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
  • 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
  • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
  • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
• • 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
  • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
  • H02P21/28—Stator flux based control

Definitions

• the invention relates to the field of synchronous electric machines with wound rotor.
• the invention relates to a method for determining the position and the speed of the rotor of a synchronous electric machine with a wound rotor.
• MSRB synchronous electric machine with a wound rotor
• a well-known solution of the prior art consists in installing one or more mechanical position and speed sensors on the mechanical shaft of the machine.
• control methods without a mechanical sensor have been developed to ensure the same or better quality control than that of control with a mechanical sensor.
• these sensorless control methods use methods of estimating the mechanical position / speed, also called software sensors, in a closed loop, based solely on the measurement of the currents.
• a method for estimating the speed and the position of a rotor of a synchronous electric machine with a wound rotor powered by a three-phase inverter comprising:
• a step of demodulating the currents transformed by the second transformation step comprising a high-pass or band-pass filtering, and making it possible to determine an estimation error signal
• a step of separating the high frequency component from the low frequency component of the measured currents said separation step being independent of a low-pass filtering and allowing the determination of the sign of the error of estimation of the rotor position; the method further comprising a second step-by-step estimation of the position, the speed and the rotor acceleration, with gain parameters decoupled from each other, as a function of the sign of the error of estimate obtained.
• the demodulation step comprises a high-pass filtering of said currents.
• demodulation is relatively simple and robust and does not generate any delay in the estimate obtained relative to the rotor position.
• the step of estimating the phase shift comprises low-frequency filtering.
• the estimation of the phase shift is relatively simple and efficient.
• the step of estimating the phase shift comprises a phase locked loop.
• the estimate of the phase shift is controlled relatively robustly.
• the step of separating the high frequency component from the low frequency component of the measured currents comprises the calculation of an error signal for estimating the rotor position defined by the equation:
• l cn is the amplitude of the negative component of the stator current
• w e the pulsation of the injected high-frequency signal
• 4> comp the estimated phase shift
• Q - Q the rotor position error
• the second part includes the implementation of at least one low-pass filter.
• the low-pass filter makes it possible to limit the phenomena of chattering of the sign function of the rotor position error.
• said low-pass filter is of order 4.
• such a filter does not generate any undesirable effect, such as a phase shift, for the estimation of the speed of the position and of the acceleration of the rotor.
• the invention also relates to a device for estimating the speed and the position of a rotor comprising means for implementing a method as described above.
• the invention also relates to an electrical assembly comprising a synchronous electrical machine with a wound rotor, and an estimation device as described above.
• the invention also relates to a motor vehicle comprising an electrical assembly as described above.
• FIG. 1 is a schematic view of a control assembly of an electric machine according to an embodiment of the invention
• FIG. 2 is a schematic view of an estimation method according to an embodiment of the invention.
• FIG. 3 is a representation of a step of estimating the phase shift of the stator currents of the method according to the embodiment of Figure 2;
• FIG. 4 is a representation of a high-frequency / low-frequency separation step, independent of a low-pass filter of the method according to the embodiment of Figure 2;
• FIG. 5 is a view of the second estimation part of the method according to the embodiment of Figure 2;
• FIG. 6 is a representation of the geometric transformations of the currents with respect to a rotor reference frame
• a control assembly of an electric machine for example here an electric motor vehicle 1, comprises a torque setpoint device 2, for example an accelerator pedal 2, for requiring torque from the electric machine.
• the torque setpoint resulting from the torque setpoint device 2 is then processed by a current regulator 3, then by an inverter 4, in order to provide a control current adapted to the electric machine 5, here a synchronous electric machine with wound rotor. 5.
• the method 6 for estimating the speed and the position of the rotor 50 of a synchronous machine with a wound rotor comprises a step 10 of measuring the three-phase currents, and two parts of the method: a first part 100 of signal processing and demodulation and a second part 200 for estimating the position and the speed as a function of the results of the first part.
• the method implements a step 10 of measuring the three-phase currents i a , i b , i c at the input of the synchronous machine with wound rotor.
• This step is however not necessarily carried out before the first part 100 of the process, it can also be carried out during the first part 100 of the process, for example before it is necessary to call on the values of three-phase currents measured i a , i b , i c .
• This equation (1) describes the measurement of three-phase currents i a , i b , i c according to a three-phase-two-phase static transformation 13 in a frame ab, here a Concordia transform.
• L d and L q are the inductances of the axes d and q of the rotating two-phase frame dq, which is the Park frame
• vf and i * represent the three-phase voltages and currents of the machine, respectively seen on the stator and y
• the angular phase shift is shown in particular in a rotor reference 50 with reference to FIG. 6.
• the drawing technique makes it possible to inject a high frequency voltage (HF) into the estimated two-phase frame (d, q):
• V c is the amplitude of the HF voltage injected
• o c is the pulsation of the HF voltage injected.
• a demodulation step 101 of the resulting signal is implemented after the injection of the high-frequency voltage.
• a high-pass filter abbreviated as HPF from the English High-Pass Filter, or according to an alternative, a band-pass filter, abbreviated as SFF from the English Single-Frequency Filtering, is used to filter the current.
• i TM in the phase shifted frame so as to remove the fundamental component.
• the difference i TM HF - i TM HF is used to extract the position estimation error signal (q - Q).
• the extraction 101 of the position estimation error signal (q - Q) corresponding to the demodulation 101 of the signal. [sin (2 (0 - q))] cos (ü) c t) (7)
• the estimation error signal e is formalized according to equation (7), but the angular error q - Q between the position of the rotor and the estimated position of the rotor is a function of this estimation error signal e . Also, by the analysis of the estimation error signal e it will be possible, as described below, to deduce the sign of the position error Q - Q as a function of the sign of the estimation error signal e . The sign of the position error q - Q making it possible to determine in the second part of the process the estimate of the position, the speed and the rotor acceleration.
• HPF high-pass filter
• SFF single-Frequency Filtering
• the objective of the phase shift estimation is to reconstruct the signal of the high frequency carrier cos (ü) c t + $ CO mp) to obtain the square of this component, square of the carrier (high frequency) [cos (ü) c t + is an unknown quantity.
• the error of estimation of the phase shift is sent to stages of tracking and optimization of error (PLL), with reference to Figure 7 to make converge f ⁇ réelle to F aoihr ⁇
• a step 103 of separating the high frequency component from the low frequency is implemented, making it possible to avoid the use of low-pass filter (LPF).
• LPF low-pass filter
• This estimation error according to equation (15) is then injected as information into a set of tracking steps 200 according to the invention, step by step and with convergence in finite time.
• This set of steps 200 corresponds to the second part 200 of the method according to the invention, which aims to estimate the position, the speed and the acceleration of electric AC machines.
• an estimator also called observer, robust and step-by-step, as shown in FIG. 4 is put implemented to converge the states of position, speed and acceleration one by one, independently of the other states. This makes it possible to adjust the convergence of these states in finite time, each state being taken separately.
• TZ represents the Transform in Z which transforms the time function o (t) into the discrete function s (z).
• the function f (z) is introduced so as to detect the phenomenon of browsing, since only the sign of the estimation error is available as information for the observer; the rotor position is not available for measurement.
• LPF low-pass filters
• Equations (33), (34) and (35) define the error in estimating the position, speed and acceleration between equations (30) - (31) - (32) and the observer (21 ) - (22) - (23)
• K q Max (
• K w Max (
• the method according to the invention ensures the convergence of the error of estimation error of the position, the speed and the acceleration (36) - (37) - (38) to zero in finite time.

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• Engineering & Computer Science (AREA)
• Power Engineering (AREA)
• Control Of Motors That Do Not Use Commutators (AREA)
• Control Of Ac Motors In General (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=63312162

Family Applications (1)

Country Status (4)

Cited By (1)

Family Cites Families (10)

• 2018
  • 2018-07-16 FR FR1856535A patent/FR3083863B1/fr active Active
• 2019
  • 2019-07-02 CN CN201980047989.2A patent/CN112425062A/zh active Pending
  • 2019-07-02 WO PCT/EP2019/067754 patent/WO2020016002A1/fr unknown
  • 2019-07-02 EP EP19733828.8A patent/EP3824541A1/fr not_active Withdrawn

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