EP2465194A1 - Procédé permettant de surveiller un état d'entraînement d'un moteur électrique - Google Patents

Procédé permettant de surveiller un état d'entraînement d'un moteur électrique

Info

Publication number
EP2465194A1
EP2465194A1 EP10732998A EP10732998A EP2465194A1 EP 2465194 A1 EP2465194 A1 EP 2465194A1 EP 10732998 A EP10732998 A EP 10732998A EP 10732998 A EP10732998 A EP 10732998A EP 2465194 A1 EP2465194 A1 EP 2465194A1
Authority
EP
European Patent Office
Prior art keywords
bridge
detected
control signal
state
drive state
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Withdrawn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
EP10732998A
Other languages
German (de)
English (en)
Inventor
Roland Schleser
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2465194A1 publication Critical patent/EP2465194A1/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Withdrawn legal-status Critical Current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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/003—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to inverters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/40—Testing power supplies
    • G01R31/42—AC power supplies
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Definitions

  • the present invention relates to the monitoring of drive states, in particular of non-driven drive states, of electric motors.
  • bridge inverters For supplying electric motors, in particular multi-phase synchronous motors, with electrical energy, bridge inverters are usually used, each having, for example, three upper and three lower half bridges.
  • the half bridges are supplied on the input side with electrical energy from an energy store, for example a battery, with a positive voltage connection and a negative voltage connection or ground.
  • the half bridges may, for example, comprise semiconductor switches, the upper half bridges being provided for positive voltages and the lower half bridges for negative voltages or for ground, respectively.
  • the half-bridges of the bridge inverter are suitably controlled to provide for generating a target torque D n as required electric power to the electric motor.
  • the target torque D n as an example, electronically permuted synchronous motor of an electric drive of an electric vehicle or a hybrid vehicle is usually Ü set about the phase currents of the coils of the synchronous motor.
  • the adjustment of these currents is effected by a pulsed application of a high voltage, for example a battery voltage, to the coils via the half bridges, for example, mentioned above.
  • a high voltage for example a battery voltage
  • the reliable detection of a current state of the electric motor is of crucial importance for the safety to detect an unwanted or faulty drive.
  • the actual state of the electric motor for example, with an expected state of the electric motor, which can be determined for example on the basis of a characteristic, are compared, which can be detected in a mismatch on an error.
  • the reliable determination of the actual torque of the electric motor is also a necessary part of the requirements of the functional safety of the electric drives.
  • it is possible to deduce the torque for example based on the electrical power, which can be determined from a measurement of the battery current and voltage as well as the rotational speed.
  • this method becomes increasingly inaccurate because less and less power is needed to set a particular torque, and thus a given vehicle acceleration. This leads to an uncertainty, since, in particular at low torques, it is possible to detect, for example, a power determined on the basis of a current measurement in which it can no longer be decided unequivocally whether a torque is applied or not.
  • the invention is based on the recognition that a drive state of an electric motor can be efficiently monitored, in particular in the low speed range, if in addition to the states of the half bridges, which are used in a bridge inverter, and control signals are evaluated, which are used to drive the half-bridges.
  • the control signals may be, for example, logic signals used to control the switches the half bridges are used. However, the control signals may be voltage signals with which the half-bridges are driven. If, for example, the state of the respective half-bridge does not coincide with the state of the half-bridge, which is connected with the detected control signal, then an error can be detected.
  • the invention relates to a method for monitoring a drive state, in particular a non-driven drive state, of an electric motor which is supplied with energy by means of a bridge inverter with at least one half-bridge.
  • the method includes detecting a state of the at least one half-bridge, detecting a property of a control signal to drive the at least one half-bridge, and monitoring the drive state based on the detected state of the at least one half-bridge and the detected characteristic of the control signal.
  • the property of the control signal is a lack of the control signal or a presence of the control signal or an edge of the control signal, in particular a rising or falling edge, or a pulse or a pulse duration or a pulse time.
  • a detection flexibility is achieved in an advantageous manner.
  • to monitor the drive state it is checked whether the detected state of the at least one half-bridge and the detected characteristic of the control signal correspond to one another.
  • it can be checked to monitor the drive state, whether the detected state of the at least one half-bridge and the property of the control signal, in particular a lack or presence of the control signal, the same drive state can be assigned.
  • a faulty drive state can be detected if the detected state of the at least one half-bridge and the property of the control signal can not be assigned to the same drive state.
  • a simple monitoring of the drive state can be realized in an advantageous manner.
  • the step of detecting the state it is detected whether the at least one half-bridge is open or closed.
  • the drive state comprises a freewheel or a short-circuit torque or a rotational speed or a drive torque or a brake torque or an undefined drive state.
  • the drive state is monitored on the basis of a table, for example a look-up table, in each of which a drive state is assigned a property of the control signal and / or a state of the at least one half-bridge.
  • a table for example a look-up table, in each of which a drive state is assigned a property of the control signal and / or a state of the at least one half-bridge.
  • the at least one half-bridge and a missing control signal are detected for a freewheel of the electric motor.
  • the at least one half-bridge and a missing control signal are detected to a short-circuit torque of the electric motor.
  • the inverter comprises a further half bridge, which is associated with the at least one half bridge, wherein the at least one half bridge is an upper or a lower half bridge and wherein the further half bridge is a lower or an upper half bridge.
  • the method includes detecting a state of the upper half-bridge and a state of the lower half-bridge, detecting a property of a control signal for driving the upper half-bridge, and a property of a control signal for driving the lower half-bridge, and monitoring the driving state based on the detected one States of the upper and lower half bridge and the detected characteristics of the control signals for driving the upper and the lower half bridge. In this way, the monitoring can be carried out very safely.
  • a specific drive state of the electric motor is associated with missing control signals and / or a specific combination of the states of the upper and lower half bridges.
  • a drive state of the electric motor is detected as defective if a control signal for driving the upper half-bridge detected and a control signal for driving the lower half-bridge due to its absence is not detected, or if a control signal for driving the upper half-bridge is not detected due to its absence and a control signal for driving the lower half-bridge is detected.
  • a faulty drive state can be detected particularly easily.
  • the invention relates to a control device, which is set up by the program, to execute a computer program for carrying out the method according to the invention.
  • Fig. 1 is a control of an electric motor
  • Fig. 6 is a control unit. 1 shows the activation of an electric motor 101, for example a synchronous motor, which may be three-phase or multi-phase, using a bridge inverter 103 which is fed by an energy store 105, for example a vehicle battery.
  • the bridge inverter 103 includes upper half bridges 107, 109 and 111, which are acted upon by the positive potential of the energy storage 105. Further, lower half bridges 113, 115 and 117 are provided, which are supplied with the negative potential or ground.
  • each of the upper half bridges 107, 109 and 111 is associated with a lower half bridge 113, 115 and 117, respectively, so that the bridge inverter 103 in each case comprises, for example, three parallel arrangements of each of the upper half bridges and lower half bridges connected in series.
  • terminals 119, 121 and 123 are arranged and led out, which in each case with the strands 125, 127 and 129, which each have a phase path represent, are connected.
  • Each strand 125, 127, 129 is characterized by a resistor 131, an inductor 133 and a voltage source 135. The three strands of the electric motor 101 are combined on the output side.
  • the bridge inverter 103 further includes an intermediate circuit capacitor 137, which is connected in parallel to the half bridges.
  • Each half-bridge comprises in each case a transistor switch 139, for example a power transistor, and a free-wheeling diode 141.
  • the transistor switches 139 are opened or closed, whereby voltage pulses which can be transmitted to the electric motor 101 are generated whose width determines the power supplied to the electric motor 101.
  • FIG. 2 a drive cycle with the time T is shown.
  • the profiles of the voltages are shown with one another, wherein the voltage 201 at the terminal 119 shown in FIG. 1, the voltage 203 at the terminal 121 and the voltage 205 at the terminal 123 are shown.
  • FIG. 3 shows a drive cycle with the drive sequences shown in FIG. 3A and with voltage vector waveforms shown in FIG. 3B.
  • the drive cycle illustrated in FIG. 3A has a total duration T, wherein the course 301 shows the activation of the upper half bridge 107 shown in FIG. 1, the course 303 the activation of the upper half bridge 109, and the course 305 the control of the upper half bridge 111. In each case, the transistor switches of the respective half-bridge are activated.
  • FIG. 3B shows the resulting voltage phasors of phases 1, 2 and 3, which are different from 0, and the resulting voltage phasor 313, which points to a determined moment, which is different from 0.
  • Fig. 4a Anberichtverrise for the case in which a short-circuit torque is applied.
  • the curves 401, 403 and 405 show the control signals of the upper half bridges 107, 109 and 111.
  • the curves 407, 409 and 411 show the control signals of the lower half bridges 113, 115 and 117.
  • Fig. 4b shows the determined voltage vector, which is equal to 0, from which it can be concluded that a short-circuit torque.
  • Fig. 5 shows An horrinskysverrise for the case of a freewheeling torque.
  • 5A shows the waveforms 501, 503 and 505 of the driving signals for the upper half bridges 107, 109 and 111.
  • the waveforms 507, 509 and 511 show the driving signals for driving the lower half bridges 113, 115 and 117th
  • the detected voltage vector is 0, which in this case indicates a freewheeling torque.
  • control device 601 shows a control device 601 with a control device 603, which is realized, for example, by means of control software, a timer unit 605, a monitoring unit 607, which, for example, by means of monitoring software is realized, and another timer unit 609. Further, a function calculator 611 is provided.
  • the logic module 617 includes, for example, a discrete logic, such as an error logic and / or a hardware implementation or hardware setting a lower active short circuit of the electric motor or a freewheel.
  • the unit 607 also outputs a digital error response signal 619, for example in the case of a lower active short, which signal is supplied to the discrete logic module.
  • the discrete logic module 617 is provided to drive the output stages 621 of the half bridges, for example, power switches and IGBTs, with the output stages 621 conducting high voltage drive signals to the electric motor 623.
  • the power amplifiers 621 i. the half bridges, supplied drive signals are fed to the timer unit 609 for further detection.
  • the controller 609 are the half-bridges actually controlling drive signals available for evaluation.
  • states without a drive torque in the state or with a defined drag torque for example freewheel, lower or upper short circuit, can be precisely distinguished from those operating states which potentially carry a residual moment.
  • a deviation of the desired operating state from the particular operating state can be established and, if appropriate, initiate a replacement or fault reaction, for example a shutdown of the torque-determining output stages, for example switching transistors of the affected half-bridges.
  • the clocked drive signals 625 of the synchronous motor of the electric drive are entrusted thereto with the control Control unit, which may include, for example, a function calculator or a microcontroller.
  • the interpretation of the read control signals is used to identify or to monitor the current operating state. Thus, it is possible to determine the operating state and in particular to distinguish between states with or without propulsion torque.
  • the drive signals for the coil sets of the electric motor 623 can be fed back to the inputs of the control unit 601 after any processing by the logic module 617.
  • This readback could also take the form of an additional diversified redundancy by an independent microcontroller.
  • the control unit 601 is preferably able to record the course of the signals, for example the points in time of the rising or falling edges, with an accuracy of, for example, predetermined time.
  • the read-in is advantageously such that any occurring edge, for example rising or falling edge, is detected and its time stamp is detected.
  • the evaluation of the read-back drive signals therein based on the current state of the half-bridges, which may be open or closed, and the basis of the read signals detected switching activities of the output stages 621, for example by a detection or by a non-detection of the edges, the pulse times and pulse lengths to conclude the operating state of the present control, in particular the instantaneous voltage pointer in the reference frame of the rotor of the electric motor 623.
  • This can be done as follows:
  • a lower active short circuit is detected.
  • This stand assigned torque is a short-circuit torque or a drag torque.
  • an upper active short circuit (oAKS) is detected. This operating state is assigned a short-circuit torque or a drag torque.
  • the detected pulses run synchronously on all three phases of the electric motor, then it can be assumed that no voltages are applied to the coil sets themselves. This corresponds to a constant change between the lower active short circuit and the upper active short circuit, so that the applied torque substantially corresponds to the short-circuit torque.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'invention concerne un procédé permettant de surveiller un état d'entraînement, en particulier un état d'entraînement non entraîné, d'un moteur électrique qui est alimenté en énergie au moyen d'un convertisseur à pont comportant au moins un demi-pont. Le procédé consiste à détecter un état du ou des demi-ponts (107 - 117), à détecter une caractéristique d'un signal de commande servant à l'activation du ou des demi-ponts (107 - 117) et à surveiller l'état d'entraînement sur la base de l'état détecté du ou des demi-ponts (107 - 117) et de la caractéristique détectée du signal de commande.
EP10732998A 2009-08-13 2010-07-19 Procédé permettant de surveiller un état d'entraînement d'un moteur électrique Withdrawn EP2465194A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009028502A DE102009028502A1 (de) 2009-08-13 2009-08-13 Verfahren zum Überwachen eines Antriebszustands eines Elektromotors
PCT/EP2010/060392 WO2011018302A1 (fr) 2009-08-13 2010-07-19 Procédé permettant de surveiller un état d'entraînement d'un moteur électrique

Publications (1)

Publication Number Publication Date
EP2465194A1 true EP2465194A1 (fr) 2012-06-20

Family

ID=42702655

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10732998A Withdrawn EP2465194A1 (fr) 2009-08-13 2010-07-19 Procédé permettant de surveiller un état d'entraînement d'un moteur électrique

Country Status (5)

Country Link
US (1) US20120200248A1 (fr)
EP (1) EP2465194A1 (fr)
CN (1) CN102577092A (fr)
DE (1) DE102009028502A1 (fr)
WO (1) WO2011018302A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012216008A1 (de) 2012-09-10 2014-03-13 Robert Bosch Gmbh Betriebszustandsschaltung für Wechselrichter und Verfahren zum Einstellen von Betriebszuständen eines Wechselrichters
DE102012217974A1 (de) * 2012-10-02 2014-04-03 Robert Bosch Gmbh Inverterschaltung mit im Linearbetrieb arbeitenden Schaltmitteln
DE102012219243A1 (de) * 2012-10-22 2014-04-24 Conti Temic Microelectronic Gmbh Verfahren und Schaltungseinheit zum Ermitteln von Fehlerzuständen einer Halbbrückenschaltung
JP2015033292A (ja) * 2013-08-06 2015-02-16 トヨタ自動車株式会社 車両制御装置
JP6535887B2 (ja) * 2014-11-13 2019-07-03 パナソニックＩｐマネジメント株式会社 車載用電源装置およびそれを搭載した車両
DE102019204071A1 (de) * 2019-03-25 2020-10-01 Robert Bosch Gmbh Verfahren zur Erkennung eines ersten Betriebszustandes einer Handwerkzeugmaschine
CN110829376B (zh) * 2019-08-09 2022-02-18 中国第一汽车股份有限公司 一种电机主动短路控制装置、方法及汽车

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10323908A1 (de) * 2003-05-23 2004-12-23 Siemens Ag Verfahren und Anordnung zur Überwachung einer Leistungsendstufe
DE10359236B3 (de) * 2003-12-17 2005-05-25 Siemens Ag Anordnung zur Prüfung einer Leistungsendstufe
JP4333751B2 (ja) * 2007-02-15 2009-09-16 株式会社デンソー ブラシレスモータの駆動装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2011018302A1 *

Also Published As

Publication number Publication date
WO2011018302A1 (fr) 2011-02-17
CN102577092A (zh) 2012-07-11
US20120200248A1 (en) 2012-08-09
DE102009028502A1 (de) 2011-02-17

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