selon l ' expression :  5. The method according to claim 4, wherein the direct component and the quadratio component express according to the expression:
6. Procédé selon l 'une des revendications 1 à 5 , dans lequel la transformée des systèmes triphasés est une transformée de Park.  6. Method according to one of claims 1 to 5, wherein the transform of three-phase systems is a Park transform.
7. Système de commande ( 1 ) du couple électromagnétique d'une machine synchrone triphasée à aimants permanents, comprenant des moyens de mesure (2) du courant délivré sur les trois phases de la machine, des moyens de transposition (3 ) aptes à transposer les trois courants mesurés en une composante directe (la) et une composante quadratique (Iq) de courant à partir d'une transformée des systèmes triphasés, des moyens de réception (4) d'une consigne (Iq req) pour la composante quadratique (Iq) de courant, des moyens de commande (5) aptes à activer, lorsque la composante directe (la) du courant est négative, un mode de commande en défluxage dans lequel la machine est commandée à partir d 'une composante directe (Va) et d'une composante quadratique (Vq) de tension de ladite machine, la composante directe (Va) et la composante quadratique (Vq) de tension étant déterminées dans le plan lié à la transformée des systèmes triphasée, caractérisé en ce que les moyens de régulation (5 ) comprennent un régulateur (7) proportionnel intégral apte à déterminer un même paramètre de commande (Θ) dont la composante directe (Va) et la composante quadratique (Vq) de tension dépendent à partir de la différence entre la consigne (Iq req) pour la composante quadratique de courant et la valeur de la composante quadratique (Iq) de courant et un module (9) apte à déterminer les composante directes et quadratique en tension à partir du paramètre de commande. 7. Control system (1) of the electromagnetic torque of a three-phase synchronous machine with permanent magnets, comprising means (2) for measuring the current delivered on the three phases of the machine, transposition means (3) capable of transposing the three currents measured in a direct component (la) and a quadratic component (I q ) of current from a three-phase system transform, means (4) for receiving a setpoint (I qreq ) for the component quadratic (I q ) of current, control means (5) able to activate, when the direct component (la) of the current is negative, a control mode in the field where the machine is controlled from a direct component (Va) and a quadratic component (V q ) of voltage of said machine, the direct component (Va) and the quadratic component (V q ) of voltage being determined in the plane related to the transform of the three-phase systems, characterized in what the regulating means (5) comprise an integral proportional regulator (7) able to determine the same control parameter (Θ) whose direct component (Va) and the quadratic component (V q ) of voltage depend on the difference between the setpoint (I qreq ) for the quadratic component of current and the value of the quadratic component (I q ) of current and a module (9) able to determine the direct and quadratic components in voltage from the control parameter.
8. Système selon la revendication 7, dans lequel les moyens de commande comprennent un module d' activation apte à activer le mode de commande en défluxage lorsque la composante directe (la) du courant est négative, et à désactiver le mode de commande en défluxage lorsque la composante directe (la) du courant est positive. 8. System according to claim 7, wherein the control means comprise an activation module adapted to activate the control mode in the field of weakening when the direct component (la) of the current is negative, and to deactivate the control mode in defluxing. when the direct component (la) of the current is positive.
9. Système selon l'une des revendications 7 ou 8 , comprenant des moyens de transposition (3) aptes à appliquer une transformée de Park aux courants mesurés pour obtenir la composante directe (la) et la composante quadratique (Iq) de courant. 9. System according to one of claims 7 or 8, comprising transposition means (3) capable of applying a Park transform to the measured currents to obtain the direct component (la) and the quadratic component (I q ) of current.
EP13727299.3A 2012-05-29 2013-05-16 Method for controlling the electromagnetic torque of a high speed synchronous machine Withdrawn EP2856632A1 (en)

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FR1254908A FR2991525B1 (en) 2012-05-29 2012-05-29 METHOD FOR CONTROLLING THE ELECTROMAGNETIC TORQUE OF A HIGH SPEED SYNCHRONOUS MACHINE
PCT/FR2013/051066 WO2013178906A1 (en) 2012-05-29 2013-05-16 Method for controlling the electromagnetic torque of a high speed synchronous machine

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KR20150021546A (en) 2015-03-02
CN104350675B (en) 2017-08-04
FR2991525B1 (en) 2014-06-13
JP6192715B2 (en) 2017-09-06
RU2635655C2 (en) 2017-11-15
WO2013178906A1 (en) 2013-12-05
CN104350675A (en) 2015-02-11
US9455660B2 (en) 2016-09-27
RU2014153510A (en) 2016-07-20

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