阅读说明：本技术 用于确定机动车辆中电机的转子角的方法 (Method for determining the rotor angle of an electric machine in a motor vehicle ) 是由 B.雷内克 J.穆勒 W.费舍尔 S.葛罗德 于 2018-11-29 设计创作，主要内容包括：本发明涉及一种用于确定电机(30)的转子角(<Image he="21" wi="13" file="100004_DEST_PATH_IMAGE002.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>)的方法,所述电机具有转子(32)和带有至少一个相绕组(U,V,W)的定子(33),其中所述电机(30)与开关式充电调节器(LR)关联,所述开关式充电调节器被设计为调节所述电机(30)并向电存储器(S)施加电能,其中所述充电调节器(LR)具有第一开关状态(S1)和其他开关状态(S2),在所述第一开关状态中向所述电存储器(S)施加电能,在所述其他开关状态中至少部分地禁止向所述电存储器(S)施加电能,其中在所述第一开关状态(S1)中借助于第一确定规则(K1)来确定所述转子角(<Image he="21" wi="13" file="100004_DEST_PATH_IMAGE002A.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>),并且在所述其他开关状态(S2)中借助于其他确定规则(K2)来确定所述转子角(<Image he="21" wi="13" file="100004_DEST_PATH_IMAGE002AA.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>)。本发明还涉及被设计为执行所述方法的相应计算单元,以及用于执行所述方法的计算机程序。(The invention relates to a method for determining the rotor angle (30) of an electric machine ) Having a rotor (32) and a stator (33) with at least one phase winding (U, V, W), wherein the electric machine (30) is associated with a switched charging regulator (L R) designed to regulate the electric machine (30) and to apply electrical energy to an electrical storage (S), wherein the charging regulator (L R)Having a first switching state (S1) in which electrical energy is applied to the electrical storage (S) and a further switching state (S2) in which the application of electrical energy to the electrical storage (S) is at least partially inhibited, wherein in the first switching state (S1) the rotor angle is determined by means of a first determination rule (K1) (S2) ) And determining the rotor angle by means of a further determination rule (K2) in the further switching state (S2) ((S2)) ). The invention also relates to a corresponding computing unit designed to perform the method, and to a computer program for performing the method.)

1. For determining the rotor angle of an electric machine (30) (() Having a rotor (32) and a stator (33) with at least one phase winding (U, V, W), wherein the electric machine (30) is associated with a switched charging regulator (L R) designed to regulate the electric machine (30) and to apply electrical energy to an electrical storage (S), whereinThe charging regulator (L R) has a first switching state (S1), in which electrical energy is applied to the electrical storage device (S), and a further switching state (S2), in which the application of electrical energy to the electrical storage device (S) is at least partially inhibited, wherein the rotor angle is determined in the first switching state (S1) by means of a first determination rule (K1) (S1)) And determining the rotor angle by means of a further determination rule (K2) in the further switching state (S2) ((S2))）。

2. Method according to claim 1, wherein the electric motor (30) is actuated in the first switching state (S1) such that electric energy is applied to the electric storage (S), wherein the electric motor (30) is actuated in the further switching state (S2) such that a current flow from the electric motor (30) to the electric storage (S) is regulated without load by short-circuiting at least one of the phase windings (U, V, W) or by leaving at least one of the phase windings (U, V, W) without current.

3. Method according to claim 1 or 2, wherein a numerical model and/or a family of characteristic curves (O) is/are based within the scope of the first determination rule (K1)_Kenn1) Determining the rotor angle () And/or on other numerical models and/or on other characteristic curve families (O) within the scope of the other determination rules (K2)_Kenn2) Determining the rotor angle (）。

4. Method according to at least one of the preceding claims, wherein, in the case of the first determination rule (K1), a rotor angle (K) of the electrical machine (30) is determined) Taking into account the voltage (U) of the electrical storage device (S)_Bat）。

5. Method according to at least one of the preceding claims, wherein the rotor angle (T) of the electric machine (30) is determined during the duration (T) after switching on the electric machine (30) within the range of the first switching state (S1) and/or after switching on the electric machine (30) within the range of the further switching state (S2) ((S2))) Determining the rotor angle (C) taking into account the motor (30)) A dynamic start-up process (D) caused by the switching-on during the time variation of at least one of the machine variables on which the basis is based.

6. The method of claim 5, wherein at the rotor angle (C &)) Is characterized in that the rotor angle (T) is determined over the time period (T)) Amplitude (ϑ)_i) And/or operating parameters of the electric machine (30) and use thereof in determining the rotor angle (b:)) Taking into account a measure of the dynamic start-up process (D).

7. Method according to at least one of the preceding claims, wherein the family of characteristic curves (O)_Kenn1) Or said other family of characteristics (O)_Kenn2) At least having an output voltage (U) of the motor (30)_G) And a rotational speed (n) or at least one phase signal (U)_U，U_V，U_W，I_U，I_V，I_W) Two edges (Fl)_Uu，Fl_Vu，Fl_Wu，Fl_Ud，Fl_Vd，Fl_Wd) With the time (Δ t) therebetween as an input variable and with the rotor angle (a:)) As an output variable.

8. Method according to at least one of the preceding claims, wherein at least one rotor angle stored in at least one of the families of characteristics is used in a first revolution of the rotor (32) (() Value and by a rotor angle determined on the basis of measurements over the duration (T) of the dynamic oscillation starting process (D) (D)) Value (ϑ)_i) To correct the at least one rotor angle value, wherein the corrected rotor angle (ϑ) is_korr1，ϑ_korr2) For further revolutions of the rotor (32), in particular for a time range of a further dynamic oscillation starting process.

9. Method according to any of the preceding claims, wherein (during the same or during a rotor angle change of the electrical machine (30) (30))) Learning undisturbed course of the electrical machine variables of the electrical machine (30) for determining the rotor angle (A)) No switching processes (S1, S2) occur at the operating point, wherein a further corrected rotor angle (ϑ) is determined by comparing an undisturbed course of variation of the electric machine variable with a course of variation of the electric machine variable after at least one switching process of the switching processes (S1, S2)_korr1，ϑ_korr2）。

10. Method according to any of the preceding claims, wherein at least one rotational angular orientation (α) of the rotor (32) is determined_Phase) To inhibit the flow of current from the motor (30) to the electrical storage (S).

11. The method of claim 10, wherein the rotor angle (b) For determining the rotational angular orientation (α) of the rotor (32)_Phase）。

12. Method according to any one of the preceding claims, wherein the phase signal (U) of the electric machine (30) is processed by means of an electronic circuit, in particular an engine control device (122)_U，U_V，U_W，I_U，I_V，I_W）。

13. Computing unit, preferably an engine control device (122) for an internal combustion engine (12), which computing unit is designed by means of a corresponding integrated circuit and/or by means of a computer program stored on a memory to carry out the method according to one of the preceding claims.

14. Computer program which, when executed on a computing unit, causes the computing unit to carry out the method according to any one of claims 1 to 12.

15. A machine readable storage medium having stored thereon a computer program according to claim 14.

Technical Field

The invention relates to a method for determining a rotor angle of an electric machine comprising a rotor and a stator having at least one phase winding, wherein the electric machine is associated with a switched-mode charging regulator designed to regulate the electric machine and to apply electrical energy to an electrical storage device.

Background

The rotational angle position and the rotational speed of the crankshaft of the internal combustion engine are important input variables for many functions of the electronic engine control device. In order to determine the rotational angle position and the rotational speed, markings may be provided at the same angular intervals on a body that rotates together with a crankshaft of the internal combustion engine. The markings caused by the rotation of the crankshaft can be detected by the sensor and forwarded as electrical signals to the evaluation electronics.

The electronic device determines the signals respectively stored for the angular positions of rotation for the markers or measures the time difference between two markers for the respective angular position of rotation of the crankshaft, and can determine the angular velocity and the rotational speed therefrom on the basis of the known angular spacing of the two markers from one another. In the case of motor vehicles, in particular motorcycles, scooters or limit motorcycles, the marking can be provided, for example, by the teeth of a metal gear, the so-called sensor wheel, which, by their movement, cause a change in the magnetic field in the sensor. The absence of some teeth can be used as a reference mark to identify absolute position.

Although 60-2 teeth (60 evenly distributed teeth, with two teeth left empty) are mostly used in the case of passenger cars, 36-2, 24-2 or 12-3 teeth are also used in the case of motorcycles or limited motorcycles, for example. In this indirect principle of the determination of the rotational speed or the determination of the rotational angle position of the crankshaft, the resolution of the rotational speed signal or the absolute detection of the rotational angle position is determined by the number of teeth and by a reliable detection of the reference mark.

In every modern vehicle with an internal combustion engine, a generator is installed, which is driven by the rotation of the crankshaft and provides an electrical signal for supplying the vehicle with electrical energy and for charging the vehicle battery. Without the generator, the vehicle may not be able to operate as specified, or may only operate as specified for a short period of time. A regulator is used for regulating the battery voltage. Since the generator is permanently excited for many motorcycles or limit motorcycles, the excitation thereof for regulating the battery voltage cannot be changed as is usual in passenger vehicles. Instead, the regulator regulates the battery voltage to a nominal value, for example by short-circuiting the phases of the electric machine. The generator is typically used in addition to the sensor to detect the rotational speed or to detect the rotational angle position of the crankshaft.

The exact rotational angular orientation of the rotor of the electric machine can be read directly from the free-wheeling voltage of the unloaded electric machine, since the relative phase of the free-wheeling voltage coincides with the rotational angular orientation of the rotor. In the case of loaded machines, the precise rotational angular orientation of the rotor can only be determined by additionally taking into account the rotor angle. Therefore, it is only possible to determine the rotational angle position of the crankshaft precisely from the signal of the electric motor if the rotor angle can likewise be determined with sufficient accuracy. This is not easily achieved for a loaded motor. Furthermore, a corresponding voltage regulation, in particular a switched voltage regulation in which at least one phase is short-circuited, may additionally make the determination of the rotor angle more difficult.

Furthermore, it is also known from EP 0664887B 1 to use the electrical output variable of the electric motor driven via the crankshaft for determining the rotational speed. For this purpose, a phase of the generator is provided as a reference, to which a pulsating direct voltage is applied. This arrangement can also be taken into account for determining an estimate of the rotational angle position of the rotor of the electric machine and thus also of the crankshaft of the internal combustion engine, which are coupled to one another directly or in a transmission, respectively, also on the basis of the respective phase signal.

A corresponding voltage regulation, which influences the electrical output variable of the electric machine at least during the switching phase of the voltage regulator (which is common, for example, in the case of motor-cycle limitation in the area of short-circuit regulation), is not suitable here, since the characteristic signal for determining the rotational speed or rotational angular position of the shaft cannot therefore be reliably used for determining the rotational speed or rotational angular position of the rotor. Furthermore, a high-resolution determination of the rotational speed of the crankshaft or rotor of the electric machine or a high-resolution determination of the rotational angular position is not implemented here.

It is therefore desirable to specify a possibility for determining the rotor angle of an electric machine with a switched-mode voltage regulator across the switching states.

Disclosure of Invention

According to the invention, a method having the features of claim 1 is proposed. Advantageous embodiments are the subject matter of the dependent claims and the following description.

THE ADVANTAGES OF THE PRESENT INVENTION

The invention relates to a method for determining the rotor angle of an electric machine having a rotor and a stator with at least one phase winding, wherein the electric machine is associated with a switched-mode charging regulator which is designed to regulate the electric machine and to supply electrical energy to an electrical storage device. The charging regulator has a first switching state in which electrical energy is applied to an electrical storage device, and the charging regulator also has a further switching state in which the application of electrical energy to the electrical storage device is at least partially inhibited, preferably completely inhibited, wherein the rotor angle is determined in the first switching state by means of a first determination rule, and the rotor angle is determined in the further switching state by means of a further determination rule. In principle, it is possible within the scope of the invention to design the charging regulator such that it is directly associated with the electric machine, but it is also possible to associate the charging regulator from the outside with a separate unit, in particular an engine control unit, or to integrate it into the separate unit.

The method according to the invention has the advantage that by using different determination rules for the respective switching states of the charging state (charged or uncharged), the rotor angle can be determined at least step by step in time, since the determination rules can be adapted to the respective current system parameters for determining the rotor angle. The determination rules comprise model-based determination rules for determining the rotor angle, wherein system parameters of the electric machine for different operating conditions can be used accordingly. For example, the internal resistance and coil inductance of the motor described here and their behavior at ideal free-wheeling voltage or output voltage can be used as system parameters. They can preferably be stored in the charging controller or in a superordinate control unit in the region of the characteristic map for determining the rotor angle. The advantage of the above-described method is therefore that, despite the switching intervention by a voltage or charging regulator, which regulates the application of electrical energy to the storage by corresponding switching or regulating intervention of the electric machine, the rotor angle can be determined substantially continuously while the electric machine is running.

In a preferred embodiment of the method, the electric machine is activated in a first switching state such that electrical energy is applied to the electrical storage, and the electric machine is activated in the further switching state such that a current flow from the electric machine to the electrical storage is regulated, preferably prevented, without load by short-circuiting at least one phase winding or by leaving at least one phase winding currentless. In particular, it is particularly advantageous to regulate the electrical storage by means of short-circuiting at least one phase or leaving the respective phase free of current, since this can be achieved in a particularly simple and cost-effective manner. This adjustment is used in particular in motor bicycles, in particular in motor bicycles which are cost-effective, since the advantages mentioned above play a particularly great role here. In this case, in particular, short-circuit regulation is particularly common, which has the disadvantage that the short-circuit regulation itself influences the phase signal of the electric machine particularly strongly, which makes it particularly difficult to determine the rotor angle from the phase signal.

In a further preferred embodiment of the method, the rotor angle is determined within the scope of the first determination rule on the basis of a numerical model and/or on the basis of a characteristic map, and/or the rotor angle is determined within the scope of the further determination rule on the basis of a further numerical model and/or on the basis of a further characteristic map. In principle, the determination rule can be implemented within the scope of using a numerical model of a global machine variable or on the basis of using a combination of numerical models of a family of characteristic curves in which a plurality of machine variables are stored. The characteristic map comprises a rotor angle dependent on a respective parameter (for example, the rotational speed or the output voltage of the generator). However, it is also preferred that a corresponding machine variable (for example, the output voltage of the generator) is detected as a function of the rotational speed or the edge time between the edges of at least one phase signal and stored in the characteristic map for further use in the numerical model.

In a further preferred embodiment of the method, in the case of the first determination rule, the voltage of the electrical storage is taken into account in the determination of the rotor angle of the electric machine. In particular, when using a characteristic map, in which the respective machine parameters of the electric machine are stored for determining the rotor angle, the battery voltage can be used for determining the rotor angle. In principle, the battery voltage can only be considered approximately constant, so that the battery voltage can actually be important in determining the rotor angle. Depending on the operating point, fluctuations or level reductions may occur. Since the operating voltage is usually measured continuously in the superordinate control unit, these changes can be detected and taken into account accordingly when determining the rotor angle. In a further embodiment, the rotor angle characteristic curve or the corresponding characteristic curve family for the battery charging operation in the first switching state can be corrected for a plurality of parameters, in particular by means of a compensation parameter that is dependent on the battery voltage. In principle, further corrections can also be made to the characteristic curve or the corresponding characteristic curve family, for example tilting, stretching or compression or other deformations of the characteristic curve or the characteristic curve family.

In a further preferred embodiment of the method, a dynamic starting process caused by the switching-on during the time course of at least one of the machine variables of the electric machine on which the rotor angle is determined is taken into account in the determination of the rotor angle of the electric machine during the time period after the switching-on of the electric machine in the range of the first switching state and/or after the switching-on of the electric machine in the range of the further switching state. By switching the electric machine on to regulate the voltage, in particular after a corresponding switching operation, a corresponding transient state with a large time dynamics is generated, which returns to a substantially stationary state for the duration of the machine characterized by the start-up operation. If the respective machine parameters of the electrical machine (for example, the output voltage, the rotational speed of the generator, etc.) are now influenced by this dynamics, these dynamics propagate into the determination of the rotor angle, which may lead to a corresponding source of error. These error sources can be taken into account accordingly in order to take into account the rotor angle when determining the rotor angle, in particular also during the characteristic time duration after switching from the first switching state to the second switching state or from the second switching state to the first switching state. This is particularly advantageous, since now also imbalance conditions can be taken into account when determining the rotor angle, and therefore the rotor angle can be determined more precisely and in each operating point of the electric machine.

In a further preferred embodiment of the method, the dynamic oscillation starting process during the time profile of the rotor angle is characterized in that the amplitude of the rotor angle and/or the operating parameters of the electric machine are determined over the duration of the dynamic oscillation starting process and used as a measure for taking into account the dynamic oscillation starting process in the determination of the rotor angle. In particular, the amplitude of the temporal dynamics of the rotor angle during the dynamic oscillation start can be used as a measure of whether a corresponding correction is carried out during the duration of the dynamic oscillation start. This can be done in particular on the basis of a threshold value adjustment, in which a lower threshold value of the rotor angle fluctuation amplitude in a dynamic time range is used as a basis, wherein below the threshold value no adaptation takes place or above the threshold value the rotor angle is corrected accordingly in the time range of the dynamic oscillation starting process. If the influence of the dynamic oscillation starting process is too great, i.e. in particular if the amplitudes are greater than a certain threshold value, these amplitudes can be stored as application variables and used accordingly for calculating the rotor angle after the switching process. The application variables can be determined in particular by means of reference measurements or suitable simulation models. Furthermore, depending on the influence of the rotational speed gradient on the suitability of the respective correction, the switching process can be placed at a suitable point in the operating cycle of the internal combustion engine driving the electric machine, for example when the rotational speed profile is as flat as possible. Accordingly, a flat rotational speed profile is a rotational speed profile with the smallest possible gradient.

In a further preferred embodiment, the switching process, in particular the switching process that results in the current flow from the electric machine to the electrical storage being prevented, can be carried out as a function of at least one rotational angular orientation of the rotor. This measure has the advantage that the switching on of the electric machine to set the voltage of the electrical storage device and the corresponding use of the machine parameters for determining the rotor angle are always carried out at a time offset, so that the rotor angle can be determined in dependence on the machine parameters without interference, taking into account a minimum time interval with the switching operation to ensure a possible starting operation. Furthermore, it may be preferred to place the switching state in a region with low rotational speed dynamics. Alternatively, it can also be provided that the switching process can be placed directly after the occurrence of a signal edge and/or a zero crossing of at least one phase signal, in order to attenuate as far as possible the dynamics during the change of the measured variable for determining the rotor angle until the next edge in the respective phase signal during the change.

In addition, depending on the type and degree of the amplitude or the amplitude level thereof, the type and degree of the possible correction can also be carried out in the time range of the dynamic oscillation starting process when correcting the rotor angle to be determined.

In a further preferred embodiment of the method, the characteristic map or the further characteristic map has at least the rotor angle, the output voltage and the rotational speed of the electric machine or the time between two edges of at least one phase signal as reference variables. In principle, all the motor parameters relevant for determining the rotor angle and parameters dependent thereon can be stored in the respective characteristic map, in order to be able to determine the rotor angle as precisely as possible from the respective operating parameters of the motor.

In a further preferred embodiment of the method, at least one rotor angle value stored in at least one characteristic map is used in a first revolution of the rotor and is corrected by a rotor angle value determined on the basis of measurements over the duration of the dynamic oscillation starting process, wherein the corrected rotor angle is used for further revolutions of the rotor, in particular for the time range of further dynamic oscillation starting processes. Instead of or in addition to using a corresponding correction term for correcting the rotor angle, in particular in the time range of the dynamic oscillation start process, such a correction term can also be learned during operation of the electric machine. For this purpose, values outside these switching states are extrapolated from the measured variable of the electric machine and the time profile of the measured variable between the first switching state and the further switching state or before the switching process between the further switching state and the first switching state, and a corresponding characteristic curve or characteristic curve family of the rotor angle is used here. Deviations of the extrapolated values from the post-switching measured values may be taken into account in possible correction terms and may be stored for further use of further revolutions of the rotor for determining the rotor angle. This configuration is advantageous because the respective machine parameters, which are sometimes also influenced over time by respective fluctuations and degradation effects, can be used as a learning function in the determination of the rotor angle while running.

In a further preferred embodiment of the invention, instead of extrapolating the correction factor using the course of the time profile of the measured variable of the electric machine prior to the switching process and determining the sum or the basis of the extrapolation, an undisturbed course of the electrical variable can also be learned at the same or similar operating points in respect of the course of the rotor angle, at which no switching process occurs. Likewise, the correction factor can be determined by comparing the course of the undisturbed course (at least not disturbed by one of the switching processes) with the course of the electrical variable following the switching process and using the corresponding characteristic curve or characteristic curve family of the rotor angle. This configuration is also advantageous, since the respective operating or machine parameters, which are sometimes also influenced by respective fluctuations and degradation effects over time, can be used as a learning function in the case of the rotor angle being determined during operation.

In a further preferred embodiment of the invention, the rotor angle is used to determine the rotational angular position of the rotor. In order to reliably derive the respective rotational angle position of the rotor from the signal of the electric machine, it is necessary to ensure that the rotor angle is determined correspondingly precisely for the respective operating condition of the electric machine. Within the scope of the above-described method, this is possible precisely, as a result of which the rotor angle can be determined with correspondingly high accuracy, independently of the respective operating state of the electric machine.

In a further preferred embodiment of the invention, at least one phase signal of the electric machine is processed by means of an electronic circuit, in particular an engine control device. By a corresponding external processing of the phase signal or of the value related to the phase signal and of the associated rising and falling edges and of the regulation, in particular of the charging of the electrical memory in the engine control unit, an additional control component can be dispensed with, since the engine control unit is already present and can in principle also be used for this purpose. This is advantageous, since the corresponding control system can be simplified, and additional costs can be saved.

In principle, it is readily understood that, by the above-described method, a high-resolution rotational angle position or rotational speed of the rotor of the electric machine and thus also of the crankshaft of the internal combustion engine can be determined directly from the internal signal of the electric machine, whereby a corresponding sensor wheel for determining the rotational angle position or rotational speed and a sensor device connected to the sensor wheel can also be dispensed with. The rotational angle position or the rotational speed of the rotor can always be determined while the motor is running, since the corresponding charging regulation of the electrical storage is accordingly taken into account. However, it is also possible to decouple the switching intervention of the charge regulation from the determination of the edges of the phase signal, which are necessary for determining the rotational angle position or the rotational speed.

Thus, using only the phase signals of the electric machine ensures a high-precision determination of the rotational speed and the rotational angle position of the rotor and thus of the crankshaft and a corresponding voltage regulation of the electrical storage device during operation. This results in a cost saving, which is particularly advantageous for more cost-effective scooters or motorbikes. Furthermore, control functions such as position calculation of injection, torque calculation, or learning functions for accurately determining the OT position, etc., can be significantly improved.

It is furthermore readily understood that the phase signals can in principle be obtained in different ways. For example, the phase voltages can be observed relative to one another, the phase voltages at the diodes of the connected rectifiers relative to the potential of the output terminals of the rectifiers being observed — if the stator of the electric machine forms a star circuit with an extractable star point, the output voltages of the branch paths relative to the star point or a similar evaluation of the phase currents being observed.

In a further preferred embodiment of the method, the rotational angle position of the crankshaft is used for controlling the internal combustion engine. The detection and processing of the phase signals of the electric machine by the engine control unit and the corresponding determination of the rotational angle position of the crankshaft as a function of the rotational angle position of the rotor and the possible angular offset determined by the rotor angle can be used in the control unit of the internal combustion engine to control the ignition time or the torque of the internal combustion engine. Therefore, it is possible to integrate the charge regulation of the battery, the control of the internal combustion engine, and the determination of the improvement of the rotational angle orientation or rotational speed of the crankshaft in the engine control apparatus, thereby obtaining a further synergistic effect. For this purpose, the computing unit used, which is preferably designed as an engine control device for the internal combustion engine, has a corresponding integrated circuit and/or a computer program stored on a memory, which is designed to carry out the above-described method steps.

It is advantageous if the method is implemented or provided in the form of a computer program, in particular an ASIC (application specific integrated circuit), which is preferably stored in software on a data carrier, in particular on a memory, and which can be used in the computing unit to carry out the method, since this results in particularly low costs, in particular if the control device is also used for other tasks and is therefore present anyway. As is generally known from the prior art, data carriers suitable for providing the computer program are in particular magnetic, optical and electrical memories.

Drawings

Further advantages and configurations of the invention result from the description and the drawings.

Fig. 1 schematically shows a sensor wheel with a sensor according to the prior art, in particular for determining a rotational speed;

fig. 2a to 2c show schematic diagrams (a, b) of an electric machine coupled to an internal combustion engine and the associated signal profile (c);

fig. 3 schematically shows an electric machine with corresponding associated phase signals;

fig. 4a and 4b show possible voltage profiles of the phases of a three-phase machine;

fig. 5a and 5b show a simplified single-phase equivalent circuit diagram (a) of the electric machine and the associated vector diagram (b) of the phase voltage vectors;

6a-6f show six different embodiments of regulator circuits connected downstream of the rectifier of the motor and designed to regulate the battery voltage;

fig. 7a and 7b show the course of the change of the phase signal with the adjustment intervention according to a first and an alternative second embodiment of the method;

fig. 8a and 8b show a process of changing the phase signal with a regulating intervention according to a further and alternative further embodiment of the method;

FIG. 9 shows a process of varying a phase signal with clocked regulation intervention according to a further embodiment of the method;

fig. 10a to 10d show a time course of the rotor angle with respect to the rotational speed at a first output voltage of the electric machine (a), a time course of the rotor angle with respect to the rotational speed at another output voltage of the electric machine (b), a time course of the rotor angle with respect to an edge time between two edges of a phase signal at the first output voltage of the electric machine (c), and a time course of the rotor angle with respect to an edge time between two edges of a phase signal at another output voltage of the electric machine (d);

fig. 11 shows the time profile of the rotor angle in two switching states of the actuator and the dynamic oscillation starting process region arranged between the two switching states; and

fig. 12 shows a time profile of the voltage edge of the phase signal, on the basis of which the learning method is explained.

Detailed Description

In fig. 1, a sensor wheel 20 and an associated inductive sensor 10 are schematically shown, which are used in the prior art for determining the rotational speed of a crankshaft or for approximately determining the rotational angle position of a crankshaft. In this case, the sensor wheel 20 is firmly connected to the crankshaft of the internal combustion engine, and the sensor 10 is mounted in a stationary manner in a suitable position.

The sensor wheel 20, which is usually made of ferromagnetic material, has teeth 22, the teeth 22 being arranged on the outside and two teeth 22 having a space 21 between them. In one position on the outside, the sensor wheel 20 has a gap 23 over the length of the predetermined number of teeth. This gap 23 serves as a reference mark for identifying the absolute position of the sensor wheel 20.

The sensor 10 has a bar magnet 11 on which soft magnetic pole contact pins 12 are mounted. The pole contact pins 12 are in turn surrounded by an induction coil 13. As the wheel rotates, the teeth 22 and the spaces between each two teeth alternately pass the induction coil 13 of the sensor 10. Since the sensor wheel and thus the teeth 22 are made of ferromagnetic material, a signal is induced in the coil during the rotation, with which the teeth 22 and the air gap can be distinguished.

By correlating the time difference between two teeth with the angle enclosed by these two teeth, the angular velocity or rotational speed, and in addition the corresponding angular position of the crankshaft, can be approximately calculated.

At the gap 23, the signal induced in the induction coil has a different course than at the tooth 22 which otherwise alternates with the gap. In this way, an absolute position marking can be achieved, but only with reference to a complete revolution of the crankshaft.

In fig. 2a, an internal combustion engine 112 is depicted, the electric machine 30 being connected directly or via a transmission coupling to the internal combustion engine 112, the electric machine 30 being driven by a crankshaft 17' of the internal combustion engine 112. Thus, the rotational speed n of the motor 30_GenAnd the rotational speed n of the crankshaft 17_BKMAnd the angular position α of the rotor of the motor 30₁And the rotational angle position α of the crankshaft 17' have a fixed relationship to one another, furthermore, the electric machine 30 is associated with a charging regulator L R, which supplies energy to an electrical storage S (in the present case a battery B) in the vehicle electrical system 110, corresponding to the remaining capacity of the battery B_Bat. Furthermore, a computing unit, in particular an engine control device 122, is provided, which exchanges data with the electric machine 30 or with the internal combustion engine 112 via a communication connection 124 and is designed to operate the internal combustion engine 112 and the electric machine 30 accordingly.

In fig. 2b, the motor 30 is again schematically shown in an enlarged form. The electric machine 30 has a rotor 32 with field windings and a stator 33 with stator windings, wherein the rotor 32 has a shaft 17. This is therefore a separately excited machine, which is common in particular in the case of motor vehicles. However, especially for restraining motorcycles, especially for small and light restraining motorcycles, engines with permanent magnets, i.e. permanent magnet excited electric machines, are mostly used. In principle, it is possible within the scope of the invention to use two types of electric machines, wherein in particular the method according to the invention does not depend on the use of a corresponding type of electric machine (permanent-magnet or separately excited).

Illustratively, the electric machine 30 is configured as a three-phase generator, wherein three phase voltage signals phase-shifted by 120 ° with respect to each other are induced. Such a three-phase generator is usually used as a generator in modern motor vehicles and is suitable for carrying out the method according to the invention. Within the scope of the invention, it is in principle possible to use all motors independently of their number of phases, wherein in particular the method according to the invention is not dependent on the use of a corresponding type of motor.

The three phases of the three-phase generator 30 are denoted by U, V, W. The voltage dropped across the respective phase is rectified via a rectifier element designed as a positive diode 34 and a negative diode 35. Thus, a generator voltage U exists between the poles B + and B-_GNegative pole ground at the generator voltage. The battery B or other electrical consumers in the vehicle electrical system 110 are supplied by such a three-phase generator 30, for example.

Fig. 2c shows three graphs which show the associated voltage profile with respect to the rotational angle of the rotor 32 of the electric machine 30. The voltage profile of the phases U, V, W and the associated phase voltage U are plotted in the upper diagram_P. It is generally understood that the numbers and value ranges set forth in this and the following figures are exemplary only, and thus do not substantially limit the invention.

The generator voltage U is shown in the middle diagram_GWhich is formed by the envelope of the positive and negative half-waves of the voltage course U, V, W.

Finally, the rectified generator voltage U is shown in the lower graph_G-(see fig. 2 a) and the generator voltage U_G-Effective value of (U)_GeffSaid generator voltage is applied between B + and B-.

In fig. 3, a stator 33 with phases U, V, W is schematically shown, as well as a positive diode 34 and a negative diode 35 from fig. 2 b. It is easy to understand in principle that the rectifier elements depicted here in the form of the positive diode 34 and the negative diode 35 can also be constructed as transistors (not shown), in particular MOSFETs (metal oxide semiconductor field effect transistors), in the case of active rectifiers. The terms used below of the voltages and currents occurring are also indicated.

U_U，U_V，U_WInstead, the phase voltages of the associated phases U, V, W are represented, which fall between the outer conductor and the star point of the stator 33. U shape_uv，U_vw，U_wuRepresenting the voltage between two phases or the external conductors to which they belong.

I_U，I_V，I_WRepresenting the phase currents from the respective outer conductors of the phases U, V, W to the star point. I represents the total current of all phases after rectification.

In fig. 4a, three phase voltages U with potential reference at B-are now shown in three graphs with respect to time_U，U_V，U_WThese phase voltages appear in a generator having an outer pole rotor with six permanent magnets. The illustration of an electrical machine 30 with three-phase stator windings 33 is only seen by way of example, wherein the method according to the invention can in principle also be carried out without limiting the generality on generators with a corresponding number of phases or permanent magnets or field coils as required. Instead of a star connection of the stator coils, a delta connection or another connection can also be selected.

In the case of an electric machine 30 with current output, the phase voltage U_U，U_V，U_WIs rectangular in a first approximation. This is explained in particular by the fact that: the positive or negative diode is made conductive in the flow direction by the generator voltage and therefore measures approximately 15-16 volts (battery charging voltage and voltage across the positive diode in the case of a 12V lead-acid battery) or negative 0.7-1 volts (voltage across the negative diode). The measured reference potentials are respectively ground. Other reference potentials, such as the star point of the stator, may also be selected. Although these reference potentials result in different signal courses, the analyzable information, the acquisition and analysis of said analyzable information, is not changed.

In principle, the phase signal (U) can be obtained in different ways_U，U_V，U_W，I_U，I_V，I_W). For example, the phase voltages (U) of each other can be determined_UV，U_UW，U_WU) Determining the phase voltages on the diodes of the connected rectifier relative to the output terminals (B +, B-) of the rectifier, provided that the stator of the electric machine forms a star circuit with an extractable star point relative to which the observation branch is relative (U)_U，U_V，U_W) Or similar analysis of phase currents.

In fig. 4b, the phase voltages U from fig. 4a are plotted together in a diagram_U，U_V，U_W. A uniform phase shift can be clearly identified here.

In the motor 30During a complete revolution of the rotor 32, the voltage signal is repeated six times by six magnets, in particular permanent magnets, so-called pole pairs. Thus, each phase, i.e., each phase voltage U, of each revolution of the rotor 32_U，U_V，U_WSix falling edges F L appear_DAnd six rising edges F L_U(for the corresponding phase F L_UU，FL_VU，FL_WUAnd F L_UD，FL_VD，FL_WD）。

These edges define an angular sector, i.e. the angular sector that is exactly covered by the magnets along the radial periphery of the stator, it is therefore possible to identify the corresponding edge F L_UOr F L_DThen, it is determined with knowledge of the absolute reference point for each revolution, for example based on having a phase voltage U_U，U_V，U_WIs characterized by a reference magnet of a different characteristic than the other magnets.

The falling edge F L can now be identified by suitable means_DAnd a rising edge F L_UThe required Schmitt trigger may be integrated in the control device or in the control electronics, for example in the control device, the battery voltage regulator and/or in the case of an active rectifier in the respective generator regulator, or may also be associated externally with them, the respective TT L signal may be transmitted via in each case one line, in particular in the case of the use of a control device, in particular an engine control device 122 (see FIG. 2 a), or via only one data line 124 (see FIG. 2 a) by upstream combination electronics or other means, suitably combined.

In FIG. 4b, the phase voltage U is applied_U，U_V，U_WRespectively assigned with the value W_U，W_V，W_WThese values are also referred to as W_Ud，W_Vd，W_WdLikewise, rising edge F L may also be given_UAssign the corresponding value W_Uu，W_Vu，W_Wu. These values can be used forIdentifying rotational angular orientation α of rotor 32₁Or angular increments set by pole pairs of the stator 33, the rotational angular orientation α of the rotor 32 may also be identified based on the plateau regions of the phase signals or other regions between the plateau regions₁. Likewise, these values may also be used to base the time difference Δ t on₁，Δt₂，Δt₃Determining a rotational speed of the generator.

In this case, a total of 18 falling edges F L occur when six permanent magnets are arranged uniformly in the electric machine 30_dAnd therefore 18 correlation values appear at respectively equal intervals to each other per revolution. Thus at the time difference Δ t₁，Δt₂Or Δ t₃As already mentioned at the outset, this can also be used to detect the rotational angular position α of the rotor 32₁Where an exemplary determined 20 deg. indicates a detectable angular increment. Furthermore, the angular velocity ω can also be determined therefrom_i. The angular velocity is determined byObtained, relative speed n_iIs formed byObtained in revolutions per minute.

In principle, it is easy to understand as falling edge F L_DAlternatively, the rising edge may also be used to determine the rotational angular orientation α of the rotor 32₁And determining the instantaneous speed n of the motor 30_GenThus, by doubling the number of values per revolution, the rotational angular orientation α of the rotor 32 is obtained₁And a rotational speed n_GenFurthermore, the edges of the phases may be analyzed in a number of other ways, for example by the rising edges F L of the same or corresponding phases to each other_UAnd a falling edge F L_DTime interval therebetween, or by rising edge F L of the same phase or all phases together_UOr falling edge F L_DThe time interval of (c).

Except for rising edge F L_UAnd a falling edge F L_DBeyond, phase signal U_U，U_V，U_WMay also be used to improve the determination of the rotational angular orientation α of the rotor 32₁Or to identify the speed of rotation n_GenThe resolution of (2).

Based on the electrical signal, in particular the phase signal U, of the electric machine 30_U，U_V，U_WOr associated phase current I_U，I_V，I_WThe actual rotational angular orientation α of the rotor 32 and its shaft 17 can only be determined with insufficient accuracy₁And thus the rotational angle position α of the crankshaft 17', since the phase signal U is generated in the event of a current flow causing a load on the motor 30_U，U_V，U_WOr I_U，I_V，I_WIs in phase with the actual rotational angular orientation α of the rotor 32₁Systematic error in the form of an angular offset between. This is explained in more detail in the following figures.

A schematic diagram of a single-phase simplified equivalent circuit diagram of the electric machine is shown in fig. 5a, and the respective voltages or currents and their relative phase shifts with respect to one another are correspondingly shown in the vector diagram in fig. 5 b. The knowledge ascertained from this single-phase equivalent circuit diagram can in principle also be transferred to a polyphase machine, which is shown, for example, in the preceding description. The voltage equation for a loaded motor can be derived from the motor single-phase equivalent circuit diagram in fig. 5a and the associated vector diagram in fig. 5b, as follows:

where U corresponds to the output voltage of the motor 30, U_PCorresponds to the idling voltage of an unloaded electric machine, and I jX corresponds to the voltage drop U in the generator due to the current flowing through the electric machine and due to the reactance X of the electric machine_X。

The free-wheeling voltage U of the electric machine 30 is then_PCorresponding to the desired induced voltage, its angular orientation α relative to the rotation of the rotor 32 with respect to the phase₁And (5) the consistency is achieved. In this case, the angle offset corresponding to the rotor angleAnd correspondingly equals zero. Therefore, the idling voltage U_PAccurately reflects the geometric movement of the rotor 32 and thus illustrates the precise angular orientation of the rotor in the unloaded state of the motor 30.

Due to the load of the electric machine 30 and the resulting current flow I, the output voltage U of the generator 30 of the load is relative to its induced idling voltage U_PThen changes rapidly in phase, by angular offsetSo-called rotor angle yielding U and U_PAn angular offset therebetween. The rotor angle is in principle dependent on the coil current I and cannot be easily calculated without knowing the coil current I.

Furthermore, the angle between the output voltage U and the current I is obtained by the connected load and is for a purely ohmic load0 deg. Ideal induced voltage (free-wheeling voltage) U of the machine_PObtained as the product of the motor constant, excitation and angular velocity. In the case of permanently excited machines, a constant excitation and therefore an ideal induced voltage proportional to the angular velocity is obtained by the permanent magnets used. Thus, for angular offset, the vector diagram in fig. 5bObtaining:

。

when a linearly operating voltage regulator 40a, as shown, for example, in fig. 6a, is used and an actuating element 42a for the voltage regulator 40a, which is designed, for example, in the form of a power transistor and operates in the linear region (triode region), is actuated, the output voltage U of the electric machine 30 can be regulatedIs almost constant (relative to the cell voltage). Furthermore, even if small capacitances may occur in the on-board electrical system, the use of rectifiers 34a, 35a at the output of generator 30 and an electrical storage S in the form of a battery B connected downstream also leads to approximately a purely ohmic load. Whereby the angular offset between the output voltage U and the current ICorrespondingly close to 0, where the addend from the above formula (sin: (n: (m))) X I) also tend to 0 and therefore disappear.

Free-wheeling voltage U_PIn principle with the speed n of the electric motor 30_GenAnd (4) in proportion. Thus, if the amplitude of the output voltage U is assumed to be substantially constant and if it is assumed thatClose to zero and therefore the second addend vanishes, the above equation reduces to the following relationship:

wherein the constant const is substantially composed of the constant output voltage U and the constant and therefore independent of the rotational speed n_GenFree-wheeling voltage U of_PThe components are obtained.

If selected, theIs dependent on the edge time t_GenIndependent of the speed of rotation n_GenThen obtainAnd t_GenThe following relationships of (a):

wherein const.' comprises, in addition to the above constant factor, a constant factor for the speed n_GenEdge time t is calculated (in revolutions per minute (rpm))_GenA constant factor (in seconds).

In the relevant time frame of a typical internal combustion engine from idle to about 15000 rpm, the relationship can be approximately described by a straight line equation with a negative slope, and therefore a higher computational efficiency can be achieved in the application. As already indicated at the outset, the stated value ranges have only an explanatory characteristic and should not limit the invention.

In the case of such a configuration of the battery regulation or of the battery voltage in each case being regulated such that the respective regulating element 42 operates in the linear region, the angular offset can be estimated sufficiently accurately in a first approximation even without knowledge of the current flow IThis allows a very reliable determination of the phase voltage U_U，U_V，U_WIs in phase with the actual rotational angular orientation α of the rotor 32₁Angle offset between。

Therefore, the rotor 32 has a phase voltage U according to the phase voltage_U，U_V，U_WDetermined rotational angular orientation α_phaseCan accordingly be determined by the respective speed n_GenAngular offset ofCan be corrected, the actual rotational angular position α of the crankshaft 17 of the internal combustion engine or the rotational angular orientation α of the rotor 32 can be determined accordingly₁In the case of a fixed coupling between the shaft of the rotor 32 and the crankshaft 17, the rotational angle position and the rotational angle orientation have a fixed relationship with each other, therefore, without limiting the generality, α = α applies₁But once current flows, α₁Signal U of just behind_U，U_V，U_W，I_U，I_V，I_WNo longer visible.

By means of phase signals U_U，U_V，U_W，I_U，I_V，I_WRespectively determines an uncorrected rotational angular position α_phaseAnd determining rotor angle as described aboveThe actual angular position α may be determined with a particularly good approximation by₁：

。

However, only after determining the corresponding phase signal U_U，U_V，U_W，I_U，I_V，I_WWithout the switched intervention of the charging controller 40 in order to regulate the voltage of the electrical storage S in the time range of (a), the previously determined rotor angle for high accuracy can be used without problemsOr the rotational angle position α of the rotor 32₁Or the assumption made of the speed n. Therefore, this assumption can be applied, at most, in stages to the respective switching states of the charging regulator 40. Furthermore, separate machine parameter sets for determining the rotor angle have to be stored for the respective switching state or determined during the ongoing operation of the electric machine (see fig. 10a to 10d and fig. 12). In addition, the rotor angle is determinedTransient states in the form of dynamic start-up processes between the switching states should also be taken into account (see fig. 11). This will be discussed further below. Thus, a continuous determination of the rotor angle can be reliably ensured by a further configuration of the methodAs in the figureAs described in more detail in figures 7 to 12.

In fig. 6a, the electric machine 30 from fig. 2b is again schematically shown in an enlarged form, the electric machine 30 having a rotor 32 with field windings and a stator 33 with stator windings, wherein the rotor 32 has a shaft 17, this is therefore a separately excited machine, which is common in particular in the case of motor vehicles, however, in particular for restraining motorcycles, in particular for small and light restraining motorcycles, mostly engines with permanent magnets, i.e. permanently excited electric machines, are used.

Illustratively, the electric machine 30 is configured as a three-phase generator, wherein three phase voltage signals phase-shifted by 120 ° with respect to each other are induced. Such a three-phase generator is generally used as a generator in modern motor vehicles and is suitable for the use of the charging regulator according to the invention connected downstream of the generator. Within the scope of the invention, in principle all motors can be used independently of their number of phases.

The three phases of the three-phase generator 30 are denoted by U, V, W. Via a positive diode D configured as a first path 34a_HAnd a negative diode D of the second path 35a_LTo the voltage U dropped across each phase of the rectifier element 36_U，U_V，U_WRectification is performed. Thus, a generator voltage U exists between the poles B + and B-_GThe negative pole is grounded at the generator voltage. The battery B or other electrical consumers in the vehicle electrical system 110 are supplied by such a three-phase generator 30, for example.

Furthermore, the charging regulator L R is provided with a control unit 40a, the control unit 40a being controlled by the generator voltage U_GThe supply and the actuation of the switch 42a with the voltage regulation of the battery B result in a short-circuit of the paths 34a, 35a of the rectifier 36. In order to prevent parallel short-circuiting of the batteries B, a further diode D is provided, which is arranged behind the rectifier 36 to prevent parallel short-circuiting of the batteries B. At switch 42aIn the off state, the rectifier 36 operates normally and thus applies power to the battery B or the electrical storage S.

In fig. 6b, a further exemplary embodiment of a charging regulator L R is shown, the same or similar elements as in the first exemplary embodiment (see fig. 6 a) are denoted by the same reference numerals or by the same reference numerals and are denoted by the additional letter b.

In this exemplary embodiment, a simplified design is based on a schematically illustrated two-phase electric machine 30 having phases U and V, in each case a phase voltage U being present on the phases_UAnd U_V. Strictly speaking, fig. 4a shows a single-phase motor with coil ends led out at both ends. The single-phase motor is composed of two coils, one end of which is drawn out and the other end is connected, and thus is structurally a single-phase motor. The embodiment is distinguished in that a control unit 40b is arranged in the engine control device 122, which control unit 40b acts on the switch 42b for charge regulation and for short-circuiting the first branch 34b or the second branch 35b of the rectifier 36. A rotational speed detection device 45 is also arranged in this engine control device 122. The rotational speed detection device has a communication connection 46 to a signal generator 47, the signal generator 47 being connected to at least one of the phases (V) in order to determine the phase voltage U_U，U_VRequired edge F L for determining the rotational speed n of the motor 30_UOr F L_V. The principle determination of the rotational speed n has already been described at the beginning (see in particular fig. 4 b).

Fig. 6c shows a further embodiment of a charging regulator L R, the switch 42c is also actuated by the control unit 40c, the switch 42c being switched on when the switch 42c is in the closed position and the branch 35c or 34c (devices required for this purpose not shown) of the rectifier 36 being short-circuited accordingly, in this case, this takes place phase by phase, corresponding to the phases U, V, W, since each phase is associated with a diode D1 to D3, depending on the phase, the corresponding charging regulator L RThe phases are short-circuited and overcharging of battery B is prevented. In this case, the diode D of the first branch 34c of the rectifier 36_HBattery B is prevented from being short-circuited in case of a short-circuit of the respective phase U, V, W.

It is likewise possible to use a transistor in upper path 34c and for this purpose a diode in lower path 35 c. In this case, the current flow I is regulated by a short circuit via the upper path 34c, while the lower path 35c avoids a short circuit of the battery B (corresponding devices not shown).

Fig. 6D shows a further exemplary embodiment of a charging regulator L R, the second path 35D of the rectifier 36 in each case having a transistor-type switch 42D for each phase U, V, W, the switch 42D being shown in the form of a MOSFET transistor as a transistor having a corresponding inverse diode, the transistor having both a rectifying function in the lower path 35D of the rectifier and a short-circuit function of the corresponding phase associated with the corresponding transistor, the rectifier 36 being able to be short-circuited by corresponding actuation of the corresponding transistor 42D by the control unit 40D, and the current flow i into the battery B being able to be inhibited again here by way of the diode D in the first path 34D_HPreventing short-circuiting of battery B.

In fig. 6e, another embodiment of the charge regulator L R is depicted, where the first path 34e is equipped with a transistor T_HAnd the second path 35e is equipped with a transistor T_LThese transistors are associated with the respective phases U, V, W. Corresponding transistor T_H，T_LCan be acted upon by the control unit 40e in each case in such a way that the phase voltage U can be applied_U，U_V，U_WCan in turn short-circuit the respective path 34e, 35e in order to charge regulate the battery B.

In the present case, the control unit 40e is arranged separately from the engine control device 122, wherein the two are connected to one another by means of a data connection 125e for exchanging data or for controlling the control unit 40e by means of the engine control device 122 or for controlling the engine control device 122 by means of the control unit 40 e. In the case of charge regulation, the respective transistor T is controlled in each case in the path 35e, 34e_H，T_LCausing them to conduct. For protecting the battery B, a corresponding transistor T is provided in the other path_H，T_LShould be switched to the cut-off direction, respectively, so that battery B is prevented from short-circuiting.

Fig. 6f shows a further exemplary embodiment of a charging regulator L R, which differs from the exemplary embodiment shown in fig. 4d only in that the engine control device 122 and the control unit 40f are structurally accommodated in a common housing, which provides a synergistic advantage for operating the internal combustion engine 112 or the electric machine 30 accordingly.

In principle, it is readily understood that the computing unit 40 or the engine control device 122 can be accommodated structurally separately or together in a common housing.

Fig. 7a and 7b show the regulation of the operating voltage Us of the electrical storage device S according to the first exemplary embodiment (fig. 7 a) and according to an alternative second exemplary embodiment (fig. 7 b). In the figure, the phase voltage U is plotted on the left longitudinal axis_U，V，WOne, plotting the operating voltage U of the electrical storage S on the right longitudinal axis_SAnd time is plotted in arbitrary units on the horizontal axis. Furthermore, the operating voltage U of the electrical storage device is shown by a dashed line_SUpper threshold value U of_Soll1And a lower threshold value U_Soll2Corresponding voltage regulation by the voltage regulator L R or 40 is initiated when these thresholds are met or lowered and/or exceeded (see fig. 6a-6 f).

In the diagram, the phase voltage U_U，V，WThe operating voltage U of the electrical storage device S is shown as a solid line_SShown as a dotted line. The description of the diagrams from fig. 7 is similar to the description of the diagrams from fig. 8a, 8b and 9, so that reference is generally made here also to these diagrams. It is to be understood that the phase voltage U shown here is merely exemplary_UThe voltage of the single-phase motor or of an exemplary phase of the polyphase machine is selected, wherein the representation of the method according to the invention can also be carried out on other phases of the polyphase machine, and the evaluation of the respective phases can also be combined with one another.

As can be seen in FIG. 7a, Fl has a rising edge_UAnd falling edge Fl_DAfter the first occurrence of a half-wave of the phase voltage of the electrical storage S, the operating voltage U of the electrical storage S_SExceeds the upper threshold U_Soll1. Furthermore, after the first half wave, a further edge Fl can be detected_USaid other edge passing through the phase voltage U_UCharacteristic value W of_UuTo identify. Based on the characteristic value W_UuReliably detecting the rising edge Fl of the phase voltage_UThus, the value W can be reached_UuAfter that, a control intervention is carried out by means of charging controller 40 of electrical storage S, as a result of which, in particular, phase voltage U is limited_UAnd thereby inhibiting at least from this phase U_UTo charge the electrical storage S. Until reaching and falling edge Fl_DAssociated next characteristic value W_UDUntil this point, the control intervention of the controller 40 is triggered again, since the operating voltage U of the electrical storage unit S_SAgain travel below the upper threshold U_Soll1. Other threshold value U_Soll2The operating voltage U of the electrical storage device S is described_SIn which the regulator intervention is resumed and the electrical storage S is charged again.

As can be seen in fig. 7a, the phase voltage U_UOccurs W at the rising edge of the second half-wave_UuAnd the falling edge occurs W_UDWith a time interval sufficient to regulate the operating voltage U of the electrical storage S_S. In FIG. 7b, however, a similar scenario to that shown in FIG. 7a is shown, but with a phase voltage U_UMaintains the intervention of the regulator on the second and third half-waves, in order to adapt the operating voltage U of the electrical storage device accordingly_SSo that the operating voltage falls below the setpoint value U again_Soll1. In fig. 7 to 9, the phase voltage U is shown in dashed lines_UIs suppressed by a corresponding regulating intervention of the charging regulator 40.

Fig. 8a and 8b show the operating voltage U of the electrical storage device S_SAnother scenario for voltage regulation of (1). The dynamic behavior of the voltage regulator 40 or the control thereof is shown in fig. 8a and 8b, in which the operating voltage U for the electrical memory S is regulated_SBy means of the value W_UuDetecting the start of an edge, i.e. triggered by a corresponding edge, as soon as the battery voltage is at U_Soll1And U_Soll2Within a desired range (see fig. 8 a), the control intervention by the controller 40 is again triggered, or, as shown in fig. 8b, when the operating voltage U of the electrical storage device S is present_SHas fallen below the setpoint value U again_Soll2The charge regulation by the charge regulator 40 is reactivated. Here, the charging regulation by means of the charging regulator 40 is also carried out by identifying the value W associated with the respective edge_UuThe edge triggering takes place, wherein a reliable determination of the rotational angle position of the rotor 32 of the electric machine 30 or the rotational speed N of said rotor is always ensured in this case. In fig. 8a, the next edge Fl is also taken into account_DMinimum time interval T of_min. It is ensured that the phase voltage U is detected_UWith the next falling edge Fl_DAssociated value W_UDThe phase voltage has assumed a fixed value. Thus, by selecting the time interval T accordingly_minIt is ensured that the voltage edges are not determined in the transient state but in a practically stable stationary state, thereby ensuring an accurate determination of the rotational angle position of the rotor 32 or its rotational speed n. To ensure that a steady state exists, below a time minimum interval T_minIn the case of (1), as shown in fig. 8b, after the detection of the subsequent next edge or after falling below the respective operating voltage setpoint value U_Soll2Only then is the adjustment intervention of the regulator 40 triggered again.

In a further alternative embodiment of the method for operating the charge regulator 40, as shown in fig. 9, the current flow I into the electrical memory S is inhibited or activated by clocked operation of the charge regulator 40. The clock mode operation is preferably carried out within a half wave, so that the characteristic value W of the edge can be used_UuAnd W_UDTo determine the rising edge Fl_UAnd falling edge Fl_DSo as to be able to determine precisely the angular position of the rotor 32 or its speed of rotation n. Since the PWM time period is also much smaller than the time constant of the motor, the switching moment in relation to determining the respective value is no longer of importance, which is why it is no longer mandatory to pay attention to the phase signal for the switching process.As shown, the operating voltage U of the electrical storage device S is present here_SIs almost constant. In principle, the activation time t for applying a current to the electrical storage S of the regulator is dependent on_OnOr a deactivation time t during which no current is applied to the electrical storage S_OffOptionally, the current application of the battery may be regulated. The relevant manipulated variable is the so-called duty cycle, which is specified as the ratio of the on-time and off-time to be adjusted by the charging regulator 40 as follows:

duty ratio =

A typical frequency of the corresponding clock-like action of the regulator 40, which can be carried out by means of typical Pulse Width Modulation (PWM), is in the range between 10kHz and 100kHz, preferably 20 kHz. In principle, however, the frequency should be selected sufficiently large so that a sufficient number of switching processes between the two voltage edges are still available even for high rotational speeds n. However, the frequency is preferably chosen such that it does not contribute significantly to the noise disturbance effect perceptible to the user.

The system, in particular in the determination of the rotor angle θ, which is expressed by the input variables "duty cycle" and rotational speed, or by the estimation of the angular position α of the rotor 32, can therefore be carried out as in the case of a linear controller, by means of a unique characteristic curve or by means of a family of characteristic curves, as in the case of a linear controller, the rotor angle being represented by the input variables "duty cycle" and rotational speed_UuAnd W_UDReliably detecting edges to ensure the operating voltage U of an electrical storage device S_SThe edges are necessary for determining the secondary variable of the pole wheel voltage or the rotational angle orientation of the rotor 32 and its rotational speed.

Principle ofIt is readily understood from the above that the operating voltage U of the electrical storage S_SRated value U of_Soll1Or U_Soll2May depend on different operating points of the electric machine or on the engine speed. In addition, the operating voltage U_SRated value U of_{Soll1，Soll2}It may also depend on the operating point of the internal combustion engine, such as the respective load or the mixture of fuel and combustion air (mixture).

Furthermore, by determining the rotational angle orientation θ of the rotor 32 with high accuracy, a corresponding adjustment, preferably by short-circuiting or by releasing the load of the generator (see fig. 6a to 6 f), can also be brought about, in order not to intervene with the adjustment, for example in regions in which a high resolution of the rotational speed n is required or the rotational angle orientation θ of the rotor 32 needs to be determined. Even in the region in which the ignition of the internal combustion engine or the injection process into the internal combustion engine takes place, which in turn depends sensitively on the operating voltage U of the electrical storage device_SThe regulation of the electrical storage S by the electric machine 30 can also be inhibited, so that the operating voltage U is not altered thereby_STo interfere with the corresponding injection or ignition. In addition, in order to ensure that the high-resolution rotational speed N of the electric machine 30 or its rotational angle orientation θ is determined as well as possible, a controller intervention can be carried out within a constant angular range with respect to the rotor zero position, so that the rotational angle position θ or the rotational speed N can always be determined with high accuracy.

In a further alternative embodiment of the method, the rotor angle can also be determined with a corresponding switching intervention of the voltage regulator L R(FIGS. 10-13). The formula is used here generically

To determine the rotor angle。

Fig. 10a and 10b show a first output voltage U of 14 volts for a generator_G(see fig. 10 a) and other output voltages U of 2 volts for the generator_G(see FIG. 10 b), rotor angle with respect to motor speedThe corresponding characteristic curve of (2). Other output voltages U for the generator_GHowever, corresponding characteristic curves for other machine parameters of the electric machine 30 can also be stored in the corresponding characteristic curve family O_Kenn1，O_Kenn2Depending on the switching state S1, S2 of the switched-mode charging regulator L R, the selected characteristic diagram O can be selected accordingly_Kenn1，O_Kenn2And using the characteristic curves stored in the characteristic curve family and determining the rotor angle of the electric machine 30 therefrom。

Given that the output voltage of the generator is approximately constant, for example, at a battery voltage of approximately 14 volts, the rotor angle is thus obtained with good approximationPure dependence on the rotational speed n of the electric machine 30, thus according to the above for the rotor angleThe illustrated formula yields the corresponding characteristic curve, which is shown in fig. 10 a. The scenario shown in fig. 10a therefore essentially reflects a first switching state S1, in which electrical energy is applied to the electrical storage S, in this case the battery B.

In particular with the short-circuit switched voltage regulator L R, as shown in particular in fig. 6a to 6f, the voltage regulator L R switches the output of the generator 30 into a short-circuit-like state if the battery B connected to the electric machine 30 reaches a corresponding threshold value in terms of capacity or battery voltageThe output voltage U of the generator 30_GDepending on the topology of the voltage regulator used. In the event of a short circuit, the output voltage U_GApproximately 0.1 to 3 volts, depending on the topology, and can also be assumed approximately constant for the respectively used topology. Whereby an output voltage U of about 2 volts for the generator_GApproximately resulting in the rotor angle shown in FIG. 10bA variation of the characteristic curve with respect to the rotational speed n of the electric machine 30. As already mentioned at the outset, a further output voltage U for the generator_GAlternatively, corresponding characteristic curves, which are also dependent on other machine variables of the electric machine 30, can also be stored in the corresponding characteristic map.

Based on these characteristic curves, the rotor angle in the respective switching state S1, S2 can accordingly be derived directly from system variables (e.g. the internal resistance of the electric machine 30, the coil inductance and the course of the ideal free-wheeling voltage and output voltage) as long as the electric machine has reached a sufficiently pronounced equilibrium state. Corresponding alternative embodiments of the rotor angle determination are shown in fig. 10c and 10d, wherein the rotor angle determination is shown here in a manner corresponding to fig. 10a and 10bThe course of the edge time of at least two edges of the phase signal with respect to the motor 30. The advantages of this illustration are: for the corresponding output voltage U of the generator_G14 volts (see fig. 10 c) and U_GAt 2 volts (see fig. 10 d), the rotor angle is guaranteedIs used for the large degree of linearization of the course of the characteristic curve of (1).

However, an unbalance effect, a so-called transient state, may occur between the switching states S1 and S2 as a result of the switching between the switching states S1 and S2, which unbalance effect leads to a dynamic behavior of the system variables of the electric machine 30, whereby the rotor angleMay also have strong oscillations (see fig. 11). These imbalance conditions typically develop in a time window that is characteristic for the respective motor 30. After this time window T, the dynamic effects typical for a damped oscillation system are generally damped such that they transition into a state which is well approximated to standstill, whereby the rotor angle can be determined on the basis of the system variables of the electrical machine 30, as has been described above(see fig. 11), the system variables may be stored in a corresponding family of characteristics.

However, as shown in fig. 11 over a time period T, this dynamic behavior is typical for the electric machine 30 and the respective operating state of the electric machine 30, and therefore accordingly the rotor angle is determinedThese dynamic oscillation processes D can also be taken into account. For this purpose, the rotor angleIs essentially divided into three parts, namely a second determination rule K2 during a further switching state S2 in the left part of the figure, in which the charging regulator L R inhibits the transfer of electrical energy into the storage S, as shown in fig. 11, this state is essentially stationary. Now, at time T =0, the switch from the other switching state S2 to the charging state S1 is followed by a second portion T represented by the rotor angle dynamics. As soon as the state of charge assumes a standstill again (see fig. 11 right), the determination rule K1 can be based on the corresponding characteristic curve or characteristic curve family O according to the above-described determination rule_Kenn1Determining rotor angle. In this state S1, a rotor angle is present。

In the present case, five amplitude values are exemplarily illustrated in the dynamic time range TThe amplitude values corresponding to the time t_iAssociation, where i =1 to 5. In the present case, these values describe the maximum amplitude of the dynamic rotor angle course. Depending on the type and extent of these amplitudes, at a given instant t_iDetermining the rotor angle, in particular in the time range TThe amplitude variation may be taken into account. Therefore, if the amplitude isIs below a thresholdOr corresponding threshold bandsThen it can be assumed that the amplitude variation is approximately constant and accordingly the rotor angle is determinedThe amplitude variation is only used as a constant. However, if the rotor angle isExceeds the threshold valueThe dynamic behavior over the time duration T is then used to determine the rotor angle. These can be stored in the present case accordingly as application variables and can be used accordingly for determining the rotor angle after a corresponding switching operation. The determination of the respective application variable can be carried out in particular by means of reference measurements or suitable simulation models. It is readily understood that the switching process may be performed at an appropriate position in the duty cycle of the internal combustion engine that drives the motor 30, depending on the influence of the rotational speed gradient on the applicability of the correction term. In this case, in particular, a working cycle is considered in which a rotational speed profile n with a gradient that is as flat as possible, i.e. a small gradient, is desired.

One possible variant of this application may be to specify the start-up period T as a function of corresponding operating parameters (for example the rotational speed of the electric machine or the output voltage of the electric machine) and to evaluate the minimum and maximum times T during the start-up process_iSum amplitude. In order to determine the corresponding rotor angle during the start-up process in the time range TInterpolation between the application values of the variation process curve can be performed. Interpolation methods using linear interpolation, quadratic interpolation, or exponential interpolation are provided herein. Depending on the type and degree of dynamics and of the corresponding interpolation method, the corresponding correction can be adapted as required or the accuracy can be increased almost arbitrarily as a function of the numerical cost. Corresponding correction terms can then be calculated on the basis of the interpolation method, which correction terms are to be used for correcting the rotor angle。

In another alternative wayIn this case, it is also possible to learn, while running, the time at which the edge is corrected or the rotor angle is correctedThe corresponding correction term of (a). This is elucidated on the basis of fig. 12. A typical phase signal U is shown that can be detected at the motor 30_UThe process of variation of (c). At time t₁The state of the voltage regulator changes from the switching state S1 to the switching state S2, in which switching state S1 a discharge current flows into the electrical storage S, in which switching state S2 a current flow into the electrical storage S is inhibited by short-circuiting the phases U, V, W of the electric machine 30. Thereby moving the rotor angle from a first fixed heightTo other fixed heights. In addition, the other rotor angleThe dynamic processes are superimposed in the first time after the switching process and have values that differ from the values of the calculation rules or characteristic maps that belong to the switching state. These different dynamic rotor angle values may be determined by extrapolation of the speed signal.

For this purpose, it is assumed in a first step that the rotor angle assumes its further fixed value directly after the switching process. Based on geometric distance between signal edges and fixed rotor angleAndthe angle between the signal edges is calculated as the angle difference between the signal edges, which is at a purely fixed rotationIf the rotor angle is fixed, depending on the time interval between the signal edges preceding the switching operation or the associated speed profile n, the first signal edge F L 'following the switching operation can be extrapolated'_UUEstimate the time interval at_korr1The actual first signal edge F L after the detection of the switching process_UUThereafter, based on the measured time interval and the estimated time interval Δ t_korr1The difference between determines the angle associated with the time difference and uses this angle as the first dynamic rotor angle ϑ after the determination of the switching process_korr1Likewise, it may be the second signal edge F L_UdDetermining Δ t_korr2And an associated second dynamic rotor angle ϑ_korr2. If the other edges after the switching process are to be influenced by the dynamic oscillation start process of the rotor angle, corresponding correction terms can also be determined for the other edges in the same manner.

In order to obtain good extrapolation quality, different extrapolation methods can be used on the one hand, for example linear interpolation, quadratic interpolation, exponential interpolation or spline interpolation. Depending on the current speed profile, the extrapolation method can be selected in a suitable manner. On the other hand, it is provided that the switching process and thus the determination method are carried out at times when the rotational speed profile has particularly low or known dynamics, so that the rotational speed influence can be taken into account simply during the extrapolation and the result of determining the correction term is not influenced.

Instead of determining that a corresponding dynamic rotor angle ϑ is provided by adding to the fixed rotor angle_korr1，ϑ_korr2The correction term(s) of (c) may also determine a correction factor by which the found rotor angle is multiplied.

Instead of estimating the signal edge Fl 'by extrapolating the previous course of the rotation speed signal under the assumption that the rotor angle is fixed'_UU，Fl'_UdCan also be used a signal change from a similar operating point preceding it, which is not influenced by the switching process and which will not be influencedOr the occurrence of the affected signal edges, and from this is determined for calculating the dynamic rotor angle ϑ_korr1，ϑ_korr2The correction term or correction factor of.

The determined correction term or correction factor and the resulting dynamic rotor angle ϑ after the switching process_korr1，ϑ_korr2In particular, it can be used to determine the rotational angle position α of the rotor 32 of the electric machine 30, it is advantageous here to also take into account machine parameters that change over time when determining the rotor angle ϑ, which is important in particular in the case of an electric machine 30, the properties of which change over time when operating, so that the corresponding degradation effects of the electric machine 30 when operating can always be taken into account when determining the rotor angle ϑ.

Fig. 13 schematically shows a flowchart based on the previously described method for determining the rotor angle ϑ, in a step SU1 the electric machine 30 is switched on by means of a charging regulator L R, wherein a first switching state S1 or a further switching state S2 is assumed here, in a step SU2 the rotor angle ϑ in the stationary state of the electric machine 30 is determined by means of a respective determination rule K1 for the first switching state S1 and a respective determination rule K2 for the further switching state S2, in a further alternative step SU3 a dynamic oscillation start process D in a time range T is taken into account in the determination of the rotor angle ϑ, which time range T is typical for the respective electric machine 30, furthermore, in a further alternative step SU4, a respective correction of the operating parameters of the electric machine that change while the electric machine 30 is running can also be taken into account in the correction of the rotor angle ϑ.