阅读说明：本技术 用于控制电机的运行的设备和方法 (Apparatus and method for controlling operation of motor ) 是由 若昂·博尼法西奥 于 2018-08-14 设计创作，主要内容包括：本发明介绍了一种用于控制电机(M)的运行的设备(100)。电机(M)具有转子和定子。设备(100)具有调节器单元(110)。设备(100)还具有执行单元(130)。执行单元(130)在输入侧与调节器单元(110)电连接并且在输出侧能与电机(M)电连接。设备(100)还具有馈入部位(120)。馈入部位(120)电联接在调节器单元(110)与执行单元(130)之间。在馈入部位(120)处能馈入电检测信号(125)。此外,设备(100)还具有用于将第一反馈信号(148)反馈给调节器单元(110)的第一反馈单元(140)。第一反馈单元(140)与调节器单元(110)和执行单元(130)并联。第一反馈信号(148)代表执行单元(130)的输出信号(138)的经过第一反馈单元(140)变换和处理的版本。设备(100)还具有用于将至少一个第二反馈信号(165)反馈给第一反馈单元(140)和/或执行单元(130)的第二反馈单元(160)。第二反馈单元(160)与第一反馈单元(140)并联。第二反馈信号(165)代表执行单元(130)的输出信号(138)的经过第一反馈单元(140)变换并经过第二反馈单元(160)处理的版本。第二反馈信号(165)代表电机(M)的转子与定子之间的角度。(The invention describes a device (100) for controlling the operation of an electric machine (M). The motor (M) has a rotor and a stator. The device (100) has a regulator unit (110). The device (100) also has an execution unit (130). The actuator unit (130) is electrically connected to the regulator unit (110) on the input side and can be electrically connected to the motor (M) on the output side. The device (100) also has a feed-in portion (120). The feed-in point (120) is electrically coupled between the regulator unit (110) and the execution unit (130). An electrical detection signal (125) can be fed in at the feed-in point (120). The device (100) further has a first feedback unit (140) for feeding back a first feedback signal (148) to the regulator unit (110). The first feedback unit (140) is connected in parallel with the regulator unit (110) and the execution unit (130). The first feedback signal (148) represents a version of the output signal (138) of the execution unit (130) transformed and processed by the first feedback unit (140). The device (100) further has a second feedback unit (160) for feeding back at least one second feedback signal (165) to the first feedback unit (140) and/or the execution unit (130). The second feedback unit (160) is connected in parallel with the first feedback unit (140). The second feedback signal (165) represents a version of the output signal (138) of the execution unit (130) transformed by the first feedback unit (140) and processed by the second feedback unit (160). The second feedback signal (165) represents an angle between a rotor and a stator of the motor (M).)

1. Device (100) for controlling the operation of an electric machine (M), wherein the electric machine (M) has a rotor and a stator, characterized in that the device (100) has the following features:

regulator unit (110):

an execution unit (130), wherein the execution unit (130) is electrically connected on the input side to the regulator unit (110) and on the output side to the motor (M);

a feed-in point (120), wherein the feed-in point (120) is electrically coupled between the regulator unit (110) and the execution unit (130), wherein an electrical detection signal (125) can be fed in at the feed-in point (120);

a first feedback unit (140) for feeding back a first feedback signal (148) to the regulator unit (110), wherein the first feedback unit (140) is connected in parallel to the regulator unit (110) and the execution unit (130), wherein the first feedback signal (148) represents a version of the output signal (138) of the execution unit (130) that has been transformed and processed by the first feedback unit (140); and

a second feedback unit (160) for feeding back at least one second feedback signal (165) to the first feedback unit (140) and/or the execution unit (130), wherein the second feedback unit (160) is connected in parallel to the first feedback unit (140), wherein the second feedback signal (165) represents a version of the output signal (138) of the execution unit (130) that has been transformed by the first feedback unit (140) and processed by the second feedback unit (160), wherein the second feedback signal (165) represents an angle between a rotor and a stator of the motor (M).

2. The apparatus (100) according to claim 1, wherein the second feedback unit (160) has a demodulation means (162) and a module observation means (164), wherein the demodulation means (162) is configured for demodulating the version (153) of the output signal (138) of the execution unit (130) transformed by the first feedback unit (140), wherein the module observation means (164) is configured for generating the second feedback signal (165) at least in case of using the output signal (163) of the demodulation means (162).

3. The apparatus (100) according to claim 2, wherein said demodulating means (162) has: -a band-pass filter (201) centered on the feed-in frequency of the detection signal (125) for filtering a version (153) of the output signal (138) of the execution unit (130) transformed by the first feedback unit (140); a sign function unit (204) connected to the band pass filter (201) in a manner enabling signal transmission; a multiplication unit (206) connected to the band pass filter (201) and the sign function unit (204) in a signal transmittable manner; and a correction unit (208) which is connected to the multiplication unit (206) in a signal-transmissive manner for using a correction factor dependent on the detection signal (125), wherein the demodulation device (162) optionally additionally has a low-pass filter (209) which is connected to the correction unit (208) in a signal-transmissive manner.

4. The device (100) according to any of claims 2 to 3, wherein the module observing means (164) has a module regulator unit (301), a hysteresis element (306) and an output means (308), wherein the output means (308) has a phase locked loop or a mechanical observer.

5. The apparatus (100) according to any one of the preceding claims, wherein the second feedback unit (160) is configured for feeding back a third feedback signal (166) to a reference signal generation unit (170) succeeding the regulator unit (110) for generating a reference signal (175) for the regulator unit (110) and/or to a speed control unit (180) succeeding the regulator unit (110), wherein the third feedback signal (166) represents an angular speed of a rotor of the motor (M) relative to a stator.

6. The apparatus (100) according to any one of the preceding claims, wherein the first feedback unit (140) has: a first signal converter (142) for converting a coordinate system relating to the phase (abc) of the electric machine (M) into a coordinate system (α β) fixed relative to the stator, a second signal converter (152) connected to the first signal converter (142) in a signal-transmittable manner for converting the coordinate system (α β) fixed relative to the stator into a coordinate system (dq) fixed relative to the rotor; a signal reconstruction device (154) which is connected to the second signal converter (152) in a signal-transmitting manner and is used for reconstructing an output signal (138) of the execution unit (130); a third signal converter (156) which is connected to the signal reconstruction device (154) in a signal-transmitting manner and is used for converting a coordinate system (dq) fixed relative to the rotor into a coordinate system (α β) fixed relative to the stator; and a fourth signal converter (146) which is connected to the first signal converter (142) and the third signal converter (156) in a signal-transmitting manner for converting a coordinate system (α β) which is fixed relative to the stator into a coordinate system (dq) which is fixed relative to the rotor.

7. The apparatus (100) according to claim 6, characterized in that the signal reconstruction device (154) is implemented as a Kalman filter, wherein the first feedback unit (140) is configured for subtracting a version of the output signal (138) of the execution unit (130) reconstructed by means of the signal reconstruction device (154) from a measured version (143) of the output signal (138) of the execution unit (130).

8. The apparatus (100) according to any of claims 6 to 7, wherein the signal reconstruction device (154) is configured for reconstructing the output signal (138) of the execution unit (130) using the feed frequency of the detection signal (125) and a matrix stored as a look-up table.

9. The device (100) according to one of the preceding claims, wherein the actuator unit (130) has a series circuit with a signal converter (132) for converting a coordinate system (dq) fixed with respect to the rotor into a coordinate system (α β) fixed with respect to the stator, a pulse width modulation device (134) and/or a converter device (136) for providing an output signal (138) of the actuator unit (130), wherein the second feedback signal (165) is receivable by means of the signal converter (132).

10. Method (400) for controlling the operation of an electric machine (M), wherein the electric machine (M) has a rotor and a stator, characterized in that the method (400) has the following steps:

-feeding (410) an electrical detection signal (125) at a feed point (120) which is electrically coupled between a regulator unit (110) and an execution unit (130), wherein the execution unit (130) is electrically connected on the input side to the regulator unit (110) and on the output side to the electric machine (M); and is

Processing (420) the output signal (138) of the execution unit (130) using a first feedback unit (140) and a second feedback unit (160), wherein the first feedback unit (140) is connected in parallel with the regulator unit (110) and the execution unit (130), wherein the second feedback unit (160) is connected in parallel with the first feedback unit (140) in order to process the output signal (138) of the execution unit (130)

Feeding back a first feedback signal (148) from the first feedback unit (140) to the regulator unit (110), wherein the first feedback signal (148) represents a version of the output signal (138) of the execution unit (130) transformed and processed by the first feedback unit (140), and

feeding back at least one second feedback signal (166) from the second feedback unit (160) to the first feedback unit (140) and/or the execution unit (130), wherein the second feedback signal (166) represents a version of the output signal (138) of the execution unit (130) transformed by the first feedback unit (140) and processed by the second feedback unit (160), wherein the second feedback signal (166) represents an angle between a rotor and a stator of the motor (M).

11. Computer program configured for carrying out and/or controlling the method according to claim 10.

12. A machine-readable storage medium on which the computer program according to claim 11 is stored.

Technical Field

The invention relates to an apparatus and a method for controlling operation of an electric machine.

Background

For sensorless control or self-test in control and regulation technology, for example, there are, in particular, module-based solutions and solutions with signal feed-in. The first category is based on machine parameters in order to, for example, reconstruct the rotor position of the electric machine, while the second category is based on feeding in high-frequency voltage or current signals in order to observe the rotor position.

Disclosure of Invention

Against this background, the present invention provides an improved device for controlling the operation of an electric machine and an improved method for controlling the operation of an electric machine according to the independent claims. Advantageous embodiments result from the dependent claims and the following description.

According to an embodiment of the invention, the sensorless control can be realized in particular by using low-frequency signal feed-in and subtraction Feedback Filtering (in english) or subtraction Feedback Filtering, or Filtering using subtraction Feedback. In this case, the rotor position of the electric machine (e.g., a synchronous machine or a permanent magnet synchronous machine) is determined and estimated, in particular, at a lower speed or rotational speed. In particular, two parallel feedback branches can be used here. For example, by bypassing the duality between the bandwidth and the feed frequency in the case of the application of a subtractive feedback filter and a hybrid voltage-viewing device, it is possible to feed frequencies which can overlap or are as close as possible to the current bandwidths of the regulator without disturbing these current bandwidths.

According to an embodiment of the invention, it is advantageously possible to feed in signals with lower frequencies, which may be as close as possible to the bandwidth of the regulator unit or may even overlap it, for example. Losses and acoustic emissions can be reduced by reducing the feed frequency. Such a low-frequency feed-in may in particular reduce the requirements on the current measuring device, since it allows a higher current response to be generated without affecting the acoustic properties of the overall system. According to an embodiment of the invention, a cost reduction, an increase in availability and stability of the electric drive are advantageously achieved, for example. In particular, when a hybrid regulator is used, the higher bandwidth characteristic of the voltage module is available even at low speeds or rotational speeds.

Device for controlling the operation of an electric machine, wherein the electric machine has a rotor and a stator, having the following features:

a regulator unit:

an actuating unit, wherein the actuating unit is electrically connected to the regulator unit on the input side and can be electrically connected to the motor on the output side;

a feed-in point, wherein the feed-in point is electrically connected between the regulator unit and the execution unit, wherein an electrical detection signal can be fed in at the feed-in point;

a first feedback unit for feeding back a first feedback signal to the regulator unit, wherein the first feedback unit is connected in parallel with the regulator unit and the execution unit, wherein the first feedback signal represents a version of an output signal of the execution unit that has been transformed and processed by the first feedback unit; and

and the second feedback unit is used for feeding back at least one second feedback signal to the first feedback unit and/or the execution unit, wherein the second feedback unit is connected with the first feedback unit in parallel, the second feedback signal represents a version of an output signal of the execution unit, which is converted by the first feedback unit and processed by the second feedback unit, and the second feedback signal represents an angle between a rotor and a stator of the motor.

The device may be implemented as a regulation loop. The motor may be any type of synchronous motor, such as a permanent magnet synchronous motor, a synchronous reluctance motor, etc., or an asynchronous motor. Control may also be understood as regulation. The regulator unit may be implemented as a PI regulator or other regulator. The detection signal can be fed in various ways, for example, rotationally, alternately in the stator coordinate system, optionally. The detection signal can be additively fed into a signal representing the execution variable, which is transmitted between the regulator unit and the execution unit. The output signal of the execution unit may represent an execution variable.

According to one embodiment, the second feedback unit has demodulation means and module observation means. The demodulation means can be designed to demodulate the version of the output signal of the demodulation execution unit transformed by the first feedback unit. The module observing device can be designed to generate the second feedback signal at least when the output signal of the demodulation device is used. The module observing means may be implemented as a hybrid observer, a voltage module observing means, or the like. The advantages of this embodiment are: the demodulation and filtering of the feed detection signal can be performed independently of the parameters, so that it is sufficient to know only the feed frequency for the execution.

Here, the demodulation device may have: a band-pass filter which is concentrated on the feed-in frequency of the detection signal and is used for filtering the version of the output signal of the execution unit which is transformed by the first feedback unit; a sign function unit connected to the band pass filter in such a manner as to be able to transmit a signal; a multiplication unit connected to the band pass filter and the sign function unit in such a manner as to be able to transmit signals; and a correction unit connected to the multiplication unit in a manner that enables signal transmission, for using a correction coefficient depending on the detection signal. The demodulation device can optionally have a low-pass filter connected to the correction unit in such a way that it can transmit signals. The demodulation means may be configured to learn the error signal. The advantages of this embodiment are: the losses and acoustic emissions and the requirements on the current measuring device can be reduced, and in addition a higher current response is allowed.

The module viewing device has a module controller unit, a hysteresis element and an output device. The output device has a phase-locked loop or a mechanical observer. The module regulator unit may be embodied in particular as a PI regulator or the like. The module viewing device may be configured to receive the error signal of the demodulating device, the voltage signal and the current signal in a fixed coordinate system relative to the stator. The advantages of this embodiment are: the feedback signal can be reliably and accurately determined for the instantaneous operating state of the electric machine.

According to one embodiment, the second feedback unit is configured for feeding back the third feedback signal to a reference signal generation unit, which precedes the regulator unit, for generating a reference signal for the regulator unit, and additionally or alternatively to a speed control unit, which precedes the regulator unit. Here, the third feedback signal may represent an angular velocity of a rotor of the motor relative to the stator. The advantages of this embodiment are: a reliable and accurate determination of the positioning of the rotor of the electrical machine relative to the stator can be achieved.

The first feedback unit may also have: a first signal converter for converting a coordinate system relating to the phases of the motor into a coordinate system fixed relative to the stator; a second signal converter connected to the first signal converter in a signal-transmittable manner for converting a coordinate system fixed with respect to the stator into a coordinate system fixed with respect to the rotor; signal reconstruction means connected to the second signal converter in a signal-transmittable manner for reconstructing the output signal of the execution unit; a third signal converter connected to the signal reconstruction device in a signal-transmittable manner for converting a coordinate system fixed with respect to the rotor into a coordinate system fixed with respect to the stator; and a fourth signal converter connected to the first signal converter and the third signal converter in a signal-transmittable manner for converting a coordinate system fixed with respect to the stator into a coordinate system fixed with respect to the rotor. The second feedback unit is connected or connectable with the second signal converter. The advantages of this embodiment are: the signal response can be reconstructed in an inexpensive and reliable manner and made available in the feedback branch.

The signal reconstruction device is embodied here as a kalman filter. The first feedback unit may be designed to subtract a version of the output signal of the actuator unit, which version is reconstructed by the signal reconstruction device, from a measured version of the output signal of the actuator unit. The advantages of this embodiment are: the measurement error can be reduced, an estimate for system variables that cannot be measured can be provided, and the reconstructed signal response can be subtracted from the measured signal in a simple manner.

Furthermore, the signal reconstruction device is designed to reconstruct the output signal of the execution unit using the feed frequency of the detection signal and the matrix stored as a look-up table. The advantages of this embodiment are: signal reconstruction can be simplified and computation time saved.

According to one embodiment, the actuator unit has a series circuit with a signal converter for converting a coordinate system fixed relative to the stator into a coordinate system fixed relative to the stator, a pulse width modulation device and additionally or alternatively a converter device for providing an actuator unit output signal. The second feedback signal can be received by the signal converter. In other words, the signal converter may be configured to receive the second feedback signal. The advantages of this embodiment are: the output signal for controlling the motor can be provided in a reliable and inexpensive manner.

Method for controlling the operation of an electric machine, wherein the electric machine has a rotor and a stator, characterized in that the method has the following steps:

an electrical detection signal is fed in at a feed-in point, which is electrically connected between the controller unit and the actuator unit, wherein the actuator unit is electrically connected to the controller unit on the input side and can be electrically connected to the motor on the output side; and

processing the output signal of the execution unit using a first feedback unit and a second feedback unit, wherein the first feedback unit is connected in parallel with the regulator unit and the execution unit, wherein the second feedback unit is connected in parallel with the first feedback unit in order to feed back the first feedback signal from the first feedback unit to the regulator unit, wherein the first feedback signal represents the version of the output signal of the execution unit that has been transformed and processed by the first feedback unit, and feeding back at least one second feedback signal of the second feedback unit to the first feedback unit and/or the execution unit, wherein the second feedback signal represents the version of the output signal of the execution unit that has been transformed by the first feedback unit and processed by the second feedback unit, wherein the second feedback signal represents the angle between the rotor and the stator of the motor.

The method can be implemented in conjunction with embodiments of the apparatus described above. The method can also be carried out using a controller by means of a suitable device of the controller.

The controller may be an electrical instrument which processes electrical signals, such as sensor signals, and outputs control signals in dependence thereon. The controller may have one or more suitable interfaces, which may be constructed in accordance with hardware and/or software. In a hardware-based configuration, these interfaces may be part of an integrated circuit, for example, in which the functionality of the device is translated. These interfaces may also be inherent, integrated switching circuits or at least partially composed of discrete components. In the case of a software-based configuration, the interfaces can be software modules which are present on the microcontroller, for example, alongside other software modules.

A computer program product with a program code is also advantageous, which can be stored on a machine-readable carrier, for example a semiconductor memory, a hard disk memory or an optical memory, and which, when the program is run on a computer or a controller, is used to carry out the method according to one of the preceding embodiments.

Drawings

The invention is explained in detail by way of example with reference to the accompanying drawings. Wherein:

fig. 1 shows a schematic view of an apparatus for control and a motor according to an embodiment of the invention;

fig. 2 shows a schematic diagram of a demodulation means of the device according to fig. 1;

FIG. 3 shows a schematic view of a modular viewing apparatus of the apparatus according to FIG. 1; and

fig. 4 shows a flow chart of a method for controlling according to an embodiment of the invention.

Before describing embodiments of the present invention, a brief discussion of the background, premises, and advantages of the embodiments is first provided.

Methods, measures or solutions for self-detection or sensorless control can for example be divided into two categories: a module-based scheme and a scheme that is performed with signal feeds. These categories may be combined according to embodiments.

The module-based approach utilizes machine parameters in order to reconstruct rotor positioning information. In general, such a solution is advantageous in particular for high-speed operation, and according to an embodiment, efficiency can be maintained, for example, even at low speeds or rotational speeds, wherein observations can be made even at zero speed. According to the embodiment, stable operation can be achieved even when the load is low particularly under regenerative operation. Furthermore, the dependence of the efficiency of these solutions on the quality of the values of the machine parameters (including temperature, aging, manufacturing tolerances, etc.) may also be varied, reduced or eliminated according to embodiments.

The solution based on feeding a high-frequency current or voltage signal is advantageous in particular in the case of low speeds and zero speeds. According to an embodiment, despite the feeding in of the detection signal, losses due in particular to hysteresis and eddy currents which increase the frequency and to acoustic noise which is unacceptable in some applications can be avoided or at least reduced. Furthermore, according to an embodiment, an advantageous compromise between the feed frequency and the maximum achievable bandwidth of the regulator unit can be found on the basis of the low-frequency signal feed, wherein the measured electrical signal can be filtered, for example by means of a low-pass filter or a notch filter, and then fed back to the regulator unit in order to avoid interference between the signal feed and the regulating loop. Thus, the stability of the regulator unit may be improved, wherein phase distortions of the fundamental frequency may be avoided or at least reduced, in particular, by the feedback filter according to an embodiment.

According to embodiments, in particular an increase in losses, the generation of acoustic noise, parameter dependencies, observability losses at low or low rotational speeds, bandwidth limitations of current regulators for high power applications, etc. can be avoided or at least reduced.

In the following description of the preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and functionally similar elements, wherein repeated descriptions of the elements are omitted.

Detailed Description

Fig. 1 shows a schematic diagram of an apparatus 100 for control and a motor M according to an embodiment of the present invention. The apparatus 100 is used to control the operation of the motor M. The device 100 for controlling according to the exemplary embodiment of the invention shown in fig. 1 is embodied here as a control loop. The motor M has a rotor and a stator. According to the embodiment of the invention shown in fig. 1, the electric machine M is a synchronous machine, in particular a permanent magnet synchronous machine. According to an embodiment, the motor M may also be implemented as an asynchronous motor. The device 100 and the motor M are connected to each other in such a way that they can transmit signals.

The device 100 has a regulator unit 110, a feed-in location 120, an execution unit 130, a first feedback unit 140 and a second feedback unit 160. The regulator unit 110 is implemented, for example, as a PI regulator. The feeding portion 120 is electrically coupled between the regulator unit 110 and the execution unit 130. The actuating unit 130 is electrically connected on the input side to the regulator unit 110 via the feed-in point 120 and on the output side to the motor M. In the illustration of fig. 1, the motor M interfaces with the actuator unit 130. An electrical test signal 125 can be fed in at the feed-in point 120. The electrical detection signal 125 represents the position θ_kAt a fed voltage V_Feed-in. Precisely at the feed-in point 120, the electrical detection signal 125 can be added to the regulator output signal 115. The regulator output signal 115 represents the execution variables of the device 100. The execution unit 130 is configured to provide an output signal 138. The output signal 138 of the execution unit 130 represents the device 100.

The first feedback unit 140 is electrically connected in parallel with the regulator unit 110 and the execution unit 130. The first feedback unit 140 is configured to feed back the first feedback signal 148 to the regulator unit 110. The first feedback signal 148 represents a transformed and processed version of the output signal 138 of the execution unit 130 via the first feedback unit 140.

The second feedback unit 160 is electrically connected in parallel with the first feedback unit 140. The second feedback unit 160 is configured to feed back at least one second feedback signal 165 to the first feedback unit 140 and/or the execution unit 130. The second feedback signal 165 represents a version of the output signal 138 of the execution unit 130 transformed by the first feedback unit 140 and processed by the second feedback unit 160. The second feedback signal 165 represents the angle or estimated angle between the rotor and the stator of the electric machine M

According to the embodiment of the invention shown in fig. 1, the execution unit 130 has a series circuit. In this case, a signal converter 132 for converting a coordinate system (dq) fixed relative to the rotor into a coordinate system (α β) fixed relative to the stator, a pulse width modulation device 134 and a converter device 136 for providing an output signal 138 of the actuator 130 are connected in series. The signal converter 132 is configured to receive a second feedback signal 165 from the second feedback unit 160.

Furthermore, according to the embodiment of the invention shown and described in fig. 1, the first feedback unit 140 further has a first signal transformer 142, a second signal transformer 152, a signal reconstruction device 154, a third signal transformer 156, a fourth signal transformer 146 and a subtraction site 144.

Here, the first signal converter 142 is configured to perform conversion from a coordinate system (abc) relating to the phase of the motor M to a coordinate system (α β) fixed relative to the stator. The first signal converter 142 is designed to perform a conversion of the output signal 138 of the actuator 130. Furthermore, the first signal converter 142 is designed to provide or output a converted output signal 143 or a measured output signal 143. The first signal converter 142 is connected on the output side to the second signal converter 152 and the subtraction point 144 in a signal-transmitting manner.

The second signal converter 152 is configured for performing a conversion of the converted output signal 143 from a coordinate system (α β) fixed with respect to the stator into a coordinate system (dq) fixed with respect to the rotor. Here, the second signal converter 152 is configured to receive the angle signal 151(θ)_k). Furthermore, the second signal converter 152 is configured for providing or outputting a further converted output signal 153. The second signal converter 152 is connected on the output side to the signal reconstruction device 154 and the second feedback unit 160 in a signal-transmitting manner. The signal reconstruction means 154 are configured to generate a reconstructed version of the output signal 138 of the execution unit, applying the further transformed output signal 153.

The third signal converter 156 is connected to the signal reconstruction device 154 in a signal-transmitting manner. The third signal converter 156 is designed to convert the version of the output signal 138 of the actuator unit, which version is reconstructed by means of the signal reconstruction device 154, from a coordinate system (dq) which is fixed relative to the rotor to a coordinate system (α β) which is fixed relative to the stator. Here, the third signal converter 156 is configured to receive the angle signal 151(θ)_k). On the output side, a third signal converter 156 is connected to the subtraction point 144 in such a way that it can transmit signals. The subtraction of the output signal of the third signal converter 156 from the converted output signal 143 or the measured output signal 143 from the first signal converter 142 takes place at the subtraction point 144.

The fourth signal converter 146 is connected to the first signal converter 142 and the third signal converter 156 in a signal transmittable manner. In other words, fourth signal converter 146 is connected to subtraction portion 144. The fourth signal converter 146 is configured for converting the output signal of the subtraction section 144 from a coordinate system (α β) fixed with respect to the stator to a coordinate system (dq) fixed with respect to the rotor in order to generate a first feedback signal 148. The fourth signal converter 146 is connected on the output side to the regulator unit 110 in a signal-transmitting manner. More precisely, the fourth signal converter 146 is connected on the output side to the further subtraction point 105 in a signal-transmitting manner. The subtraction of the first feedback signal 148 from the command signal 175 or the reference signal 175 takes place at the further subtraction point 105. Command signal 175 represents command parameters of device 100.

According to an embodiment, the signal reconstruction means 154 is implemented as a kalman filter. The first feedback unit 140 is designed to subtract a version of the output signal 138 of the execution unit 130, which version has been reconstructed by means of the signal reconstruction device 154, from the transformed output signal 143 or the measured output signal 143, i.e. from the measured version of the output signal 138 of the execution unit 130. According to an embodiment, the signal reconstruction means 154 are configured for reconstructing the output signal 138 of the execution unit 130 applying the feed frequency of the detection signal 125 and storing as a matrix of a look-up table. This is discussed in detail below.

According to the embodiment of the invention shown in fig. 1, the second feedback unit 160 has demodulation means 162 and module observation means 164. The demodulation means 162 are configured for demodulating the further transformed output signal 153 of the second signal transformer 152 from the first feedback unit 140, that is to say of the transformed version of the output signal 138 of the execution unit 130 which has been transformed by the first feedback unit 140. The module observing means 164 is configured to generate a second feedback signal 165 at least in the case of applying the demodulation signal 163 or the demodulation means output signal 163 of the demodulation device 162. The demodulated signal 163 represents the error epsilon or error signal. More specifically, the module viewing device 164 is configured for applying the voltage signal V_αβAnd a current signal I_αβA second feedback signal 165 is also generated. Voltage signal V_αβAnd a current signal I_αβIn this case, it is located in a coordinate system (α β) fixed relative to the stator.

Optionally, the device 100 has a reference signal generation unit 170 upstream of the regulator unit 110 for generating a reference signal 175 for the regulator unit 110 and/or a speed control unit 180 upstream of the regulator unit 110. The reference signal 175 is, in particular, a current signal. Here, the second feedback unit 160 is configured to feed back the third feedback signal 166 to the reference signal generation unitElement 170 and/or speed control unit 180. The third feedback signal 166 represents the angular velocity or estimated angular velocity of the rotor relative to the stator of the motor M

The reference signal generation unit 170 and the speed control unit 180 are electrically connected in series. The reference signal generation unit 170 is connected to the execution unit 110 via a further subtraction point 105 in a signal-transmitting manner. The reference signal generation unit 170 is electrically coupled between the speed control unit 180 and the further subtraction site 105. The speed control unit 180 is electrically coupled between the additional subtraction site 190 and the reference signal generation unit 170. The speed control unit 180 is configured to generate a predetermined signal 185 (T) for the reference signal generation unit 170_{Reference to}). The subtraction of the third feedback signal 166 from the further reference signal 195 is performed at an additional subtraction site 190. The further reference signal 195 represents a command variable omega in the form of a reference angular velocity_{Reference to}. Thus, the third feedback signal 166 can be received at the reference signal generation unit 170 and optionally also at a further additional subtraction site 190.

In other words, fig. 1 shows a schematic diagram of a device 100 with a self-test strategy using a general-purpose magnetic field orientation regulator. In the device 100, for example, algorithms for estimating the rotor position of a synchronous or permanent magnet synchronous machine as the machine M, in particular at low speeds or low rotational speeds, are carried out or implemented. It is assumed here that the drive system or apparatus 100 utilizes field orientation regulation to operate a synchronous motor. Fig. 1 shows a schematic view of such an apparatus 100 with an optional speed adjustment ring.

The signal of the detection signal 125 is fed in, for example, at an angle θ selected between the signal and the estimated d-axis_kIs performed within the estimated reference range (frame). The form of the feed can be square wave or sine wave. The current response is reconstructed using a kalman filter by means of the signal reconstruction device 154 and subtracted from the measured output signal 143 or the measured current, which is then fed back to the controller unit 110. The kalman filter is derived as follows:

the current response is the sum of the base current or base current and the high frequency response of the motor M to the voltage feed or detection signal 125 feed.

S＝S_Foundation+S_{High frequency}

S_{High frequency}＝A cos(2πf_Feed-int+θ_d)＝a₁cos(2πf_Feed-int)-a₂sin(2πf_Feed-int)

Here, the frequency f is fed in_Feed-inIs known, the angle θ_dIs a phase lag of₁And a₂Is a real number.

The following is applicable:and H ═ cos (2 pi f)_Feed-int)-sin(2πf_Feed-int)]. The module and measurement equations can be written as follows assuming stable operation:

X_n＝X_n-1

Y_n＝H_nX_n+v_n

here, Y is_nIs the nth measurement value, v_nIs the measurement noise.

It should be noted that since these equations are performed in a time-discrete regulator, the matrix H is stored as a look-up table, and its actual values are updated in each iteration based on the look-up table. This saves computation time.

The vector X is then updated based on the following formula:

X_n＝X_n-1+K_n(Y_n-H_nX_n-1)

wherein

P_n＝(I-K_nH_n)P_n-1

The formula can be extended to discriminate other frequencies in the signal, such as the 3 rd harmonic in the case of a square wave feed. Only the vectors X and H need to be matched. The filtering is then performed by subtracting the estimated signal from the measured signal. The filtering has the advantages that: phase distortion or bandwidth limitations of the feedback loop are avoided.

Fig. 2 shows a schematic diagram of the demodulation means 162 of the device of fig. 1. The demodulation and demodulation means 162 are configured to generate a demodulation signal 163 for output to the module viewing means, applying the further transformed output signal 153 from the second signal transformer of the first feedback unit of the device.

For this purpose, the demodulation apparatus 162 has a band-pass filter 201, a sign function unit 204(sgn), a multiplication unit 206, a correction unit 208 and an optional low-pass filter 209. The band-pass filter 201 concentrates the feed frequency f of the detection signal_Feed-inThe above. The band-pass filter 201 is configured to filter the further transformed output signal 153 or a transformed version of the output signal of the execution unit via the first feedback unit. The band-pass filter 201 is configured to provide or output a first filtered signal 202 (i)_cd) And a second filtered signal 203 (i)_cq)。

The sign function unit 204 is connected to the band-pass filter 201 in such a way that it can transmit signals. The sign function unit 204 is configured to receive the first filtered signal 202 of the band pass filter 201. The multiplication unit 206 is connected to the band pass filter 201 and the sign function unit 204 in such a way that signals can be transmitted. The multiplication unit 206 is configured for multiplying the second filtered signal 203 of the band pass filter 201 and the version of the first filtered signal 202 processed by means of the sign function unit 204 with each other in order to generate a multiplication signal 207.

The correction unit 208 is connected to the multiplication unit 206 in such a way that signals can be transmitted. Here, the correction unit 208 is configured for receiving the multiplication signal 207 of the multiplication unit 206. The correction unit 208 is configured for using a correction coefficient k, more precisely a multiplication signal 207, related to the fed detection signal. An optional low-pass filter 209 is connected to the correction unit 208 in such a way that it can transmit signals. Here, the correction unit 208 is electrically coupled between the multiplication unit 206 and the low-pass filter 209. The low pass filter 209 is configured to provide or output the demodulated signal 163 according to an embodiment.

In other words, demodulation is performed within the estimated range (framework), as shown in fig. 2. The band-pass filter 201 is centered on the feed frequency and the sign function unit 204 is configured to implement the function of outputting the sign of the input signal or of the further transformed output signal 153. The parameter-dependent coefficient or correction coefficient k can be matched to keep the bandwidth of the cascaded regulator constant even if there should be a saturation coefficient and voltage feed variation.

According to another embodiment, the demodulating apparatus 162 may have other suitable structures.

Fig. 3 shows a schematic view of the module viewing device 164 of the apparatus of fig. 1. The module observing means 164 is configured for applying the demodulation signal 163, the current signal I of the demodulation means of fig. 2_αβSum voltage signal V_αβA second feedback signal 165 is generated and, if necessary or alternatively, a third feedback signal 166.

For this purpose, the module viewing device 164 has a module controller unit 301, a first logic unit 302, an R unit 303, an Lq unit 304, a hysteresis element 306(1/s), a second logic unit 307 and an output device 308. The module regulator unit 301 is configured to receive or read the demodulation signal 163. On the output side, the module controller unit 301 is connected to a first logic unit 302 in a signal-transmitting manner.

The R unit 303 and the Lq unit 304 are configured to receive or read the current signal I_αβ. On the output side, R unit 303 is connected to first logic unit 302. Lq unit 304 is connected to second logical operation section 307 on the output side. At the first logic operation site, the output signal of the module regulator unit 301 and the voltage signal V_αβThe output signals of the R unit 303 are added and subtracted from the output signal of the module regulator unit 301. The first logic operation portion 302 and the delayThe hysteresis loop 306 is connected in a manner that enables signal transmission. The hysteresis element 306 is electrically coupled between the first logic portion 302 and the second logic portion 307.

The output signal of the Lq unit 304 is subtracted from the output signal of the hysteresis element 306 at a second logical operation site 307. The output device 308 is connected to the second logic operation portion 307 in a signal transmittable manner. The output device 308 has a phase locked loop or mechanical observer. The output device 308 is configured to provide or output the second feedback signal 165 and, if necessary or optionally, the third feedback signal 166.

In other words, the module viewing device 164 is implemented as a hybrid viewing device for Blending (Blending) the estimates. The error signal or the demodulation signal 163 determined by means of the demodulation means is supplied to the module monitoring device 164 or the voltage module monitoring device. The angle determined by the signal feed-in is dominant in the steady operating state, whereas the angle determined by the voltage module is dominant in the transient (transient) state. The stream known as the output of the voltage module or module observer 164 is fed to a Phase Locked Loop (PLL) or mechanical observer of the output device 308 in order to know and smooth the angle information and the speed information or rotational speed information represented by the second feedback signal 165 and the third feedback signal 166.

According to further embodiments, the module viewing device 164 may have other suitable configurations.

Fig. 4 shows a flow chart of a method 400 for controlling according to an embodiment. The method 400 for controlling can be implemented for controlling operation of a motor. The method 400 for controlling can be implemented in conjunction with the device according to fig. 1 or a similar device. The motor has a rotor and a stator.

In a feed-in step 410, in the method 400 for controlling, an electrical detection signal is fed in at a feed-in point which is electrically coupled between the regulator unit and the execution unit. The actuating unit is electrically connected to the regulator unit on the input side and can be electrically connected to the motor on the output side.

In a subsequent processing step 420, in the method 400 for controlling, the output signal of the execution unit is processed with the first feedback unit and the second feedback unit applied. The first feedback unit is electrically connected in parallel with the regulator unit and the actuator unit, and the second feedback unit is electrically connected in parallel with the first feedback unit. The processing step 420 can be implemented for feeding back the first feedback signal of the first feedback unit to the execution unit. The first feedback signal represents a version of the output signal of the execution unit transformed and processed by the first feedback unit. Furthermore, step 42 of the processing can be implemented for feeding back at least one second feedback signal of the second feedback unit to the first feedback unit and/or the execution unit. The second feedback signal represents a version of the output signal of the execution unit transformed by the first feedback unit and processed by the second feedback unit. Furthermore, the second feedback signal represents an angle between a rotor and a stator of the electric machine.

Other suitable methods may be applied to track the known frequency of the sinusoid according to embodiments.

The embodiments described and shown in the drawings are also only selected by way of example. The different embodiments can be combined with one another entirely or with respect to individual features. An embodiment may also be supplemented by features of another embodiment.

Furthermore, the method steps according to the invention can be carried out repeatedly and in another order than the order described.

If an example includes "and/or" as a connecting word between a first feature and a second feature, it can be understood that the example has not only the first feature but also the second feature according to an embodiment and either only the first feature or only the second feature according to a further embodiment.

List of reference numerals

100 device

105 additional subtraction site

110 regulator unit

115 regulator output signal

120 feed-in part

125 electrical detection signal

130 execution unit

132 signal converter

134 pulse width modulation device

136 converter arrangement

138 output signal

140 first feedback unit

142 first signal converter

143 converted or measured output signal

144 subtraction site

146 fourth signal converter

148 first feedback signal

151 angle signal

152 second signal converter

153 further transformed output signal

154 signal reconstruction device

156 third signal converter

160 second feedback unit

162 demodulation device

163 demodulated signal

164 Module Observation device

165 second feedback signal

166 third feedback signal

170 reference signal generating unit

175 command signal or reference signal

180 speed control unit

185 predetermined signal

190 additional subtraction site

195 further reference signal

abc relates to a coordinate system of the phase of the motor M

Coordinate system with alpha beta fixed relative to stator

dq coordinate system fixed relative to the rotor

I_αβCurrent signal

M motor

V_αβVoltage signal

201 band-pass filter

202 first filtered signal

203 second filtered signal

204 sign function unit

206 multiplication unit

207 multiplication signal

208 correction unit

209 low-pass filter

301 modular regulator unit

302 first logical operation part

303R unit

304 Lq unit

306 hysteresis link

307 second logic operation part

308 output device

400 method for controlling

410 feeding step

420 processing step