WO2012097782A2 - Vorrichtung zur ermittlung der rotordrehposition einer elektrischen maschine - Google Patents
Vorrichtung zur ermittlung der rotordrehposition einer elektrischen maschine Download PDFInfo
- Publication number
- WO2012097782A2 WO2012097782A2 PCT/DE2011/075283 DE2011075283W WO2012097782A2 WO 2012097782 A2 WO2012097782 A2 WO 2012097782A2 DE 2011075283 W DE2011075283 W DE 2011075283W WO 2012097782 A2 WO2012097782 A2 WO 2012097782A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotor
- phase
- phase strands
- signals
- strands
- Prior art date
Links
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
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- 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
Definitions
- the invention relates to a device for determining the position of the rotor of an electric machine with respect to the stator, the machine comprising a plurality of phase strands, each having at least one pole winding with a magnetizable core, with means for detecting measurement signals which are characterized by the instantaneous magnetization degrees of the pole winding cores influenced by the rotational position of the magnetic field of the rotor.
- the invention has for its object to provide a new device of the type mentioned above, which allows a determination of the rotational position of the rotor with increased accuracy.
- the device according to the invention which achieves this object is characterized in that the said devices are further adapted for detecting the currents in the phase strands and for determining the rotational position of the rotor from the are provided taking into account a contribution of Phasenstrang- currents to the magnetization degrees of the Polwicklungskerne.
- the present invention takes into account the influence of the respective phase phase currents on the magnetization levels of the pole winding cores, so that even when the magnetic field generated by the phase phase currents plays a significant role in addition to the magnetic field of the rotor for the magnetizations of the cores, precise rotational position determination is carried out can.
- representative measurement signals are determined for the instantaneous inductances of the phase strands.
- Machine enforcing total magnetic flux is over a half magnetic period a unique, predeterminable relationship, so that from the measurement signals can be made a conclusion to the magnetic flux vector.
- the current measurement according to the invention allows a determination of the proportion of the total flux generated by the phase phase currents.
- the vectorial difference between the total flux and the fraction generated by the phase strand currents gives the magnetic flux vector of the rotor. If the magnetic flux vector of the rotor is known, the rotational position of the rotor is also known.
- a device for energizing the phase strands is additionally provided in addition to the operating current generating the torque, emphasizing the signals by increasing the degree of magnetization of the cores.
- the invention not only takes into account the influence of the current supply on the measurement signals but further increases the accuracy of the position determination by targeted additional energization.
- the current increases the magnetization levels of the pole winding cores, which leads to larger measurement signals, which are more pronounced than interference signals.
- the energizing device for additional energization is preferably provided for changing a vector component, parallel to the vector component of the rotor, on the magnetic flux of the magnetic flux generated by the phase-strand currents.
- this results in no change in engine torque.
- the additional current only leads to a highlighting of the measurement signals.
- the phase strands are at least partially connected in the star and the means for detecting the measurement signals are provided for evaluating the potential at the neutral point.
- the means for detecting the measurement signals for tapping potential changes, in particular at the star point are provided which are generated by applied to the phase strands voltage pulses.
- the signal detection devices detect measurement signals which are connected to successive voltage pulses applied to the phase strands, wherein the pulses are time-offset by a short time interval ⁇ t in which the position of the rotor practically does not change.
- Pulses which serve to energize the electric machine according to the pulse width modulation method can also be used as measuring pulses, the DC voltage of a battery being cyclically applied to the electric machine in pulses.
- Fig. 1 is a schematic representation of an electrical machine with a
- Fig. 2 is a schematic sectional view of the electric machine of
- Fig. 3 shows the application of measuring pulses to the electric machine of
- Fig. 4 is a tapping of signals at the neutral point of the electrical
- FIG. 5 is an illustration for explaining an additional, measuring signals emphasizing energization of the electric machine of Fig. 1 and 2.
- FIGS. 1 and 2 An electric machine shown schematically in FIGS. 1 and 2 has three phase strands 1, 2, 3 connected in a star, each having a pole winding 4 on a stator 9.
- the electric machine comprises an outer rotor 5 with permanent magnets 6, 7 which form a north and a south pole.
- Axes 8 of the pole windings 4 stand each other at an angle of 1 20 °.
- the pole windings are each filled by an iron core 10.
- the electrical machine could be multipolar and more than one pole winding per phase strand and instead of a single magnetic period having multiple magnetic periods, each with a north and south pole.
- the number of phase strands could be greater or less than three.
- an interconnection in the triangle would also be possible.
- the power supply of the electrical machine is a power switching device 1 1, which applies the DC voltage UB of a battery 1 2 pulse wise according to the pulse width modulation method (PWM method) to the phase strands 1, 2.3.
- the power switching device 1 1 is in connection with a control circuit 1 3, the u.a. the energization of the electric machine by the
- Power switching device 1 1 controls.
- a signal detection device 1 4 is connected to the neutral point 1 6 and the control circuit 1 3. About also connected to the control circuit current measuring devices 1 7, 1 8, 1 9 can currents h, l2, l3 in the phase strands 1, 2.3 determine.
- outer rotor 5 passes through the magnetic field of the outer rotor 5, the iron-filled pole windings 4 of the stator 9 to varying degrees.
- the flux densities BMI, BM2 and BM3 generated in the pole windings 4 filled with iron are correspondingly different.
- the magnetization degrees caused by the magnetic field of the outer rotor 5 each depend on half a magnetic period, ie a rotation angle range of 1 80 °, clearly from the rotational position of the outer rotor 5 from.
- a rotation angle range of 1 80 ° clearly from the rotational position of the outer rotor 5 from.
- the pulse duration and the time interval At are so small that the rotational position of the outer rotor 5 practically does not change during this time. Also unchanged during this short periods in the phase strands 1, 2.3 flowing currents h, l2, l3 and induced by rotation of the outer rotor 5 in the phase strands voltages.
- the instantaneous inductances Li, L2, L3 of the phase strands 1, 2, 3 are decisive for the fall of the pulse voltage UB across the phase strands 1, 2, 3, into which the degrees of magnetization dBmi / dB, dE / dB and dBm3 / dB as a factor the respective iron cores 1 0 of the pole windings 4 go.
- the voltage UB of the pulse 20 applied at the instant t.sub.i drops, as shown in FIG. 4a, over the phase strand 1 and a parallel circuit connected thereto in series from the phase strands 2 and 3.
- For the voltage divider ratio applies
- Usi / UB L.2 x L 3 / (L, x L 3 + L, x L 2 + L 2 xb) (1), where Usi denotes the potential at the star point 1 6.
- phase string 1 at time ti thus triggers a pulse of magnitude Usi at star point 1 6, which may be superimposed on a comparatively slowly changing voltage value generated by induction.
- the pulse height Usi each have a hal be magnetic period a unique function of the rotation angle a of the outer rotor 5, the functional change of the signal Usi corresponds to the angle a about a sine function.
- signals Us2 and Us3 which are generated by the voltage pulses applied to phase strands 2 and 3 at times h and ⁇ 3, the same applies.
- the signals Usi, Us2 and Us3 are shifted relative to each other by a phase angle of 1 20 °.
- the respective rotational position of the rotor can be determined, as described in the here incorporated DE 1 0 2006 046 637 AI.
- Signals Usi, Us2 and Us3 do not directly determine the rotational position of the outer rotor 5. In the latter case, in which the operating currents are also received in the signals Usi, Us2 and Us3 determined at the neutral point 1 6, these signals nevertheless have a clear relationship to the vector of the magnetic flux ⁇ , which is the electric machine, within a half-magnetic period interspersed and composed of the vector sum of the magnetic fluxes of the three mutually at an angle of 1 20 ° standing pole windings 4.
- the vectorial component of the magnetic flux ⁇ ⁇ of the stator 9 on the total magnetic flux ⁇ can be determined from the currents h, l2, l3, which can be determined with the aid of the current measuring devices 1 7 to 1 9.
- the vector component of the magnetic flux ⁇ ⁇ of the rotor 5 on the total magnetic flux ⁇ then results from the vectorial difference between the magnetic flux ⁇ and the stator component ⁇ 8 :
- the rotational position of the outer rotor 5 is also known.
- the signals Usi-UB / 3 resulting at the neutral point 1 6 are small if the inductances L from phase strand to phase strand differ only slightly, which is the case for weak magnets of the outer rotor 5, small operating currents I i, 12, or / and large air gap may be the case. However, by additional energization of the electrical machine, the signals can be increased by increasing the magnetization levels dBM / dB. The signals determined at the star point are then less susceptible to interference.
- the additional energization is expediently such that the motor torque does not change as a result of this energization. This can be achieved by only a portion ⁇ s P of the stator flux (.) S parallel to the rotor flux .RELTA.R being changed by the energization, as FIG. 5 explains.
- the cross product ⁇ sx ⁇ R is decisive for the magnitude of the engine torque. If the additional energization of the electric machine leads to a stator flux ⁇ s2, which results only as the sum of the original stator flux ⁇ and the portion ⁇ s P parallel to the rotor flux, then the torque does not change.
- the additional stator flux ⁇ s P which is parallel to the rotor flux .RELTA.R, advantageously contributes to the highlighting of the measurement signals.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Eletrric Generators (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201180056535.5A CN103270687B (zh) | 2010-11-24 | 2011-11-23 | 用于测定电机的转子旋转角位的设备 |
US13/885,836 US10161735B2 (en) | 2010-11-24 | 2011-11-23 | Apparatus for determining the angular position of the rotor of an electric machine |
EP11856380.8A EP2643928B1 (de) | 2010-11-24 | 2011-11-23 | Vorrichtung zur ermittlung der rotordrehposition einer elektrischen maschine |
DE112011101577T DE112011101577A5 (de) | 2010-11-24 | 2011-11-23 | Vorrichtung zur Ermittlung der Rotordrehposition einer elektrischen Maschine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010052799.8 | 2010-11-24 | ||
DE102010052799A DE102010052799A1 (de) | 2010-11-24 | 2010-11-24 | Vorrichtung zur Ermittlung der Rotordrehposition einer elektrischen Maschine |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2012097782A2 true WO2012097782A2 (de) | 2012-07-26 |
WO2012097782A3 WO2012097782A3 (de) | 2013-06-06 |
Family
ID=46021308
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2011/075283 WO2012097782A2 (de) | 2010-11-24 | 2011-11-23 | Vorrichtung zur ermittlung der rotordrehposition einer elektrischen maschine |
Country Status (5)
Country | Link |
---|---|
US (1) | US10161735B2 (de) |
EP (1) | EP2643928B1 (de) |
CN (1) | CN103270687B (de) |
DE (2) | DE102010052799A1 (de) |
WO (1) | WO2012097782A2 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2763077T3 (es) * | 2015-08-28 | 2020-05-27 | Reliance Worldwide Corp | Configuración y calibración de medidor de flujo |
DE102017100515A1 (de) * | 2017-01-12 | 2018-07-12 | Rolf Strothmann | Verfahren zur Bestimmung der Drehwinkelposition des Rotors einer mehrphasigen elektrischen Maschine |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992001331A1 (de) | 1990-07-13 | 1992-01-23 | Elin Energieanwendung Gesellschaft M.B.H. | Verfahren und schaltungsanordnung zur sensorlosen drehwinkelerfassung einer dämpferlosen, vorzugsweise permanentmagneterregten, über einen stromrichter gespeisten synchronmaschine |
DE10220122A1 (de) | 2001-05-30 | 2002-12-19 | Continental Teves Ag & Co Ohg | Verfahren und Schaltungsanordnung zur sensorlosen, elektrischen Rotorlagemessung einer permanent erregten Synchronmaschine |
DE102006046637A1 (de) | 2005-12-15 | 2007-06-21 | Strothmann, Rolf, Dr.rer.nat. | Vorrichtung zur Gewinnung von Informationen über den Betriebszustand elektrischer Maschinen |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5196211B2 (ja) * | 2005-09-22 | 2013-05-15 | 株式会社ジェイテクト | 車両用操舵装置 |
DE102006046638A1 (de) * | 2005-12-15 | 2007-06-21 | Strothmann, Rolf, Dr.rer.nat. | Vorrichtung und Verfahren zur Ermittlung der Drehlage des Rotors einer elektrischen Maschine |
GB0808342D0 (en) * | 2008-05-08 | 2008-06-18 | Trw Ltd | Position sensorless motor control |
DE102009039672B4 (de) * | 2009-09-02 | 2024-03-07 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zur Bestimmung der Rotorlage einer feldorientiert betriebenen Synchronmaschine |
-
2010
- 2010-11-24 DE DE102010052799A patent/DE102010052799A1/de not_active Withdrawn
-
2011
- 2011-11-23 EP EP11856380.8A patent/EP2643928B1/de not_active Not-in-force
- 2011-11-23 WO PCT/DE2011/075283 patent/WO2012097782A2/de active Application Filing
- 2011-11-23 DE DE112011101577T patent/DE112011101577A5/de not_active Withdrawn
- 2011-11-23 CN CN201180056535.5A patent/CN103270687B/zh not_active Expired - Fee Related
- 2011-11-23 US US13/885,836 patent/US10161735B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992001331A1 (de) | 1990-07-13 | 1992-01-23 | Elin Energieanwendung Gesellschaft M.B.H. | Verfahren und schaltungsanordnung zur sensorlosen drehwinkelerfassung einer dämpferlosen, vorzugsweise permanentmagneterregten, über einen stromrichter gespeisten synchronmaschine |
DE10220122A1 (de) | 2001-05-30 | 2002-12-19 | Continental Teves Ag & Co Ohg | Verfahren und Schaltungsanordnung zur sensorlosen, elektrischen Rotorlagemessung einer permanent erregten Synchronmaschine |
DE102006046637A1 (de) | 2005-12-15 | 2007-06-21 | Strothmann, Rolf, Dr.rer.nat. | Vorrichtung zur Gewinnung von Informationen über den Betriebszustand elektrischer Maschinen |
Also Published As
Publication number | Publication date |
---|---|
EP2643928B1 (de) | 2017-10-18 |
CN103270687B (zh) | 2016-06-08 |
EP2643928A2 (de) | 2013-10-02 |
DE102010052799A1 (de) | 2012-05-24 |
WO2012097782A3 (de) | 2013-06-06 |
US20130245994A1 (en) | 2013-09-19 |
DE112011101577A5 (de) | 2013-02-21 |
US10161735B2 (en) | 2018-12-25 |
CN103270687A (zh) | 2013-08-28 |
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