EP3129793A1 - Diagnostic d'un système d'entraînement et système d'entraînement - Google Patents

Diagnostic d'un système d'entraînement et système d'entraînement

Info

Publication number
EP3129793A1
EP3129793A1 EP15733398.0A EP15733398A EP3129793A1 EP 3129793 A1 EP3129793 A1 EP 3129793A1 EP 15733398 A EP15733398 A EP 15733398A EP 3129793 A1 EP3129793 A1 EP 3129793A1
Authority
EP
European Patent Office
Prior art keywords
sensor
rotor
drive system
rotation
angle
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Withdrawn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
EP15733398.0A
Other languages
German (de)
English (en)
Inventor
Uwe Nolte
Uwe BRAATZ
Michael Krause
Uwe Krause
Heinz Ludwig
Michael Wittkowski
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.)
Siemens AG
Original Assignee
Siemens AG
Siemens Corp
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 Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP3129793A1 publication Critical patent/EP3129793A1/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Withdrawn legal-status Critical Current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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24457—Failure detection
    • G01D5/24461—Failure detection by redundancy or plausibility
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/488—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by variable reluctance detectors
    • 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
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
    • 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
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2201/00—Constructional elements; Accessories therefor
    • E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
    • E05Y2201/43—Motors
    • E05Y2201/434—Electromotors; Details thereof
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/458—Control modes for generating service signals
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/50—Fault detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/50—Fault detection
    • E05Y2400/502—Fault detection of components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2218/00—Indexing scheme relating to details of testing or calibration
    • G01D2218/10—Testing of sensors or measuring arrangements

Definitions

  • the invention relates to a method for the diagnosis of a drive system, a method for operating a Antriebssys ⁇ tems and a drive system, wherein the drive system comprises an electric motor with a stator with phase windings and with a permanent magnetically excited rotor and a sensor for Determining the position of the rotor has.
  • the drive system comprises an electric motor with a stator with phase windings and with a permanent magnetically excited rotor and a sensor for Determining the position of the rotor has.
  • the on ⁇ operating system is in particular a door drive system ⁇ .
  • Electric motors with a stator with phase windings and with a permanent-magnetically excited rotor are used in a variety of drive systems.
  • PMSM synchronous motor
  • they are often referred to as "PMSM" motors, for example, use in door drive systems for moving doors, especially sliding doors, elevator cars, train platforms, buildings, or machine tools.
  • magnetic angle sensors are often used to determine the position of the rotor. These produce a ⁇ unambiguous angle information for a full mechanical Flip Cellphone ⁇ hung the rotor.
  • this win- Information derived from the rotor position and generated therefrom a control signal for the motor.
  • the angle information has a fixed and known angle to the stator winding. Depending on the manufacturing process and given tolerances, this angle may vary, or even be completely unknown. In practice, therefore, an adjustment value for this angle is determined in production, stored in a data memory and taken into account in the control and / or regulation of the motor. However, the data storage may fail and thus the adjustment value may be lost.
  • the trim information may not be lost, but the trim may not be repeated if the mechanical conditions change (e.g., when loosening sensor board mounting screws).
  • the inventive method for the diagnosis of a drive ⁇ system comprising an electric motor, especially a synchronous motor having a stator with phase windings and a permanent-magnet-excited rotor and a sensor for determining the position of the rotor, comprising the steps of: a) rotating the rotor without feeding the phase windings with current, preferably rotating the rotor manually or rotating the rotor by coasting after a previous acceleration,
  • the invention is based on the consideration that a rotation of the permanent magnetically excited rotor is a magnetic Rotary field generated, which induces a voltage in the phase windings.
  • the induced voltage has a phase position between the terminals which is fixed via the geo ⁇ metric arrangement of the phase winding.
  • this voltage can be measured and from this a space vector angle of the induced voltages can be determined.
  • signals generated by the rotor position sensor are simultaneously measured and from this a rotor position angle is determined.
  • a diagnosis of the drive ⁇ system in compliance with the requirements explained above can be done very easily by comparing the space vector angle with the rotor position angle and determining a difference in a value, a direction and / or a rotational speed of the two angles.
  • Particularly advantageous diagnostic ⁇ possibilities are explained in connection with the subclaims.
  • the rotation of the Ro ⁇ tors can therefore manually by an operator, such as a mechanic, carried.
  • the diagnosis can also take place under difficult installation conditions of the engine, as are frequently the case, for example, in the case of door drive systems.
  • a manual movement of a motor coupled to the engine load in the case of a door drive system ⁇ eg manually moving the door or Mosflü- gels.
  • a small motor movement and steps a) to d) are used when the motor coasting after separation of the phase windings of a power supply or a shutdown of the power supply.
  • an evaluable induced voltage in the phase windings is already given at a few single-digit percent of rated speed.
  • the sensor is a magnetic sensor with a high linearity, fractions of a sufficient electrical rotation for the diagnosis and beispielswe for the determination of a calibration value.
  • the inventive method provides that the phases ⁇ windings are not energized, it can also be applied in production for the diagnosis of the engine where a power supply is often not available. It can also be used to complete the assembly and wiring of the drive system as a test step before the actual electrical ⁇ rule to check the correctness of the cable connections between the engine, a drive control and the sensor for determining the position of the rotor. It is particularly advantageous that the diagnosis can be made by a purely passive method without controlling any power elements (eg power output stages) of a power supply. Furthermore, only one voltage measurement is provided on the phase windings. A current measurement on the phase windings, however, is not necessary and not pre ⁇ see. The diagnosis can thus be very flexible, simple and inexpensive.
  • the drive system is operated in normal operation for driving the motor and in a diagnostic operation for diagnosing the drive system, wherein in normal operation, the rotor is powered by a supply of the phase windings and wherein in the diagnostic operation the above-described steps a) to d) are performed.
  • the drive system thus has in addition to the normal operation even a diagnostic mode in which the effects and advantages described in connection with the above-described ⁇ nen steps a) to d) can also be obtained.
  • a transition from normal operation into the diagnostic mode, and possibly also automatically back to the normal operating mode can automatically take place. drifted, done.
  • the rotation of the rotor in the diagnostic mode in step a) can for example be done manually by a person.
  • the rotation of the rotor is automated by accelerating and then tumbling of the rotor.
  • a condition monitoring system Conditon Monitoring System
  • an error in the rotor position angle to be compensated or eliminated beneficial in step c) by measurement of the induced voltages.
  • Errors caused by the measurement of the induced voltages are often generated by a frequency-dependent behavior of the measuring device. This frequency-dependent behavior manifests itself above all in the case of a movement of the rotor with changing rotational speed, as is the case, for example, when the rotor is rotated manually or when the rotor wobbles.
  • a dead time compensation of the sensor signals and / or a run time compensation or a frequency response correction of the value of the space vector angle preferably take place here.
  • dead time compensation dead times of the sensor or in the subsequent signal processing, eg due to calculation cycles, can be compensated.
  • runtime compensation or frequency response correction speed-dependent phase rotations of the measured induced voltages, which in practice result from low-pass filtering, can be compensated.
  • the determination of the space vector angle can be independent of the speed.
  • Based on the determined difference in the value of the rich ⁇ processing and / or the rotational speed of the two angles may be for an open, short circuit, faulty connection to a Ka ⁇ belitati between a drive controller and the motor, a faulty connection of cable connection between the drive controller and the sensor, an error or measurement inaccuracies in the sensor and / or a faulty
  • a message may then be output when the detected difference in the value, the direction and / or the rotational speed of the two angles exceeds a predetermined limit.
  • From a difference in the direction of rotation of the two angles is preferably closed to an opposite permutation of individual engine or sensor phases. From a difference in the rotational speed of the two angles can in turn be concluded on a fault or a measurement inaccuracy of the sensor.
  • an adjustment value for the rotor position angle determined by the sensor is derived from the difference in the value, the direction and / or the rotational speed of the two angles. This is preferably done in the manufacture of the engine. The equivalent value can then be stored in a drive control and used in the control and / or regulation of the motor for a correction of the rotor position angle determined by the sensor.
  • ⁇ from a over a period (ie, a complete electrical or mechanical rotation of the rotor)
  • the space vector angle can be calculated particularly simply by a Clarke transformation and subsequent polar transformation of the voltages induced in the phase windings.
  • the Clarke transformation is well known to those skilled in the vector control of three-phase machines and serves to convert three-phase quantities with the axes u, v, w into a simpler two-axis coordinate system with the axes a, b.
  • the polar transformation is likewise well known to the person skilled in the art and is used to convert the Cartesian coordinates obtained by the Clarke transformation into polar coordinates.
  • a drive system in particular a door drive system, has an electric motor, in particular a synchronous motor, with a stator with phase windings and with a permanent magnetically excited rotor and a motor Sensor for determining a position of the rotor. It also has:
  • a measuring device which is designed to gleichzeiti ⁇ gen measuring by a rotation in the phase windings and the induced voltages signals produced by the sensor
  • a computing device which is configured to determine a space vector angle of the induced voltages and ei ⁇ nes rotor position angle from the signals generated by the sensor ⁇ Sig nal and
  • comparing means for comparing the angle of the space vector with rotor angle position and determining a Un ⁇ ter Kunststoffes in a value of a direction and / or a rotational speed of the two angles on the diagnosis of the on ⁇ drive system.
  • FIG. 1 shows a schematic representation of a synchronous motor with a permanent magnetically excited rotor
  • FIG 3-7 exemplary installation situations for fiction, ⁇ contemporary door drive systems
  • FIGS. 9-11 show examples of a diagnosis of the drive system of FIGS. 1 and 2.
  • FIG. 1 shows a basic structure of an electric motor 2, which is used in a drive system 1 according to the invention shown in FIG 2.
  • the motor 2 is preferably designed as a synchronous motor and has, in the illustrated exemplary example a stator 3 with three ver at 120 ° ⁇ next phase windings 4, 5, 6.
  • the rotor 7 of the motor 2 has a permanent magnet 8.
  • the motor 2 has a rotor position sensor 9, for example a magnetic sensor, for determining the position of the rotor 7. If the rotor position sensor 9 is a magnetic sensor or a magnetic transmitter, then it is typically located directly above the axis of rotation of the rotor 7.
  • Such a motor 2 is known in principle to a person skilled in the art and can be present in many embodiments.
  • the rotor 7 may also have a plurality of magnets or a magnet with a plurality of poles.
  • FIG 2 shows a schematic representation of a drive system according to the invention, which - as is explained in FIG 3 - FIG 7, preferably as a door drive system is used.
  • the drive system 1 comprises an engine explained in conjunction with FIG 1 2 and a drive control unit 10, the egg ⁇ ne power supply 11 and a motor control unit 13 comprises.
  • the power supply 11 comprises a power converter 12, shown in simplified form in FIG. 2, which if necessary is connected to a power supply via an upstream transformer (not shown) and / or a rectifier.
  • the sensor 9 is used to determine the position of the rotor of the motor 2, not shown, and is preferably formed before ⁇ as a magnetic absolute encoder with high linearity.
  • a separator 14 for example in the form of a three-phase switch, the phase windings 4, 5, 6 can be separated from the power supply 11.
  • the drive system 1 is a door drive system.
  • the motor 2 is then used to open or Closing doors or door wings, for example in an elevator, on a platform or on a machine tool.
  • FIG. 3 to FIG. 7 show exemplary installation situations for an elevator door drive system.
  • FIG 3 shows an elevator car 21 at its front ⁇ page 22 a door opening 23rd
  • a door opening 23rd On the front ⁇ side 22 two equal, opposite movable door wings 24, 25 are arranged.
  • the opening and closing direction of the door wings 24, 25 is denoted by 26.
  • a in FIG 4 in a front view and in FIG 5, shown in a view from below of first door drive system 27 includes a drive control unit 10, a motor 2 and the engine 2 on the output side downstream miter gear 29.
  • the rotation ⁇ axis of the engine 2 runs in the opening - and
  • Closing direction 26 and the output side free end of the shaft of the bevel gear 29 is perpendicular to the opening and closing direction 26.
  • a drive pinion attached to ⁇ drive wheel or pulley 30 or the like.
  • the pulley 30 performs a tough elastic toothed belt 32, which transmits the driving force of the motor 2 to the door 24, 25.
  • a rack or a fla ⁇ ches cable for use instead of the toothed belt 32nd
  • a drive control device 10 and a motor 2 which are perpendicular to the direction of movement 26 of the door leaves 24, 25 one behind the other the head carrier 28 are attached.
  • the axis of rotation of the motor 2 is perpendicular to the opening and closing direction 26 of the door leaf 24, 25 and is also perpendicular to the front side 22 of the elevator car 21.
  • the pulley 30 is attached on the output side of the motor 2, the pulley 30 is attached.
  • the engine control unit 13 comprises according to FIG 2 for the Bestim ⁇ mung the rotor position angle signal acquisition 40 for the Ro ⁇ torlagesensor 9 and an angle determination 41 for determining the rotor position angle yel from the signals of the encoder 9.
  • ⁇ is preferably to increase the accuracy of the angular Determined ⁇ ment 41 is still a TotZeitkompensation 42 for the compensation of dead times in the detection of the sensor signals in the signal detection 40 available.
  • the drive control unit 10 furthermore has voltage taps 44 at the ends of the phase windings 4, 5, 6 for detecting the voltages Uu, Uv, Uw of the phase windings 4, 5, 6, each having a low-pass filter 45 connected therein.
  • the low-pass filters 45 are connected on the output side to an analog / digital converter 46 of the motor control unit 13 and supply it with the low-pass filtered voltage signals Utp_u, Utp_v, Utp_w.
  • the motor control unit 13 has a component 47 for Clarke transformation. The resulting from the digitized
  • Voltage signals Utp_u, Utp_v, Utp_w determined by the transformation into a two-axis Cartesian coordinate system voltages Ua, Ub are supplied to a component 48 for polar transformation and determined by converting the Cartesian coordinates in polar coordinates, an amplitude Uab and an angle yab of a space vector.
  • the determination of the amplitude Uab and the space vector angle is to increase the accuracy Yab another Frequenzgangkom ⁇ pensation 49 for compensating for phase shifts and thus depends on the speed of different running times of the signals Utp_u, Utp_v, Utp_w due to the low-pass filters 45 present.
  • the engine control unit 13 furthermore has a comparison device 50 for comparing the space vector angle yab with the rotor position angle yel and for determining a difference in a value, a direction and / or a rotational speed of the two angles and for generating a diagnostic information D for the drive system 1.
  • a comparison device 50 for comparing the space vector angle yab with the rotor position angle yel and for determining a difference in a value, a direction and / or a rotational speed of the two angles and for generating a diagnostic information D for the drive system 1.
  • Diagnoseda ⁇ th (such as the diagnostic information D) may be transmitted 51 to a superior condition monitoring system (Conditon Monitoring System).
  • a component 52 for determining an average difference between the value and / or the rotational speed of the two angles e.g.
  • a switching device 53 is used to switch the drive control of a normal operation for driving the Mo ⁇ sector 2 in a diagnostic operation for diagnosing the Antriebssys ⁇ tems 1 and back, wherein in the normal operation of the rotor 7 by feeding the phase windings 4, 5, 6 with power the power supply 11 is driven and wherein in the diagnostic operation explained in connection with FIG 8 Diag ⁇ nose is performed.
  • the switching can be carried out automatically by the switching device 53 when it fulfills predetermined criteria stored in the switching device 53, in particular after a predetermined number of operating hours of the drive system 1 have elapsed.
  • the switching ⁇ device 53 may also be connected to an operating element 54 of the drive control unit 10, such as a button, via the manually by an operator, such as a fitter, a switching command is detected.
  • the taps 44, low-pass filters 45 and the analog / digital converter 46 and the signal detection 40 thus form a measuring device, which is designed for the simultaneous measurement of induced by rotation of the rotor 7 in the phase windings 4, 5, 6 voltages and the sensor 9 generated signals.
  • FIG. 8 shows schematically a flow chart of a method sequence 60 according to the invention for the diagnosis of the drive system 1.
  • step 61 can be skipped.
  • the rotor 7 is rotated without supplying the phase windings 4, 5, 6 with power of the power supply 11.
  • it is manually rotated by an operator. This can be achieved, for example, by a movement of one of the door leaves 24, 25 in the opening / closing direction 26 (see FIG. 3).
  • a third step 63 the measured by the magnets 8 in the Pha ⁇ senwicklept 4, 5, 6 induced voltages Uu, Uv, Uw and the signals S generated by the sensor 9 during rotation of the rotor 7 at the same time.
  • a fourth step 64 the space vector angle yab from the voltages Uu, Uv, Uw induced during the rotation and the rotor position angle yel are determined from the sensor signals S generated by the sensor 9 during the rotation.
  • the engine control unit 13 For this purpose, are detected by the engine control unit 13 by means of Sig ⁇ acquisition time 40, the sensor signals S, through the dead Time compensation 42 compensated for a dead time and in the angular determination 41 of the rotor position angle yel ermit ⁇ determined.
  • the voltages Uu, Uv, Uw induced in the phase windings 4, 5, 6 are detected by the motor control unit 13 via the voltage taps 44, filtered by the low-pass filters 45 and the low-pass filtered voltages Utp_u, Utp_v, Utp_w are fed to the analog / digital converter 46 where they are digitized.
  • the amplitude Uab and the space vector angle yab are then determined by the component 47 for Clarke transformation and the component 48 for polar transformation.
  • Fre ⁇ quenzgangkompensation 49 a compensation of phases takes place sendrehungen and thus depends on the speed of different
  • a fifth step 65 the space vector angle determined during rotation at a certain time is yab
  • the space vector angle yab and the rotor position angle yel are supplied to the comparator 50 and from this a diagnostic information D is generated on the basis of the determined difference.
  • the space vector 70 of the induced voltage with the associated space vector angle yab and the rotor position 71 with the associated rotor position angle yel are shown by way of example in FIG.
  • a motor constant may also determined from the amplitude of the space vector Uab 70 and its Drehge ⁇ speed, with a predetermined value and closed in a deviation on a reduced engine power or a damaged engine.
  • a balance ⁇ for the rotor position angle yel determined by the sensor 9 are derived .
  • This adjustment value is then stored in the normal operation of the engine 2 the drive control unit 10 and used in the control and / or regulation of the motor 2 for a correction of the determined by the sensor 9 rotor position angle Yel.
  • the derivation of the adjustment value ⁇ is carried out as in ⁇ using the component 52 for determining an average difference from a over a period (ie, a complete electrical or mechanical rotation of the rotor) determined average difference between the angle values.
  • the amplitude Uab of the space vector 70 can be supplied and serve to enable the comparison of the angle yel, yab or to enable the determination of the time average in the component 52. In this way it can be ensured that a minimum value of the phase voltages is present for this purpose.
  • the method sequence shown in FIG. 8 can also be used in the context of the operation of the drive system 1 in a diagnostic mode for the diagnosis of the drive system.
  • ⁇ means of the switching device 53 is the Antriebssteu ⁇ tion of a normal operation for driving the motor 2, in which the rotor 7 by a supply of the phase windings 4, 5, 6 is driven with power of the power supply 11, in a diagnostic operation for diagnosing the drive system 1, and also switched back again.
  • the diagnosis explained in connection with FIG. 8 is carried out.
  • the impetus for switching occurs either automatically ⁇ by the switching device 53 or manually by an operator by means of the control element 54th
  • a display unit 58 eg, a display
  • diagnostic data is then transmitted to the state monitoring system 51 and can be analyzed there for further purposes.
  • the result of the diagnosis shown on the display unit 58 at ⁇ or to the condition monitoring system 51 übermit- telt be.
  • the result of the diagnosis such as a determined adjustment value can also be used in the drive control device 10 for operating the on ⁇ drive system first
  • a message is output by the motor control 13 (eg visually, acoustically or by an information to the condition monitoring system 51) if the determined difference in the value, the direction and / or the rotational speed of the two angles exceeds a predetermined limit and thus, an urgent need (Fehlerbesei ⁇ actuation, maintenance, installation correction, ect.) consists.

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

Abstract

L'invention concerne le diagnostic d'un système d'entraînement (1), en particulier d'un système d'entraînement de porte, qui comprend un moteur électrique (2), de préférence un moteur synchrone, pourvu d'un stator (3) ayant des enroulements de phase (4, 5, 6) et d'un rotor (7) à excitation magnétique permanente ainsi qu'un capteur (9) servant à déterminer la position du rotor (7), ledit diagnostic étant effectué selon l'invention facilement et économiquement avec les étapes suivantes consistant à : a) faire tourner le rotor (7) sans alimentation des enroulements de phase (4, 5, 6) avec un courant, de préférence faire tourner manuellement le rotor (7) ou faire tourner le rotor (7) par mise en roue libre après accélération préalable, b) mesurer simultanément pendant la rotation les tensions induites par la rotation dans les enroulements de phase (4, 5, 6) et les signaux générés par le capteur (9), c) déterminer un angle de vecteur spatial (γab) des tensions induites pendant de la rotation et déterminer un angle de position de rotor (γel) à partir des signaux générés par le capteur (9) pendant la rotation, d) comparer l'angle de vecteur spatial (γab) déterminé pendant la rotation avec l'angle de position de rotor (γel) déterminé pendant la rotation et déterminer une différence de valeur, de direction et/ou de vitesse de rotation des deux angles pour effectuer le diagnostic du système d'entraînement (1).
EP15733398.0A 2014-06-30 2015-06-24 Diagnostic d'un système d'entraînement et système d'entraînement Withdrawn EP3129793A1 (fr)

Applications Claiming Priority (2)

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DE102014212554.5A DE102014212554A1 (de) 2014-06-30 2014-06-30 Diagnose eines Antriebssystems sowie Antriebssystem
PCT/EP2015/064263 WO2016001037A1 (fr) 2014-06-30 2015-06-24 Diagnostic d'un système d'entraînement et système d'entraînement

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CN (1) CN106471729A (fr)
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DE102014212554A1 (de) 2015-12-31
CN106471729A (zh) 2017-03-01

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