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
  • H02P6/17—Circuit arrangements for detecting position and for generating speed information
• • 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
  • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
  • H02P21/18—Estimation of position or speed
• • 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
• • 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
  • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
  • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
• • 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
  • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
  • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals

Definitions

• the present invention relates to the control of a synchronous machine with permanent magnets.
• the principle is to cut control every ten or twenty pulse width modulation (PWM) periods and to inject a high frequency signal (greater than the bandwidth of the current regulators).
• PWM pulse width modulation
• the ratio of the injected voltage to the variation of the measured current makes it possible to estimate the inductance, and since this depends on the position, the position can be estimated.
• An example is described in J. Kiel, A. Bunte, S. Beineke, "Sensor / ess torque control of permanent magnet synchronous machines over the whole operation rangé", EPEPEMC, TP-053, Dubrovnik & Cavat, September 2002.
• the error on the estimation of the position is initially estimated.
• This error is regulated to zero using a corrector.
• the output of this corrector gives us an estimation of the speed, and by integration we get the estimated position of the rotor.
• the measurement of the currents just after the injection of the HF signal is compared with the current that should have been obtained theoretically if there was no RF signal.
• the methods of the aforementioned first type have the following drawbacks: A direct calculation of the estimated position, it will therefore discontinuities each calculation. As the voltage references are calculated from the position of the rotor, the references will also know discontinuities which will cause torque surges that can be harmful.
• the invention aims to meet this need by proposing a method of controlling a synchronous machine with permanent magnets comprising a stator and a rotor, said method comprising:
• stator voltage setpoints as a function of the second direct voltage set point, the quadrature voltage set point and the estimated rotor position
• step of determining an estimated rotor position comprises:
• control unit for permanent magnet synchronous machine comprising a stator and a rotor, said control unit comprising:
• stator voltage setpoints as a function of the second direct voltage set point, the quadrature voltage set point and the estimated rotor position
• the means for determining an estimated position of the rotor comprises:
• the step of determining a rotational speed of the rotor according to said coupling term may include the implementation of a corrector for canceling the term coupling.
• the predetermined periodic signal is a pulse signal.
• the step of controlling said synchronous machine according to the stator voltage setpoints comprises supplying said stator voltage setpoints to a pulse width modulation inverter having a predetermined period, said second voltage setpoint direct current being equal to the first direct voltage setpoint added with the predetermined periodic signal for one to three periods of the pulse width modulation, every 15 to 25 periods.
• the rotor may be a rotor with salient poles.
• the rotor may also be a smooth-pole rotor, said method comprising a step of saturation of stator teeth facing the poles of the rotor.
• the invention also proposes a control system comprising a control unit according to the invention, an inverter and a synchronous machine.
• the invention also relates to a computer program comprising instructions for performing the steps of a control method according to the invention when said program is executed by a computer.
• This program can use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other form desirable shape.
• the invention also relates to a recording medium or information carrier readable by a computer, and comprising instructions of a computer program as mentioned above.
• the recording media mentioned above can be any entity or device capable of storing the program.
• the medium may comprise storage means, such as a ROM, for example a CD ROM or a microelectronic circuit ROM, or a magnetic recording medium, for example a floppy disk or a disk. hard.
• the recording media may correspond to a transmissible medium such as an electrical or optical signal, which may be conveyed via an electrical or optical cable, by radio or by other means.
• the program according to the invention can be downloaded in particular on an Internet type network.
• the recording media may correspond to an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the method in question.
• FIG. 1 is a diagram of a control system according to one embodiment of the invention
• FIG. 2 represents reference marks relating to the actual and estimated positions of the rotor of the synchronous machine of the system of FIG. 1, and
• FIG. 3 is a diagram of the control system of FIG. 1, in which the operation of the control unit is represented by functional modules.
• FIG. 1 represents a control system of a synchronous machine with permanent magnets according to one embodiment of the invention.
• the system of Figure 1 comprises a unit of command 1, a pulse width modulated inverter 2, and a permanent magnet synchronous machine 3.
• the synchronous machine 3 comprises a rotor carrying permanent magnets and a stator having three-phase windings. Note Vabc three-phase statoric voltages and labc three-phase stator currents.
• the synchronous machine 3 can be characterized by different magnitudes, in particular by its dynamic statoric inductances.
• the synchronous machine 3 is a machine in which the dynamic stator inductors are dependent on the position of the rotor. It can therefore be a synchronous machine with protruding rotor, but also a synchronous machine with a smooth rotor whose stator teeth facing the rotor magnets are either slightly saturated or made slightly saturated by imposing a sufficiently high positive value of the rotor. stator current along the estimated direct axis.
• the structures of such machines are known to those skilled in the art and are therefore not described in detail.
• the inverter 2 supplies the three-phase voltages Vabc for the synchronous machine 3 from a supply voltage (not shown), by modulation in pulse width, as a function of voltage setpoints Vabc * provided by the control unit. control 1.
• the operation of such an inverter 2 is known to those skilled in the art and is therefore not described in detail.
• the control unit 1 determines the three-phase voltage setpoints Vabc * to be supplied to the inverter 2 to control the synchronous machine 3. For this purpose, the control unit 1 estimates the rotor position of the synchronous machine 3 by based on the variation of the stator dynamic inductances as a function of the position of the rotor, as explained below.
• control unit 1 presents the hardware architecture of a computer and comprises a processor 4, a non-volatile memory 5, a volatile memory 6 and an input-output interface 7.
• processor 4 makes it possible to execute computer programs stored in the non-volatile memory 5 by using the volatile memory 6.
• the operation of the control unit 1 described hereinafter results from the execution of such a program.
• the input-output interface 7 makes it possible in particular to obtain the measurement of the currents of the synchronous machine 3 and supply the voltage setpoints Vabc * to the inverter 2.
• control unit 1 is a digital control device of the DSP card, microcontroller or FPGA type,
• the voltages Vabc can be expressed by a direct voltage Vd and a voltage in quadrature v q in a d, q reference linked to the rotor of the synchronous machine 3.
• the currc currents can be expressed by a direct current i d and a current in quadrature i q in the d, q.
• FIG. 2 represents the d, q and an angle ⁇ which represents the position of the rotor with respect to a reference axis a.
• This function consists of a constant part (the average value) and a variable part whose period is equal to 180 ° electrical, ⁇ depends on the phase considered.
• ⁇ ( ⁇ ) is the rotation matrix defined by
• Equation (3) becomes simpler and becomes:
• the control unit 1 does not have access to the position ⁇ of the rotor and thus determines an estimated position 9.
• ⁇ related to the estimated position ⁇ of the rotor.
• the two marks rotate with respect to the stator at the electrical speed ⁇ for the real reference ( ⁇ is the mechanical speed of the rotor), and ⁇ 5 for the estimated reference ( ⁇ 5 is the estimated mechanical speed of the rotor).
• I d l q " -R s (l q - (l q -l d ) sin 2 ⁇ ) ⁇ ⁇ + (l g - (l q -l d ) * ⁇ ⁇ ⁇ ) - ⁇ ⁇
• FIG. 3 shows the use of this principle in the control unit 1.
• the operation of the control unit 1 is represented in the form of functional modules which can correspond to the execution of a computer program by the processor
• the control unit 1 comprises a current regulator 10, a periodic signal generator 11, an adder module 12, a conversion module 13, a conversion module 14, a determination module 15, a speed estimator 16 and a integrator 17.
• the control unit 1 works in the reference ⁇ , ⁇ estimated and handles in particular the following quantities:
• the current regulator 10 determines the direct voltage setpoint ⁇ ⁇ ⁇ * and the quadrature voltage setpoint v Y * as a function of the direct current i 5 , the quadrature current i Y , the direct current setpoint ⁇ ⁇ * and of the current setpoint in quadrature i Y *.
• the realization of such a current regulator is known to those skilled in the art and is therefore not described in detail.
• the periodic signal generator 11 provides the periodic signal G high frequency.
• “high frequency” is meant a frequency lower than the frequency of the pulse width modulation of the inverter 2 but greater than the cutoff frequency of the current regulators.
• the periodic signal G is a voltage pulse signal.
• the amplitude of these pulses is chosen to be large enough to observe a significant coupling term in equation (13). However, this amplitude must not be too large either to the risk of disrupting the control and increase the losses in the synchronous machine 3. The skilled person is able to perform an appropriate dimensioning from these indications.
• ⁇ ⁇ 2 * is normally equal at ⁇ ⁇ ⁇ * and, every 20 periods of the pulse width modulation of the inverter 2, ⁇ ⁇ 2 * is equal to ⁇ ⁇ ⁇ * + G during one to three periods of the pulse width modulation of the inverter 2.
• the conversion module 13 converts the voltage readings of the reference mark ⁇ , ⁇ estimated at the values of the stator mark abc. In other words, the conversion module 13 determines the stator voltage setpoints Vabc * for the inverter 2, as a function of the forward voltage setpoint ⁇ ⁇ 2 *, the quadrature voltage setpoint v Y * and the estimated position ⁇ of the rotor.
• the realization of such a conversion module is known to those skilled in the art and is therefore not described in detail.
• the conversion module 14 converts the stator current Iabc measured in the synchronous machine 3 into current in the reference ⁇ , y estimated. In other words, the conversion module 14 determines the direct current ⁇ ⁇ and the quadrature current i Y as a function of the stator currents Iabc and the estimated position 9 of the rotor.
• the realization of such a conversion module is known to those skilled in the art and is therefore not described in detail.
• the speed estimator 16 determines the estimated speed ⁇ of the rotor 5 according to the ⁇ ⁇ coupling term. More precisely, it is known that the coupling term ⁇ ⁇ disappears if the error vanishes. The speed estimator 16 will therefore regulate the coupling ⁇ ⁇ to zero using a corrector. The output of this corrector will provide an estimate of the speed. Indeed, depending on the sign of the coupling, it is possible to know if the estimated mark is ahead or behind the actual mark. The corrector will therefore increase the estimated speed or, on the contrary, slow it down, in order to make the two marks coincide.
• the corrector used is for example a Corrector proportional-integral (PI), particularly interesting from the point of view of the calculation time. However, it is also possible to use other types of corrector.
• the PI corrector will be of the form:
• ⁇ 0 and T are the parameters of the estimator determining the convergence of the estimate and its dynamics.
• the integrator 17 determines the estimated position 9 of the rotor by integrating the estimated speed Q s :
• the estimated position 9- provided by the integrator 17 is used in particular by the conversion modules 13 and 14, as previously described.
• the determination of the estimated position 9 made by the control unit 1 has several advantages. ; -
• the injection of voltage pulses is in the ⁇ axis and not in the ⁇ axis.
• the axis ⁇ merges with the axis d and thus the torque produced by the currents resulting from the pulses becomes negligible and does not disturb the control of the synchronous machine 3.
• the component d of the stator current caused by these pulses participates in the saturation of the magnetic circuit and thus increases the saliency and facilitate convergence.
• the estimation process is simple and light and is therefore accompanied by a reduced calculation time.
• the invention is particularly suitable for avionics applications such as flight control, braking system, landing gear output or any system using electric actuators equipped with synchronous permanent magnet motors, for which it is imperative to be able to make control in position and thus ensure a couple even when stopped.
• the periodic signal G is a pulse signal.
• the periodic signal G is a high frequency sinusoidal signal.
• the current response to the injected sinusoidal voltages then gives an estimate of the inductances ⁇ ⁇ , l Y as well as the mutual m 5v (see relation (10)).
• the latter being the image of the estimation error ⁇ p, it can be corrected by the estimation module 16 to a zero value.
• This solution is more difficult to implement than that based on a periodic signal G composed of pulses. Indeed, unlike a pulse, it is not easy to inject using the inverter 2 (whose switching frequency is fixed by the pulse width modulation) a signal whose frequency must be much greater than the electrical frequency of the control signals so as not to disturb the regulation. In addition, in order to process current responses obtained, it will be necessary to use a bandpass filter centered on the frequency of the injected signal.

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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)

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• 2012
  • 2012-01-31 FR FR1250888A patent/FR2986389B1/fr active Active
• 2013
  • 2013-01-21 JP JP2014555285A patent/JP2015509357A/ja active Pending
  • 2013-01-21 WO PCT/FR2013/050123 patent/WO2013114021A1/fr not_active Ceased
  • 2013-01-21 RU RU2014135334A patent/RU2014135334A/ru not_active Application Discontinuation
  • 2013-01-21 US US14/374,605 patent/US9184682B2/en active Active
  • 2013-01-21 CA CA2861954A patent/CA2861954C/fr active Active
  • 2013-01-21 BR BR112014018174-8A patent/BR112014018174B1/pt active IP Right Grant
  • 2013-01-21 CN CN201380007468.7A patent/CN104094517B/zh active Active
  • 2013-01-21 EP EP13704181.0A patent/EP2810367A1/fr not_active Withdrawn

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