阅读说明：本技术 确定用于描述d轴的假定位置与实际位置之间的角度差的校正值的方法、控制装置和逆变器 (Method for determining a correction value for describing an angular difference between an assumed position and an actual position of a d-axis, control device and inverter ) 是由 马库斯·塞尔迈尔 安德烈亚斯·赫尔德 安德烈亚斯·沃尔特 汉斯-格奥尔格·科普肯 于 2019-09-20 设计创作，主要内容包括：一种确定用于电机(5)的控制装置(3)的校正值的方法,其中所述校正值描述基于转子位置传感器(7)的转子位置信息(8)的控制装置(3)的初始配置中假定的电机(5)的d轴位置和d轴的实际位置之间的角度差,其中在电机的定子绕组中施加零电流,并且是在电机(5)的转子的旋转状态下依据下述确定校正值：-d电压值,其描述在初始配置中由控制装置(3)指定的定子电压的d分量,-q电压值,其描述在初始配置中由控制装置(3)指定的定子电压的q分量,-通量值,其描述转子的通量值,-转速值,其描述转子在旋转状态下的旋转速度,以及-校准值,其描述定子电压的d分量的转速依赖性电压误差。(A method of determining a correction value for a control device (3) of an electric machine (5), wherein the correction value describes an angular difference between an assumed d-axis position of the electric machine (5) and an actual position of the d-axis in an initial configuration of the control device (3) based on rotor position information (8) of a rotor position sensor (7), wherein zero current is applied in a stator winding of the electric machine, and the correction value is determined in a rotating state of a rotor of the electric machine (5) in dependence on: -a d-voltage value describing the d-component of the stator voltage specified by the control device (3) in the initial configuration, -a q-voltage value describing the q-component of the stator voltage specified by the control device (3) in the initial configuration, -a flux value describing the flux value of the rotor, -a rotational speed value describing the rotational speed of the rotor in the rotating state, and-a calibration value describing the rotational speed-dependent voltage error of the d-component of the stator voltage.)

1. A method of determining a correction value for a control device (3) of an electric machine (5), the correction value describing an angular difference between an assumed d-axis position of the electric machine (5) and an actual position of the d-axis in an initial configuration of the control device (3) based on rotor position information (8) of a rotor position sensor (7); -applying a zero current in the stator windings of the motor, and-determining the correction value in the rotating state of the rotor of the motor (5) according to:

-a d-voltage value describing the d-component of the stator voltage specified by the control device (3) in the initial configuration,

-a q-voltage value describing the q-component of the stator voltage specified by the control device (3) in the initial configuration,

-a flux value describing a flux value of the rotor,

-a speed value describing the speed of the rotor in the rotating state, an

-a calibration value describing a speed-dependent voltage error of the d-component of the stator voltage.

2. Method according to claim 1, wherein the calibration values are read from a stored characteristic map, which in each case assigns a calibration value to the speed of the electric machine (5), on the basis of the speed values, or are fixed for the speed of the rotor in the rotating state.

3. Method according to claim 1 or 2, wherein the following formula is evaluated to determine the correction value:

Δγ＝atan(ω_el·Ψ·u_d-Δu_d·u_q，Δu_d·u_d+ω_el·Ψ·u_q)，

wherein the content of the first and second substances,

-atan (x, y) describes an inverse tangent function or an inverse cotangent function, in particularOrEither atan2(x, y) or acot2(y, x),

-u_dthe value of the d-voltage is described,

-u_qdescribing said q voltage value

- Ψ describes the flux value

-ω_elDescribing said speed value

-Δu_dThe calibration value is described.

4. The method according to any of the preceding claims, wherein a set-point voltage value of a control unit (13) of the control device (3) is used as the predetermined stator voltage or the predetermined stator voltage is determined from an output signal of a modulator unit (16) of the control apparatus (3), the control device (3) providing a switching signal to a power unit (9) of an inverter (2).

5. Method according to any of the preceding claims, wherein a permanently excited electrical machine (5) is used and the flux values describe flux values of permanent magnets of the rotor, or wherein an electrically excited electrical machine (5) is used and the flux values describe flux of the rotor in series with the stator.

6. Method according to any one of the preceding claims, wherein the flux value is determined from the d and q voltage values and the speed value, in particular additionally from the calibration value.

7. The method according to claim 6, wherein a determined correction value is rejected as unreliable if the determined flux value is above a predetermined maximum flux value and/or if the determined flux value is below a predetermined minimum flux value.

8. A method according to any one of the preceding claims, wherein the d, q and speed values are determined from an average of respective individual values acquired over an acquisition period, the acquisition period comprising one or more complete electrical or mechanical cycles.

9. Method according to claim 8, wherein a plausibility check verifying a quasi-static operation of the electric motor (5) is performed during the acquisition of the individual values, and if the plausibility check shows that a predetermined condition of the quasi-static operation is violated, the correction value is rejected because of unreliability.

10. The method of claim 9, wherein the conditions comprise: an individual value for determining that the speed value is within a predetermined speed interval; and/or a d-current value describing an average of individual values of the d-component of the stator current detected during the examination period; and a q-current value describing an average of individual values of the d-component of the stator current detected during the checking period, the q-current value being within a current interval including zero.

11. Method according to claim 9 or 10, wherein a plurality of correction values are determined in a predetermined or predeterminable number of successive determination cycles and a total correction value is used as an average of the correction values determined in the determination cycles if

-the number of correction values rejected in the respective plausibility check because of unreliability does not exceed a predetermined maximum value, and/or

-the correction values determined in the determination loop do not deviate from each other by more than a specified deviation measure.

12. A control device (3) for an electric motor (5) arranged to apply zero current into a stator winding of the electric motor (5) and to determine a correction value in a rotating state of a rotor of the electric motor (5), the correction value being based on an angular difference between a d-axis position of the electric motor (5) and an actual position of the d-axis assumed in an initial configuration of the control device (3) of rotor position information (8) of a rotor position sensor (7), the determination of the correction value being based on:

-a d-voltage value describing the d-component of the stator voltage specified by the control device (3) in the initial configuration,

-a q-voltage value describing the q-component of the stator voltage specified by the control device (3) in the initial configuration,

-a flux value describing a flux value of the rotor,

-a speed value describing the speed of the rotor in the rotating state, an

-a calibration value describing a speed-dependent voltage error of the d-component of the stator voltage.

13. An inverter (2) for an electric machine (5), comprising: a power unit (9) for converting an input direct voltage into a multi-phase alternating current for the electric machine (5); and a control device according to claim 12.

14. A vehicle (1) comprising an electric machine (5) for driving the vehicle (1); and an inverter (2) according to claim 13 for providing alternating current to the electric machine (5).

15. A computer program comprising program code means for performing the method of claims 1 to 11 when said computer program is executed on a computing device.