WO2019120380A1 - Procédé et dispositif de régulation d'une machine dynamoélectrique - Google Patents

Procédé et dispositif de régulation d'une machine dynamoélectrique Download PDF

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Publication number
WO2019120380A1
WO2019120380A1 PCT/DE2018/101013 DE2018101013W WO2019120380A1 WO 2019120380 A1 WO2019120380 A1 WO 2019120380A1 DE 2018101013 W DE2018101013 W DE 2018101013W WO 2019120380 A1 WO2019120380 A1 WO 2019120380A1
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WIPO (PCT)
Prior art keywords
harmonic
machine
vector
coordinate system
manipulated variable
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PCT/DE2018/101013
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German (de)
English (en)
Inventor
Arkady Pankevich
Original Assignee
Schaeffler Technologies AG & Co. KG
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Publication of WO2019120380A1 publication Critical patent/WO2019120380A1/fr

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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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage

Definitions

  • the invention relates to a method and a device for controlling a dynamo electric machine, in particular for controlling a permanent-magnet synchronous machine.
  • the invention can i.a. are used for electric drive systems in an industrial environment as well as for electrically driven vehicles.
  • an application for rail vehicles for example, is also advantageous.
  • This control concept is based on a transformation of the three-phase alternating variables into a two-axis coordinate system, which rotates synchronously with the rotor flux of the machine.
  • d / q coordinate system for example, the three phase currents of the stator winding iu, iv, iw represented by a 2-dimensional current vector with the components i q and id.
  • the original alternating quantities iu, iv, iw are mapped to DCs i q , id as a consequence of the coordinate system rotating synchronously with the rotor flux.
  • the q-component of the current represents the torque-forming component of the machine analogously to the armature current of a DC machine.
  • the d-component of the current represents the field-forming component of the machine current and corresponds to the exciter current of a DC machine.
  • the field-oriented control experiences its limits when the air gap flow of the machine deviates greatly from the sinusoidal shape. Such deviations are due to machine geometry and especially in the widespread tooth coil wound usually very pronounced. With these windings, the pronounced teeth of the stator, viewed over the circumference of the air gap, lead to different magnetic conductivities. As a result, harmonics occur in the air gap flux which, in turn, results in reluctance-related cogging moments (so-called cogging). The harmonic components in the air gap flow are undesirable because they usually do not contribute to the torque of the machine but merely increase the iron losses. In addition, cogging adversely affects the acoustic properties of the machine.
  • the flux harmonics induce voltages in the stator windings which, in turn, result in a harmonic content in the phase currents. This results in harmonic components in the phase current with the 5, 7, 13, 17 ... -fold frequency of the fundamental.
  • the above-mentioned current harmonics can as a rule only be eliminated in a very limited frequency range by the methods known from the prior art and based on the field-oriented regulation. From “Robert Michel, compensation of saturation-induced harmonics in the currents of field-oriented synchronous motors, Dissertation Technical University Dresden, 2009 / Chapter 4.2" Although a method is known with which the harmonic components of the q-current and d-current at a machine control based on the field-oriented control.
  • a compensation of the harmonic content in the phase currents leads to lower copper losses in the windings. However, it does not necessarily result in improved acoustic properties of the machine. To improve these, cogging must be avoided. This goal can be achieved by specifically imparting harmonic components to the phase current, which result in a reduction of the harmonic components in the magnetic air gap moment. The amplitude and phase of these harmonic components depend on the operating point of the electrical machine and its properties. From US Pat. No. 8,541,968 B2, a method for determining suitable compensation signals is known in which the latter are determined operating point-dependent by means of two test runs. In this case, two different compensation signals are applied to the machine and the corresponding vibration responses of the machine are determined. A mathematical operation can be used to calculate the ideal compensation signal on the basis of these two test runs.
  • the object of the invention is to improve the dynamic and acoustic behavior of an electrical machine, in particular a synchronous machine, in as little effort as possible.
  • the core idea of the invention is based on the finding that the dynamics of the control circuit for the phase currents, in particular for harmonic phase currents, of the machine can be significantly improved if separate control circuits are provided for the fundamental and the harmonic (n), respectively individually parameterized.
  • the harmonics are understood to be the integer multiples of the fundamental.
  • the improved dynamics of the current regulation ultimately improve the acoustic properties of the electric drive train.
  • the phase currents are transformed from a stator-related polyphase, in particular 3-phase, coordinate system into a fundamental current vector in a biaxial first d / q coordinate system rotating at a fundamental frequency.
  • the well-known Clarke transformation is performed first.
  • the already two-dimensional current vector is converted by means of the so-called park transformation, also d / q transformation, into a coordinate system rotating synchronously with the rotor flux.
  • the direct current component of the d-current id corresponds to the exciting part of the current attributable to the fundamental of the current, while the dc component of the q-current represents the torque-forming fundamental component of the stator current.
  • a higher-level control will prescribe an altered setpoint for the q component of the current in the first d / q coordinate system, which is to be set by the current controller with the highest possible dynamics and stability .
  • a first manipulated variable vector is determined on the basis of a first control deviation between the fundamental oscillation current vector and a fundamental oscillation current vector, the latter undergoing a sudden change in this example due to the changed torque specification.
  • the fundamental harmonic current vector is in the form of d / q coordinates and is related to the first d / q coordinate system.
  • a controller provided for determining the manipulated variable vector on the basis of the system deviation can be dimensioned and parameterized for the expected fundamental frequency range of the machine. Since this controller does not at the same time have a highly dynamic imprinting of harmonic components to compensate for harmonic components in the torque of the machine, they do not have to be taken into account in the parameterization of the controller either.
  • harmonic components of the phase currents of the machine from the stator-related multiphase coordinate system are transformed into at least one harmonic current vector in a second biaxial d / q coordinate system which rotates at a harmonic frequency of the fundamental frequency.
  • the well-known Clarke and Park transformations are performed.
  • the harmonic components can first be removed from the Phase currents of the machine are extracted. However, this is not absolutely necessary. It is also conceivable and encompassed by the invention to transform the complete phase currents, ie with fundamental and harmonic components, in this process step.
  • a second manipulated variable vector is determined on the basis of a second control deviation between the harmonic current vector and a harmonic desired current vector.
  • the harmonic setpoint current vector is unequal to the zero vector in a real electrical machine in which a rotation angle-dependent ripple moment sets. Because an ideal sinusoidal phase current in this case has no cogging freedom result.
  • the air gap moment is a function of the q component of the current and the magnetic flux. Thus, harmonics in the air gap moment can also occur as a result of flux harmonics, even if the phase windings of the stator are fed with an ideally sinusoidal current. Such flux surges are due to the geometry of the electrical machine.
  • the aim of the current control according to the invention is therefore to compensate for the ripple of the air gap moment by impressing suitable harmonic components in the phase current.
  • the harmonic setpoint current vector thus denotes a quantity that is suitable for compensating a harmonic component of the moment in the air gap of the electrical machine. He thus designates a component of electricity whose primary purpose is the suppression of cogging with respect to a harmonic.
  • the components of the harmonics nominal current vector suitable for this purpose are dependent on the operating point of the electrical machine, i. H. in particular of their torque and speed.
  • the geometric and magnetic properties of the machine are decisive for the compensation currents with which cogging can be effectively suppressed.
  • Operating point-dependent harmonic setpoint current vectors which can solve the compensation task described above, can be determined, for example, by simulating the machine or the complete drive train in which the machine is embedded.
  • the operating point-dependent upper harmonic setpoint current vectors can be determined experimentally, as proposed, for example, in the already mentioned US Pat. No. 8,541,968 B2.
  • the determined values are stored, for example, subsequently in the form of a look-up table in a memory, to which a controller has access for determining suitable switching signals for a converter.
  • the form of the data for the harmonic setpoint current vectors is arbitrary, as long as it is ensured that they can be transformed to a form which can be represented in the second d / q coordinate system.
  • the harmonic desired current vectors can be directly stored as two-dimensional vectors with the variables id and iq , which are related to the second d / q coordinate system.
  • the harmonic setpoint current vectors are stored in the form of amplitude and phase angle in the look-up table.
  • a controller provided for the determination of the second manipulated variable vector can be optimized with regard to its parameterization specifically to the expected frequency range of the second manipulated variable vector.
  • the regulation of the fundamental component is just as little his task as the control of other harmonics that do not correspond to its harmonic frequency. It is also possible to provide a filter which extracts the DC component from the harmonic current vector so that only the specific harmonic which is the controlled variable is used as the input variable for the controller.
  • harmonics nominal current vectors can be stored in the look-up table for the different harmonics and read out for current regulation.
  • phase voltages for the electrical machine are dependent on the first and second manipulated variable vector. posed.
  • the further manipulated variable vectors derived therefrom are also correspondingly taken into account in the adjustment of the phase voltages.
  • the control method according to the invention has the advantage over the prior art that targeted, highly dynamic control of the harmonic component is possible without determining and modeling in detail the magnetic and mechanical structure of the dynamoelectric machine.
  • the latter is the case with known methods which are based on control of the harmonic components by disturbance step-up, which makes these methods impractical for many applications.
  • the first manipulated variable vector represents the output variable of a first controller and the second manipulated variable vector represents the output variable of a second controller, which differs from the first controller.
  • a further advantageous embodiment of the invention is characterized in that the first and second controllers are differently parameterized PI controllers.
  • a PID controller for the first and second controller can be provided.
  • all manipulated variable vectors are transformed by means of inverse Clarke transformation into a stator-related 2-phase a / b coordinate system and then summed into a manipulated variable sum vector.
  • switching signals for a converter feeding the machine can then be generated by means of a space vector modulation.
  • the apparatus further comprises a memory for a look-up table, in which harmonic desired current vectors for different operating points of the machine are stored, and wherein the device comprises a converter for adjusting phase voltages for the electrical machine in dependence on the first and second manipulated variable vector.
  • An electric drive system with a permanently excited synchronous machine and such a device is characterized by lower losses and better acoustic properties in comparison to known electric drive systems.
  • FIG. 1 shows a control circuit known from the prior art for a synchronous machine on the basis of the field-oriented control
  • FIG. 2 a stator-fixed 3-phase coordinate system and a d / q coordinate system rotating with the fundamental oscillation of the rotor flux according to the prior art
  • FIG. 3 shows a control circuit for a synchronous machine according to an embodiment of the invention
  • FIG. 4 shows a 3-phase stator-fixed coordinate system and d / q coordinate systems rotating synchronously with harmonics of the rotor flux according to an embodiment of the invention.
  • FIG. 1 shows a control circuit known from the prior art for a permanent magnet synchronous machine 1, as is well known from the prior art.
  • the permanent-magnet synchronous machine 1 is a drive motor of an electric vehicle.
  • a higher-level controller determines desired values for the torque and the rotational speed of the synchronous machine 1.
  • a higher-order controller uses these variables to determine a fundamental desired torque vector 2 for the stator winding in the stator winding Synchronous machine 1 feed the current.
  • This fundamental desired flux vector 2 is related to a rotor flux-fixed d / q coordinate system and therefore comprises a component i q * which is proportional to the torque of the synchronous machine 1 and a component id * which influences the air gap flux within the machine.
  • the fundamental oscillation setpoint vector 2 forms the reference variable of the control loop.
  • the synchronous machine 1 comprises a rotor position sensor 3 for determining the rotor angle Q.
  • the rotor position is required to carry out a rotor flux-oriented d / q transformation 4, which is known by the name Clarke Parks transformation.
  • Input variables for the d / q transformation 4 are, in addition to the rotor position angle Q, the three phase currents i u , iv, iw. Through the d / q transformation 4 these become three phase currents are transformed into a fundamental oscillation current vector 5 with the components i q , id.
  • the control deviation between the fundamental nominal flux vector 2 and the fundamental oscillation current vector 5, which is used as input for a PI controller 6, is determined.
  • a manipulated variable vector in the d / q coordinate system which is converted by means of an inverse Clarke transformation 7 into a still 2-dimensional, but now stator-fixed, coordinate system.
  • the manipulated variable vector in the so-called a / ß coordinate system is outstandingly suitable for generating a corresponding switching pattern for a three-phase voltage source converter 9 by means of a so-called space vector modulation 8.
  • the voltage source converter 9 is finally connected to the terminals of the stator winding of the synchronous machine 1 connected.
  • FIG. 2 shows the coordinate systems before the d / q transformation with the u, v, w coordinates and after the d / q transformation with the coordinates q, d.
  • the d / q coordinate system is at the rotor flux of the machine so that the fundamental components of the current in the d / q coordinate system are mapped as equal.
  • harmonic components of the phase current are also alternating variables in the d / q coordinate system. If one now wants to simultaneously achieve a highly dynamic and stable control of the fundamental component and a targeted adjustment of harmonic components in the phase current in order to compensate for harmonic components of the air gap torque, the problem arises of finding suitable parameters for a single controller, which comparatively large frequency range must serve.
  • FIG. 3 shows an embodiment according to the invention, which solves the problem addressed.
  • FIG. 4 shows the associated coordinate systems.
  • the control circuit contains, in addition to a first control variable in the form of the fundamental desired torque vector 2 already shown in FIG. 1, a harmonic desired current vector 10 with the components i q s * and ids * .
  • This Harmonic desired current vector 10 represents a setpoint specification for the fifth harmonic of the phase current.
  • the value of this harmonic desired current vector has been read from a look-up table, which is stored in a memory, not shown. For various operating points of the electric machine, ie for different torques and speeds, this look-up table contains suitable compensation signals in the form of harmonic setpoint current vectors.
  • the illustrated control circuit triggers the task of regulating the fifth harmonic of the phase current to the harmonic desired current vector, which was read from the look-up table as suitable compensation signals for the operating point aimed at by the machine.
  • the harmonic setpoint harmonic vector for the fifth harmonic 10 is merely one example of an additional control variable.
  • a functional relationship between an operating point of the machine and an associated harmonic desired current vector is stored in the look-up table for several, in particular all harmonic components that significantly occur in the magnetic air gap field.
  • Each of these harmonic setpoint current vectors then represents its own control variable for its own control loop.
  • the representation in FIG. 3 contains only one control circuit for the fifth harmonic.
  • control circuit in FIG. 3 corresponds structurally to the control circuit in FIG. 1.
  • an additional d / q transformation 11 is provided for transforming the fifth harmonic of the phase currents into the d / q system and an additional inverse Clarke transformation 12 for back transformation from the d / q system to the a / b system.
  • the output of the additional block for the d / q transform is finally subtracted from the fifth harmonic setpoints to determine the fifth harmonic error.
  • This control deviation is then transferred by further PI controller 17 in a manipulated variable vector.
  • a ne representation of the manipulated variable vector in the a / b system generated.
  • the manipulated variable vectors for the fundamental oscillation component and the harmonic component are added.
  • the gist of the invention is to perform the d / q transformation for the fundamental fraction as known in the art.
  • the electrical variables originally defined in a stator-fixed 3-phase coordinate system 13 are converted into a biaxial coordinate system 14 rotating at a fundamental frequency.
  • each relevant harmonic component is transformed into another two-axis d / q coordinate system 15, which rotates with a corresponding frequency of the harmonic component.
  • the harmonic component is regulated to its nominal value with its own controller, which is optimally parameterized with regard to the frequency range of the harmonic.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'invention concerne un procédé et un dispositif de régulation de courant, orienté champ, d'une machine dynamoélectrique polyphasée (1) comportant un stator et un rotor espacé du stator par un entrefer. Afin d'améliorer le comportement dynamique et acoustique de la machine (1), les étapes de procédé suivantes sont proposées : i. Transformation de courants de phase de la machine à partir d'un système de coordonnées polyphasées (13) lié au stator en un vecteur de courant fondamental dans un premier système de coordonnées d/q (14) à deux axes tournant à une fréquence fondamentale, ii. Transformation de composantes harmoniques des courants de phase de la machine du système de coordonnées polyphasées (13) lié au stator en au moins un vecteur de courant harmonique (16) dans un deuxième système de coordonnées (15) à deux axes tournant à une fréquence harmonique de la fréquence fondamentale ; iii. Détermination d'un premier vecteur de grandeur de réglage sur la base d'un premier écart de réglage entre le vecteur de courant fondamental (5) et un vecteur de courant de consigne fondamental (2) dans le premier système de coordonnées d/q qui correspond à un état de fonctionnement souhaité de la machine, iv. Détermination d'un vecteur de courant de consigne harmonique (10) approprié pour compenser une composante harmonique du moment dans l'entrefer de la machine dynamoélectrique en fonction du point de fonctionnement de la machine dynamoélectrique, v. détermination d'un deuxième vecteur de grandeur de consigne sur la base d'un deuxième écart de réglage entre le vecteur de courant harmonique (16) et le vecteur de courant de consigne harmonique (10) et vi. réglage de tensions de phase pour la machine électrique (1) en fonction des premier et deuxième vecteurs de grandeur de réglage.
PCT/DE2018/101013 2017-12-20 2018-12-13 Procédé et dispositif de régulation d'une machine dynamoélectrique WO2019120380A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017130635.8A DE102017130635A1 (de) 2017-12-20 2017-12-20 Verfahren und Vorrichtung zur Regelung einer dynamoelektrischen Maschine
DE102017130635.8 2017-12-20

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WO2019120380A1 true WO2019120380A1 (fr) 2019-06-27

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DE102020105630A1 (de) 2020-03-03 2021-09-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Vorrichtung und Verfahren zur Beeinflussung elektromagnetischer Kräfte einer elektrischen Traktionsmaschine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002010686A (ja) * 2000-06-21 2002-01-11 Toshiba Corp 交流電動機の制御装置
US20060038531A1 (en) * 2004-04-15 2006-02-23 Denso Corporation Motor control apparatus
US7145310B2 (en) * 2004-12-20 2006-12-05 Hyundai Motor Company Method and system for controlling permanent magnet synchronous motor
US8541968B2 (en) 2008-03-26 2013-09-24 National Oilwell Varco Norway As Method for reducing cogging torque effects of an electrical permanent magnet machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002010686A (ja) * 2000-06-21 2002-01-11 Toshiba Corp 交流電動機の制御装置
US20060038531A1 (en) * 2004-04-15 2006-02-23 Denso Corporation Motor control apparatus
US7145310B2 (en) * 2004-12-20 2006-12-05 Hyundai Motor Company Method and system for controlling permanent magnet synchronous motor
US8541968B2 (en) 2008-03-26 2013-09-24 National Oilwell Varco Norway As Method for reducing cogging torque effects of an electrical permanent magnet machine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ROBERT MICHEL: "Kompensation von Sättigungsbedingten Harmonischen in den Strömen feldorientiert geregelter Synchronmotoren", 2009, DISSERTATION TECHNISCHE UNIVERSITÄT DRESDEN

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