EP2198512A2 - Procede et dispositif pour la determination univoque de la position du rotor d'une machine electrique - Google Patents

Procede et dispositif pour la determination univoque de la position du rotor d'une machine electrique

Info

Publication number
EP2198512A2
EP2198512A2 EP08805041A EP08805041A EP2198512A2 EP 2198512 A2 EP2198512 A2 EP 2198512A2 EP 08805041 A EP08805041 A EP 08805041A EP 08805041 A EP08805041 A EP 08805041A EP 2198512 A2 EP2198512 A2 EP 2198512A2
Authority
EP
European Patent Office
Prior art keywords
voltage
phases
time
pulsed
induced
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08805041A
Other languages
German (de)
English (en)
Inventor
Rainer Nase
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cirrus Logic Inc
Original Assignee
Nase Industrie-Elektronik
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nase Industrie-Elektronik filed Critical Nase Industrie-Elektronik
Publication of EP2198512A2 publication Critical patent/EP2198512A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation

Definitions

  • the invention relates to the field of electrical engineering, more specifically to electrical machines, ie electric motors and generators. It relates to devices and a method according to the preamble of the independent claims.
  • DE 10 2006 043 683 A1 discloses a method for operating an electric motor during its run-up phase, in which current pulses are measured and evaluated.
  • Another object of the invention is to realize this in a simple manner.
  • Another object of the invention is to do so by utilizing elements already present for operation of the electric machine.
  • Another object of the invention is to enable a clear determination of the rotor position of an electric machine which can be carried out within a short time.
  • electrical machine we mean electrical machines in the sense of electrical engineering, ie electromechanical converters (electric motors) and mechanical-electrical converters (generators).
  • An electric machine has a stator and a rotor, which are rotatable relative to each other.
  • the stator generates a changing magnetic field without having to move and has coils that embody the phases.
  • the rotor generates a magnetic field whose orientation is rigidly coupled to its mechanical / physical orientation.
  • connections are connections of the coils of the stator. It is a star-shaped or a triangular interconnection of the coils possible. It is known from the teaching that the topology of the star-shaped interconnection by transformation of the mathematical equations describing them into the topology of the triangular connection can be transferred. Each of the three connections can be assigned a phase or the corresponding coil irrespective of the interconnection.
  • Stator meant that can be regarded as a standstill, at least in practical terms.
  • the electric machine is a controlled commutated machine, also known as a controlled commutated machine.
  • the electric machine is a block-commutated electric machine.
  • the electrical machine is a sinusoidal commutated electrical machine.
  • the sinusoidal commutation can be generated by pulse width modulation (PWM) or in some other way.
  • PWM pulse width modulation
  • the electric machine is a synchronous machine.
  • the electric machine is a permanent-magnet machine.
  • the electric machine is a dynamically excited machine.
  • a measure for the deviation of the time profile of the induced voltage from the time profile of the pulsed voltage is determined in step c), in particular a measure for the deviation of the slopes of induced voltage from pulsed voltage.
  • said measure is a magnitude proportional to the deviation.
  • the measure is determined by performing at least one averaging.
  • the measure is determined using at least one approximation.
  • the measure is determined selectively.
  • the measure is a measure of the induced voltage versus pulsed voltage quotient.
  • the pulsed voltage has at least a portion of substantially constant voltage, and in step c), a measure of the slope of the induced voltage is determined during the at least one substantially constant voltage portion.
  • the voltage-time integral of the pulsed voltage substantially vanishes.
  • the pulsed voltage undergoes a polarity change at least once (voltage sign reversal). In one embodiment, the pulsed voltage is periodic and the voltage-time integral is substantially zero over each period.
  • the pulsed voltage is a square wave or pulse width modulation signal.
  • the pulsed voltage is a symmetrical rectangle (pulse width ratio 50% / 50%).
  • the square wave or pulse width modulation signal begins with a first state during a first time period followed by a second state different from the first state during a second time period, the time integral being across the pulsed voltage over the first and second time periods is substantially exactly opposite the same size as the time integral on the pulsed voltage over the first period.
  • the time integral over the pulsed voltage over the second period of time has substantially the negative double the time integral over the pulsed voltage over the first period of time.
  • Pulse width modulation signal are also referred to as pulse and pause, so are by maximum voltage or minimum voltage marked. Between two successive states, the voltage changes; in particular, it typically changes the sign.
  • the voltage-time integral disappears over the entire duration of the pulsed voltage.
  • the pulsed voltage terminates at a third state during a third
  • Period of time wherein the time integral over the pulsed voltage over the third period of time is substantially equal to or substantially exactly opposite the same size as the time integral over the pulsed voltage over the first period of time.
  • N further states (N ⁇ 1) follow the second state, each time with essentially the same voltage-time integral as the previous state over the particular time period.
  • the pulsed voltage is applied symmetrically between the two terminals, and the pulsed voltage is a square or
  • Pulse width modulation signal that starts with a first state from a first period of time, followed by a second, different from the first state state of a second time period, wherein the second time period is twice as long as the first time period.
  • the longer time allows more accurate, less distorted by noise Measured values for the induced voltage can be obtained. Further, it is possible to compare a value (for example, an average value) from the first half of the second time period with a corresponding value from the second half of the second time duration.
  • the pulse width modulation signal ends with a state from the first time duration following a different state from a second time duration, the second time duration being twice as long as the first time duration.
  • the final state is the first state, or the final state is the second state (and the state before it is the other state). In one embodiment, to determine the
  • Rotor position including the rotor polarity at standstill for the at least two phases of the following step: e) determining a voltage difference from said induced voltage; and the following step is performed:
  • step d the rotor position would not be unambiguously (but ambiguously) determined.
  • the possible configurations of the pulsed voltage described above also can be used without determining the rotor polarity, that is, for example, for a non-unambiguous (ambiguous) determination of the rotor position by said voltage differences.
  • a corresponding method for determining the rotor position at standstill of an electric machine having three phases (A, B, C) and one each of the phases (A, B, C) associated connection is by performing steps a), b) and e ) for at least two of the phases and by performing step f), wherein the pulsed voltage is one of those described above.
  • the time integral of the current flowing due to the pulsed voltage can be kept very small.
  • step f) includes a comparison with predetermined values for the voltage differences.
  • step d) includes a comparison with predetermined values.
  • such predetermined values are derived from a model.
  • such predetermined values are obtained from previous measurements.
  • the steps are performed for all three phases. This increases accuracy and, for redundancy, allows for a check that results in more accurate and safer results.
  • the device for determining a rotor position including Rotorpolartician at a standstill electric machine with three phases and one of the phases associated with one of the phases has:
  • a voltage measuring device for measuring electrical voltages
  • the device is designed in such a way that at least two different pairs of the connections can be acted upon in succession by the pulsed voltage and by means of the voltage measurement device an induced voltage which thereby occurs at the respectively third connection can be measured. Further, the device has:
  • An analysis unit for analyzing the time course of the induced voltages measured by means of the voltage measuring device.
  • An evaluation unit for determining the rotor polarity based on at least two of said analyzes.
  • the voltage source is to be understood as an energy source that can supply an electrical voltage.
  • the voltage source is a DC voltage source, that is to say an energy source which can supply a substantially constant electrical voltage, for example a battery.
  • the voltage source is that voltage source that is also provided for normal operation of the electrical machine.
  • the analysis unit is provided for determining a measure for the deviation of the time profile of the induced voltage from the time profile of the pulsed voltage. In one embodiment, the analysis unit is also provided for determining a voltage difference from said induced voltage, and the evaluation unit is also provided for determining the rotor position on the basis of said voltage differences. Like the other functional components described above or later, the analysis unit and / or the evaluation unit may also be divided into separate, interacting units or may be wholly or partly combined to form a unit. In one embodiment, the device has a memory unit for storing comparison values for the mentioned voltage differences and / or comparison values for analysis results of the said time profiles of said induced voltages.
  • the invention further comprises devices having features which correspond to the features of described methods and vice versa.
  • the arrangement according to the invention comprises an electrical machine with three phases and one each of the phases associated terminal, and it is characterized in that it comprises a device according to the invention.
  • Fig. 1 is a simplified block diagram of an inventive arrangement
  • FIG. 2 is a sketch for explaining a permanent-magnet synchronous machine
  • Fig. 3 is a simplified block diagram for the circuitry for a phase pair;
  • Fig. 4 is a voltage-time diagram of a pulsed voltage;
  • Fig. 5 is a voltage-time diagram of voltages induced by the pulsed voltage of Fig. 4;
  • Fig. 6 is a current-time diagram of the currents flowing due to the pulsed voltage of Fig. 4;
  • Fig. 7 is a voltage-time diagram of a pulsed voltage and the corresponding current-time diagram
  • Fig. 8 is a voltage-time diagram of the induced by the pulsed voltage of Fig. 7
  • Fig. 9 is a voltage-time diagram of the voltage induced by the pulsed voltage of Fig. 7; 10 is a voltage-time diagram of an asymmetrically applied pulsed voltage;
  • Fig. 11 is a current-time diagram of the current flowing due to the pulsed voltage of Fig. 10;
  • Fig. 12 is a diagram of curves as a function of the rotor position.
  • Fig. 1 shows a simplified schematic
  • FIG. 40 Block diagram of an inventive arrangement 40.
  • This includes an electric machine 32, for example, a brushless DC machine (BLDC) and a device 44 according to the invention.
  • the electric machine 32 is three-phase with phases A, B, C, each embodied by a coil.
  • the rotor of the machine 32 is symbolized in Fig. 1 by an arrow with north and south pole (N; S) and has a given by the angle ⁇ orientation, which is also referred to as the rotor position.
  • the angle ⁇ can assume values from 0 ° to 360 °.
  • ⁇ is not unique, but can only be determined ambiguously, that is, the rotor polarity, which allows a clear assignment of north and south pole, is unknown.
  • the rotor polarity can be determined.
  • the device 44 includes a voltage source 30, for example a DC voltage source such as a battery, a wiring arrangement 31, a voltage measuring device 33, for example a voltmeter, an analysis unit 34, an evaluation unit 35 and a memory unit 17.
  • a voltage source 30 for example a DC voltage source such as a battery
  • a wiring arrangement 31 for example a voltage measuring device 33
  • an analysis unit 34 for example a voltmeter
  • an evaluation unit 35 for example a voltmeter
  • a memory unit 17 By means of the device 44, not only the rotor position ⁇ can be determined at a standstill, but also the machine 32 is started up and operated in the normal operating mode, so the commutation can be controlled. The operation of the device 44 and the assembly 40 will become clear hereinafter.
  • Fig. 2 shows a schematic diagram for explaining a permanent-magnet synchronous machine.
  • the three phases or their coils are marked A, B, C.
  • Each phase has two inputs / outputs 2 (indicated at phase A).
  • one input / output 2 of each phase is combined in a star point 3, and the other three connections are led outwards and voltages can be applied for commutation.
  • U AB a voltage is applied between the points shown as black circles in a machine according to FIG. 2 ( hereinafter referred to as U AB ), the indicated current I AB flows .
  • U AB the permanent magnets of the illustrated synchronous machine are not shown.
  • phase C a voltage Ui (hereinafter U 0 ) induced.
  • U AB a voltage Ui
  • Ui a voltage applied to the measurements in order to generate a defined magnetic field, whereas otherwise there is no defined rotor position.
  • FIG. 3 shows a simplified block diagram for the circuit for a phase pair, namely A, B.
  • the voltage source 30 is connected symmetrically.
  • the wiring arrangement 31 serves to create in succession the respectively necessary connections between the phases A, B, C or their connections on the one hand and the voltage source 30 and the voltage measuring device 33 on the other hand.
  • Fig. 4 shows a voltage-time diagram of a pulsed voltage Up.
  • Up is applied to the phases A and B and is thus designated U AB
  • Up is applied to the phases B and C and thus designated U B c
  • U CA the phases C and A created and thus referred to as U CA.
  • the illustrated voltage Up is a rectangular signal; As usual with square wave and pulse width modulation (PWM) signals, the period of maximum voltage is
  • FIG. 5 schematically shows a voltage-time diagram of voltages Ui induced by the pulsed voltage Up of FIG. 4; FIG. the induced voltages are measured by means of voltage measuring device 33 at the respective free terminal and correspondingly referred to as U c , U A , U B.
  • U c voltage measuring device 33
  • the rotor position ⁇ can be determined up to the rotor polarity, for example by comparison with data as shown in FIG. 12.
  • FIG. 12 shows exemplary slightly schematized curve profiles for the voltage differences ⁇ U A , ⁇ Ü B , ⁇ Uc as a function of the rotor position ⁇ .
  • the curves for ⁇ U A , ⁇ U B and ⁇ U C are repeated after 180 °, so that the rotor polarity remains unknown.
  • the curves shown in FIG. 12 can be obtained by appropriate measurements on the electric machine or by modeling.
  • Fig. ⁇ is a schematic current-time diagram of the current flowing due to the pulsed voltage of Figure 4 currents I ⁇ I AB BC / I CA -. After each cycle, the current is again zero. But the time integral over the current increases with time. Thus, there is a non-vanishing average current, which leads to a directed force effect, which would be advantageously avoided.
  • Fig. 7 shows a voltage-time diagram of a pulsed voltage U AB , which is applied to the terminals of the phases A and B, as well as the corresponding current-time diagram for I AB - OFF Syinmetrieschreibn it behaves at different wiring of the phases completely ananlog.
  • FIG. 8 schematically shows a voltage-time diagram of the voltage U c induced by the pulsed voltage from FIG. 7, and again the current-time diagram illustrated in FIG. 7.
  • FIG. 8 shows in a greatly exaggerated manner a very important property of the induced voltage U c , which can not be seen in FIG. 5:
  • U 0 changes during the periods of constant voltage of U AB .
  • the Slope of the induced voltage U c again differently than in Fig. 8.
  • Figs. 8 and 9 the slope is symbolized by the dotted (gradient) triangles shown. Due to the in Figs. 8 and 9 (not shown), but in practice occurring during polarity reversal (see Fig. 5), it is recommended that no measurement data for determining the slope to be taken near the Umpolzeitticianen.
  • the waveform shown in Fig. 7 for the pulsed voltage Ui clear: the period during which the slope is observable, is significantly greater than, for example, in a 50/50 pulse as he eg in Fig.4 is shown.
  • a measure of the slope can be obtained, for example, in a simple way as the differential quantity ⁇ U c (more generally: ⁇ i), as sketched in FIG. 8.
  • an average value is determined in the periods indicated by the horizontal arrows, for example by integration, and then the difference of the thus determined average voltages is determined as ⁇ U c .
  • this can be done several times in order to determine more accurate values, for example at all the points indicated by small circles in FIG. 9.
  • Fig. 11 shows the associated current-time diagram for I AB .
  • the pulsed voltage U AB (Up) ends at one of the locations marked with an open arrow (or a later equivalent position if the signal lasts even longer), because there, on the one hand, the current is zero and, in addition, the current-time integral disappears .
  • the pulsed voltage could be terminated at any time, which is generally associated with measurement inaccuracies or leads to longer measurement times.
  • the time integrals of U ⁇ B or I ⁇ B are shown in Figs. 10 and 11, the corresponding areas hatched differently depending on the sign.
  • the slope change analysis is performed - with reference to FIG. 1 - by means of analysis unit 34, that is to say that there, for example, the ⁇ Ui are determined.
  • the further evaluation which leads from ⁇ üi to rotor polarity, takes place in evaluation unit 35.
  • FIG. 12 shows curve profiles of ⁇ Ui, that is to say of ⁇ U A , ⁇ U B , ⁇ c , as a function of the rotor position ⁇ .
  • the curves need not be as sinusoidal as is the case in FIG. 12, but it is clear that they have a period doubled in relation to ⁇ U A , ⁇ U B , ⁇ U C. Therefore, by determining two or three (better for accuracy of measurement and redundancy) three ⁇ Ui values, the rotor polarity can be determined.
  • ⁇ U A , ⁇ U B , ⁇ U c and ⁇ U A , ⁇ U B , ⁇ ü c are determined (and in each case adjusted to each other) and compared with predetermined values (from measurements or models), so that a clear rotor position determination can be carried out with great accuracy.
  • the comparison values are stored in memory unit 17 (see Fig. 1).
  • .DELTA.u A, .DELTA.U can first B, .DELTA.U c are determined and then .DELTA.U A, B .DELTA.U, .DELTA.U C; but it is also possible first ⁇ U A and ⁇ U A , for example, from the identical up signal (for example, from the same or successive cycles of the pulsating voltage Up), and then ⁇ ü B and ⁇ U B and finally ⁇ U c and ⁇ U C.
  • the electric machine can be raised in an optimal manner and then operated normally. It is possible to use the same components for this as for the determination of the rotor position.
  • Test signals (Up) are used and the rotor position determined from the response of the system to it.
  • the pulsed voltage Up (U AB , U B c, U CA ) as a test signal goes hand in hand with a changing current (I A B, IB C / I C A), causing a change in the magnetic flux.
  • the voltage Up is just a pulsed voltage which is generally generated by PWM and which changes sign (polarity reversal), so that the magnetic flux change periodically changes its polarity.
  • approximately an image of the pulsed voltage Up is produced in the form of the induced voltage Ui (U a , U B , Uc).
  • Ui is lagemoduliert, that is, depending on the rotor position ⁇ changed.
  • the invention makes it possible to make a clear determination of the rotor position of an electrical machine in a rapid, accurate and cost-saving and space-saving manner.

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

Abstract

Ce procédé pour faire fonctionner une machine électrique (32) ayant trois phases (A, B, C) et un branchement respectif associé à chacune des phases (A, B, C) est caractérisé en ce que, pour déterminer la position du rotor (φ) y compris la polarité du rotor à l'arrêt pour au moins deux des phases, on accomplit les étapes suivantes : a) application d'une tension pulsée (Up) entre les deux branchements qui sont associés aux deux autres phases ; b) mesure de la tension ainsi induite sur le branchement associé à la phase ; c) analyse de l'allure dans le temps de ladite tension induite ; et en ce qu'on accomplit l'étape suivante : d) détermination de la polarité du rotor sur la base des analyses précitées. D'une manière avantageuse, on détermine à l'étape c) une mesure de l'écart de l'allure dans le temps de la tension induite par rapport à l'allure dans le temps de la tension pulsée (Up). L'invention permet d'entreprendre une détermination univoque de la position du rotor (φ) d'une machine électrique (32) d'une manière rapide, précise, économique et peu encombrante.
EP08805041A 2007-10-09 2008-10-03 Procede et dispositif pour la determination univoque de la position du rotor d'une machine electrique Withdrawn EP2198512A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH15662007 2007-10-09
PCT/EP2008/063282 WO2009047217A2 (fr) 2007-10-09 2008-10-03 Procédé et dispositif pour la détermination univoque de la position du rotor d'une machine électrique

Publications (1)

Publication Number Publication Date
EP2198512A2 true EP2198512A2 (fr) 2010-06-23

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Application Number Title Priority Date Filing Date
EP08805041A Withdrawn EP2198512A2 (fr) 2007-10-09 2008-10-03 Procede et dispositif pour la determination univoque de la position du rotor d'une machine electrique

Country Status (4)

Country Link
US (1) US20110050209A1 (fr)
EP (1) EP2198512A2 (fr)
CN (1) CN102132485A (fr)
WO (1) WO2009047217A2 (fr)

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Publication number Publication date
WO2009047217A2 (fr) 2009-04-16
CN102132485A (zh) 2011-07-20
WO2009047217A3 (fr) 2011-05-05
US20110050209A1 (en) 2011-03-03

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