WO2021037533A1 - Procédé pour faire fonctionner une machine électrique - Google Patents

Procédé pour faire fonctionner une machine électrique Download PDF

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Publication number
WO2021037533A1
WO2021037533A1 PCT/EP2020/072364 EP2020072364W WO2021037533A1 WO 2021037533 A1 WO2021037533 A1 WO 2021037533A1 EP 2020072364 W EP2020072364 W EP 2020072364W WO 2021037533 A1 WO2021037533 A1 WO 2021037533A1
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WO
WIPO (PCT)
Prior art keywords
voltage
electrical machine
values
converter
model predictive
Prior art date
Application number
PCT/EP2020/072364
Other languages
German (de)
English (en)
Inventor
Maximilian MANDERLA
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2021037533A1 publication Critical patent/WO2021037533A1/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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • 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

Definitions

  • the present invention relates to a method for operating an electrical machine which is supplied with voltage by means of a converter fed from a DC voltage circuit, as well as a computing unit and a computer program for its implementation.
  • Electrical machines in particular variable-speed electrical machines, can be operated as a motor or generator on an inverter that is fed by a DC voltage circuit, or on a converter that has a DC voltage intermediate circuit.
  • the voltage values at the terminals of the electrical machine are thus limited by the direct voltage or the two potentials of the direct voltage (intermediate) circuit.
  • a typical way of regulating the voltage in such an electrical machine is field-oriented regulation, in which a space vector representation, in particular in d-q coordinates, is used.
  • This type of control is based on the so-called zero condition, according to which a star point (if present) of the load is not connected to the neutral conductor. As a result, the sum of the phase currents is always zero.
  • d and q two coordinates, typically referred to as d and q, are sufficient for controlling and regulating the electrical machine.
  • the invention relates to a method for motor or generator Be driving an electrical machine that is supplied with voltage by means of a converter that converts a direct voltage into an alternating voltage.
  • the converter can be an inverter in which an alternating voltage with a corresponding number of phases is generated only from a direct voltage.
  • it can also be a converter, in particular a frequency converter, further in particular a so-called two-level converter, in which an alternating voltage is initially converted into a direct voltage and this then again into an alternating voltage with a frequency and generally changed Amplitude is converted.
  • a so-called DC voltage intermediate circuit in the converter is controlled in particular in pulse width modulation or PWM.
  • a typical way of regulating the voltage in such an electrical machine is field-oriented regulation, in which a space vector display, in particular in dq coordinates, is used.
  • phase voltages in fixed Koordina th
  • a polytopic or polygonal voltage limitation which rotates with the electric field frequency (time variant, ie changing with time) results.
  • this voltage limit is a regular hexagon.
  • the proposed method is useful for a three-phase electrical machine, the proposed method can also be used with a different number of phases, for example five or seven.
  • This time variance represents a technical control difficulty because, depending on the current rotor position, different limits or maximum values for the phase voltage values, i.e. those values of the voltage that can be applied to the phases of the electrical machine, can be relevant and active.
  • the permissible polytopi cal control area for the voltage in the (field-oriented) control can be approximated by a (rotation- and time-invariant) inscribed circle (in the polygon) with a maximum diameter.
  • Modulation-related mean voltage values can then (during a regulation cycle) be selected so that they always lie in the mentioned inscribed circle. However, this leads to a non-utilization of the available, maximum electrical voltage and thus, depending on the operating point, to losses in dynamics and / or efficiency.
  • phase voltage values to be applied to the electrical machine are determined within the framework of a model predictive regulation with a model of the electrical machine as manipulated variables and then applied to the corresponding connections or phase voltage connections of the electrical machine.
  • model predictive control physically achievable maximum values are used as limits for the phase voltage values.
  • These maximum values for the phase voltage values are, in particular in a space vector representation or in ab coordinates, a regular polygon, the number of corners of the polygon depending on a number of the phases of the electrical machine, in particular corresponding to twice the number of phases .
  • it is a regular hexagon, for example.
  • the inscribed circle is not used for the maximum values, but the actual physical maximum values are used.
  • a torque of the electrical machine or a current can be used as a control variable in model predictive control, but this then in particular in dq coordinates.
  • the above-mentioned disadvantages when using the inscribed circle for the maximum values can be avoided or at least reduced, since the physically existing polytopic restrictions can be fully exploited by the control.
  • the model predictive control the use of these actual or physical limits is, as has been shown, much easier than with a conventional control.
  • Particular advantages result, in particular, from the rise time that can be achieved and the associated speed of control in the case of transient processes (torque changes) both in the basic setting range and in the field weakening range.
  • phase voltages that can be applied to the machine terminals are used as inputs or manipulated variables and not (as is usual) the voltages in the rotating d-q system.
  • the phase voltages represent the hexagon or, in general, the polytope of the maximum possible voltages.
  • target or reference values such as currents or torques to be set
  • target or reference values are used in each control step, that is, with each call, several numerical simulations (over a limited timeframe Horizon) of a plant model with varying manipulated variables, ie voltages, performed.
  • that voltage is selected which achieves the best performance (eg fast or low-energy achievement of the reference value) taking into account the voltage limits, ie the physically achievable maximum values.
  • the voltage optimized in the hexagon or polytope (best solution) is finally output and connected to the electrical machine. More detailed explanations of such a model of an electrical machine can also be found, for example, in "Schröder, D .: Electrical Drives - Basics, Springer 2009 (Chapter 6.5, p.391)".
  • control targets can also be prioritized in an adaptable manner during runtime.
  • the higher dynamics of the control system enable better and higher-frequency damping of mechanical drive train vibrations, as well as faster gear changes in multi-speed transmissions.
  • better utilization of the electric drive is possible through a lower supply of control voltage (lower field weakening), which brings cost advantages with it. It is therefore possible to change the control parameters online and without any additional effort, i.e. an adaptation depending on the operating strategy (dynamics vs. efficiency) is possible.
  • the current angle of the rotor can be measured using a sensor or a rotor position sensor can be measured.
  • the current angle can also be estimated, for example using an observer. It is also conceivable to use both variants to protect the other.
  • a computing unit e.g. a control unit of a motor vehicle or a control unit or a control or regulating unit for an electrical machine, is set up, in particular in terms of programming, to carry out a method according to the invention.
  • Suitable data carriers for providing the computer program are, in particular, magnetic, optical and electrical memories, such as hard drives, flash memories, EEPROMs, DVDs, etc.
  • a program can also be downloaded via computer networks (Internet, intranet, etc.).
  • FIG. 1 shows schematically a circuit with an electrical machine, in which a method according to the invention can be carried out.
  • FIG. 2 shows schematically a space vector illustration to explain a method according to the invention.
  • FIG. 3 schematically shows a sequence of a method according to the invention in a preferred embodiment.
  • FIG. 4 shows schematically a sequence of a model predictive control.
  • FIG. 5 schematically shows voltage and current curves when using a method according to the invention in a preferred embodiment.
  • FIG. 6 shows schematically a voltage profile when using a method according to the invention in a preferred embodiment.
  • a circuit with electrical machine 100 with Ro tor 103 is shown schematically, in which a method according to the invention can be carried out.
  • a converter 110 is provided which has three half bridges each with two switches, once Si and S2, once S3 and S4 and once S5 and S 6 , to which a DC voltage U dc is applied.
  • the switches can in particular be semiconductor switches, for example MOSFETs or IGBTs.
  • the converter 110 can, for example, be part of a computing unit 115 embodied as a control unit for the electrical machine.
  • a capacitor C is also provided. Between each two switches there is a tap for one of the three phases U, V and W, which are connected to corresponding connections (not shown) on a stator winding of the electrical machine 100.
  • FIG. 2 a space vector representation is shown schematically to explain a method according to the invention.
  • the axes a and ß are provided as real and imaginary parts in a stator-fixed ab coordinate system.
  • the axes U, V, W are converted into a two-axis coordinate system with the axes a, ⁇ , where, by definition, the axis U coincides with the real axis a.
  • the sum of the three phase currents is always zero at any point in time.
  • Each half bridge in the circuit shown in Figure 1 can assume two different switch positions.
  • S1 closed and S2 open as the first position
  • S1 open and S2 closed as the second position
  • low-side or "0”
  • switch positions there are eight possible switch positions and thus eight switching states.
  • Each switch position results in a different voltage constellation between the phases U, V and W and thus also a different voltage space vector.
  • Each voltage space vector also generates a specific alignment of the flux density distribution in the electrical machine.
  • the six voltage indicators Ui to U ⁇ are not sufficient, since voltage space indicators must be switched to the electrical machine with any angles and amounts.
  • the ratio of the two times is decisive for the resulting voltage space vector.
  • the two times al must be selected to be of equal length in order to obtain the desired voltage space vector. Due to a typically existing low-pass effect of the stator windings, there is an averaged current in the electrical machine and thus the desired space vector, the desired alignment of the magnetic flux density.
  • the amplitude of the output voltage i.e. the amount of the voltage space vector
  • the zero-voltage space vector can be used. If, for example, the voltage space vector U b is to be output, the ratio of the output times of the voltage space vector Ui and U2, as in the previous example, must be the same. In order to be able to reduce the amount of the resulting voltage space vector, an additional time is required in which a zero voltage space vector is output.
  • the voltage space vector must rotate with the rotor.
  • the (rotating) voltage regulation can be simplified by transforming it into a coordinate system fixed to the rotor (so-called d / q transformation or Park transformation).
  • the phase voltages U a , U b and U c applied to phases U, V and W according to FIG transformed into the voltage values or voltages U d and U q in the space vector representation, where cp is the current rotor angle.
  • FIG. 3 a sequence of a method according to the invention is shown schematically in a preferred embodiment.
  • the model predictive control or the corresponding controller 150 with a model 155 of the electrical machine receives reference values R (setpoint values) and measured values M as input variables. Values for the phase voltages U a , U b and U c are output to the electrical machine as output variables (manipulated variables). A target value is in particular the torque.
  • phase voltage vector in space vector representation instead of the usual calculation of U d and U q , the phase voltages U a , U b and U c are optimized in a direct manner within the framework of the proposed model predictive control. By utilizing the angle-dependent relationship mentioned above, these are directly incorporated into the respective system model.
  • an angle cp of the rotor 103 is measured, for example by means of a sensor 101, and a measurement is transmitted to the controller 150, a e.g. Position in a permanent magnet synchronous machine.
  • an observer 102 can also be used to estimate or determine the angle, here denoted by f ', for example a flux angle in an asynchronous machine.
  • Characteristic for the model predictive control is a pre-calculation (so-called prediction) of the future system behavior on a sliding horizon H and the necessary optimization of possible voltage curves (as manipulated variables).
  • prediction a pre-calculation
  • the future behavior is shown in the upper diagram with a dashed line over a horizon H, optimized with regard to a manipulated variable, which then defines a certain value or course of the manipulated variable (voltage) in the lower diagram with a dashed line shown, results. This determined, optimal manipulated variable is then set.
  • the horizon is then shifted backwards by the time period At and such an optimization is carried out again for this new horizon H at the point in time X k + i.
  • the actual course of the state X and the actually or ultimately used values for the manipulated variable Y are shown with solid lines.
  • the (dynamic) model of the electrical machine can be expanded to include a prediction of the angular position.
  • an electrical angular velocity w and a controller sampling time dT an estimated position angle is obtained for a prediction of k steps
  • FIG. 6 schematically shows a voltage profile when using a method according to the invention in a preferred embodiment, which corresponds to the situation shown in FIG.
  • the voltage values U a and Uß are plotted against one another in the space vector representation, where the maximum values already shown in FIG. 2 are drawn in at U max.

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

Abstract

L'invention concerne un procédé pour faire fonctionner une machine électrique (100) qui est alimentée en tension au moyen d'un convertisseur par lequel une tension continue est transformée en une tension alternative, procédé selon lequel des valeurs de tension de phase (Ua, Ub, Uc) à appliquer à la machine électrique (100) sont déterminées au moyen d'un modèle (155) de la machine électrique dans le cadre d'une régulation prédictive par modèle (150) puis appliquées, et des valeurs maximales physiquement atteignables sont utilisées comme limites pour ces valeurs de tension de phase lors de la régulation prédictive par modèle (150).
PCT/EP2020/072364 2019-08-28 2020-08-10 Procédé pour faire fonctionner une machine électrique WO2021037533A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019212886.6A DE102019212886A1 (de) 2019-08-28 2019-08-28 Verfahren zum Betreiben einer elektrischen Maschine
DE102019212886.6 2019-08-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113098349A (zh) * 2021-04-28 2021-07-09 杭州电子科技大学 离散空间矢量调制的永磁同步电动机模型预测控制方法

Citations (2)

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US20110006711A1 (en) * 2009-07-08 2011-01-13 Denso Corporation Apparatus for carrying out improved control of rotary machine
JP2011244638A (ja) * 2010-05-20 2011-12-01 Denso Corp 回転機の制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110006711A1 (en) * 2009-07-08 2011-01-13 Denso Corporation Apparatus for carrying out improved control of rotary machine
JP2011244638A (ja) * 2010-05-20 2011-12-01 Denso Corp 回転機の制御装置

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Title
HARAS A ET AL: "VECTOR PWM MODULATOR WITH CONTINUOUS TRANSITION TO THE SIX-STEP MODE", EPE '95: 6TH. EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS. SEVILLA, SEPT. 19 - 21, 1995; [EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS], BRUSSELS, EPE ASSOCIATION, B, vol. 1, 19 September 1995 (1995-09-19), pages 1.729 - 1.734, XP000537611 *
YUYA HOZUMI ET AL: "Fast torque control system of PMSM based on model predictive control", IECON 2009 - 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS (IECON 2009) - 3-5 NOV. 2009 - PORTO, PORTUGAL, IEEE, PISCATAWAY, NJ, USA, 3 November 2009 (2009-11-03), pages 1151 - 1155, XP031629317, ISBN: 978-1-4244-4648-3 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113098349A (zh) * 2021-04-28 2021-07-09 杭州电子科技大学 离散空间矢量调制的永磁同步电动机模型预测控制方法

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