WO2017020903A1 - Method for the time-discrete controlling of an electronically commutated electric motor - Google Patents
Method for the time-discrete controlling of an electronically commutated electric motor Download PDFInfo
- Publication number
- WO2017020903A1 WO2017020903A1 PCT/DE2016/200333 DE2016200333W WO2017020903A1 WO 2017020903 A1 WO2017020903 A1 WO 2017020903A1 DE 2016200333 W DE2016200333 W DE 2016200333W WO 2017020903 A1 WO2017020903 A1 WO 2017020903A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- modulation
- control
- time
- detected
- modulation cycle
- Prior art date
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the invention relates to methods for discrete-time control of an electronically commutated electric motor, in particular an electric drive motor of a motor vehicle, using a time-discrete space vector modulation.
- DE 10 201 1 086 583 A1 discloses a method for testing a commutation quality of an electronically commutated electric motor having a plurality of phases in a drive system of a motor vehicle, in particular in a hydraulic actuation system of a friction clutch, with a rotor whose rotation angle is determined by an absolute measuring element Rotor position sensor is monitored, wherein the electric motor is controlled independently of a, detected by the rotor position sensor rotation angle, a actually covered rotation angle of the rotor is determined by the rotor position sensor and then the actually covered angle of rotation is compared with a, spanned by a predetermined rotation angle rotation angle range , wherein the electric motor has a sufficient Kommutéessgüte when the actually covered angle of rotation is in the rotation angle range.
- the invention has for its object to improve a method mentioned above.
- the object is achieved with a method for discrete-time control of an electronically commutated electric motor, in particular an electric drive motor of a motor vehicle, using a time-discrete space vector modulation, wherein at least one controlled variable is detected at the beginning of a modulation cycle.
- the method can be used to control a commutation of the electric motor.
- the electric motor may be a synchronous motor.
- the electric motor can be used to drive a motor vehicle.
- the motor vehicle may be an electric vehicle.
- the motor vehicle may be a hybrid electric vehicle.
- the electric motor may be a brushless DC motor.
- the electric motor can be used to drive a hy- Serve drostatician Kupplungsaktuators.
- the clutch actuator may serve to actuate a friction clutch.
- the friction clutch may be for placement in an automotive powertrain.
- the electric motor can be used to drive an actuator of an electromechanical roll stabilization.
- the electric motor can be used to drive a transmission actuator.
- the electric motor may have a rotor.
- the rotor may have at least one permanent magnet.
- the electric motor may have a stator.
- the stator may have coils. The coils can be electronically offset in time to form a rotating field, which causes a torque on the permanent-magnet rotor.
- the electric motor can rotate synchronously during operation to an alternating voltage.
- the electric motor may have pole pairs. A speed of the electric motor can be linked via the number of pole pairs with a frequency of the AC voltage.
- the electric motor can serve a power converter.
- the electric motor can be commutated by means of a field-oriented control.
- the electric motor can be commutated by means of a space vector modulation.
- the space vector modulation can be realized using a microcontroller or digital signal processor.
- the space vector modulation can be realized software and / or hardware-based.
- the space vector modulation can be used to determine pulse patterns.
- At least one rule process can be executed for the purpose of regulation.
- the at least one control process can have one or more measuring and / or regulating steps. A sequence of several or all measurement and / or control steps of a control process can be called a measurement or control task.
- the at least one control process can be carried out in whole or in part periodically.
- Discrete-time rules can be rules using successive time steps.
- the time steps may each have a predetermined duration.
- the time steps can each have the same duration.
- An execution of a control process can be completed within a time step.
- An execution of a control process can extend over several time steps.
- the control frequency specifies how fast successive control processes are executed.
- At least one controlled variable can be detected.
- a controlled variable can be detected by means of a measuring element.
- a controlled variable can also be called an actual value.
- a controlled variable can be a phase current.
- a controlled variable can be a rotor position.
- a controlled variable can be compared with at least one reference variable.
- a reference variable can also be referred to as a nominal value.
- At least one control difference can be determined.
- a control difference can be a difference between a controlled variable and a reference variable.
- a control difference can be supplied to at least one controller.
- a controller can form at least one manipulated variable.
- a manipulated variable can be supplied to at least one controlled system.
- At least one disturbance variable can act on a controlled system.
- a rule can serve to minimize a rule difference.
- the modulation method can be used for commutating the electric motor.
- the modulation method may be a pulse width modulation method or based on a pulse width modulation method.
- the time discrete modulation method may be a modulation method using successive time steps. The time steps may each have a predetermined duration. The time steps can each have the same duration.
- the modulation frequency indicates at which clock frequency the modulation process is performed.
- a duty cycle can be modulated.
- a duty cycle of a rectangular pulse can be modulated.
- a modulation can result in a pulse pattern.
- a pulse pattern may include modulation cycles.
- the modulation cycles can each be repeated periodically in succession.
- the modulation method may be a space vector modulation method.
- Space vector modulation can be used to electronically simulate a multi-phase AC system.
- a flux density distribution in the electric motor can be specified.
- For predetermined alignment of a flux density distribution in the electric motor can serve voltage space pointer.
- a space pointer can be two sizes, an angle and an amount or real and
- At least one voltage space pointer may be a zero voltage space vector.
- the voltage space pointers can be applied repeatedly one after the other periodically.
- At least one controlled variable can be brought forward. At least one controlled variable can be detected at the beginning of a modulation cycle in a zero voltage space indicator. This completes a process of a rule process before a subsequent process of the control process is triggered. An effect and calculation of measured variables can thus still come to fruition in the same control interval. At least one controlled variable can be detected both at the beginning of a modulation cycle and in the middle of a modulation cycle. At least one controlled variable can be detected both at the beginning of a modulation cycle in a zero voltage space vector and in the middle of a modulation cycle in a zero voltage space vector. This allows a pulse pattern to be calculated with more recent values.
- a control process can start synchronously with the space vector modulation.
- a control process can start synchronously with a modulation cycle.
- a control process can start with at least one control variable value present up to this point in time.
- Pulse patterns can be determined with at least one updated control variable value.
- a current can only be detected once per modulation cycle.
- a current can be detected at the beginning of a modulation cycle.
- a current can be detected in the middle of a modulation cycle.
- a current can be detected twice per modulation cycle.
- a current can be detected both at the beginning of a modulation cycle and in the middle of a modulation cycle.
- a momentary noise can be reduced by using a filter.
- a rotor position can only be detected once per modulation cycle.
- a rotor position can be detected at the beginning of a modulation cycle.
- a rotor position can be detected in the middle of a modulation cycle.
- a rotor position can be detected twice per modulation cycle.
- a rotor position can be detected both at the beginning of a modulation cycle and in the middle of a modulation cycle.
- a rotor position can be determined predicatively.
- a latency is a time between a detection of at least one measured variable and an effectiveness of the acquired measured variable or a result based thereon.
- Latency can be reduced by presenting a measurement time.
- PWM-center-symmetric current and position measurement can be extended by measuring at the beginning of a PWM cycle in a zero vector. As a result, the time amount of half a PWM period can be saved. A rule task can then have sufficient computing time available to calculate setpoints up to the beginning of the next interval. For example, a latency of 150 s can be reduced to 100 s if one current and one rotor position are measured in another zero vector and processed immediately.
- a latency can be reduced by using current or position values of different current time recording.
- Current and rotor position can be measured in both zero vectors (to the beginning and to the middle).
- a control can start synchronously with the PWM based on the values available up to this point in time.
- a calculation of the pulse pattern by a space vector modulation can then take place on the basis of a newly determined rotor position. For example, it is thus still possible to determine the control outputs for 100 s old information, but the pulse pattern can be calculated from an angle signal which is only 50 s old.
- a time 2 can be dispensed with current information. However, it is positively beneficial to the quality of the current signal if more measurement data is available. A simple filter can be used to reduce the resulting instantaneous noise.
- a rotor position signal at a time 1 may be required since a rotor position angle detected at the same time as the currents is required for a transformation. This can at most be determined by a prediction based on a speed behavior. Tasks for PWM, current / rotor position detection and controllers can be called up by very fast trigger signals. For example, calls can be made at approx. 20kHz. FPGA-based technologies can be used and offer speed advantages.
- Scheduling can be separated, ie individual tasks can not be triggered automatically after the completion of the previous task, but can be called up separately. This allows a shift within PWM periods.
- a measurement of current and rotor position can be set to react either to each, or every second trigger.
- a PWM generation can be triggered every 2nd trigger time.
- PWM patterns of 20kHz and 10kHz, 6.66kHz, 5kHz and more can be set.
- a rule task can be invoked with each interrupt to process measured data, but alternately invoke a loop (FOC) or space pointer modulation (SVPWM) only every other time.
- FOC loop
- SVPWM space pointer modulation
- optional features of the invention are referred to as "may.” Accordingly, there is one embodiment of the invention having the respective feature or features, and the invention improves control performance., Increases a latency , which are determined in a time step from the at least one controlled variable in a control process, come into effect in the same time step Torque fluctuations are reduced Mechanical excitations are reduced A noise is reduced Losses are reduced.
- 1 shows a field-controlled control of an electronically commutated electric motor operated with space vector modulation, wherein a measurement task is carried out at the beginning of a modulation cycle in a zero voltage space vector
- a field-oriented control of an electronically commutated electric motor operated by space vector modulation wherein a measurement task occurs both at the beginning of a modulation cycle in a zero voltage space vector as well as in the middle of a modulation cycle in a zero voltage space vector.
- FIG. 1 shows a field-oriented control of an electronically commutated electric motor operated with space vector modulation, wherein a measurement task 1 18 is carried out at the beginning of a modulation cycle 102 in a zero voltage space vector.
- FIG. 1 shows in a diagram 100 a time sequence with modulation cycles 102.
- the modulation cycles 102 each have the same duration and then periodically start each other.
- the first modulation cycle 102 starts at time t 0
- the following modulation cycle 102 starts with the end of the preceding modulation cycle 102 at time t 2 , U, etc.
- the times ti, t 3 , etc. mark each one center of the modulation cycles 102.
- At the times t 0 , t 1 , t 2 , t 3 , t etc. are applied to zero-voltage space pointers.
- the times t 0 , t 1 , t 2 , t 3 , t, etc. can serve as triggers.
- a control process 104 comprises a plurality of control steps 106, 108, 110, 112, 114, 16.
- the control steps 106, 108, 110 form a measurement task 1 18.
- the measurement task 1 18 is carried out in a substantially hardware-based manner.
- the rule steps 1 12, 1 14, 1 16 form a rule task 120.
- the rule task 120 is executed essentially software-based.
- 122 denotes a pulse width signal.
- the pulse width signal 122 alternates between two values at a modulation frequency. This results in a pulse pattern or
- the duty cycle gives for the periodic sequence of the impulses of the Pulse width signal 122, the ratio of pulse duration to period duration.
- the duty cycle is modulated. In the present case, a modulation cycle lasts 100 ps, a high value 124 of the pulse width signal 122 is present for 80 s.
- the control process 104 is periodically executed repeatedly at a control frequency. At time t 0 , the control process 104 is triggered in a trigger point 126.
- the measurement task 118 is performed at the beginning of a modulation cycle in a zero voltage space vector. At the end of the measurement task 1 18, the rule task 120 is triggered.
- FIG. 2 shows a field-oriented control of a space vector modulated electronically commutated electric motor wherein a measurement task 218 is performed both at the beginning of a modulation cycle 202 in a zero voltage space vector and in the middle of a modulation cycle 202 in a zero voltage space vector.
- FIG. 2 shows in a diagram 200 a time sequence with modulation cycles 202.
- a control process 204 comprises a plurality of control steps 206, 208, 210, 21 1, 214, 216, 218.
- the control steps 206, 208, 210 form a measurement task 220.
- the control processes 21 1, 214, 216, 218 form a control task 212.
- the control process 204 is periodically executed repeatedly at a control frequency. At time t 0 , the control process 204 is triggered in a trigger point 224.
- the measurement task 220 is executed at the beginning of a modulation cycle 202 in a zero voltage space vector.
- the rule task 212 is triggered.
- the following rule process 204 is triggered at a trigger point 226 at time ti. This following control process 204 is performed in the middle of a modulation cycle 202 in a zero voltage space vector. In the present case, the control process 204 is executed twice within a modulation cycle 202.
- the execution of the control processes 204 starts at the times t 0 , t 1 , t 2 , t 3 , etc.
- measured signals are processed in the measurement task 220.
- This data is transformed into a rotor-based dq coordinate system by means of the Park-Clarke transformation (212).
- the generated torque and flux-forming current components Id and Iq are calculated and serve as measured variables for a current control.
- Output variables of this regulation are motor voltages Ud and Uq in the same coordinate system (212).
- the current angle is read in again (221). Based on the currently determined rotor position, the required switch positions of an output stage are then determined from these voltages (Ud, Uq) using the space vector modulation (216, 218).
- the control step 214 contains a control loop.
- the control step 214 is executed only with every second control process 204.
- the control steps 216, 218 a space vector modulation takes place.
- the control steps 216, 218 are also executed only with every second control process 205.
- the control step 214 and the control steps 216, 218 are executed alternately with the control processes 204/205.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112016003521.7T DE112016003521A5 (en) | 2015-08-05 | 2016-07-21 | Method for discrete-time control of an electronically commutated electric motor |
KR1020187003076A KR20180034462A (en) | 2015-08-05 | 2016-07-21 | Time-Divided Control Method of Electric Rectified Motor |
CN201680042100.8A CN107852121A (en) | 2015-08-05 | 2016-07-21 | Method for the time-discrete regulation of an electronically commutated electric motor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015214961.7A DE102015214961A1 (en) | 2015-08-05 | 2015-08-05 | Method for discrete-time control of an electronically commutated electric motor |
DE102015214961.7 | 2015-08-05 |
Publications (1)
Publication Number | Publication Date |
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WO2017020903A1 true WO2017020903A1 (en) | 2017-02-09 |
Family
ID=56740728
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2016/200333 WO2017020903A1 (en) | 2015-08-05 | 2016-07-21 | Method for the time-discrete controlling of an electronically commutated electric motor |
Country Status (4)
Country | Link |
---|---|
KR (1) | KR20180034462A (en) |
CN (1) | CN107852121A (en) |
DE (2) | DE102015214961A1 (en) |
WO (1) | WO2017020903A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113098349B (en) * | 2021-04-28 | 2022-06-21 | 杭州电子科技大学 | Discrete space vector modulation permanent magnet synchronous motor model prediction control method |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050206341A1 (en) * | 2002-03-28 | 2005-09-22 | Yin Ho Eddy Y | Motor current reconstruction via DC bus current measurement |
US20050226607A1 (en) * | 2002-06-07 | 2005-10-13 | Williams Connel B | Motor drive control with a single current sensor using space vector technique |
DE102007026920A1 (en) * | 2006-06-13 | 2007-12-20 | Denso Corp., Kariya | Permanent magnet synchronous motor control device, has rotor magnetic pole position estimation section estimating rotating position of rotor of synchronous motor as rotor magnetic pole position based on detected current changing rate |
DE102006052042A1 (en) * | 2006-10-30 | 2008-05-15 | Bombardier Transportation Gmbh | Control and / or regulation of a 3-phase power converter for the operation of an asynchronous machine |
DE102008018950A1 (en) * | 2007-04-18 | 2008-11-20 | GM Global Technology Operations, Inc., Detroit | Method and system for pulse position planning in electric drives |
DE102011086583A1 (en) | 2011-11-17 | 2013-05-23 | Schaeffler Technologies AG & Co. KG | Method for testing commutation quality of electronic commutated electromotor in hydraulic actuating system of friction clutch of motor car, involves comparing actual distance covered rotational angle with spanned rotation angle |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100638866B1 (en) * | 2002-03-28 | 2006-10-26 | 인터내쇼널 렉티파이어 코포레이션 | Motor current reconstruction via dc bus current measurement |
-
2015
- 2015-08-05 DE DE102015214961.7A patent/DE102015214961A1/en not_active Withdrawn
-
2016
- 2016-07-21 DE DE112016003521.7T patent/DE112016003521A5/en active Pending
- 2016-07-21 CN CN201680042100.8A patent/CN107852121A/en active Pending
- 2016-07-21 WO PCT/DE2016/200333 patent/WO2017020903A1/en active Application Filing
- 2016-07-21 KR KR1020187003076A patent/KR20180034462A/en active IP Right Grant
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050206341A1 (en) * | 2002-03-28 | 2005-09-22 | Yin Ho Eddy Y | Motor current reconstruction via DC bus current measurement |
US20050226607A1 (en) * | 2002-06-07 | 2005-10-13 | Williams Connel B | Motor drive control with a single current sensor using space vector technique |
DE102007026920A1 (en) * | 2006-06-13 | 2007-12-20 | Denso Corp., Kariya | Permanent magnet synchronous motor control device, has rotor magnetic pole position estimation section estimating rotating position of rotor of synchronous motor as rotor magnetic pole position based on detected current changing rate |
DE102006052042A1 (en) * | 2006-10-30 | 2008-05-15 | Bombardier Transportation Gmbh | Control and / or regulation of a 3-phase power converter for the operation of an asynchronous machine |
DE102008018950A1 (en) * | 2007-04-18 | 2008-11-20 | GM Global Technology Operations, Inc., Detroit | Method and system for pulse position planning in electric drives |
DE102011086583A1 (en) | 2011-11-17 | 2013-05-23 | Schaeffler Technologies AG & Co. KG | Method for testing commutation quality of electronic commutated electromotor in hydraulic actuating system of friction clutch of motor car, involves comparing actual distance covered rotational angle with spanned rotation angle |
Also Published As
Publication number | Publication date |
---|---|
DE112016003521A5 (en) | 2018-04-19 |
DE102015214961A1 (en) | 2017-02-09 |
CN107852121A (en) | 2018-03-27 |
KR20180034462A (en) | 2018-04-04 |
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