WO2022117615A2 - Verfahren zum ermitteln einer korrekturinformation, verfahren zur regelung einer elektrischen maschine, vorrichtung, elektrische antriebseinrichtung, wärmepumpe - Google Patents
Verfahren zum ermitteln einer korrekturinformation, verfahren zur regelung einer elektrischen maschine, vorrichtung, elektrische antriebseinrichtung, wärmepumpe Download PDFInfo
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- WO2022117615A2 WO2022117615A2 PCT/EP2021/083704 EP2021083704W WO2022117615A2 WO 2022117615 A2 WO2022117615 A2 WO 2022117615A2 EP 2021083704 W EP2021083704 W EP 2021083704W WO 2022117615 A2 WO2022117615 A2 WO 2022117615A2
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- WIPO (PCT)
- Prior art keywords
- rotation
- determined
- angle
- rotor
- interference wave
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000004804 winding Methods 0.000 claims abstract description 25
- 239000012530 fluid Substances 0.000 claims description 20
- 230000001276 controlling effect Effects 0.000 claims description 17
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 101150002976 ACP1 gene Proteins 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 12
- 230000002452 interceptive effect Effects 0.000 description 9
- 230000000737 periodic effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 238000001228 spectrum Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B31/00—Compressor arrangements
- F25B31/02—Compressor arrangements of motor-compressor units
- F25B31/026—Compressor arrangements of motor-compressor units with compressor of rotary type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
- F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
- F25B49/025—Motor control arrangements
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
-
- 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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/90—Specific system operational feature
- Y10S388/902—Compensation
Definitions
- the invention relates to a method for determining correction information for an electrical machine that has a stator winding and a rotatably mounted rotor with a plurality of pole pairs.
- the invention also relates to a method for controlling such an electrical machine.
- the invention relates to a device for determining a correction instruction, with a control unit.
- the invention relates to a device for controlling an electrical machine, with a control unit.
- the invention also relates to an electric drive device and a heat pump.
- An electrical machine usually has a rotatably mounted rotor and a stator with a stator winding.
- the stator winding is distributed around the rotor in such a way that the rotor can be rotated by suitably energizing the stator winding.
- Induction machines such as squirrel-cage asynchronous machines or permanent-magnet synchronous machines, do not have an ideal sinusoidal shape due to their design Flux distribution in the air gap. During operation, this leads to non-uniform torques with harmonics when controlled with sinusoidal currents.
- This control is essentially designed for controlling the fundamental wave of the current, with the fundamental wave of the current being transformed into equal values in a co-rotating coordinate system with the rotor for this purpose by means of the d/q transformation.
- These constants are also referred to as torque-forming current iq and flux-forming current id.
- the equal values are controlled in the rotor-fixed coordinate system and the determined manipulated variables ud, uq are then transformed back and used as the fundamental wave of the voltage to control the electrical machine. It is not possible to influence or reduce harmonics with this.
- a method for determining correction information for an electrical machine which has a stator winding and a rotatable bearing rotor having several pairs of poles.
- the method according to the invention is characterized by the features of claim 1 in that a reference angle of rotation of the rotor is selected, that an actual variable influenced by rotation of the rotor is determined and monitored for interference waves, that when an interference wave is detected, a Interference wave correction instruction related to the reference angle of rotation to compensate for the detected interference wave and a reference feature of the interference wave related to the reference angle of rotation are determined, that a reference angle of rotation value of the reference angle of rotation related to an angle of rotation interval that is traversed during an electrical revolution of the rotor, is determined, and that the interference wave correction instruction determined, the reference feature determined and the reference angle of rotation value determined are assigned to one another and stored as correction information.
- the electrical angle of rotation of the rotor runs through an angle of rotation interval of n*360° during one mechanical revolution of the rotor, where n is the number of pole pairs. If, for example, there are two pairs of poles, then the electrical angle of rotation runs through an angle of rotation interval of 720°. If there are three pairs of poles, the electrical angle of rotation correspondingly runs through an angle of rotation interval of 1080°. For each pole pair of the rotor, the electrical angle of rotation thus runs through a rotation angle interval of 360° during a mechanical rotation of the rotor. Correspondingly, during one mechanical revolution of the rotor, the rotor runs through a number of electrical revolutions that corresponds to the number of pole pairs.
- the correction information determined according to the invention contains the interference wave correction instruction and information by means of which the phase position of the interference wave correction instruction can be correctly determined without a rotation angle sensor for detecting the mechanical rotation angle.
- a reference angle of rotation of the rotor is selected.
- a specific mechanical angle of rotation of the rotor is selected as the reference angle of rotation.
- a specific mechanical angle of rotation of the rotor is preferably selected as the reference angle of rotation.
- An electrical angle of rotation is preferably selected as the reference angle of rotation from an electrical angle of rotation interval that is traversed during a mechanical revolution of the rotor. If, for example, three pairs of poles are present, an electrical angle of rotation is selected from an electrical angle of rotation interval of 1080°. It is fundamentally arbitrary which angle of rotation is selected as the reference angle of rotation. For example, an electrical angle of rotation of 0° is selected as the reference angle of rotation from the electrical angle of rotation interval of 1080°.
- an actual variable influenced by the rotation of the rotor is determined and monitored for interference waves.
- An actual variable is to be understood as a variable in the course of which the behavior of the electrical machine affected by harmonics can be recognized as an interference wave.
- an interference wave correction instruction related to the reference angle of rotation for compensating for the detected interference wave and a reference feature of the interference wave related to the reference angle of rotation are determined.
- An interference wave correction instruction for compensating for the detected interference wave is to be understood as meaning data which, when taken into account when controlling the electrical machine, results in the interference wave being compensated for.
- the control matrix mentioned above is a spurious correction instruction.
- the noise wave correction instruction is related to the reference rotation angle.
- the interference wave correction instruction itself is also periodic.
- the interference wave correction instruction is related to the reference angle of rotation in that the interference wave correction instruction has a specific phase position in relation to a reference rotation angle.
- the reference feature of the interfering wave means a specific property of the interfering wave.
- the reference feature is also related to the reference angle of rotation.
- the disturbance wave has the reference feature when the rotation angle of the rotor corresponds to the reference rotation angle.
- a reference angle of rotation value of the reference angle of rotation is determined in relation to a rotation angle interval that is traversed during an electrical revolution of the rotor.
- each rotation angle value of the electrical rotation angle interval which is traversed during an electrical rotation of the rotor, is present several times during a mechanical rotation of the rotor.
- the interference wave correction instruction determined, the reference feature determined, and the reference angle of rotation value determined are assigned to one another and stored as correction information.
- the interference wave correction instruction is thus stored as a function of the reference feature determined and as a function of the reference angle of rotation value determined.
- the reference feature and the reference angle of rotation value together enable the phase position of the interference wave correction instruction to be correctly defined.
- “determining” is to be understood to mean both detecting or measuring and calculating as a function of detected or measured values.
- the method according to the invention for determining correction information is preferably carried out as part of the calibration of the electrical machine in the factory.
- the interference wave correction instruction is determined as a function of a sensor signal from an NVH sensor.
- the control of the electric machine is adjusted in such a way that the sensor signal from the NVH sensor is minimized.
- the Interference wave correction instruction is then determined as a function of the adjustment made to the control.
- An acceleration sensor, a laser sensor or an acoustic sensor is preferably used as the NVH sensor.
- the NVH sensor is preferably an external sensor.
- the NVH sensor is not part of the electrical machine, but is only assigned to the machine for carrying out the method.
- the NVH sensor is part of an external correction device.
- At least one electrical actual phase current flowing through the stator winding is preferably determined as the actual variable.
- the actual phase currents flowing through the stator winding themselves have a sinusoidal or periodic profile.
- the interference waves are recognizable in the course of the actual phase currents based on the amplitude of the actual phase current. Determining an actual phase current as an actual variable is particularly suitable because the actual phase currents are generally determined anyway by the standard sensors of the electrical machine.
- the torque-forming current is determined as the actual variable. As mentioned above, this is related to a rotor-fixed coordinate system and is correspondingly present as equal values. Because the torque-generating current is of the same magnitude, the interference waves are particularly easy to detect. As an alternative or in addition, the flux-forming current is preferably determined as the actual variable.
- the machine is preferably designed to drive a compressor, with a fluid pressure of a fluid delivered by the compressor being determined as the actual variable.
- the rotor of the machine is then coupled with the compressor to drive it.
- a behavior of the machine affected by harmonics is therefore also transferred to the fluid pressure of the fluid conveyed by the fluid pump. Accordingly, the disturbance wave can also be recognized in the course of the fluid pressure.
- a phase position of the interference wave is preferably determined as a reference feature.
- the phase position of the interference wave is therefore determined in relation to the reference angle of rotation.
- the phase position is particularly suitable as a reference feature for characterizing the reference angle of rotation, as is explained in the following example.
- the rotor again has three pairs of poles.
- the electrical angle of rotation value present at the reference angle of rotation of the rotor is present a total of three times during a mechanical revolution of the rotor.
- the interference wave is assumed to be an interference wave which is the first harmonic with regard to the mechanical rotational frequency of the rotor.
- the phase position of the interference wave in relation to the reference angle of rotation is different from that in relation to one of the other angles of rotation at which the same electrical angle of rotation value is present as at the reference angle of rotation.
- the reference angle of rotation can therefore be clearly distinguished from the other angles of rotation based on the phase position of the interference wave.
- At least one maximum and/or at least one minimum of the actual size is determined as a reference feature.
- the maximum or minimum immediately following the presence of the reference angle of rotation is determined as a reference feature.
- the reference angle of rotation can also be clearly characterized on the basis of the maximum or the minimum.
- a method for controlling an electrical machine which has a stator winding and a rotatably mounted rotor with a plurality of pole pairs.
- the method according to the invention for controlling the electrical machine is characterized by the features of claim 8 in that correction information is provided which has an interference wave correction instruction, an electrical reference angle of rotation value and a reference feature that is influenced by rotation of the rotor -Size is determined and monitored for interfering waves, that when an interfering wave is detected for each electrical angle of rotation of the rotor, the angle of rotation value of which corresponds to the reference angle of rotation value, an actual characteristic of the interfering wave related to the electrical angle of rotation is determined, that the determined actual characteristics be compared with the reference characteristic that a phase angle of the interference wave correction instruction is determined as a function of the comparison, and control signals for the electrical machine are determined as a function of the interference wave correction instruction with the established phase angle.
- a control method is preferably also understood to mean a control method.
- the electrical machine is activated, preferably regulated, in this case.
- phase position of the interference wave correction instruction can be correctly defined using the standard sensors of the electrical machine. No additional sensor system, such as a rotation angle sensor, is therefore necessary to compensate for interference waves that occur during operation of the electrical machine.
- Correction information is preferably provided as correction information, which was determined according to the method according to the invention for determining correction information.
- An electrical actual phase current flowing through the stator winding, the torque-forming current, the flux-forming current and/or a fluid pressure are preferably determined as the actual variable.
- a phase position of the interfering wave, a maximum of the interfering wave or a minimum of the interfering wave is preferably determined as the actual characteristic.
- the determined actual features are compared with the reference feature contained in the correction information, and a phase position of the interference wave correction instruction is defined as a function of the comparison.
- the actual feature is selected whose deviation from the reference feature is the smallest. It is then assumed that the angle of rotation of the rotor assigned to this actual characteristic corresponds to the reference angle of rotation of the rotor. Because the spurious wave correction command was determined in relation to the reference rotation angle, the phase position of the spurious wave correction command can accordingly be set correctly.
- control signals for the electrical machine are determined as a function of the interference wave correction instruction with the fixed phase position. The electric machine is then in Regulated as a function of the interference wave correction instruction with the specified phase position.
- the electrical machine is preferably controlled, in particular regulated, by means of the determined control signals.
- the electrical machine is controlled and/or controlled by means of the determined control signals.
- the invention also relates to a device for determining correction information for an electrical machine, the machine having a stator winding and a rotatably mounted rotor with a plurality of pole pairs.
- the device is distinguished with the features of claim 10 by a control unit which is specially designed to carry out the method according to the invention for determining correction information when used as intended. This also results in the advantages already mentioned with regard to the method. Further preferred features and cumulation of features emerge from the description and from the claims.
- the invention also relates to a device for controlling an electrical machine, the electrical machine having a stator winding and a rotatably mounted rotor with a plurality of pole pairs.
- this device is distinguished by a control unit which is specially designed to carry out the method according to the invention for controlling an electrical machine when used as intended. This also results in the advantages already mentioned with regard to the method. Further preferred features and combinations of features emerge from the description and from the claims.
- the electric drive device has an electric machine and a device for operating the electric machine.
- the drive device is characterized with the features of claim 12 by the inventive design of the device. This also results in the advantages already mentioned. Other preferred features and Combinations of features result from the description and from the claims.
- the heat pump according to the invention has a compressor and an electric drive device for driving the compressor.
- the heat pump is characterized by the features of claim 13 by the design of the drive device according to the invention.
- Figure 1 shows a heat pump in a schematic representation
- FIG. 2 shows a method for determining correction information for an electric machine of the heat pump
- Figure 3 shows a course of electrical phase currents
- FIG. 4 shows a spectrum of a torque-forming current
- Figure 5 shows a course of a fluid pressure
- FIG. 6 shows a method for controlling the electrical machine.
- FIG. 1 shows a heat pump 1 in a schematic representation.
- the heat pump 1 has a compressor 2 .
- the heat pump 1 also has a condenser 3 , a throttle 4 and an evaporator 5 .
- An electrical drive device 6 for driving the compressor 2 is assigned to the compressor 2 .
- the compressor 2 is a twin rotary piston compressor 2.
- the advantageous effects achieved by the invention can also be achieved when using a different type of compressor.
- the drive device 6 has an electric machine 7, which has a rotatably mounted rotor and a stator winding.
- the rotor points several pairs of poles.
- the rotor has three pairs of poles.
- the stator winding is distributed around the rotor in such a way that the rotor can be rotated by suitably energizing the stator winding.
- the stator winding has several phases.
- the stator winding has three phases U, V and W.
- the drive device 6 also has an electrical energy store 8 .
- the energy store 8 is electrically connected to the phases of the stator winding by power electronics 9 having a plurality of switching elements.
- the drive device 6 also has a device 10 for controlling the electric machine 7 .
- a control is to be understood in particular as a control without feedback.
- a control is to be understood in particular as a control without feedback.
- a regulation can in particular also control.
- the device 10 has a control unit 11 which is designed to control the electric machine 7 .
- the control unit 11 is designed to determine control signals for the switching elements of the power electronics 9 and to switch the switching elements on or off depending on the control signals.
- the electrical machine 7 is controlled, in particular regulated, by means of the control signals.
- the device 10 also has a data memory 12 . At least one item of correction information is stored/can be stored in the data memory 12 .
- the data memory 12 is connected to the control unit 11 in terms of communication technology in order to provide the control unit 11 with the correction information.
- a first sensor device 13 is assigned to the stator winding.
- the first sensor device 13 is designed to detect electrical actual phase currents flowing through the phases U, V and W of the stator winding.
- the first sensor device 13 has at least one current sensor.
- the first sensor device 13 is connected to the control unit 11 in terms of communication technology in order to provide the control unit 11 with the detected actual phase currents.
- the heat pump 1 also has a second sensor device 14 .
- the second sensor device 14 is designed to detect a fluid pressure of a fluid conveyed by the compressor 2 .
- the second sensor device 14 has at least one pressure sensor.
- the second sensor device 14 is communicatively connected to the control unit 11 in order to make the detected fluid pressure available to the control unit 11 .
- control unit 11 An advantageous method for determining correction information for the electrical machine 7 is explained in more detail below with reference to FIG. The method is carried out by control unit 11 .
- a first step S1 the electrical machine 7 is operated using field-oriented control based on an estimated electrical rotation angle. This results in the operation of the machine 7 audible or noticeable vibrations. Such vibrations result from the design properties of the machine 7 on the one hand and from the compression cycles of the compressor 2 driven by the machine 7 on the other hand.
- a reference angle of rotation (pRef of the rotor is selected.
- a specific electrical angle of rotation of the rotor is selected as the reference angle of rotation (pRef) from a range of angles of rotation that is traversed during a mechanical revolution of the rotor. Because the rotor has three pairs of poles , the electrical angle of rotation runs through an angle of rotation interval of 1080° during one mechanical revolution of the rotor.
- the selection of the reference angle of rotation (pRef is fundamentally arbitrary. For example, an electrical angle of rotation of 0° or 540° is selected as the reference angle of rotation (pRef In the following it is assumed that an electrical angle of rotation of 0° is selected as the reference angle of rotation (pRef.
- a third step S3 an actual variable influenced by a rotation of the rotor is determined and monitored for interference waves. Since the actual quantity is influenced by the rotation of the rotor, the above-mentioned vibrations in the course of the actual quantity can be detected as noise waves. come at it different sizes as the actual size in question, as explained below with reference to Figures 3 to 5.
- FIG. 3 shows a diagram in which the course of the actual phase currents IU, IV and IW is shown as a function of the mechanical angle of rotation of the rotor.
- the angle of rotation interval A(p describes a complete revolution of the rotor.
- the angle of rotation interval Acp therefore corresponds to a mechanical angle of rotation interval of 360°.
- the angle of rotation interval Acp also corresponds to an electrical angle of rotation interval of 1080°.
- the actual phase currents therefore pass through three periods in the rotation angle interval Acp
- the rotation angle interval Acp has three electrical rotation angle intervals Acp1, A>2, Aq>3, which each correspond to an electrical rotation angle of 360°.
- the actual phase currents are superimposed by an interference wave SW.
- the interference wave SW means that the various maxima and minima of the phase currents differ from one another.
- a first maximum M1 of the actual phase current IU is greater than a second maximum M2 of the actual phase current IU.
- the disturbance wave SW results from the compression cycles of the compressor 2. If the pumped fluid is compressed by the compressor 2, the actual phase currents are increased. Because the compressor 2 is designed as a twin rotary piston compressor 2 and in this respect runs through two compression cycles with each revolution of the rotor, the disturbance wave SW is the first harmonic wave in relation to the rotational frequency of the rotor.
- FIG. 4 shows a spectrum of the torque-generating current iq.
- the spectrum was determined by a Fourier transformation of the torque-forming current iq.
- the spectrum has a signal at a frequency of 100 Hz in the present case. This signal corresponds to the disturbance wave SW.
- the oscillations therefore also influence a course of the torque-generating current iq, so that the torque-generating current can also be used as an actual variable.
- the flux-forming current id can also be considered as an actual variable.
- FIG. 5 shows a course of the fluid pressure P detected by the second sensor device 14.
- the fluid pressure P of a low-pressure section of the compressor 2 is shown here.
- the course of the fluid pressure P is also influenced by the disturbance wave SW. In this respect, the fluid pressure P can also be used as an actual variable.
- step S3 the torque-generating current iq is determined as the actual variable and monitored for interference waves.
- at least one actual phase current, the flow-forming current id, the fluid pressure P of the low-pressure section of the compressor 2 or the fluid pressure of a high-pressure section of the compressor 2 is determined as the actual variable and monitored for interference waves.
- an interference wave correction instruction related to the selected reference angle of rotation cpRef is determined for compensating for the interference wave SW.
- An interference wave correction instruction is to be understood as data which, when taken into account when controlling the electric machine 7, results in the interference wave SW being smoothed out. The interference wave SW is then no longer visible in the progression of the actual variable.
- control unit 11 determines the interference wave correction instruction as a function of a sensor signal from an NVH sensor.
- An NVH sensor is to be understood as meaning a sensor which is designed to detect the above-mentioned vibrations.
- the NVH sensor is an acceleration sensor, a laser sensor or an acoustic sensor.
- the NVH sensor is assigned to the electrical machine 7 only for carrying out the method illustrated in FIG.
- the NVH sensor is an external sensor.
- the control unit 11 preferably changes the actuation of the electric machine 7 in such a way that the sensor signal of the NVH sensor is reduced or minimized.
- the control unit 11 determines the change in control required for this as an interference wave correction instruction. Because the noise correction command is intended to reduce periodic effects, the noise correction command itself is also periodic.
- the phase position of the periodic interference wave correction instruction is related to the selected reference angle of rotation cpRef.
- control unit 11 determines a reference feature of interference wave SW in relation to reference angle of rotation cpRef.
- a reference feature is a feature of the interference wave SW that is characteristic of the selected reference angle of rotation cpRef.
- the reference angle of rotation cpRef has an angle of rotation value of 0° in relation to the electrical angle of rotation interval A>1.
- the electrical rotation angle interval Aq>2 and the electrical rotation angle interval Aq>3 each have a rotation angle with a rotation angle value of 0°, namely the rotation angles >1 and >2.
- a phase position of the interference wave SW in relation to the reference angle of rotation cpRef is determined as a reference feature.
- the phase position of the interference wave SW in relation to the reference angle of rotation cpRef is different from that in relation to the angle of rotation >1 or the angle of rotation >2.
- the phase position is suitable as a reference feature for the unambiguous characterization of the reference angle of rotation cpRef.
- a sixth step S6 the angle of rotation value of the reference angle of rotation cpRef based on the electrical angle of rotation interval A>1 is determined as the reference angle of rotation value. As already mentioned, this is 0°.
- a seventh step S7 the interference wave correction instruction that was determined, the reference angle of rotation value that was determined, and the reference feature that was determined are assigned to one another and stored in the data memory 12 as correction information.
- control unit 11 An advantageous method for controlling the electrical machine 7 is explained in more detail below with reference to FIG. 6 is also carried out by control unit 11.
- Step VI the electrical machine 7 is operated using field-oriented control based on an estimated electrical angle of rotation. Step VI therefore corresponds to step S1 of the method illustrated in FIG.
- step V2 the correction information determined according to the method illustrated in FIG. 2 is made available to control unit 11.
- a third step V3 an actual variable influenced by the rotation of the rotor is determined and monitored for interference waves.
- the same actual variables that were mentioned above with reference to method step S4 come into consideration here.
- the actual size that was also taken into account when determining the correction information in step S4 is preferably determined as the actual size.
- an actual characteristic of the interference wave related to the respective angle of rotation is determined for each electrical angle of rotation of the rotor whose angle of rotation value corresponds to the reference angle of rotation value.
- the electrical rotation angle values of the rotation angles cpRef, >1 and ⁇ p2 correspond to the reference rotation angle value included in the correction information.
- an actual characteristic of the interference wave is determined for each of these three angles of rotation.
- An actual feature is preferably determined which is of the same nature as the reference feature contained in the correction information. If the phase position of the interference wave was determined as a reference feature in step S5, the phase position of the interference wave SW is also determined in step V4 as an actual feature for each of the angles of rotation cpRef, >1 and ⁇ p2.
- a fifth step V5 the determined actual features are compared with the reference feature.
- the actual feature is selected that has the smallest deviation from the reference feature. It is assumed that the electrical angle of rotation for which this actual characteristic was determined is the reference angle of rotation cpRef.
- a sixth step V6 the phase position of the interference wave correction instruction contained in the correction information is specified. Because the interference wave correction instruction relates to the reference angle of rotation and the reference angle of rotation cpRef was identified in step V5 based on the comparison of the actual features with the reference feature, this is possible without any problems.
- the control signals for the electrical machine 7 then become dependent determined by the interference wave correction instruction with the specified phase position. This compensates for the interfering wave SW, so that the vibrations during operation of the electrical machine 7 are reduced.
- the electrical machine 7 is controlled, in particular regulated, by the determined control signals.
- the electrical machine 7 is controlled by means of the control signals.
- the method for controlling the electrical machine 7 preferably includes the actuation of the electrical machine using the determined actuation signals.
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- Engineering & Computer Science (AREA)
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Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020237021792A KR20230110796A (ko) | 2020-12-01 | 2021-12-01 | 보정 정보 결정 방법, 전기 기계 제어 방법, 장치, 전기 구동 장치, 히트 펌프 |
US18/255,159 US20240030852A1 (en) | 2020-12-01 | 2021-12-01 | Method for determining correction information, method for controlling an electric machine, apparatus, electrical drive device, and heat pump |
CN202180092519.5A CN116868501A (zh) | 2020-12-01 | 2021-12-01 | 用于查明校正信息的方法、用于调节电机的方法、装置、电驱动机构、热泵 |
EP21823850.9A EP4256693A2 (de) | 2020-12-01 | 2021-12-01 | Verfahren zum ermitteln einer korrekturinformation, verfahren zur regelung einer elektrischen maschine, vorrichtung, elektrische antriebseinrichtung, wärmepumpe |
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DE102020215121 | 2020-12-01 | ||
DE102020215121.0 | 2020-12-01 |
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WO2022117615A2 true WO2022117615A2 (de) | 2022-06-09 |
WO2022117615A3 WO2022117615A3 (de) | 2022-07-28 |
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PCT/EP2021/083704 WO2022117615A2 (de) | 2020-12-01 | 2021-12-01 | Verfahren zum ermitteln einer korrekturinformation, verfahren zur regelung einer elektrischen maschine, vorrichtung, elektrische antriebseinrichtung, wärmepumpe |
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US (1) | US20240030852A1 (de) |
EP (1) | EP4256693A2 (de) |
KR (1) | KR20230110796A (de) |
CN (1) | CN116868501A (de) |
DE (1) | DE102021213595A1 (de) |
WO (1) | WO2022117615A2 (de) |
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JP4906819B2 (ja) * | 2007-12-11 | 2012-03-28 | 三菱電機株式会社 | 圧縮機およびトルク制御装置並びに空気調和機 |
US9136785B2 (en) * | 2013-03-12 | 2015-09-15 | Steering Solutions Ip Holding Corporation | Motor control system to compensate for torque ripple |
JP6622452B2 (ja) * | 2014-10-14 | 2019-12-18 | 日立グローバルライフソリューションズ株式会社 | モータ制御装置、圧縮機、空気調和機およびプログラム |
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2021
- 2021-12-01 US US18/255,159 patent/US20240030852A1/en active Pending
- 2021-12-01 CN CN202180092519.5A patent/CN116868501A/zh active Pending
- 2021-12-01 EP EP21823850.9A patent/EP4256693A2/de active Pending
- 2021-12-01 WO PCT/EP2021/083704 patent/WO2022117615A2/de active Application Filing
- 2021-12-01 DE DE102021213595.1A patent/DE102021213595A1/de active Pending
- 2021-12-01 KR KR1020237021792A patent/KR20230110796A/ko unknown
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US20240030852A1 (en) | 2024-01-25 |
WO2022117615A3 (de) | 2022-07-28 |
CN116868501A (zh) | 2023-10-10 |
DE102021213595A1 (de) | 2022-06-02 |
EP4256693A2 (de) | 2023-10-11 |
KR20230110796A (ko) | 2023-07-25 |
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