WO2021198264A1 - Procédé de capture d'une position de rotor d'une machine synchrone à excitation permanente, et machine synchrone à excitation permanente dotée de moyens de capture de sa position de rotor - Google Patents

Procédé de capture d'une position de rotor d'une machine synchrone à excitation permanente, et machine synchrone à excitation permanente dotée de moyens de capture de sa position de rotor Download PDF

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Publication number
WO2021198264A1
WO2021198264A1 PCT/EP2021/058310 EP2021058310W WO2021198264A1 WO 2021198264 A1 WO2021198264 A1 WO 2021198264A1 EP 2021058310 W EP2021058310 W EP 2021058310W WO 2021198264 A1 WO2021198264 A1 WO 2021198264A1
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WIPO (PCT)
Prior art keywords
synchronous machine
ekf
fundamental wave
rotor position
voltages
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PCT/EP2021/058310
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German (de)
English (en)
Inventor
Martin Grotjahn
Nils WILCKEN
Daniel Engelke
Thomas Eutebach
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Hochschule Hannover
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Publication of WO2021198264A1 publication Critical patent/WO2021198264A1/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
    • H02P6/14—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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • 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
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models

Definitions

  • the invention relates to a method for detecting a rotor position of a rotor of a permanently excited synchronous machine with the features of the preamble of independent claim 1 and to a permanently excited synchronous machine with the features of the preamble of independent claim 8.
  • the permanently excited synchronous machine PSM
  • SLPSM sensorless permanent magnet synchronous machine
  • SLPSM Sensorless permanent magnet synchronous machines
  • SLPSM Sensorless permanent magnet synchronous machines
  • standstill and very low speeds are difficult to control because known methods for detecting the rotor position are too imprecise or, due to their design, are not well suited for many SLPSMs. This is why the SLPSM often uses a controlled start-up or pole latching method at low speeds.
  • these are energetically unfavorable and result in a significantly poorer energy efficiency when a SLPSM is operated frequently at low speeds, as occurs for example with conveyor belts with changing speeds or fans with varying speeds.
  • the rotor position of an SLPSM can be reconstructed from measured currents that flow through the stator windings of the SLPSM as responses to applied voltages. There the currents through the stator windings have to be measured anyway for the regulation of a SLPSM, no additional sensors are required for this.
  • anisotropy-based methods a difference in inductances in the d- and q-direction of the synchronous machine generates an angle-dependent sequence in the currents that flow through the stator windings in response to the applied voltages.
  • the fundamental wave components of the voltages that are applied to operate the synchronous machine with higher-frequency additional signals, the information content regarding the rotor position in the currents flowing in response to the applied voltages can be increased.
  • the information about the rotor position can be isolated from the currents flowing in response to the applied voltages by means of various systems.
  • angle trackers In the field of position sensorless control, these systems are designed, for example, as so-called angle trackers.
  • a well-known and frequently used angle tracker uses a phase locked loop (PLL).
  • PLL phase locked loop
  • a major disadvantage of the anisotropy-based method is the high dependency on the anisotropy of the inductances and thus on the structural properties of the synchronous machine.
  • the anisotropy depends to a different extent on the saturation state of the synchronous machine, so an anisotropy-based method can be unsuitable at certain operating points of the respective synchronous machine.
  • the additional current components flowing through the stator windings as responses to the higher-frequency additional signals have an effect on the superimposed control of the synchronous machine.
  • Filters are therefore used to isolate the fundamental wave current components from the measured currents, for example band-stop filters or circulating low-pass filters.
  • these filters reduce the signal quality of the fundamental current components and generate an additional phase delay. This affects the regulation of the synchronous machine.
  • Another disadvantage is with the angle trackers, which work, for example, according to the PLL method, because they have a transient response and thus delay the information about the rotor position.
  • Known anisotropy-based methods in which the rotor position is calculated directly and which therefore have no transient behavior on the other hand, have other disadvantages such as insufficient accuracy and very high susceptibility to failure.
  • EMF-based methods use the information about the rotor position, which is contained in the electromotive force (EMF).
  • Non-linear observers such as the Extended Kalman Filter (EKF) are an extension of the position sensorless control of permanent magnet synchronous machines. Non-linear observers can also map a non-linear system behavior in a model-based manner and can thus be used to estimate the rotor position without the need for an additional angle racker.
  • EKF Extended Kalman Filter
  • the non-linear observers also obtain their information about the rotor position from the EMF, which is directly dependent on the speed, in particular proportional to the speed and is therefore zero when the synchronous machine is at a standstill. EMF-based methods can therefore only be used above a certain minimum speed of the synchronous machine.
  • the control proposed for this purpose is optimized for the highly non-linear machine behavior of synchronous reluctance machines.
  • the control includes low-noise current demodulation through a Kalman filter with empirical tuning.
  • a machine parameter-free Kalman filter is proposed.
  • the quantities estimated with the Kalman filter are the HF current ripple and the fundamental wave current component. These variables are estimated based on the excitation voltages for the fundamental wave current component and the HF test current as well as measured values of the currents actually flowing.
  • a control of the speed and the fundamental wave components of the synchronous reluctance machine, which is otherwise independent of the Kalman filter, is based on the estimated currents.
  • the invention is based on the object of providing a method for detecting a rotor position of a rotor of a permanent-magnet synchronous machine and a permanent-magnet synchronous machine which precisely determine the rotor position at different speeds of the permanent-magnet synchronous machine.
  • the method should be robust and suitable for a large number of permanent magnet synchronous machines.
  • the object of the invention is achieved by a method for detecting a rotor position of a permanently excited synchronous machine with the features of independent claim 1 and by a permanently excited synchronous machine with the features of the independent
  • Claim 8 solved.
  • the dependent claims relate to preferred embodiments of the method according to the invention and the permanently excited synchronous machine according to the invention.
  • Claim 15 is directed to a permanent magnet synchronous machine with devices for carrying out the method according to the invention. DESCRIPTION OF THE INVENTION
  • EKF Extended Kalman Filter
  • the EKF contains a model of the synchronous machine which, according to the invention, has a fundamental wave model component and an additional signal model component as parts of its closed mathematical representation in the state space.
  • the fundamental wave components and the additional signals of the applied voltages and the measured currents are used as input signals to the EKF and are continuously entered into the EKF.
  • the EKF is used as the only observer for the rotor position at all speeds of the synchronous machine, i. That is, there is no speed-dependent switchover or other synchronization between two or more different observers for estimating the rotor position of the permanent-magnet synchronous machine.
  • the fundamental wave components of the voltages applied to operate the synchronous machine are superimposed with higher-frequency additional signals at low speeds of the synchronous machine does not expressly exclude that this superimposition also takes place at higher speeds.
  • the additional signals are superimposed at least at the low speeds, in particular in a speed range starting at zero.
  • the voltages applied to the stator windings of the synchronous machine on the one hand and their fundamental wave components or the additional signals on the other hand can be continuously entered into the EKF because their difference provides the missing components, ie the additional signals or the fundamental wave components.
  • the model of the synchronous machine can be a purely electrical model.
  • a mechanical model component can also be provided as part of the closed mathematical representation of the model of the synchronous machine in the state space.
  • the EKF can also be used to estimate the fundamental current components of the currents that flow through the stator windings as responses to the fundamental wave components of the applied voltages and to evaluate them with regard to the rotor position of the synchronous machine.
  • the estimated fundamental current components can then be used together with the estimated rotor position in order to regulate the fundamental current components to desired values. Since the fundamental wave current components of the measured currents are estimated by the EKF and not isolated from the measured currents, for example by bandstop filters or with rotating low-pass filters, neither the signal quality of the fundamental wave current components is reduced nor a phase delay is introduced. This provides an optimal basis for regulating the fundamental wave current components for optimal operation of the synchronous machine.
  • the EKF can also estimate additional current components of the currents that flow through the stator windings as responses to the higher-frequency additional signals of the applied voltages and also evaluate them with regard to the rotor position of the synchronous machine.
  • the EKF can estimate an angular speed of the rotor as a further relevant system state of the synchronous machine in addition to the rotor position, the fundamental wave current components and the additional current components.
  • the EKF can make this estimate directly, i. H. without going through a differentiation of the rotor position.
  • an additional signal specification for the additional signals in the form of a rotating voltage vector can be superimposed on a voltage manipulated variable for the fundamental wave components of the applied voltages.
  • the additional signals in the alpha / beta coordinate system can be a cosine signal in the alpha direction and a sine signal of the same kind Include amplitude in the beta direction and thus result in a voltage vector that circles around the origin.
  • a frequency of the additional signals can be at least twice as great as a rated frequency of the synchronous machine.
  • a voltage regulator for the voltages applied to the stator windings of a synchronous machine is only capable of realizing additional signals of limited frequency.
  • the frequency of the additional signals will not exceed 100 times the rated frequency of the synchronous machine.
  • the rated frequency of a synchronous machine is the frequency of the fundamental wave components of the voltages applied to the stator windings of the synchronous machine, for which the synchronous machine and its voltage regulator are designed.
  • the EKF can also estimate further state variables and system parameters of the synchronous machine.
  • the EKF can estimate a voltage-inducing portion of the flux linkage of permanent magnets on the rotor of the synchronous machine and / or a mechanical disturbance variable in the stator windings.
  • This mechanical disturbance variable can in particular estimate external influences on the rotor, such as those that occur when the synchronous machine is used as a drive for a conveyor belt, for example.
  • a permanently excited synchronous machine with a rotor, with stator windings, with a voltage regulator, which is designed and arranged to apply voltages to the stator windings of the synchronous machine, wherein it superimposes fundamental wave components of the voltages applied at low speeds of the synchronous machine with higher-frequency additional signals for operating the synchronous machine , with measuring devices designed and arranged to measure currents flowing through the stator windings in response to the applied voltages, and with an observer for estimating a rotor position of the rotor on the basis of the voltages applied to the stator windings and the currents flowing through the stator windings the observer is designed as an Extended Kalman Filter (EKF), the EKF containing a model of the synchronous machine with a fundamental wave model component and an additional signal model component.
  • EKF Extended Kalman Filter
  • the observer or the EKF is responsible for continuously receiving the fundamental wave components and the additional signals applied voltages and the measured currents and arranged for outputting the estimated rotor position to the voltage regulator.
  • the EKF is the only observer who outputs the rotor position to the voltage regulator.
  • the EKF therefore also specifies the rotor position for the voltage regulator at the low speeds, and in the permanently excited synchronous machine according to the invention there is no speed-dependent switching or other synchronization between different observers for estimating the rotor position.
  • the superposition of the higher-frequency additional signals at the low speeds of the synchronous machine does not exclude that such a superposition also takes place at higher speeds of the synchronous machine.
  • the fundamental wave components and the additional signals of the applied voltages can be communicated to the EKF in various ways, in particular in the form of specifications for the voltages to be applied, but potentially also differently, e.g. B. in the form of measured values of the applied voltages.
  • the EKF of the permanent magnet synchronous machine is preferably also designed to estimate fundamental wave current components of the currents that flow through the stator windings as responses to the fundamental wave components of the applied voltages and to evaluate them with regard to the rotor position, and is arranged to calculate the estimated fundamental wave current components. to output components together with the estimated rotor position to a regulator of the voltage regulator, which regulates the fundamental current components.
  • the EKF separates the additional current components of the currents that flow through the stator windings as a response to the higher-frequency additional signals of the applied voltages from the measured currents, so that the measured currents are divided into fundamental wave current components and additional current components without any loss of information or phase-shifting filtering.
  • the EKF can furthermore be designed to estimate an angular speed of the rotor, whereby it is then arranged to output the estimated angular speed to the controller, which determines the speed of the synchronous machine by setting suitable basic values - regulates the proportions of the applied voltages, target currents or target torques.
  • An additional signal presetting device of the permanent magnet synchronous machine according to the invention can superimpose an additional signal presetting for the additional signals of a voltage manipulated variable at the output of the controller for the fundamental wave current components.
  • the additional signal specification can have the form of a rotating voltage vector.
  • the regulator is the part of the voltage regulator which applies the voltages to the stator windings and which regulates the fundamental current components.
  • the EKF can furthermore be designed to estimate a portion of the flux linkage of permanent magnets located on the rotor that induces voltage in the stator windings and / or a mechanical disturbance variable.
  • the EKF can be arranged to transmit the results of these estimates to the voltage regulator. In this way, the voltage regulator can also take these state variables and system parameters into account when regulating the fundamental current components. However, this consideration often turns out to be unnecessary in the case of the permanent magnet synchronous machine according to the invention.
  • the equations of state of the EKF can describe the fundamental wave model component of the model of the synchronous machine in the following form:
  • R S is a phase resistance of one of the stator windings
  • L d is a fundamental wave inductance in the d direction
  • L q is a fundamental wave inductance in q-direction
  • L d HF is a differential inductance in the d direction
  • L q HF is a differential inductance in the q direction
  • L dq is a differential coupling inductance
  • ⁇ PM is a permanent magnetic field of the synchronous machine (1)
  • ⁇ ⁇ is a flux linkage in the ⁇ direction
  • ⁇ ⁇ is a flux linkage in the ⁇ direction
  • R ⁇ is a resistance of the additional signal model component in the «direction
  • R ⁇ is a resistance of the additional signal model component in the / ⁇ direction
  • R ⁇ is a coupling resistance of the additional signal model component
  • i ⁇ is a current in the ⁇ direction
  • i ⁇ is a current in the ⁇ direction
  • u ⁇ is a fundamental wave component of the voltages in the direction
  • u ⁇ is a fundamental wave component of the voltages in the / ⁇ direction
  • u ⁇ is a higher-frequency periodic additional signal of the voltages in the direction
  • u ⁇ , HF is a higher-frequency periodic additional signal of the voltages in the / ⁇ direction
  • ⁇ el is an electrical rotor position.
  • M i is an internal torque
  • p is a number of pole pairs of the synchronous machine (1)
  • M Stör is an estimated disturbance torque
  • ⁇ m is the mechanical rotor position (22) (of interest)
  • ⁇ m is a mechanical angular velocity
  • J m is an inertia.
  • a covariance matrix of the system noise for one or more system parameters for example the permanent magnetic field of the synchronous machine, can be varied depending on a current speed of the synchronous machine.
  • a function of the EKF for weighting an estimate of the system parameter x SP as a function of the current speed of the machine can be defined.
  • a main diagonal entry q SP of the covariance matrix of the system noise for the system parameter x SP can be defined as follows: where q min is a minimum value of the main diagonal entry belonging to x SP
  • the covariance matrix of the system noise is q max is a maximum value of the main diagonal entry belonging to x SP
  • ⁇ N1 is a first limiting angular velocity
  • ⁇ N2 is a second limiting angular velocity
  • the main diagonal entry q SP of the covariance matrix of the system noise belonging to the system parameter x SP is set to a minimum value q min up to a first limiting angular speed ⁇ N1 and a maximum value q above a second limiting angular speed ⁇ N2 max .
  • a transition is defined between the two limit angular velocities ⁇ N1 and ⁇ N2. This transition does not apply if the first limiting angular speed is equal to the second limiting angular speed.
  • the second limiting angular speed is approximately two to four times as great as the first limiting angular speed.
  • a current dependency of the fundamental wave inductances L can be approximated by a differentiable function L Appr. This can be done in particular as follows using multidimensional third-order polynomials: where i d is a current in the d direction, i q is a current in the q direction and a 0 to a 11 are approximation parameters.
  • the current dependency of the differential inductances can also be determined by continuously differentiable functions L HF, Appr. and l HF, Appr. can be approximated. This can be implemented using third-order polynomials as follows:
  • FIG. 1 shows schematically a permanent magnet synchronous machine according to the invention.
  • the sensorless permanently excited synchronous machine 1 shown schematically in FIG. 1, comprises an electromechanical structure 2 with a rotor 3 and a stator 4.
  • the rotor 3 which can be on the outside as an alternative to its inner arrangement indicated in FIG. 1, has in FIG permanent magnets, not shown separately, in order to provide permanent magnetic excitation.
  • the stator 4 is provided with stator windings, also not shown separately. Often it is, as in FIG. 1, through three Connection lines 5 to 7 are indicated, around three stator windings that are electrically isolated from one another.
  • An inverter 8 applies voltages to the stator windings via the connecting lines 5 to 7. In response to these voltages, currents flow through the stator windings and via their connection lines 5 to 7.
  • the measured currents 19 to 21 are continuously transmitted to an extended Kalman filter 12, which comprises a model 13 of the permanently excited synchronous machine 1 described by equations of state.
  • a voltage manipulated variable 14 which is specified by a controller 15, and an additional signal specification 16 are continuously transmitted to the EKF 12.
  • the additional signal default 16 is predetermined by an additional signal default generator 17 and superimposed on the voltage manipulated variable 14 at the output of the controller 15.
  • the voltage manipulated variable 14 specifies fundamental wave components of the voltages that are applied to the stator windings of the stator 4 by the inverters 8 connected on the input side to a DC voltage intermediate circuit 18 via the connecting lines 5 to 7.
  • the inverter 8 and the DC voltage intermediate circuit 18 are typically parts of a frequency converter, which is not shown further here.
  • the controller 15, the inverter 8 and the additional signal pre-generator 17 together form a voltage regulator 28 for the voltages applied to the stator windings of the stator 4 of the synchronous machine 1.
  • Due to the additional signal specification 16, the inverter 8 superimposes higher-frequency additional signals on the fundamental wave components at least at low speeds of the synchronous machine 1.
  • the currents 19 to 21 measured with the measuring devices 9 to 11 are the responses both to the fundamental wave components and to the additional signals of the voltages applied to the stator windings of the stator 4.
  • the EKF 12 estimates a rotor position 22 of the rotor 3, fundamental current components 23 of the measured currents 19 to 21, as the relevant state variables of the synchronous machine 1, as responses to the fundamental wave components of the applied voltages flow through the stator windings, an angular velocity 24 of the rotor 3 and additional current components 25 of the measured currents 19 to 21, which flow through the stator windings as responses to the higher-frequency additional signals of the applied voltages.
  • the EKF 12 can estimate further state variables and system parameters 26, such as a portion of the flux linkage of the permanent magnets located on the rotor 3 that induces voltage in the stator windings and / or a mechanical disturbance variable that indicates external influences on the rotor 3, and also these state variables and Send system parameter 26 to controller 15.
  • state variables and system parameters 26 such as a portion of the flux linkage of the permanent magnets located on the rotor 3 that induces voltage in the stator windings and / or a mechanical disturbance variable that indicates external influences on the rotor 3, and also these state variables and Send system parameter 26 to controller 15.
  • the controller 15 specifies the voltage manipulated variable 14 for system parameters 24 and 26 in order to regulate the fundamental wave current components 23 which are optimally suited to achieve a desired angular speed 24 of the rotor 3 and thus a specific speed of the synchronous machine 1.
  • the controller 15 can have separate parts for the d and q components of the fundamental current components 23.
  • the EKF 12 used for estimating the rotor position 22 is based on the model 13 of the synchronous machine 1, which, in addition to electrical model components, can have a mechanical model component describing the electromechanical structure 2. Furthermore, the EKF 12 can include electrical and / or mechanical model components to take into account the specific application of the synchronous machine 1, for example as a drive for a conveyor belt.
  • the EKF 12 is a non-linear observer that can, in principle, estimate the rotor position 22 on the basis of a model without the influence of anisotropy of the inductances of the synchronous machine. However, the information content for the estimation of the rotor position 22 is dependent on the angular speed 24 of the rotor.
  • the basic wave components of the voltages applied to the stator windings specified by the voltage manipulated variable 14 are superimposed on the additional signals specified by the additional signal specification 16, which, if anisotropy is present, provide additional information about the rotor position 22 in the currents 19 to 19 flowing and measured as a response to the applied voltages 21 evoke.
  • This information about the rotor position 22 is also evaluated by the EKF 12. This results in an observer for the rotor position 22, which has a high level of accuracy over the entire speed range of the synchronous machine 1 and reduces the dependence on a clear anisotropy of the inductances of the synchronous machine 1.
  • the EKF 12 can be used to separate the fundamental current components 23 from the additional current components 25 of the measured currents 19 to 21. No filtering of the measured currents, which is usually used, is thus required in order to provide the fundamental wave current components 23 of the measured currents 19 to 21 required by the controller 15. In addition, there is no signal deterioration and no filter-related phase delay in the fundamental wave current components 23 estimated by the EKF 12. Since the EKF 12 also estimates the rotor position 22 at the low speeds and is therefore used as the only observer for the rotor position 22 in the synchronous machine 1, no speed-dependent switching or other synchronization between different observers is necessary, which has a negative influence on such a switching the function of the controller 15 is omitted.
  • the additional signals are characterized by their amplitude U c and frequency ⁇ c , which are directly impressed, with the frequency is constant, while the amplitude U c can be specified as a function of the speed, precisely known:
  • the total voltage specification 27, which is transferred to the inverter 8, is an additive superposition of both components:
  • Calculated output variables of the EKF 12, which are compared with measured variables, are total currents, which are made up of fundamental wave current components and higher-frequency additional current components:
  • the fundamental wave current components and the higher-frequency additional current components result from the calculation of several model components (see below) and a correction from an observer feedback multiplied by a difference between the measured currents 19 to 21 and the calculated output values of the EKF 12 in, i.e. the total currents i ⁇ , ⁇ .
  • the state vector of the EKF 12 contains the additional current components from an additional signal model component of the model 13 for higher-frequency excitation by the additional signals as well as the fundamental current components from a fundamental wave model component of the model 13 for the excitation by the fundamental wave components of the voltages applied to the stator windings.
  • the state vector contains the electrical angular velocity and the rotor position, ie the electrical or mechanical rotor position angle, which can be converted into one another using the number of pool pairs of the synchronous machine.
  • other system parameters and disturbance variables such as B. the permanent magnetic field as a system parameter and a disturbance torque as a mechanical disturbance variable can be estimated. Then the following applies for the state vector:
  • the model 13 of the EKF can essentially have three model components: the electrical fundamental wave model component for the excitation of the synchronous machine through the fundamental wave components of the applied voltages, the electrical additional signal model component for the higher-frequency periodic excitation of the synchronous machine through the additional signals and the fundamentally optional mechanical model component to take into account the electromechanical Structure 2 of the synchronous machine including torque calculation.
  • the output variables i.e. the estimated total currents i ⁇ , here in the alpha / beta coordinate system, are determined from the state variables of the model components.
  • Electrical model of the synchronous machine when excited by the fundamental wave components (fundamental wave model component)
  • the voltage manipulated variable 14 at the output of the controller 15 is in a typical frequency range from 0 to 400 Hz.
  • the voltage manipulated variable 14 in dq coordinates can be transformed into the alpha / beta coordinate system with the help of the estimated electrical rotor position angle ⁇ el and is used as an input variable for the fundamental wave model component of the model 13 of the synchronous machine 1 is used, as is known in principle to the person skilled in the art.
  • the output quantities of the fundamental wave model component are the estimated fundamental wave current components.
  • the angle information which is evaluated in this case, can be found in the term of the electromotive force (EMF). Since this term is linearly dependent on the angular speed, this information can only be used from a certain angular speed, which is typically 0.5 to 1% of the rated speed of the synchronous machine 1.
  • the additional signals in the form of a higher-frequency alternating voltage with a typical frequency of the order of magnitude of 1,000 Hz or greater are superimposed on the fundamental wave components of the applied voltages.
  • the additional signal model component includes special parameters for the higher-frequency additional signals such as the differential main and mutual inductances as well as a fully occupied resistor matrix. It is generally known that the resulting higher-frequency additional current components can be displayed as current vectors in the alpha / beta coordinate system as follows:
  • phase of the higher-frequency periodic additional current components which is dependent on the rotor position, is due to an angular dependence of the inductances and requires a difference in the inductances in the d and q directions, i.e. anisotropy.
  • the input of the mechanical model component is an equation for calculating the internal torque of the synchronous machine from the currents of the electrical model components.
  • the higher-frequency additional current components often have a negligible influence on the torque.
  • a torque disturbance variable can be estimated, which compensates for mechanical parameter errors, but primarily takes into account friction losses as well as load torques and disturbance torques.
  • the angle estimation can be improved by means of this disturbance variable estimation.
  • the angular acceleration is derived from the torque and, as a result, the angular velocity and the rotor position angle are determined by integration.
  • the current components of the fundamental wave model component and the additional signal model component are required.
  • the additional current components from the additional signal model component are additively superimposed with the fundamental current components from the fundamental wave model component.
  • the state variables are corrected by means of the difference between estimated and measured currents multiplied by an observer feedback matrix.
  • the rotor position angle which is initially predicted with the aid of the mechanical model component, can be highly error-prone, depending on the quality of the model. Since the rotor position is contained both in the fundamental wave model component and in the additional signal model component and thus influences the predicted currents that flow in response to the applied voltages, optimizing the state variables with regard to a minimal difference between measured and estimated currents enables a Correction of the estimated rotor position can be made.
  • the fundamental wave model component supplies reliable angle information from the EMF, which, however, is linearly dependent on the angular velocity and is therefore unusable at low speed and when the system is stationary.
  • the additional excitation of the synchronous machine with the higher-frequency periodic additional signals ensures that the additional signal model component enables the rotor position to be corrected using anisotropy-based rotor position information. Since the rotor position is corrected using both model components, it is possible to estimate the rotor position in the entire speed range without switching or fading between two different estimation methods. In particular, an additional estimate of the permanent magnetic field of the synchronous machine can be useful, since above all the accuracy when estimating the angular velocity is sensitive to this system parameter. If there is a parameter error, there is an offset in the estimation of the angular velocity. When the synchronous machine is at a standstill, the system parameter of the permanent magnetic field is insufficient or not stimulated at all.
  • the corresponding parameter estimate can therefore drift away.
  • the estimate of the angular velocity can be influenced by this effect, and the velocity estimate can be offset.
  • the weighting of the estimation of the permanent magnetic field within the covariance matrix of the system noise can be defined as a function of the speed. When the machine is at a standstill, the corresponding weighting is zero, so that the system parameter is kept constant. With increasing speed, the covariance of the permanent magnetic field parameter is also increased up to a final value, so that this permanent magnetic field estimate is corrected again by the EKF.

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  • Control Of Ac Motors In General (AREA)

Abstract

Afin de capturer une position de rotor d'un rotor (2) d'une machine synchrone à excitation permanente (1), des tensions (27) sont appliquées à des enroulements de stator de la machine synchrone (1), des signaux supplémentaires de fréquence plus élevée (16) étant superposés sur des composantes fondamentales (14) des tensions (27), qui sont appliquées dans le but de faire fonctionner la machine synchrone (1), au moins à des vitesses basses de la machine synchrone (1). En tant que réponses aux tensions appliquées, des courants (19-21) s'écoulant à travers les enroulements de stator sont mesurés. Un observateur destiné à estimer la position du rotor (22) de la machine synchrone à excitation permanente (1) sur la base des tensions appliquées aux enroulements de stator et des courants circulant à travers les enroulements de stator est défini en tant que filtre Kalman étendu (EKF) (12) qui comprend un modèle (13) de la machine synchrone (1). Le modèle (13) de la machine synchrone (1) comporte une composante de modèle fondamentale et une composante de modèle de signal supplémentaire. Les composantes fondamentales (14) et les signaux supplémentaires (16) des tensions appliquées (27) et des courants mesurés (19-21) sont entrés en continu dans l'EKF (12). L'EKF (12) est utilisé comme unique observateur pour la position de rotor (22) à toutes les vitesses de la machine synchrone (1), avec pour résultat que deux observateurs différents ou plus destinés à estimer la position de rotor (22) de la machine synchrone à excitation permanente (1) n'ont pas besoin d'être synchronisés sur la base de la vitesse.
PCT/EP2021/058310 2020-04-01 2021-03-30 Procédé de capture d'une position de rotor d'une machine synchrone à excitation permanente, et machine synchrone à excitation permanente dotée de moyens de capture de sa position de rotor WO2021198264A1 (fr)

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DE102020109004.8A DE102020109004A1 (de) 2020-04-01 2020-04-01 Verfahren zum Erfassen einer Rotorlage einer permanenterregten Synchronmaschine und permanenterregte Synchronmaschine mit Mitteln zum Erfassen ihrer Rotorlage

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