EP3195467A1 - Procede et dispositif de diagnostic de defauts de capteurs de courants de phases d'un systeme de pilotage d'une machine electrique tournante synchrone de vehicule automobile - Google Patents
Procede et dispositif de diagnostic de defauts de capteurs de courants de phases d'un systeme de pilotage d'une machine electrique tournante synchrone de vehicule automobileInfo
- Publication number
- EP3195467A1 EP3195467A1 EP15771683.8A EP15771683A EP3195467A1 EP 3195467 A1 EP3195467 A1 EP 3195467A1 EP 15771683 A EP15771683 A EP 15771683A EP 3195467 A1 EP3195467 A1 EP 3195467A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- control system
- phase current
- differences
- current sensor
- motor vehicle
- 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.)
- Pending
Links
- 230000007547 defect Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 30
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000003745 diagnosis Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000002950 deficient Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 2
- 230000010354 integration Effects 0.000 claims 1
- 230000010349 pulsation Effects 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000002405 diagnostic procedure Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
- G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
- G01R31/42—AC power supplies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R25/00—Arrangements for measuring phase angle between a voltage and a current or between voltages or currents
-
- 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
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Definitions
- the present invention relates to a method and a device for fault diagnosis of phase current sensors of a control system of a synchronous rotating electric machine of a motor vehicle,
- the invention also relates to a synchronous rotary electrical machine comprising such a device, in particular a machine such as a permanent magnet synchronous electric motor for applications in electric and hybrid motor vehicles, electrical power steering, air conditioning compressors and electric motors. fans.
- the estimators used involve electrical parameters which are not independent of the machine and are calculated in a stationary reference which does not make possible all possible simplifications in the case of a control system.
- the object of the present invention is therefore to take into account the properties of a control system to simplify the calculations of these differences.
- the invention relates to a method for diagnosing phase current sensor faults of a control system of a synchronous rotating electrical machine of a motor vehicle.
- the method takes into account differences T d , q between measurements provided by the sensors and nominal values of the phase currents in order to diagnose faults if the differences are substantially non-zero, these differences being calculated in a park marker in rotation and being independent of an electromechanical model of the machine, a defective sensor among the sensors being identified by comparing at an angle electrical measured ⁇ of the control system a residual electrical angle 0 res defined by the relation:
- T d and T q are the said differences.
- an offset defect of at least one of the sensors is detected if a residual pulse of the differences is substantially equal to a measured speed of the control system.
- a gain defect of at least one of the sensors is detected if a residual pulse of the differences is substantially equal to twice a measured speed of the control system.
- the invention also relates to a device for diagnosing phase current sensor defects of a control system of a synchronous rotating motor vehicle electrical machine capable of implementing the method described briefly below. above, of the type comprising:
- flag generation means signaling sensor faults.
- the processing means perform a Park transformation and comprise means for analyzing waveforms of the phase currents in the Park reference, the means for analyzing waveforms including means calculating a sliding average over time.
- the acquisition means also acquire a speed of the control system and the processing means furthermore comprise means for detecting an offset defect and / or a gain defect of at least one of the sensors as a function of said speed.
- the processing means further comprise means for identifying a faulty sensor among the sensors as a function of the electric angle.
- the invention also relates to a synchronous rotary electrical machine comprising a diagnostic device as briefly described above, and a semiconductor computer memory. intended to be integrated in the diagnostic device and containing a computer code representative of the method of the invention.
- Figure 1 is a general block diagram of a control system of a synchronous rotating electrical machine.
- FIG 2 is a block diagram of a control unit of the control system of a synchronous rotating electrical machine shown in Figure 1 incorporating a phase current sensor fault diagnosis device according to the invention.
- FIG. 3 is a flowchart illustrating the method according to the invention of fault diagnosis of phase current sensors of a control system of a synchronous rotating electrical machine. DESCRIPTION OF THE PREFERRED EMBODIMENT OF THE INVENTION
- a control system 1 of a synchronous rotary electrical machine 2 such as that shown in FIG. 1, generally comprises a control unit 3 controlling an inverter 4 supplying the synchronous electric machine 2 with current from a voltage source continuous 5.
- This control unit 3 generates the control signals U, V, W of the inverter 4 so that the synchronous electrical machine 2 provides the required torque ⁇ ⁇ at the specified speed ⁇ ⁇ , parameters most often transmitted on a bus of ground 6.
- Figure 2 shows the main elements of the control unit 3.
- the electrical angle ⁇ of the control system 1 is supplied to the control unit 3 by a position sensor 7 of a rotor 8 of the synchronous rotating electrical machine 2.
- the speed ⁇ is provided by a speed sensor 9, or by a calculation from the electric angle ⁇ .
- phase current sensors 10 The measurements of the phase currents 4, i b , i c , are provided by phase current sensors 10.
- phase current sensors 10 which may have defects, either an offset defect or a gain defect.
- control unit 3 The purpose of the control unit 3 is to allow efficient operation of the control system 1 in a wide range of torques and speeds.
- the closed control loop 1 1 is a corrector which ensures a good control of the phase currents measured from a reference current f ef .
- a reference current calculation block 12 gives this reference current f ef from the torque references ⁇ ⁇ or speed ⁇ ⁇ , and electrical parameters of the rotating electrical machine 2.
- This reference current calculation block 12 transforms a mechanical reference into an electrical reference.
- the pulse width modulation control block 13 After the reference voltages V ref have been calculated by the closed control loop 1 1, the pulse width modulation control block 13 generates the pulse width modulated control signals U, V, W (or PWM, acronym for "Pulse Width Modulation" in the English terminology) of the inverter 4.
- the closed control loop 1 since it is a control system 1, the control can be achieved in different marks.
- the well-known Clarke transformation is a projection of phase magnitudes on two fixed axes ( ⁇ , ⁇ ).
- Clarke can be followed by a rotation that converts the alternative components of the coordinate system ( ⁇ , ⁇ ) . ⁇ continuous components on direct and quadrature axes (the reference (d, q)).
- Effective control of an electrical control system 1 requires that the instantaneous currents 4 , 4, 4 are well known.
- the control strategy must be tolerant to a sensor fault 10. Then, the continuity of operation is ensured and the security constraints are met.
- This method illustrated in FIG. 3, only needs the phase currents 4 , 4, 4 provided at the input 14, the electrical angle ⁇ and the speed ⁇ to detect and identify the faulty sensor among the set Phase current sensors 10.
- the measurements provided by the phase current sensors 10 are written for each of the three phases A, B, C:
- Ai a , Ai b and Ai c are the offsets on phases A, B and C respectively.
- phase current sensors 10 of the phases A, B and C are the measurements provided by the phase current sensors 10 of the phases A, B and C respectively.
- the currents i dh , h are continuous in nominal mode.
- a sinusoidal component ⁇ dq is added to the DC currents id.h, iq.h at the electrical frequency.
- this residual pulse u) res is equal (to computational errors and measurement close) to the speed ⁇ , and, in the second case of a loss of gain, this pulsation residual u) res is equal to twice the speed ⁇ , as will be shown below.
- the measurements i am , ibm, icm provided by the phase current sensors 10 are written to each other.
- the device for diagnosing phase current sensor defects 10 of a control system 1 of a synchronous rotating electrical machine 2 of a motor vehicle is a specific module 25 implementing the described method. above and integrated in the control unit 3 shown in Figure 2.
- This specific module 25 according to an architecture known in itself, comprises:
- Flag generation means Flag_A, B, C 20, 23, 24 signaling the absence or the presence of a fault on one of the sensors 10.
- control unit 3 already comprises a microprocessor, a microcontroller or a similar digital circuit, in particular implementing the closed control loop 11, these acquisition means, these digital processing means and these generation means are those of the control unit 3.
- a computer code, representative of the method according to the invention, stored in a memory 26, makes it possible to use this common architecture for:
- Flags Flag_A, B, C 20, 23, 24 are taken into account by the closed control loop 1 1 to reconfigure the processing algorithms so as to ensure continuity of operation of the control system 1, even in case of failure of one of the phase current sensors 10.
- the method and the device according to the invention are robust thanks to the use of a nonparametric approach independent of an electromechanical model of the machine 2.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1458792A FR3025890B1 (fr) | 2014-09-17 | 2014-09-17 | Procede et dispositif de diagnostic de defauts de capteurs de courants de phases d'un systeme de pilotage d'une machine electrique tournante synchrone de vehicule automobile |
PCT/FR2015/052424 WO2016042238A1 (fr) | 2014-09-17 | 2015-09-10 | Procede et dispositif de diagnostic de defauts de capteurs de courants de phases d'un systeme de pilotage d'une machine electrique tournante synchrone de vehicule automobile |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3195467A1 true EP3195467A1 (fr) | 2017-07-26 |
Family
ID=51866196
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15771683.8A Pending EP3195467A1 (fr) | 2014-09-17 | 2015-09-10 | Procede et dispositif de diagnostic de defauts de capteurs de courants de phases d'un systeme de pilotage d'une machine electrique tournante synchrone de vehicule automobile |
Country Status (6)
Country | Link |
---|---|
US (1) | US10718845B2 (fr) |
EP (1) | EP3195467A1 (fr) |
JP (1) | JP2017533688A (fr) |
CN (1) | CN107112943B (fr) |
FR (1) | FR3025890B1 (fr) |
WO (1) | WO2016042238A1 (fr) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3039283B1 (fr) * | 2015-07-20 | 2017-07-21 | Continental Automotive France | Procede de detection d'un defaut de commande de couple d'un moteur electrique d'un systeme de direction assistee d'un vehicule automobile |
US9806656B1 (en) * | 2016-11-30 | 2017-10-31 | Steering Solutions Ip Holding Corporation | Fault tolerant phase current measurement for motor control systems |
CN108680885A (zh) * | 2018-05-16 | 2018-10-19 | 上海铁大电信科技股份有限公司 | 霍尔电流传感器校零方法及装置 |
US10355634B1 (en) * | 2018-06-12 | 2019-07-16 | GM Global Technology Operations LLC | Isolation of particular fault conditions in an electric machine assembly |
CN110104001B (zh) * | 2019-05-15 | 2020-07-03 | 重庆交通大学 | 高速列车车轮空转状态下牵引电机的同步控制方法 |
CN110726962B (zh) * | 2019-10-31 | 2021-07-09 | 东南大学 | 一种永磁直线电机电流传感器增益故障诊断方法 |
CN116449142B (zh) * | 2023-06-19 | 2023-10-20 | 潍柴动力股份有限公司 | 电流传感器检测方法、装置、台架试验系统及存储介质 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0720392B2 (ja) * | 1988-01-28 | 1995-03-06 | 株式会社三ツ葉電機製作所 | ブラシレスモータ駆動回路 |
CN100428621C (zh) * | 2006-01-13 | 2008-10-22 | 海尔集团公司 | 一种无刷直流电动机变频控制装置 |
JP5641008B2 (ja) * | 2012-04-04 | 2014-12-17 | 日本精工株式会社 | モータ制御装置及びそれを搭載した電動パワーステアリング装置 |
FR2990088B1 (fr) * | 2012-04-30 | 2014-05-09 | Renault Sa | Procede de determination du decalage angulaire entre le rotor et le stator d'une machine electrique d'un vehicule automobile |
US9372234B2 (en) * | 2013-08-27 | 2016-06-21 | Ford Global Technologies, Llc | Detection method of current sensor faults in the e-drive system by using the voltage command error |
KR101622011B1 (ko) * | 2013-12-31 | 2016-05-17 | 현대모비스 주식회사 | 3상 교류 모터 제어 방법 및 장치 |
-
2014
- 2014-09-17 FR FR1458792A patent/FR3025890B1/fr active Active
-
2015
- 2015-09-10 JP JP2017514850A patent/JP2017533688A/ja active Pending
- 2015-09-10 WO PCT/FR2015/052424 patent/WO2016042238A1/fr active Application Filing
- 2015-09-10 EP EP15771683.8A patent/EP3195467A1/fr active Pending
- 2015-09-10 CN CN201580060959.7A patent/CN107112943B/zh active Active
- 2015-09-10 US US15/512,312 patent/US10718845B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20170254872A1 (en) | 2017-09-07 |
CN107112943A (zh) | 2017-08-29 |
FR3025890B1 (fr) | 2018-02-16 |
US10718845B2 (en) | 2020-07-21 |
JP2017533688A (ja) | 2017-11-09 |
WO2016042238A1 (fr) | 2016-03-24 |
FR3025890A1 (fr) | 2016-03-18 |
CN107112943B (zh) | 2020-02-07 |
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