WO2022218819A1 - Procédé de régulation à orientation de champ d'un moteur électrique - Google Patents

Procédé de régulation à orientation de champ d'un moteur électrique Download PDF

Info

Publication number
WO2022218819A1
WO2022218819A1 PCT/EP2022/059284 EP2022059284W WO2022218819A1 WO 2022218819 A1 WO2022218819 A1 WO 2022218819A1 EP 2022059284 W EP2022059284 W EP 2022059284W WO 2022218819 A1 WO2022218819 A1 WO 2022218819A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric motor
current
variable
controller
operating point
Prior art date
Application number
PCT/EP2022/059284
Other languages
German (de)
English (en)
Inventor
Johannes Schwarzkopf
Original Assignee
Brose Fahrzeugteile SE & Co. Kommanditgesellschaft, Würzburg
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 Brose Fahrzeugteile SE & Co. Kommanditgesellschaft, Würzburg filed Critical Brose Fahrzeugteile SE & Co. Kommanditgesellschaft, Würzburg
Publication of WO2022218819A1 publication Critical patent/WO2022218819A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/02—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for optimising the efficiency at low load

Definitions

  • the invention relates to a method for field-oriented control of an electric motor, in which an operating state of the electric motor is set via current control in the dq reference system with a direct component and a quadrature current.
  • the invention also relates to an electric motor and software on a data carrier.
  • Electric motor on or operated adjustment systems as Kfzkompo components such as window regulators, seat adjusters, door and sliding roof drives or radiator fan drives and pumps and interior fans typically have an electric drive with a controlled electric motor.
  • So-called brushless electric motors (brushless DC motors, BLDC motors) are increasingly being used for such electromotive drives, in which the wear-prone brush elements of a rigid (mechanical) commutator are replaced by electronic commutation of the motor current.
  • Electromotive drives for motor vehicles are usually fed by a (Flochvolt) battery as an internal vehicle energy store, from which the electric motor is supplied with electrical energy in the form of a direct current (direct voltage).
  • a power converter inverter
  • the power converter has a bridge circuit, which is supplied with the direct current or direct voltage of the energy store via an electrical intermediate circuit.
  • the motor current is generated as a multi-phase output current by pulse-width modulated (PWM) activation or regulation of semiconductor switches in the bridge circuit.
  • PWM pulse-width modulated
  • the bridge circuit feeds the electric motor current (three-phase current) into the stator coils of the electric motor, which subsequently generates a rotating magnetic field with respect to the stator.
  • the rotor of the electric motor suitably has a number of permanent magnets, the interaction of the permanent magnets with the rotating field generating a resultant torque which causes the rotor to rotate.
  • phase phases of the three-phase current generated by the bridge circuit and the associated rotating field are referred to as (motor) phases.
  • this also includes the stator coils assigned to such a phase (phase winding) with the associated connecting lines (phase end).
  • the phases are connected to one another, for example, in a star point of a star connection.
  • vector control also known as field-oriented control (FOC)
  • FOC field-oriented control
  • the three-phase current is identified as two orthogonal components that can be visualized with a current space vector.
  • One component direct component
  • the field-oriented regulation regulates the three-phase current in a dq reference system (reference system) of the electric motor.
  • a dq reference system reference system
  • the magnitude and direction (quadrature) of the current space vector in relation to the rotor is fixed, independent of the rotation. Since the current -space vector is static in the dq reference system, the current is controlled using direct current signals. This isolates the regulators from the time varying winding currents and voltages and therefore eliminates the limitation of regulator frequency response and phase shift on motor torque and speed.
  • the electric motor has an associated motor controller, which determines the corresponding current component setpoint values from the flux and torque setpoint values, which are specified by a speed controller.
  • the motor or phase currents are transformed into the dq reference system.
  • the current control typically has two proportional-integral (PI) controllers; one for the direct component (direct current) and one for the quadrature current in order to keep the measured current components at the specified setpoints.
  • the outputs of the two PI controllers represent a voltage space vector with respect to the rotor. Mirroring the transformation performed on the motor currents, these static signals are processed through a series of reference system transformations to generate voltage control signals for the PWM drive.
  • the amount of torque depends on the current amplitude and the current angle of the three-phase current. If the current angle is selected in such a way that the electric motor generates the maximum torque at a given current amplitude, the electric motor is said to be in an operating state with maximum torque per ampere (Max Torque Per Ampere, MTPA).
  • the MTPA operating point has the best efficiency for electric motor operation. This MTPA operating point depends on many influencing factors, so that it is desirable to determine and, if necessary, correct it during operation of the electric motor, ie when the electric motor is running.
  • a torque controller specifies the desired value or the command variable for the quadrature current, with a field weakening controller generating the command variable for the direct component. If field weakening is not necessary (basic speed range), the reference variable of the direct component has the value zero (0). As a result, the direct component is driven to zero and the current-space vector is thus forced to run exclusively in the quadrature direction. Since only the quadrature current produces usable torque, this maximizes the torque efficiency of the electric motor.
  • an improved one Field-oriented control can be implemented, for example, by using the reluctance torque and setting the command variable of the direct component to a value not equal to zero. Depending on the system knowledge and the tolerances, the MTPA operating point and thus the best efficiency of the electric motor is more or less achieved.
  • the invention is based on the object of specifying a particularly suitable method for field-oriented control of an electric motor. In particular, a reliable determination and, if necessary, correction of the MTPA operating point should be made possible during the runtime.
  • the invention further relates to an electric motor and software on a data carrier.
  • the method according to the invention is intended for the field-oriented control of an electric motor and is suitable and designed for this.
  • field-oriented controlled operation of the electric motor (motor operation) is provided.
  • the method is therefore suitable for operating the electric motor and is provided and designed for this purpose.
  • an operating state of the electric motor is controlled by current control (current control loop, CCL) in a dq reference system with a direct voltage component and a quadrature current.
  • the current control of the electric motor preferably has two current controllers, in particular in the form of PI controllers, with which the direct component (direct current) on the one hand and the quadrature current on the other hand are regulated and/or controlled.
  • the conjunction “and/or” is to be understood here and in the following in such a way that the features linked by means of this conjunction can be designed both together and as alternatives to one another.
  • the electric motor can also have a speed control loop (SCL), for example a speed or torque control, with a controller, in particular a PI controller, which generates a setpoint for the quadrature current controller.
  • SCL speed control loop
  • controller in particular a PI controller, which generates a setpoint for the quadrature current controller.
  • a target value of the direct component to bring about an operating state of the electric motor with maximum torque per ampere is first estimated.
  • a target value of the direct component for the MTPA operating point is determined.
  • estimate or “estimate” means an approximate determination of the MTPA operating point, for example by evaluating the phase voltages and/or phase currents, or by pre-characterized measurements, stored tables or characteristic curves, or by means of (statistical) mathematical methods to understand.
  • an initial (start) estimate of the target operating point can also consist, for example, of setting the target value to zero or, taking into account a reluctance torque, to a value not equal to zero.
  • a command variable for the current regulation is then determined on the basis of the setpoint.
  • the reference variable thus leads the direct component in the current control.
  • the electric motor is operated at a first operating point and at a second operating point, which differs therefrom, by means of the reference variable.
  • the first or second operating point can be the estimated MTPA operating point, for example.
  • the reference variable for the first or second operating point can correspond to the setpoint.
  • at least one optimization variable is then recorded as a reaction of the electric motor to operation at the first operating point and at the second operating point.
  • the optimization variable is a measure of the operation of the electric motor; in particular, the optimization variable enables conclusions to be drawn about the degree of efficiency present at the respective operating point.
  • the at least one optimization variable is evaluated here with regard to the operating state of the electric motor with maximum torque per ampere.
  • the first and second operating point are evaluated with regard to the MTPA operating point.
  • the setpoint or the reference variable for the current control is set on the basis of the evaluation.
  • the target value is therefore set in such a way that the efficiency of the electric motor is maximized.
  • the electric motor is operated at the first and/or second operating point, deviating from the estimated MTPA operating point.
  • This change in the operating point or operating state makes it possible to use the detected optimization variable to draw a conclusion as to whether the reference variable—and thus the setpoint value of the direct component—is approaching or moving away from the MTPA operating point.
  • By setting the setpoint based on this evaluation it is thus possible to determine the MTPA operating point during engine operation and to approach it successively or iteratively.
  • regulation of the setpoint of the direct component to the MTPA operating point is therefore provided, which is regulated using the optimization variable as the input variable.
  • the method according to the invention allows deviations from the MTPA operating point to be recognized and corrected or reported over the lifetime of the electric motor. Furthermore, the method reduces the requirement for the (calibration) accuracy of a positioning system of the electric motor, since any inaccuracies in the determination of the position or location are corrected by controlling the setpoint.
  • the optimization according to the method can take place during the entire life cycle of the electric motor. Alternatively, it can also only take place at certain times. For example, the operating situation after the production of the electric motor, i.e. at the end of production (End of Line, EOL), is very well known, so that a targeted and reliable estimate for the setpoint is possible. This enables a particularly effective optimization.
  • the method is particularly suitable for static operation of the electric motor. It can therefore make sense to suspend the adjustment of the setpoint according to the invention or to reduce the adjustment speed in the event of changes in the operating state (e.g. speed or load). If the system is already at the control limit, the optimization can also be stopped or halted. If the controller is (deliberately) outside the MTPA (e.g. in the event of a field weakening), the optimization or the process is also stopped, paused or interrupted.
  • the target value for the MTPA operating point (optimization value) determined using the process can be saved or stored when the process is terminated or interrupted, and can thus be reused as a new starting point (estimated point) when the process is started or restarted.
  • adaptation to the MTPA can also be limited. This means that, for example, a control factor with which the setpoint is adjusted is reduced or limited.
  • the method is used to determine an individual, unknown or imprecise system variable.
  • a position offset of the position of the motor shaft or the rotor is preferably determined here.
  • the electric motor can be operated in the suspected or estimated MTPA operating point. Instead of the direct component, an offset is varied in the actual position.
  • the target variable is reaching the MTPA operating point. However, this is achieved by correcting the position.
  • the first and/or second operating point is brought about by a test value of the reference variable.
  • the reference variable is composed in particular of a sum or difference between the setpoint and the test value.
  • the test value is a known deviation or disturbance which is added to (or subtracted from) the (estimated) target value in order to realize two different operating points.
  • the estimated setpoint value is used in a first method step as the (first) reference variable.
  • the controller of the direct component first sets the estimated MTPA operating point and operates the electric motor at this (first) operating point.
  • the reaction of the electric motor to this operating point is recorded using a first optimization variable.
  • the optimization variable is, for example, a phase current of the electric motor.
  • the optimization variable is stored and then, in a third method step, a (second) reference variable is used, which is made up of the estimated target value and the test value.
  • a second operating point which differs from the first operating point, is set by the additional test value in the reference variable.
  • a fourth method step the reaction of the electric motor to this second operating point is recorded using a second optimization variable, and the second optimization variable is stored.
  • a comparison is carried out as an evaluation as to whether the first or second optimization variable has better engine operation. If the second optimization variable is better, the target value of the direct component is readjusted. If the first optimization variable is better, method steps one to five are repeated, with the third method step by means of the test value deviating alternately in one direction and then the other.
  • a reference variable with a test value or deviation in one direction is used in the first method step and a reference variable with a test value or deviation in the other (opposite) direction is used in the third method step.
  • test value can be chosen in different ways.
  • the test value has a constant value, for example 0.5 A (ampere).
  • the test value may alternatively have an alternating value, for example ⁇ 0.5 A, or variations in amplitude. It is also possible to select the amplitude of the test value depending on the operating condition or the change in the operating condition (e.g. acceleration).
  • test value is preferably varied over time with a test value frequency.
  • test value frequency For example, the test value has a sinusoidal value:
  • I delta Io sin(oot), where I delta is the test value, Io is the test value amplitude, t is the time, and w is the test value frequency.
  • a frequency variation ie a variable test value frequency, is possible.
  • a test value for multi-frequency excitation in which several sinusoidal values are added.
  • the test value can also be in the form of a sawtooth, trapezoidal shape, or a shape similar to a trapezoidal shape.
  • “similar to a trapezoidal shape” is to be understood in particular as an excitation shape similar to a trapezoidal shape, with the corner areas being rounded off in order to improve the (engine) acoustics, for example.
  • Random values can also be used as a test value, in particular as a test value that varies over time. Distributions without high frequencies are preferably used here.
  • the controllers e.g. CCL & SCL
  • the reference variable is continuously varied here, so that a continuous transition between two or more different operating points is implemented.
  • the correlation between the reference variable and the optimization variable is expediently determined and used.
  • a correlation function of the optimization variable and the reaction of the electric motor to the test value is used as a target value, which represents the correlation between the change in the control variable and the optimization variable:
  • IMTPAControli is the reference variable
  • ki joptimization variable sin(oot + a) dt is the target value
  • k2 sin(oot) is the test value.
  • k1 and k2 are the control or learning factors
  • t is the time
  • w is the test value frequency
  • a takes into account the phase offset due to the control delay. If the frequency w is small enough, the value for a can be set to zero, for example.
  • the correlation function is thus essentially the integral of what has been learned so far in the optimization.
  • a low-pass filter can also be used.
  • command variable also leads or influences the quadrature current of the current control in addition to the direct component. If the direct component changes, the other controllers in the system (e.g. the SCL) regulate the system. In order to accelerate this, the reference variable can optionally also control the quadrature affect electricity. So both the direct component and the quadrature current are adjusted using the command variable.
  • the value should preferably be selected in such a way that the optimization variable, for example the square root of the sum of the squares of the actual direct component and the actual quadrature current, remains unchanged.
  • the reference variable can also be used to change other variables, particularly in the course of pre-control.
  • the reference variable changes the direct component.
  • the direct component also changes the phase voltage assigned to the direct component via the current controller (CCL). This on-off control can be accelerated by suitable pilot control. This is also possible for other variables, for example for the quadrature current and/or its associated phase voltage.
  • optimization variables can be used.
  • a battery current or an intermediate circuit current of the motor electronics is used as an optimization variable.
  • a motor current in particular an actual value for the motor current, is used as the optimization variable.
  • the setpoints can also be used as an optimization parameter to reduce the influence of measurement noise. Expediently including the setpoint value regulated according to the procedure.
  • the target values have filtered properties, since the determination of the target values already results in a certain filtering or suppression of the measurement noise.
  • the electric motor according to the invention is, for example, part of an (actuating) drive of a motor vehicle.
  • the electric motor has in this case motor electronics with a Controller for field-oriented control of the electric motor operation.
  • the controller here has a current control and optionally a torque or speed control.
  • the controller also has an optimal regulator.
  • the optimum controller is generally set up--in terms of program and/or circuitry--to carry out the method according to the invention described above.
  • the optimal controller is thus specifically set up to operate the electric motor deviating from an estimated MTPA operating point and, based on the change that occurs, to draw a conclusion as to whether the actual MTPA operating point is approaching or moving away.
  • the optimum controller is formed at least in its core by a microcontroller with a processor and a data memory, in which the functionality for carrying out the method according to the invention is implemented programmatically in the form of operating software (firmware), so that the method - if necessary in interaction with a device user - is carried out automatically when the operating software is executed in the microcontroller.
  • the optimum controller can also be formed by a non-programmable electronic component, such as an application-specific integrated circuit (ASIC), in which the functionality for carrying out the method according to the invention is implemented using circuitry means.
  • ASIC application-specific integrated circuit
  • the method according to the invention is implemented as a control concept for current control.
  • This zero current is initially supplied as a reference variable for controlling the current controller of the direct component, and the electric motor is operated at the estimated (first) operating point.
  • the optimal controller then changes the Id setpoint at its output by the test value I Delta, for example by increasing the Id setpoint by a value of 0.5 A. Then there is a waiting period until the regulators of the controller have settled.
  • a variable adjustment of the learning or control factor k can be advantageous here.
  • the factor can be set higher in particularly suitable (e.g. static) operating situations than less in suitable operating situations.
  • a learning success can also be accelerated depending on the past learning steps. If, for example, a current learning direction is recognizable (e.g. several learning steps in succession in the same direction), the learning factor can be increased. Instead of an increment that is proportional to the target variable difference, a non-linear function can also be used, for example the product of k and a sign factor and the difference in the optimization variables.
  • An additional or further aspect of the invention provides software on a medium or data carrier for carrying out or executing the method described above when the software runs on a computer. Since the explanations in connection with the method and / or the electric motor also apply to the software and vice versa.
  • a computer is to be understood here as a device which processes data using programmable calculation rules.
  • the computer is, for example, a calculator, controller, or microcontroller.
  • the software is stored on a data medium and is intended to carry out the method described above and is suitable and designed for this. This results in particularly suitable software for operating an electric motor, with which the functionality for carrying out the method according to the invention is implemented in the form of a program.
  • the software is thus, in particular, operating software (firmware), with the data medium being, for example, a data memory of the controller.
  • FIG. 1 shows an electrical machine with a power source and with an electric motor and with a power converter connected in between
  • FIG. 3 shows a bridge module of a bridge circuit of the power converter for controlling a phase winding of the electric motor
  • FIG. 6 shows a flowchart of a method according to the invention for field-oriented control of an electric motor
  • FIG. 7 shows a flowchart of the method according to the invention in a second embodiment.
  • Fig. 1 shows an electric machine 2 for an electric motor adjustment system of a motor vehicle, not shown, such as a window terheber or a seat adjustment.
  • the machine 2 comprises a three-phase Signed electric motor 4, which is connected to a power source (voltage supply) 8 by means of a converter 6.
  • the power source 8 comprises a vehicle-internal energy store 10, for example in the form of a (vehicle) battery, and a (DC) intermediate circuit 12 connected thereto, which extends at least partially into the power converter 6.
  • the intermediate circuit 12 is essentially formed by a forward line 12a and a return line 12b, by means of which the power converter 6 is connected to the energy storage device 10.
  • the lines 12a and 12b are at least partially routed into the power converter 6, in which an intermediate circuit capacitor 14 and a bridge circuit 16 are connected between them.
  • an input current IE supplied to the bridge circuit 16 is converted into a three-phase output current (motor current, three-phase current) IU, IV, IW for the three phases U, V, W of the electric motor 4 .
  • the output currents IU, IV, IW also referred to below as phase currents, are fed to the corresponding phases (windings) U, V, W (FIG. 2) of a stator, which is not detailed.
  • phase windings U, V and W show a star connection 18 of the three phase windings U, V, W.
  • the phase windings U, V and W are each led with one (phase) end 22, 24, 26 to a respective bridge module 20 (Fig. 3) of the bridge circuit 16, and with the respective opposite end in a star point 28 as a common connection terminal with one another interconnected.
  • the phase windings U, V and W are shown in each case by means of an equivalent circuit diagram in the form of an inductance 30 and an ohmic resistor 32 and a respective voltage drop 34, 36, 38.
  • the respectively across the phase winding U, V, W dropping voltage 34, 36, 38 is represented schematically by arrows and results from the sum of the voltage drops across the inductance 30 and the ohmic resistance 32 and the induced voltage 40.
  • the movement of a rotor of the electric motor 4 induced voltage Voltage 40 (electromagnetic force, EMF, EMF) is shown in Fig. 2 by means of a circle.
  • the star circuit 18 is controlled by means of the bridge circuit 16.
  • the bridge circuit 16 is designed with the bridge modules 20 in particular as a B6 circuit.
  • each of the phase windings U, V, W is clocked at a high switching frequency between a high (DC) voltage level of the supply line 12a and a low voltage level of the return line 12b.
  • the high voltage level is in particular an intermediate circuit voltage UZK of the intermediate circuit 12, the low voltage level preferably being a ground potential UG.
  • This clocked control is as a - performed PWM control by a controller 42, with which a control and / or regulation of the speed, the power and the direction of rotation of the elec romotors 4 - shown in Fig. 1 by arrows.
  • the bridge modules 20 each include two semiconductor switches 44 and 46, which are shown in FIG. 2 only schematically and as an example for the W phase.
  • the bridge module 20 is connected on the one hand with a potential connection 48 to the supply line 12a and thus to the intermediate circuit voltage UZK.
  • the bridge module 20 is contacted with a second potential connection 50 to the return line 12b and thus to the ground potential UG.
  • the semiconductor switches 44, 46 the respective phase end 22, 24, 26 of the phase U, V, W ver bindable either with the intermediate circuit voltage UZK or with the ground potential UG. If the semiconductor switch 44 is closed (conductive) and the semiconductor switch 46 is opened (nonconductive, blocking), then the phase end 22, 24, 26 is connected to the potential of the intermediate circuit voltage UZK.
  • the semiconductor switch 44 when the semiconductor switch 44 is opened and the semiconductor switch 46 is closed, the phase U, V, W is in contact with the ground potential UG.
  • the semiconductor switches 44 and 46 are in the form of MOSFETs (metal-oxide semiconductor field-effect transistors), which switch between a switched-on state and a switched-off state in clocked fashion by means of PWM control.
  • MOSFETs metal-oxide semiconductor field-effect transistors
  • the respective gate connections are routed to corresponding control voltage inputs 52, 54, by means of which the signals of the PWM control of the controller 42 are transmitted.
  • FIG. 4 shows an equivalent circuit diagram for the current source 8.
  • the energy store 10 generates a battery voltage UBat and a corresponding battery current Ißat for operating the converter 6.
  • the internal resistance of the energy store 10 is shown as an ohmic resistor 56 and an intrinsic inductance of the energy store 10 is shown as an inductance 58 .
  • a shunt resistor 60 is connected in the return line 12b, across which the intermediate circuit voltage UZK drops.
  • phase current Iu, Iv, Iw flows through the shunt resistor 60.
  • the voltage drop across the shunt resistor 60 is amplified and evaluated.
  • the phase currents Iu, Iv, Iw are reconstructed by the controller 42 using measurements and the state of knowledge of the switching states of the semiconductor switches 44, 46. Other measurement methods can also be used to determine the motor currents (e.g. direct phase current measurement). Together with the measured and/or calculated phase voltages (Uu, Uv, Uw), the phase voltages (Uu, Uv, Uw) and the phase currents Iu, Iv, Iw are available to the controller 42 .
  • the controller 42 is provided for field-oriented control (FOC) of the electric motor 2 and is suitable and set up for this.
  • FOC field-oriented control
  • the (actual) phase currents Iu, Iv, Iw are transformed into a d/q reference system by means of a Park or d/q transformation.
  • the three phase currents Iu, Iv, Iw are transformed into two orthogonal components, which are referred to below as the direct component Id and as the quadrature current Iq .
  • the controller 42 has--as can be seen in particular in FIG.
  • the current control 64 has two controllers 66, 68; the controller 66 being provided for the direct component Id and the controller 68 for the quadrature current I q .
  • the outputs of the two controllers 66, 68 represent a voltage space vector with components Ud and Uq . Mirroring the transformation performed on the motor currents, these static signals are processed through a series of reference system transformations to generate voltage control signals 70 for the PWM to generate control.
  • the current control 64 essentially has four sections 72 , 74 , 76 , 78 .
  • Sections 72 and 74 are designed to regulate the quadrature current I q , and sections 76 and 78 to regulate the direct component Id.
  • the setpoint values are determined in sections 72 and 76, on the basis of which a control difference for controllers 66, 68 is generated in sections 74 and 78.
  • the FOC reference value for the quadrature current I q is determined.
  • a speed controller 80 is provided for this purpose.
  • the speed controller 80 is designed, for example, as a speed or torque controller.
  • a desired or set target speed SetSpeed and a current actual speed Speed are supplied to the speed controller 80 .
  • the speed controller 80 uses the speed signals to generate a desired value I qS et as a reference variable for controlling the quadrature current I q .
  • Section 74 includes controller 68 .
  • a control difference l q _Error is determined based on the current actual value of the quadrature current l q and the desired value l qS et , and supplied to the controller 68 as an input signal. From this, the controller 68 generates the quadrature voltage U q as a manipulated variable.
  • Sections 76 and 78 have an optimal controller 82 for determining and, if necessary, correcting the MTPA operating point during the runtime.
  • the op Timing controller 82 is provided and set up to carry out a method according to the invention.
  • the current actual values of the quadrature current I q and the direct component I d are supplied to the optimal controller 82 .
  • the optimum controller 82 determines an optimization variable, which is used to generate a reference variable iMTPAControl as an output signal.
  • a control difference ld_Error is determined using the current actual value of the direct component Id and the reference variable IMTPAControl generated by the optimal controller 82, and is supplied to the controller 66 as an input signal. From this, the controller 66 generates the DC voltage component Ud as a manipulated variable.
  • the optimal controller 82 has, for example, a setpoint unit 84 and a control unit 86 .
  • setpoint unit 84 is assigned to section 76 and control unit 86 to section 78 , for example.
  • the setpoint unit 84 generates a setpoint ld_set, with the control unit 86 generating a test value taeita.
  • the control unit 86 is supplied with the current actual values of the quadrature current Iq and the direct component Id.
  • the set value ld_set and the test value eita are combined to form the command variable IMTPAControl.
  • the method is started in a method step 88 and ended in a method step not shown in detail.
  • This zero current is realized in particular by a setpoint value ld_set of 0 A and by a test value eita of 0 A.
  • This zero-sequence current is initially used as the reference variable IMTPAControl for determining the control deviation ld_Error.
  • the controller 66 regulates initially to the estimated MTPA operating point, as a result of which the electric motor 4 or the machine 2 is operated at this (first) operating point.
  • a second method step 92 the reaction of the electric motor 4 or the machine 2 to this operating point is recorded with a first optimization variable h.
  • the optimization variable h is determined by the optimal controller 82 or the control unit 86 on the basis of the actual values of the quadrature current I q and the direct component I d . For example, the square root of the sum of the squares of the actual
  • a (second) reference variable IMTRAOO P OOI is generated, which differs from the reference variable iMTPAControl of method step 90.
  • the control deviation ld_Error is changed, so that the controller 66 regulates to a new (second) operating point.
  • the optimal controller 82 changes the setpoint value ld_set by a test value eita, which is not equal to 0A.
  • the test value eita has a current value of 0.5 A here, so that the setpoint ld_set—and thus the command variable IMTPAControl—is increased by a value of 0.5 A.
  • a test value beita not equal to 0 A is added to the desired value ld_set.
  • the command variable iMTPAControl has a test value I delta in one direction.
  • the test value eita is subtracted from the target value ld_set, ie a command variable IMTPAControl with a test value beita is used in the other (opposite) direction.
  • the setpoint value ld_set is adjusted in a method step 100a. If the operating point of method step 90' has the higher efficiency, that is to say the first optimization variable h has better engine operation, then the setpoint value ld_set is adjusted in a method step 100b.
  • the claimed invention is not limited to the exemplary embodiments described above. Rather, other variants of the invention can also be derived from this by the person skilled in the art within the scope of the disclosed claims without departing from the subject matter of the claimed invention. In particular, all in connection with the various execution The individual features described in the examples can also be combined in other ways within the scope of the disclosed claims, without departing from the subject matter of the claimed invention.
  • the command variable iMTPAControl also leads or influences the quadrature current I q in addition to the direct component I d .
  • the reference variable IMTPAControl can also be used to change other variables, particularly in the course of a pre-control. Depending on the control (e.g.
  • optimization variables can be used.
  • the battery current Ißat is used as an optimization variable.
  • the setpoints ld_set, lq -set can also be used as an optimization variable or as a basis for determining the optimization variable.

Abstract

L'invention concerne un procédé de régulation à orientation de champ d'un moteur électrique (4), dans lequel un état de fonctionnement du moteur électrique (4) est défini par un régulateur de courant (64) dans le système de référence (d-q) comprenant une composante directe (Id) et un courant en quadrature (Iq) ; une valeur de consigne (Id_set) de la composante directe (Id) pour produire un état de fonctionnement du moteur électrique (4) avec un couple maximal par ampères étant estimée, et à l'aide de la valeur de consigne (Id_set), au moins une grandeur de référence (IMTPAControl) pour guider la composante directe (id) du régulateur de courant (64) étant déterminée, au moyen de laquelle le moteur électrique (4) fonctionne à un premier point de fonctionnement et à un deuxième point de fonctionnement différent de celui-ci ; au moins une grandeur d'optimisation (I1, I2) est détectée en tant que réaction du moteur électrique (4) au fonctionnement au premier point de fonctionnement et dans le deuxième point de fonctionnement, la ou les grandeurs d'optimisation (I1, I2) étant évaluées vis-à-vis de l'état de fonctionnement du moteur électrique avec un couple maximal par ampères, et la valeur de consigne (Id_set) de la composante directe (Id) est réglée sur la base de l'évaluation.
PCT/EP2022/059284 2021-04-12 2022-04-07 Procédé de régulation à orientation de champ d'un moteur électrique WO2022218819A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021203591.4A DE102021203591A1 (de) 2021-04-12 2021-04-12 Verfahren zur feldorientierten Regelung eines Elektromotors
DE102021203591.4 2021-04-12

Publications (1)

Publication Number Publication Date
WO2022218819A1 true WO2022218819A1 (fr) 2022-10-20

Family

ID=81595653

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/059284 WO2022218819A1 (fr) 2021-04-12 2022-04-07 Procédé de régulation à orientation de champ d'un moteur électrique

Country Status (2)

Country Link
DE (1) DE102021203591A1 (fr)
WO (1) WO2022218819A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011121608A1 (de) * 2011-12-17 2013-06-20 Volkswagen Aktiengesellschaft Verfahren zur Bestimmung eines Arbeitspunkts einer Elektromaschine für ein Fahrzeug und entsprechende Elektromaschine
CN103259488A (zh) * 2012-02-17 2013-08-21 通用电气公司 电机控制方法、控制系统及控制装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015209624A1 (de) 2015-05-26 2016-12-01 Zf Friedrichshafen Ag Optimierung des Betriebspunkts PM-erregter Synchronmaschinen
DE102017215636A1 (de) 2017-09-06 2019-03-07 Zf Friedrichshafen Ag Verfahren zur Verlustminimierung von Synchronmaschinen
AT521752B1 (de) 2018-09-17 2020-09-15 Avl List Gmbh Verfahren und Prüfstand zum Kalibrieren eines elektrischen Antriebsstranges mit einem Elektromotor
US20200313586A1 (en) 2019-03-26 2020-10-01 GM Global Technology Operations LLC Method of controlling current in an interior permanent magnet motor with thermal adaptation and powertrain with same

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011121608A1 (de) * 2011-12-17 2013-06-20 Volkswagen Aktiengesellschaft Verfahren zur Bestimmung eines Arbeitspunkts einer Elektromaschine für ein Fahrzeug und entsprechende Elektromaschine
CN103259488A (zh) * 2012-02-17 2013-08-21 通用电气公司 电机控制方法、控制系统及控制装置

Also Published As

Publication number Publication date
DE102021203591A1 (de) 2022-10-13

Similar Documents

Publication Publication Date Title
DE102008037543A1 (de) Motorsteuervorrichtung, Fahrzeuglüfter-Ansteuervorrichtung und Motorsteuerverfahren
DE112011100096T5 (de) Steuerungsvorrichtung einer Motorantriebsvorrichtung
EP1923988B1 (fr) Dispositif et procedé pour la génération d'un courant d'excitation réglé et limité
DE102012208452A1 (de) Antriebsvorrichtung und Antriebsverfahren für einen bürstenlosen Motor
EP1657810A1 (fr) Méthode de l'ajustement automatique de l'angle de commutation des moteurs à courant continu sans balai
EP2067249B1 (fr) Procede de fonctionnement d'un moteur electrique a commutation electronique
WO2013149921A2 (fr) Procédé et dispositif de réglage sans capteur d'une machine synchrone à excitation séparée
EP1966879A1 (fr) Procede et dispositif de commande d'un moteur electrique
DE102016222015A1 (de) Elektrischer Antrieb und Verfahren zum Betrieb eines Elektromotors
EP3864746B1 (fr) Procédé de détermination d'une position de rotor d'un moteur à courant continu sans balai
DE102004005521A1 (de) Motordrehantriebssteuersystem
DE102016215175A1 (de) Verfahren zum Betreiben einer elektrischen Maschine und elektrische Maschine
WO2022218819A1 (fr) Procédé de régulation à orientation de champ d'un moteur électrique
EP1443635B1 (fr) Procédé de contrôle d'un angle d'allumage et moteur électrique alimenté en courant monophasé
DE102010021488A1 (de) Verfahren zur (kupfer-)verlustoptimalen Regelung einer Asynchronmaschine mit einem Frequenzumrichter
DE102019215854A1 (de) Verfahren zum Betreiben eines bürstenlosen und sensorlosen mehrphasigen Elektromotors
EP3292628B1 (fr) Procédé de mise en marche d'une machine électrique polyphasée dans un véhicule automobile
EP3152829B1 (fr) Procédé et dispositif de contrôle du fonctionnement d'un moteur électrique
EP3152828B1 (fr) Procédé et dispositif de contrôle du fonctionnement d'un moteur électrique
EP3695508A1 (fr) Procédé pour faire fonctionner une machine électrique
EP3878089B1 (fr) Procédé et dispositif de limitation de valeur de réglage pour la régulation d'un courant orientée champ
DE102020007985B4 (de) Verfahren und Vorrichtung zum Einstellen eines Haltestromes einer elektrischen Maschine
WO2021074094A1 (fr) Procédé de fonctionnement d'un moteur électrique polyphasé sans balai et sans capteur
DE112017000529T5 (de) Motorsteuervorrichtung
DE102021206226A1 (de) Verfahren zum Betrieb einer elektrischen Maschine

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22722131

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22722131

Country of ref document: EP

Kind code of ref document: A1