EP2476197A2 - Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt - Google Patents

Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt

Info

Publication number
EP2476197A2
EP2476197A2 EP10754713A EP10754713A EP2476197A2 EP 2476197 A2 EP2476197 A2 EP 2476197A2 EP 10754713 A EP10754713 A EP 10754713A EP 10754713 A EP10754713 A EP 10754713A EP 2476197 A2 EP2476197 A2 EP 2476197A2
Authority
EP
European Patent Office
Prior art keywords
signal
current
filter
rotor position
component
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Withdrawn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
EP10754713A
Other languages
German (de)
English (en)
Inventor
Roberto Leidhold
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.)
Technische Universitaet Darmstadt
Original Assignee
Technische Universitaet Darmstadt
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 Technische Universitaet Darmstadt filed Critical Technische Universitaet Darmstadt
Priority to EP10754713A priority Critical patent/EP2476197A2/fr
Publication of EP2476197A2 publication Critical patent/EP2476197A2/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Withdrawn legal-status Critical Current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
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals

Definitions

  • the present invention relates to a circuit and a method for determining the rotor position at low speed or at rotor standstill.
  • the speed or position of the motor rotor can be determined indirectly by measuring only electrical quantities (e.g., phase voltage and / or phase current).
  • electrical quantities e.g., phase voltage and / or phase current.
  • the position of the rotor can be determined by electromotive force (EMF) or by position-dependent inductance (also referred to as anisotropy or magnetic flexibility).
  • EMF electromotive force
  • position-dependent inductance also referred to as anisotropy or magnetic flexibility
  • the rotor is referred to as a rotor, regardless of whether a rotational or translational movement is performed.
  • a rotational or translational movement In a translation
  • the determined position angles are converted into correspondingly traveled distances.
  • WO2004019269A2 a rotor position detection is described, which is operated with pulse width modulation.
  • a pulse pause a high-frequency (HF) signal is fed into the electric motor. From the received return signal, the rotor position is estimated.
  • the disadvantage here is that the RF response signal is modulated onto the normal pulses. This requires a corresponding filtering of the pulses, which results in an inaccuracy.
  • US696746B1 a method has been described that represents an improved method for RF signal injection.
  • Object of the present invention is to eliminate the disadvantages of the prior art by means of an arrangement and a method for evaluating the signals obtained.
  • the filter consists of at least one capacitor. In a combination of this capacitor and a coil, the filter comprises an LC element. In a combination of the aforementioned capacitor and a resistor, the filter comprises an RC element. The filter is switched to high pass.
  • the Clarke transformation is used to determine the rotor position.
  • the voltages to the stator coils are transformed into two non-zero components (w "and wp) and a zero component (u 0 ): where u v , u v and u w denote the voltages of the stator coils U, V and
  • a high frequency (RF) voltage signal is impressed into the zero component.
  • the filter at the star point causes the passage of the RF signal and blocks the other frequency components of the zero component.
  • the RF signal There are several ways to impress the RF signal.
  • the first possibility is via a signal generator which is connected directly or via a transformer to the filter at the neutral point.
  • the frequency range is from 1 to 100 kHz.
  • the second option is to use pulse width modulation (PWM) for motors with inverters (inverters).
  • the filter at the neutral point is connected to the inverter.
  • the PWM-controlled inverter generates a zero component with a frequency equal to the switching frequency of the inverter. It is also possible to use harmonics of the switching frequency or a low-frequency HF signal fed into the PWM.
  • Magnetic features are present in most engines, albeit to a lesser extent. Due to the magnetic properties, the HF voltage signal, a current component in the non-zero component (i a and i ß ) impressed, from which the rotor position can be determined.
  • ⁇ ⁇ , i v and i w are the currents of the stator coils U, V and W.
  • the measured current must first be filtered in order to eliminate other frequency components which do not correspond to the frequency of the RF signal.
  • k c is a constant that depends on the motor, and ⁇ is the rotor position.
  • the constant k c is up to four times higher than in conventional methods where the RF voltage signal is impressed into the non-zero component.
  • the filtered current signals i a and i ⁇ are demodulated.
  • the demodulation is carried out by multiplying the current signals by the signal sin (cö c and is filtered by means of the following low-pass filter.)
  • the rotor position is determined as the rotor angle by calculating arctan2 of the two demodulated signals and then dividing by 2:
  • the rotor position can be determined from the two demodulated signals via a phase locked loop (PLL).
  • PLL phase locked loop
  • the current is sampled synchronously with the pulse width modulation.
  • the times at which the current is sampled are 90 degrees offset from the zero crossing of the zero component. So that the position can be determined according to the invention, the current values should be sampled immediately before the zero crossing of the zero component. This is possible by shifting the sampling time or by modifying the space vector pulse width modulation.
  • i dif k la k ⁇ la (fc-1)
  • i ' ⁇ dif k Z ' ⁇ fc - Z ' ⁇ (fc-1) where ke is the sample number.
  • the demodulated signals / t and k are then filtered with a low-pass filter, in which, for example, the instantaneous value and the value of the previous sampling period are averaged:
  • i ' av k ⁇ 2 (quarrel k + £ adem (fc-1))
  • Z ' ßav fc ⁇ (i ' ßdem / fc + Zßdem (fc-1))
  • T s is the sampling period
  • the rotor position is called rotor angle by the calculation of arctan2 of the signals iaav k and , and subsequent division by 2.
  • the rotor position can be determined from the two signals via a phase-locked loop (PLL).
  • PLL phase-locked loop
  • the RF signal is fed continuously or the PWM outputs a signal to generate or initiate the RF signal. Accordingly, the sampling of the current values, in which a signal is output by the PWM, detects the current component or the current component is constantly detected.
  • Another alternative is to generate the RF signal by the PWM by sending the PWM pulse for zero crossing as an RF signal with a frequency in the range of 1 kHz to 100 kHz, preferably 75 kHz.
  • the current component is determined. This makes it possible to send an RF signal at each zero crossing of a phase and to determine the current share after the filter.
  • the determination of the current component comprises the determination of a signal which is proportional to the current component.
  • the evaluation is carried out by determining the derivative of the signal.
  • Another alternative is to send at least parts of the PWM pulse outside the zero crossing as an RF signal. This means that no waiting is necessary until the next or the next zero crossing of a phase. This makes it possible in a time-shifted sequence each to send an RF signal and to determine the current share after the filter.
  • the RF signal is fed in addition to the PWM pulse, e.g. at the zero crossing or in the pauses between two PWM pulses.
  • the rotor position is calculated by means of trigonometric functions from the determined current component or current component signal.
  • the rotor position can be determined by current signal evaluation by means of phase-locked loop (PLL).
  • PLL phase-locked loop
  • a filter is connected to the neutral point of the stator coils.
  • the filter comprises a capacitor, LC element or RC element.
  • the filter is connected to a voltage source.
  • the voltage source comprises a signal generator, an inverter, an inverter or the PWM signal generation.
  • At least two stator coils are each equipped with a current connected measuring device.
  • the current measuring device comprises a transformer, one or more coils with or without ferrite core, individual wire windings with or without ferrite core, conductor tracks with ferrite core on a double-sided or single-sided circuit board.
  • the dimensions of the rotor are not limited. Preference is given to using rotors with a diameter of 3 mm to 5 m, particularly preferably 1 cm to 30 cm.
  • the number of poles is also not limited. Preference is given to using motors having a number of poles of 3 to 100, more preferably 7 to 50.
  • the RF signal is fed in addition to the PWM pulse. In this case, an RF voltage signal is fed into the neutral point of the stator windings during a PWM pulse. The RF signal passes through the stator coils.
  • the RF signal that has passed through the stator coils causes a non-zero component in the three-phase system (alpha-beta or d-q component). From this non-zero component, a current share signal is generated.
  • the current share signal comprises the current component, a different proportion of the current component or the derivative of the current component.
  • the rotor position is calculated by means of trigonometric functions from the determined current component or current component signal.
  • FIG. 1 shows a block diagram which is used for a rotor position determination in which the RF signal is impressed by means of a signal generator.
  • the motor 101 is supplied by any motor supply 100 (eg the grid or an inverter).
  • the filter 102 Via the filter 102, the star point of the motor is closed with a signal generator 103, which impresses an RF signal in zero component.
  • the signal generator 103 is related to the ground of the motor supply.
  • the resulting current is detected by a current transformer 104 which simultaneously converts the Clarke transform (see FIG. 2) so as to extract the non-zero component.
  • the sampler and AD converter 106 synchronized with the signal generator are used to demodulate and digitize the signals. Further signal processing is digital (eg via a microcontroller or FPGA).
  • the signal 107 filtered via a low-pass filter is used to calculate the rotor angle ⁇ 109 over arctan 108.
  • a current transformer arrangement 104 is shown, which implements the Clarke transformation.
  • Fig. 3 shows the invention when the RF signal is impressed by means of a signal generator used in a rotor position control drive system.
  • An RF voltage signal 301 is fed to an amplifier 302.
  • the RF signal passes through the capacitor (LC element) 304 and propagates in the stator coils.
  • the current components per stator coil are read out 306, filtered 307 and the rotor position is determined as an angle 309.
  • FIG. 4 is a block diagram used for rotor position determination in which the RF signal is impressed over the PWM controlled inverters. With a pulse width modulation of 400 generated for the motor 402, which are supplied via an inverter 401 to the motor 402.
  • the neutral point of the motor is closed with the intermediate circuit of the inverter (main inverter, inverter) 401. In this way, the zero component generated by the PWM acts on the motor coils.
  • the resulting current is detected via a current transformer 404.
  • the analog current signal is converted to digital 405.
  • the sampled current signal is transformed by phase quantities in a space vector (Clarke transform) 406, thus extracting the non-zero component.
  • the current current values are subtracted 407 from the previous sampled current values to eliminate lower frequency components.
  • Demodulation is done by changing sign 408 every other sample period 408.
  • the average of the signal over a sample period 409 is used to calculate the rotor angle ⁇ 411 over arctan 410.
  • Fig. 5 the circuit is shown by the filter connected to the neutral point of the motor and the intermediate circuit of the inverter.
  • the inverter acts as a voltage source and feeds an RF signal into the filter. This RF signal passes through the neutral point and the stator coils. After the stator coils, a signal is detected, which represents the current component.
  • Figure 6 shows the invention when the RF signal is impressed across the PWM controlled inverter used in a rotor position control drive system.
  • the control signals are a modified space vector pulse width modulation.
  • the corresponding control signals of the inverter are shown.
  • the generated zero component which is used for RF signal generation, is shown.
  • the sampling times (701, 702 and 703) are immediately before the zero crossings of the RF signal.
  • FIG. 8 shows the demodulated and filtered current signals i aa v and i ⁇ av as a function of the position.
  • FIG. 1 block diagram for rotor position detection
  • FIG. 3 block diagram for rotor position detection
  • FIG. 4 block diagram for rotor position detection
  • FIG. 6 block diagram for rotor position detection

Landscapes

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

Abstract

L'invention concerne un circuit et un procédé de détermination de la position d'un rotor sur des rotors tournant à faible vitesse ou étant à l'arrêt. A cet effet, un signal HF est introduit dans le point neutre (composante nulle) et la position du rotor est déterminée au moyen de la répartition du signal HF dans les bobines (composante non nulle).
EP10754713A 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt Withdrawn EP2476197A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10754713A EP2476197A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP20090169607 EP2293430A1 (fr) 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt
EP10754713A EP2476197A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt
PCT/EP2010/063063 WO2011026988A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt

Publications (1)

Publication Number Publication Date
EP2476197A2 true EP2476197A2 (fr) 2012-07-18

Family

ID=41306647

Family Applications (2)

Application Number Title Priority Date Filing Date
EP20090169607 Withdrawn EP2293430A1 (fr) 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt
EP10754713A Withdrawn EP2476197A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP20090169607 Withdrawn EP2293430A1 (fr) 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt

Country Status (5)

Country Link
US (1) US20120229119A1 (fr)
EP (2) EP2293430A1 (fr)
CA (1) CA2810719A1 (fr)
DE (1) DE112010003562A5 (fr)
WO (1) WO2011026988A2 (fr)

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CN102624322B (zh) * 2012-04-01 2015-05-13 杭州洲钜电子科技有限公司 无位置传感器电机控制系统及控制方法
EP2709263A1 (fr) 2012-09-12 2014-03-19 Celeroton AG Procédé et appareil pour déterminer la position dans une machine électrique
FI124592B (fi) 2013-06-20 2014-10-31 Kone Corp Menetelmä ja laitteisto hissin sähkömoottorin ohjaamiseksi
DE102014102376B4 (de) 2014-02-24 2018-05-30 Jenaer Antriebstechnik Gmbh Drehfeldmaschine und Verfahren zum Bestimmen der Winkelposition ihres Rotors
CN104579085B (zh) * 2014-12-23 2017-06-09 广东威灵电机制造有限公司 电机转子位置的检测方法和检测装置
DE102015105007A1 (de) * 2015-03-31 2016-10-06 Ebm-Papst Mulfingen Gmbh & Co. Kg Verfahren zur sensorlosen Lagebestimmung des Rotors von elektronisch kommutierten Synchronmaschinen
EP3337031B1 (fr) 2016-12-13 2020-06-17 ABB Schweiz AG Procédé et dispositif de détection de la présence d'un aimant permanent d'un rotor d'une machine synchrone
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Also Published As

Publication number Publication date
WO2011026988A2 (fr) 2011-03-10
US20120229119A1 (en) 2012-09-13
WO2011026988A3 (fr) 2011-05-19
DE112010003562A5 (de) 2012-11-22
EP2293430A1 (fr) 2011-03-09
CA2810719A1 (fr) 2011-03-10

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