WO2023222152A1 - Procédé de fonctionnement d'une machine électrique, produit programme d'ordinateur, unité de commande, machine électrique, module hybride - Google Patents

Procédé de fonctionnement d'une machine électrique, produit programme d'ordinateur, unité de commande, machine électrique, module hybride Download PDF

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Publication number
WO2023222152A1
WO2023222152A1 PCT/DE2023/100280 DE2023100280W WO2023222152A1 WO 2023222152 A1 WO2023222152 A1 WO 2023222152A1 DE 2023100280 W DE2023100280 W DE 2023100280W WO 2023222152 A1 WO2023222152 A1 WO 2023222152A1
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WO
WIPO (PCT)
Prior art keywords
rotor
rotation angle
time interval
measured
angle position
Prior art date
Application number
PCT/DE2023/100280
Other languages
German (de)
English (en)
Inventor
Erhard Hodrus
Alexander Rösch
Original Assignee
Schaeffler Technologies AG & Co. KG
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 Schaeffler Technologies AG & Co. KG filed Critical Schaeffler Technologies AG & Co. KG
Publication of WO2023222152A1 publication Critical patent/WO2023222152A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/03—Synchronous motors with brushless excitation

Definitions

  • the present invention relates to a method for operating an electrical machine, comprising a stator and a rotor that can be rotated relative to it while changing a rotational position with a rotor speed n, wherein the electrical machine is electrically in a first operating state depending on a rotation angle position of the rotor measured by a rotation angle sensor is operated in a controlled manner and is operated in an electrically controlled manner in a temporally subsequent second operating state depending on a rotation angle position of the rotor which is calculated without the measured rotation angle position of the rotation angle sensor.
  • the invention further relates to a computer program product, a control unit, an electrical machine and a hybrid module.
  • an actuator for a rear axle steering of a motor vehicle comprising a push rod which is longitudinally displaceable within a housing and has an anti-rotation device.
  • a sensor unit is integrated into the housing of the rear axle steering actuator.
  • the control of such an electric motor is achieved by imposing a rotating field in the windings of the motor.
  • the rotating field must be adjusted via a control system.
  • the position of the rotor is measured using a rotor position sensor and the determined rotor position angle is sent to the control of the Electric motor handed over.
  • the original alternating variables i_u, i_v, i_w are mapped to equal sizes i_q, i_d as a result of the coordinate system rotating synchronously with the rotor flux.
  • the voltage values or current values of the phases of the stator of the synchronous machine are transformed in a known manner to a two-dimensional coordinate system, the mutually perpendicular axes of which are usually designated d (“direct”) and q (“quadrature”).
  • This coordinate system rotates relative to the stator of the synchronous machine and rests relative to the rotor of the synchronous machine.
  • the transformation itself is called the park transformation
  • the two-dimensional coordinate system to which the transformation is carried out is called the park coordinate system.
  • the park transformation can take place via the intermediate step of a, also known, Clarke transformation, which transforms the voltage values or current values of the phases of the stator of the synchronous machine to a two-dimensional, orthogonal coordinate system that is at rest relative to the stator.
  • the rotor position sensor which is usually used to determine the current angle of the rotor, is dispensed with.
  • current sensor signals and measured or estimated phase voltages are used to use a model to determine the rotor position and the Close the speed of the motor.
  • injection signals which support the identification of the rotor position and the speed in this speed range.
  • WO 2020 001 681 A1 describes an electric motor with a stator and a rotor that can be rotated relative to it, and a control system that can output a current pulse to the electric motor, the current pulse causing a rotational movement of the rotor in a first direction of rotation and by a first angle of rotation and thereby causes an induced voltage that is received by the control system and through which the control system determines the direction of rotation and / or the rotational position of the rotor with respect to the stator.
  • DE 102018 120 421 A1 discloses a method for sensorless control of permanent magnet, synchronous electric motors, in which a description of a system is carried out in a stationary jar coordinate system of an electric motor.
  • the system includes an electromagnetic model and a mechanical model of an electric motor and drive train.
  • differential inductances which depend on the currents of the electric motor, are stored in the form of look-up tables.
  • the look-up tables can be called up for the calculation.
  • the speed and angle of the electric motor are estimated through a Kalman filter, which is mainly done via the mechanical model.
  • the electrical model can be used to supply an internal torque for the torque equation in order to determine a change in speed or angle.
  • the angle signal required for the control of the electric motor usually has a discontinuity between the controlled operation and the regulated operation.
  • the current angle signal is assigned to a specific angular position in the rotor-fixed coordinate system, e.g. d-direction.
  • the angular position that occurs in sensorless controlled operation differs from this, since q-direction components are then added to the d-direction components.
  • the object of the invention is to avoid or at least reduce the disadvantages known from the prior art and to provide an improved method for operating an electrical machine. Furthermore, it is the object of the invention to realize an improved computer program product, an optimized control unit, an improved electrical machine and an improved hybrid module.
  • a rotational position with a rotor speed n rotatable rotor where the electric machine is operated in an electrically controlled manner in a first operating state depending on an angle of rotation position of the rotor measured by a rotation angle sensor and is operated in an electrically controlled manner in a second operating state that follows, depending on a rotation angle position of the rotor calculated without the measured angle of rotation position of the angle of rotation sensor, between which First operating state and the second operating state, a time interval is defined in which the rotation angle position of the rotor measured at the beginning of the time interval and the calculated rotation angle position of the rotor expected at the end of the time interval are interpolated by means of a mathematical function and / or a mathematical method, so that during operation of the electrical machine within the time interval a fade of the measured rotation angle position to the calculated rotation angle position of the rotor takes place.
  • Sensorless operation is understood to mean operation without taking into account a rotational position measured with a sensor, for example a rotation angle sensor.
  • motor vehicles are land vehicles that are moved by mechanical power without being tied to railway tracks.
  • a motor vehicle can, for example, be selected from the group of passenger cars (passenger cars), trucks (lorries), mopeds, light vehicles, motorcycles, motor buses (KOM) or tractors.
  • a hybrid electric vehicle also known as a Hybrid Electric Vehicle (HEV) is an electric vehicle that is powered by at least one electric motor and another energy converter and draws energy from both its electrical storage (battery) and additional fuel.
  • HEV Hybrid Electric Vehicle
  • the drive train of a motor vehicle is understood to mean all components that generate the power in the motor vehicle to drive the motor vehicle and transmit it to the road via the vehicle wheels.
  • An electrical machine is used to convert electrical energy into mechanical energy and/or vice versa.
  • the electrical machine can be designed as a radial or axial flux machine.
  • An electrical machine usually includes a stationary part called a stator, stand or armature and a part called a rotor or rotor which is arranged to be movable relative to the stationary part.
  • An electrical machine can be designed to run dry or wet.
  • the electrical machine is designed as a permanently excited synchronous machine.
  • the electric machine is intended in particular for use within an electrically operable drive train of a motor vehicle.
  • the electric machine is dimensioned such that vehicle speeds greater than 50 km/h, preferably greater than 80 km/h and in particular greater than 100 km/h can be achieved.
  • the electric motor particularly preferably has a power greater than 30 kW, preferably greater than 50 kW and in particular greater than 70 kW. It is further preferred that the electric machine provides speeds greater than 5,000 rpm, particularly preferably greater than 10,000 rpm, most preferably greater than 12,500 rpm.
  • the angle of rotation sensor is preferably designed as an absolute angle of rotation sensor for an electrical machine.
  • the rotation angle sensor preferably sets the Sensor signal representing rotor angular position is available. Most preferably, the sensor signal is sent to a control device for controlling the electrical machine.
  • An electrical machine can also have a control device.
  • a control device as can be used in the present invention, is used in particular for the electronic control and/or regulation of one or more technical systems of the electrical machine.
  • a control device has in particular a wired or wireless signal input for receiving, in particular, electrical signals, such as sensor signals. Furthermore, a control device also preferably has a wired or wireless signal output for transmitting, in particular, electrical signals.
  • Control operations and/or regulation operations can be carried out within the control device. It is particularly preferred that the control device comprises hardware that is designed to execute software.
  • the control device preferably comprises at least one, preferably two, electronic processors for executing program sequences defined in software.
  • the two processors can also be structurally integrated into a processor as computer cores, with the corresponding computer cores then each representing a processor in the sense of the invention.
  • the control device can also have one or more electronic memories in which the data contained in the signals transmitted to the control device can be stored and read out again. Furthermore, the control device can have one or more electronic memories in which data can be stored in a changeable and/or unchangeable manner.
  • a control device can comprise a plurality of control devices, which are arranged in particular spatially separated from one another in the motor vehicle.
  • Control units are also known as Electronic Control Units (ECU) or Electronic Control Modules (ECM) and preferably have electronic microcontrollers Carrying out arithmetic operations to process data, particularly preferably using software.
  • the control devices can preferably be networked with one another, so that wired and/or wireless data exchange between control devices is possible. In particular, it is also possible to network the control devices with one another via bus systems present in the motor vehicle, such as CAN bus or LIN bus.
  • control device has at least one processor and at least one memory, which in particular contains a computer program code, the memory and the computer program code being configured with the processor to cause the control device to execute the computer program code.
  • the control unit can particularly preferably include power electronics for energizing the stator or rotor.
  • Power electronics is preferably a combination of various components that control or regulate a current to the electrical machine, preferably including the peripheral components required for this, such as cooling elements or power supplies.
  • the power electronics or one or more power electronics components contain which are set up to control or regulate a current. This is particularly preferably one or more circuit breakers, e.g.
  • the power electronics has more than two, particularly preferably three, phases or current paths that are separate from one another, each with at least one separate power electronics component.
  • the power electronics are preferably designed to control or regulate a power per phase with a peak power, preferably continuous power, of at least 10 W, preferably at least 100 W, particularly preferably at least 1000 W.
  • the mathematical function is a linear function.
  • the advantage of this design is that a linear function can be implemented with little effort.
  • the blending between the rotation angle position of the rotor measured at the beginning of the time interval and the calculated rotation angle position of the rotor expected at the end of the time interval is carried out by changing the weighting of the two rotation angle positions at any time within the time interval, the sum of the two weighted rotation angle positions corresponds to the value, whereby at the beginning of the time interval the measured rotation angle position of the rotor has the weighted value and the expected calculated rotation angle position of the rotor has the weighted value and at the end of the time interval the measured rotation angle position of the rotor the weighted value and the expected calculated rotation angle position of the rotor has the weighted value.
  • the advantageous effect of this embodiment is that a continuous angle signal is achieved by weighting with continuously running functions.
  • the time interval has a period of time between 0.001-0.1 see. having. This makes it possible, in particular, to achieve the effect that the linear interpolation has a different slope.
  • the maximum excitation in the signal curve can be influenced in this way and can be determined via simulations and tests.
  • the invention can also be further developed in such a way that the method is used when the rotor starts up.
  • the advantage of this configuration is that the use of injection signals can be dispensed with.
  • the object of the invention is further achieved by a computer program product which is stored on a machine-readable carrier, or computer data signal, embodied by an electromagnetic wave, with program code which is suitable for carrying out the method according to claims 1-5.
  • control unit for controlling and powering an electrical machine, in particular an electrical synchronous machine, comprising a processor and a memory which contains a computer program code, the memory and the computer program code being configured with the processor To cause the control unit to carry out a method according to claims 1-5.
  • the object of the invention can further be achieved by an electric machine, in particular for a drive train of an electrically operated motor vehicle, comprising a control unit according to claim 7.
  • the object of the invention can also be achieved by a hybrid module for a drive train of a motor vehicle, comprising an electric machine according to claim 8.
  • Figure 1 is a rotor angular position-time diagram
  • Figure 2 shows a measurement for blending the measured angle of rotation position to the calculated angle of rotation position of the rotor
  • Figure 3 shows the timing of the startup without fading on the same
  • Figure 5 shows an electrical machine in a schematic axial sectional representation
  • the electric machine 1 has a stator 2 and a rotor 3 which can be rotated relative to it by changing a rotational position with a rotor speed n, which can be clearly seen from FIG.
  • the electric machine 1 is configured for a drive train 21 of an electrically operable motor vehicle 22 and has a control unit 13 for controlling and energizing the electric machine 1.
  • the electric machine 1 is designed as a synchronous machine.
  • the control unit 13 comprises a processor 14 and a memory 15 which contains a computer program code, the memory 15 and the computer program code being configured with the processor 14 to cause the control unit 13 to carry out a method for operating an electrical machine 1, which follows is explained in more detail.
  • the electric machine 1 is operated in an electrically controlled manner in a first operating state 4 depending on an angle of rotation position of the rotor 3 measured by a rotation angle sensor 5 and in a second operating state 6 which follows in time, it is operated electrically depending on a rotation angle position of the rotor 3 calculated without the measured angle of rotation position of the angle of rotation sensor 5 is operated in a controlled manner.
  • a time interval 7 is defined between the first operating state 4 and the second operating state 6, in which the rotation angle position of the rotor 3 measured at the beginning of the time interval 7 is determined by means of a mathematical function and/or a mathematical method and the calculated angle of rotation position of the rotor 3 expected at the end of the time interval 7 are interpolated, so that during operation of the electrical machine 1 within the time interval 7, a fade of the measured angle of rotation position to the calculated angle of rotation position of the rotor 3 takes place.
  • the resulting rotation angle is shown as a highlighted line. Before the time interval 7, which can also be referred to as the fade interval, this corresponds to the controlled rotation angle position, while after the time interval 7 it corresponds to the estimated value of the rotation angle position. From Figure 1 it can also be seen that the mathematical function, which interpolates the measured rotation angle position of the rotor 3 and the calculated rotation angle position of the rotor 3 expected at the end of the time interval 7, is a linear function.
  • the blending between the rotation angle position of the rotor 3 measured at the beginning of the time interval 7 and the calculated rotation angle position of the rotor 3 expected at the end of the time interval 7 can be carried out, for example, by changing the weighting of the two rotation angle positions by adding the sum at each time within the time interval 7 of the two weighted rotation angle positions corresponds to the value 1, whereby at the beginning of the time interval 7 the measured rotation angle position of the rotor 3 has the weighted value 1 and the expected calculated rotation angle position of the rotor 3 has the weighted value 0 and at the end of the time interval 7 the measured rotation angle position of the rotor 3 has the weighted value 0 and the expected calculated rotation angle position of the rotor 3 has the weighted value 1.
  • the method described can be used in particular when the rotor 3 is running up.
  • 2 shows a measurement with a total of five diagrams arranged one below the other for blending.
  • the X-axis is a time axis.
  • the crossfade area is marked by two vertical dashed lines.
  • the angle of rotation is shown in the first diagram. You can first see the angle curve 8, which results from the rotation angle sensor 5. Of course, this will no longer be available later in encoderless operation.
  • the angle profile 9 shows the estimated angle from the corresponding angle estimation algorithm.
  • the angle curve 10 shows the angle from the controlled run-up; this angle is used to start at the time of the fade. By the end of the fade, this portion is then reduced to zero and the portion of the estimated angle is increased, starting from zero, to the full value.
  • the value valid at the time can be determined, for example, by linear interpolation from the respective start and end values.
  • the angle course 11, the interpolated value within the time interval 7 can be clearly seen.
  • the speeds are shown in the second diagram. By changing from controlled to sensorless control, a slight drop in speed can be observed.
  • the phase voltages are shown in the third diagram.
  • the target current is shown in the fourth of the five diagrams. Since the controlled startup is carried out with pure d current, the q current is zero. From the speed, a desired target current in the d and q directions can be determined for the time after the crossfade within the time interval 7. At the time the crossfade starts, the controlled i-q current pair is calculated to the value after the crossfade by linear interpolation.
  • the phase currents are shown in the fifth diagram.
  • Figure 6 shows a possible use of the electrical machine 1, as known from Figure 5, in a hybrid module 20 for a drive train 21 of a motor vehicle 22.
  • the electrical machine 1 from Figure 5 suitable uses, for example as an actuator within a steering system of a motor vehicle or as a drive machine in an axle drive train of a motor vehicle.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner une machine électrique (1), comprenant un stator (2) et un rotor (3), qui peut tourner par rapport au dit stator avec une variation d'une position de rotation à une vitesse de rotation de rotor n, la machine électrique (1), dans un premier état de fonctionnement (4), étant actionnée par une commande en boucle ouverte électrique en fonction d'une position d'angle de rotation du rotor (3) qui est mesurée par un capteur d'angle de rotation (5) et, dans un second état de fonctionnement suivant temporellement (6), étant actionnée par une commande en boucle fermée électrique en fonction d'une position d'angle de rotation du rotor (3) qui est calculée sans la position d'angle de rotation mesurée du capteur d'angle de rotation (5), un intervalle de temps (7) est défini entre le premier état de fonctionnement (4) et le second état de fonctionnement (6), dans lequel la position d'angle de rotation du rotor (3) qui est mesurée au début de l'intervalle de temps (7) et la position d'angle de rotation calculée du rotor (3) qui est attendue à la fin de l'intervalle de temps (7) sont interpolées au moyen d'une fonction mathématique et/ou d'un procédé mathématique, de telle sorte que la position d'angle de rotation mesurée passe vers la position d'angle de rotation calculée du rotor (3) pendant le fonctionnement de la machine électrique (1) dans l'intervalle de temps (7).
PCT/DE2023/100280 2022-05-20 2023-04-20 Procédé de fonctionnement d'une machine électrique, produit programme d'ordinateur, unité de commande, machine électrique, module hybride WO2023222152A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022112712.5 2022-05-20
DE102022112712.5A DE102022112712A1 (de) 2022-05-20 2022-05-20 Verfahren zum Betrieb einer elektrischen Maschine, Computerprogrammprodukt, Steuereinheit, elektrische Maschine, Hybridmodul

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WO2023222152A1 true WO2023222152A1 (fr) 2023-11-23

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WO (1) WO2023222152A1 (fr)

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Publication number Priority date Publication date Assignee Title
WO2024002412A1 (fr) 2022-06-30 2024-01-04 Schaeffler Technologies AG & Co. KG Procédé de fonctionnement d'un moteur électrique
DE102022118125A1 (de) 2022-06-30 2024-01-04 Schaeffler Technologies AG & Co. KG Verfahren zum Betrieb eines Elektromotors

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WO2020001681A1 (fr) 2018-06-26 2020-01-02 Schaeffler Technologies AG & Co. KG Dispositif de transmission de couple comprenant un système de commande pour la détermination du sens de rotation du rotor
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US20210351728A1 (en) * 2018-08-15 2021-11-11 Technelec Ltd Position Observer for Electrical Machines
DE102018120421A1 (de) 2018-08-22 2020-02-27 Schaeffler Technologies AG & Co. KG Verfahren zur geberlosen Regelung permanentmagneterregter Synchronmaschinen im Automobilbereich
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