阅读说明：本技术 用于检查车辆的转子的角位置传感器的设置的方法 (Method for checking the setting of an angular position sensor of a rotor of a vehicle ) 是由 皮尔-亚历山大·曹维尼特 于德迪·吉恩 布鲁诺·康大明 于 2019-07-24 设计创作，主要内容包括：本发明涉及一种用于检查车辆的驱动系统的转子的角位置传感器的设置的方法,所述驱动系统包括：物理角位置传感器,其预期用于测量驱动系统的旋转电机(例如电力或混合驱动系统的电机)的转子相对于定子的角位置,所述方法包括：在驱动系统的初始化阶段(电机不旋转)期间：借助于注入高频电流或电压信号(S_(HF))的方法来估计转子的角位置(θ_e)；通过物理角位置传感器(R)来测量转子的角位置(θ_r)；计算转子的所估计角位置(θ_e)与转子的所测量角位置(θ_r)之间的差；如果所述差大于预定义阈值,那么检测物理角位置传感器(R)的设置中的异常。(The invention relates to a method for checking the setting of an angular position sensor of a rotor of a drive system of a vehicle, the drive system comprising: physical angular position sensor intended for measuring the angular position of a rotor relative to a stator of a rotating electric machine of a drive system (for example of an electric or hybrid drive system), the method comprising: during the initialization phase of the drive system (motor not rotating): by injecting a high-frequency current or voltage signal (S) HF ) To estimate the angular position (theta) of the rotor e ) (ii) a Measuring the angular position (theta) of the rotor by means of a physical angular position sensor (R) r ) (ii) a Calculating an estimated angular position (θ) of the rotor e ) With the measured angular position (theta) of the rotor r ) The difference between them; if the difference is greater than a predefined threshold, an anomaly in the setting of the physical angular position sensor (R) is detected.)

1. A method for checking the setting of an angular position sensor of an electric motor system of a vehicle, the electric motor system comprising: physical angular position sensor for measuring the angular position of a rotor relative to a stator of a rotating electrical machine of the electric motor system, for example an electrical machine of an electric or hybrid motor system, the method comprising, during an initialization phase of the electric motor system, during which the electrical machine does not rotate:

by injecting a high-frequency current or voltage signal (S)_HF) To estimate the angular position (theta) of the rotor_e)；

Measuring the angular position (θ) of the rotor by means of the physical angular position sensor (R)_r)；

Calculating the estimated angular position (θ) of the rotor_e) With the measured angular position (θ) of the rotor_r) The difference between them;

detecting an anomaly in the timing of the physical angular position sensor (R) if the difference is greater than a predefined threshold.

2. The method of claim 1, comprising: -inhibiting (E40) the activation of the motor if an anomaly in the timing of the physical angular position sensor (R) is detected.

3. The method according to any one of the preceding claims, wherein the threshold value is equal to 3 °.

4. According to the foregoingThe method of any one of the preceding claims, wherein the injection of a high frequency current or voltage signal (S)_HF) The process of (2) is a pulsed process.

5. Method according to any of the preceding claims, wherein the injection of a high frequency current or voltage signal (S)_HF) The process of (2) is a rotary process.

6. An electric or hybrid-electric motor system for a vehicle, comprising: a drive shaft driven by a rotor of the rotating electrical machine (M); a physical angular position sensor (R) of the rotor; and a module for controlling (C) the electric machine (M), comprising a module for checking the timing of the physical angular position sensor (R), the module for checking the timing of the physical angular position sensor (R) being configured to implement the method according to any one of claims 1 to 5.

7. System according to the preceding claim, wherein said physical angular position sensor (R) is a resolver.

8. An automotive vehicle comprising an electric or hybrid motor system according to claim 6 or 7.

Technical Field

The present invention relates generally to a rotary electric machine that controls an electric drive system (e.g., an electric motor system of an electric or hybrid vehicle), and more particularly to a rotary electric machine having permanent magnets.

In particular, the invention relates to a method for checking the timing of an angular position sensor of a rotor (also called drive shaft) of an electric motor system of a vehicle.

Background

In fact, in rotating electrical machines (in particular with permanent magnets), the angular position information of the rotor is crucial to controlling the generation of the requested driving torque.

Generally, a rotating electrical machine includes: a stator corresponding to a fixed part of the machine; and a rotor corresponding to a rotating part of the machine. Particularly in the context of an electric or hybrid motor system for a vehicle, the rotor is integral with the drive shaft. In order to control the generation of the drive torque of the rotor and therefore the rotation speed of the drive shaft rotatably driven by the rotating electrical machine, it is of utmost importance to know the angular position of the drive shaft accurately at any time.

The angular position of the rotor of the rotating electrical machine is therefore given by a physical sensor, in particular by a resolver (english "resolver") or by a sensor of the "absolute encoder" type.

In this context, the invention therefore relates to checking, in an initialization phase of a rotating electrical machine of an electric motor system, a correct calibration of an angular position sensor of a rotor of said machine to ensure that the data from the angular position sensor will be correct in an operating phase of the vehicle.

Such auto-phasing consists in a routine to align the resolver with the axis of the rotor of the rotating electrical machine. The purpose of this is to determine the angular offset between the two and to provide this information as input to the module for controlling the motor.

As indicated previously, commanding the electric machine requires the absolute angular position of the rotor in order to accurately control the torque requested from the electric machine. The physical angular position sensors of the rotor (e.g., absolute encoder and resolver) must accurately indicate the angular position of the rotor at any time after the offset between the zero angle of the rotor and the zero angle of the sensors has been established during auto-phasing.

The invention does not consist in an automatic phasing process, but aims at checking that the timing of the physical angular position sensor, which is in particular composed of a resolver or absolute decoder, is actually correct, in other words the calibration of said physical sensor is correct.

There is no known solution to this problem because it is still today assumed that the angular position sensor of the drive shaft, resolver or absolute encoder is properly factory calibrated. However, poor calibration of the physical angular position sensor of the rotor of the machine risks an incorrect response of the torque command, which may cause undesired accelerations or decelerations.

To address this drawback, the present invention provides a method for checking the timing of a physical angular position sensor of a rotor of a rotating electrical machine.

Disclosure of Invention

More precisely, the object of the invention is a method for checking the timing of an angular position sensor of a rotor of an electric motor system of a vehicle, said electric motor system comprising: physical angular position sensor for measuring the angular position of a rotor relative to a stator of a rotating electrical machine of an electric motor system (for example, of an electric or hybrid motor system), the method comprising, during a phase of initializing the electric motor system (the electric machine is not rotating):

-estimating the angular position of the rotor by a process of injecting high frequency current or voltage signals;

-measuring the angular position of the rotor by means of a physical angular position sensor;

-calculating a difference between the estimated angular position of the rotor and the measured angular position of the rotor;

-detecting an anomaly in the timing of the physical angular position sensor if the difference is greater than a predefined threshold.

By virtue of the invention, the anomalies occurring after calibration of the physical sensors for measuring the angular position of the rotor of the rotating electrical machine are detected before starting said machine, avoiding any risk of generating incorrect torque commands and therefore increasing the safety of the motor system.

According to one embodiment, the method further comprises: if an abnormality in the timing of the physical angular position sensor is detected, the motor is inhibited from being started.

According to one embodiment, the threshold is equal to 3 °.

In particular, the process of injecting the high frequency current or voltage signal may be a pulse process.

Alternatively, the process of injecting the high frequency current or voltage signal may be a rotation process.

The present invention also relates to an electric or hybrid motor system for a vehicle, comprising: a drive shaft driven by a rotor of the rotating electrical machine; a physical angular position sensor of the rotor; and a module for controlling the electric machine, comprising a module for checking the timing of the physical angular position sensor, configured to implement the method briefly described above.

According to one embodiment, the physical angular position sensor is a resolver.

The present invention also relates to a motor vehicle comprising an electric or hybrid motor system such as that briefly described above.

Drawings

The invention will be better understood on reading the following description, given by way of example only, and with reference to the accompanying drawings, which show:

figure 1 is a schematic view of an electric motor system implementing the method according to the invention.

Figure 2 is a block diagram representing the steps of the method according to the invention.

Detailed Description

It should be noted that the invention is described below using different non-limiting embodiments, and that it is possible to implement the invention in alternatives to those for which it is also intended, within the scope of knowledge of the person skilled in the art.

Fig. 1 shows a diagram of an electric drive system utilizing the present invention, in particular to enable a limp home application to be implemented in a vehicle.

The electric drive system depicted in fig. 1 includes:

-a battery DC providing a direct voltage supply;

-an inverter INV;

-a motor M;

-a control module C.

The power stage that supplies the motor M, comprising the battery DC and the inverter INV, is here a three-phase stage, but it can also have a different number of phases.

The control module C comprises a module TCV for commanding the torque requested from the power stage. The input data supplied to the module for command torque TCV is the angular position θ of the rotor_rAnd the rotational speed omega of the rotor derived therefrom_rAnd phase current i of motor M_abc. These angular position and speed data come from the angular position sensor of the rotor (in particular the resolver R) and this is the most important reason why it is checked that the data coming from this physical sensor (resolver R) is correct.

The method according to the invention is carried out before the motor M is actually started, in particular during an initialization phase of such a start. Thus, after implementing the method according to the invention, the torque requested by the command module TCV is zero.

In addition, the high-frequency current or voltage signal S is also injected by means of an injection briefly described below_HFBy an estimator HFThe angular position of the rotor is estimated.

The estimator HF thus determines the estimated position θ of the rotor_e。

According to the invention, the control module C further comprises a module CAL for checking the timing of the resolver R, so as to ensure that the correct calibration of the resolver R is checked before the motor M is started.

The module CAL for checking the timing of the resolver R receives the angular position θ measured by the resolver R_rAnd the angular position theta estimated by the estimator HF_e. The module CAL determines the measured angular position θ_rAnd the estimated angular position theta_eAnd compares this difference with a predetermined threshold (e.g., equal to 3 deg.). If the difference is greater than the threshold value, the module CAL for checking the timing of the resolver R generates and transmits a fault signal comprising error timing information of the resolver R.

As is known and has been discussed previously, the angular position of the rotor can thus be estimated by numerical processes.

In particular in document US 20110028975, a technique for estimating the angular position of a rotor in a rotating electrical machine is described. The estimation method described in this document implements the well-known technique based on injecting a high-frequency signal superimposed on the fundamental frequency of the excitation voltage of the electric machine. In this case, the injected high frequency voltage is added to the voltage from the controller responsible for the closed loop control current, thereby powering the motor. At the output of the motor, the current contains high frequency components that, after processing, enable estimation of the angular position of the rotor.

Another process of estimating the angular position of the rotor (and its possible rotation speed) by injecting high-frequency current or voltage signals is described in more detail in document FR 3060908 a1 and a number of respective embodiments.

In practice, several reference frames are associated with the stator and the rotor of the rotating electric machine, respectively.

First, a three-axis fixed reference frame is associated with the stator. This three-phase reference frame is generally indicated in the current state of the art as (u, v, w) or (a, b, c).

The (α, β) reference frame is obtained by the "Clarke" transformation (amplitude conservation) or the "concodia" transformation (power conservation) of the fixed three-phase reference frame associated with the stator of the electric machine, as set forth above.

The (d, q) reference frame corresponds to a common coordinate system enabling the stator windings and the rotor windings of the electrical machine to be represented on a single two-axis reference frame. This reference frame is obtained by applying a rotation at an angle θ (θ being the current angular position of the rotor) to a two-phase reference frame (α, β), or by applying a "Park" transformation to a three-phase stator reference frame (u, v, w).

In this context, the estimator of the angular position of the rotor of the electrical machine is based on injecting a high frequency current or voltage signal superimposed on the torque command voltage of the electrical machine. In particular, the estimator implements a pulsing process which is considered simpler and therefore more lightweight for its implementation on the on-board microcontroller, since the on-board microcontroller is limited in terms of computational power. However, implementation of a spinning process may be provided. As such, embodiments of the rotation process for injecting high frequency current or voltage signals are described in the current advanced technology, particularly in "international motor and system conference in 2007 (ICEMS)", document to the east dawn et al in pages 752-756, "sensorless vector control operation of PMSM by rotating high frequency voltage injection method", or in "industrial electronics IEEE draft (volume 63, issued 10/2016)" published 7/18/2016, "document in giseiyi et al" injecting high frequency rotating voltage signals into a novel rotor position estimation method of IPMSM using an all-pass filter ".

According to a pulse process, will have a frequency f_hVoltage V of_hInjected on the estimated axis d of the rotor and superimposed with the reference voltage from the command module in order to command the inverter INV, which in turn powers the motor M.

In the estimated reference frame (d, q), the expression of the high frequency components of the current is such that:

whereinAnd is

L_dAnd L_qIs the inductance of the machine expressed in the reference frame (d, q). L is_dAnd L_qIs sensitive to the current level. L is_dAnd L_qWhich is considered herein as an average over the entire range of current variations,

w_h＝2πf_h

θ_erris the error between the estimated value of the angular position of the rotor and the true position of the rotor.

After processing, this can lead to errors θ in the angular position estimated by the first estimator HF_err. From this error, the angular position of the rotor is estimated by means of a proportional-integral observer.

In this context, the invention provides a method for checking the timing of a physical angular position sensor of the rotor of a rotating electrical machine (in particular a resolver R) before starting the electrical machine M of the electrical motor system (in other words during an initialization phase of the electrical motor system).

As previously indicated, the method for checking the timing of the physical angular position sensor of the rotor of a rotating electrical machine M according to the invention is implemented when the rotating machine is switched off without commanding the transmission of torque to the rotor.

Referring to fig. 2, the method for checking the timing of the physical angular position sensor of the rotor comprises the step E1: the angular position of the rotor is estimated by injecting a high frequency current or voltage signal as previously described.

The method additionally comprises a step E2: determining the angular position θ of the rotor measured by a physical sensor, in particular by a resolver_rWith the angular position theta of the rotor estimated by the estimator based on the injected high-frequency current or voltage signal_eThe difference between them.

In step E3, the difference is compared with a predetermined threshold (e.g., equal to 3 °). If the difference is greater than the threshold, the method according to the invention comprises generating and transmitting a fault signal E4, the fault signal comprising error timing information of the physical angular position sensor. In particular, according to one embodiment, a continuous inhibited activation E40 of the motor is provided.

Conversely, if the difference is less than the threshold, then motor E50 is allowed to start.