EP3363113A1 - Procédé et dispositif de détermination de la position de rotors dans un système avec plusieurs machines électriques - Google Patents

Procédé et dispositif de détermination de la position de rotors dans un système avec plusieurs machines électriques

Info

Publication number
EP3363113A1
EP3363113A1 EP16763268.6A EP16763268A EP3363113A1 EP 3363113 A1 EP3363113 A1 EP 3363113A1 EP 16763268 A EP16763268 A EP 16763268A EP 3363113 A1 EP3363113 A1 EP 3363113A1
Authority
EP
European Patent Office
Prior art keywords
rotor
electric machine
rotor position
parameter
determined
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Withdrawn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
EP16763268.6A
Other languages
German (de)
English (en)
Inventor
Henning Strauss
Oliver Rauch
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.)
Volkswagen AG
Original Assignee
Volkswagen AG
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 Volkswagen AG filed Critical Volkswagen AG
Publication of EP3363113A1 publication Critical patent/EP3363113A1/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Withdrawn legal-status Critical Current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
    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
    • H02P5/56—Speed and position comparison between the motors by electrical means

Definitions

  • the present invention relates to a method and apparatus for rotor position detection in a multiple electric machine system, i. a system with multiple electrical
  • Machines for example, several electric motors, their torque on one
  • the determined rotor positions of the electrical machines are used for controlling and / or regulating the systems.
  • Known systems for rotor position determination in a multiple electric machine system are characterized by the use of a rotation angle sensor or a position sensor for each electrical machine, so that for each electric machine, the position position of a rotor, for example relative to a stator, can be detected by a position sensor.
  • the rotor position data is used to control and / or regulate the system.
  • the use of one sensor per machine is characterized by a high degree of control and / or regulation quality, but also involves high costs and a high cost
  • Object of the present invention is to at least partially take into account the problem described above.
  • the method according to the invention has the following steps:
  • the rotor position of a rotor of the at least one further electric machine is determined according to the invention based on the rotor position of the at least one rotor of the first electric machine and the at least one determined parameter of the at least one further electrical machine.
  • the rotor position is preferably detected relative to a stator of an associated electric machine.
  • the first and / or the at least one further electric machine are preferably designed in each case as a three-phase synchronous machine, for example as a corresponding electric motor.
  • the present invention is not limited thereto.
  • the first and / or the at least one further electric machine are designed as a machine with an arbitrary number of phases.
  • the method according to the invention is preferably carried out for rotor position determination in a system with speed-synchronous or substantially speed-synchronous electrical machines, but is not limited thereto.
  • the rotor position of the rotor of the at least one further electric machine is preferably not detected directly, ie, the use of a corresponding position sensor or position sensor can be dispensed with here.
  • the at least one parameter is preferred in the sense of the present invention as at least one operating parameter of at least to understand another electric machine.
  • a sensor such as a SIN / COS encoder or a resolver for continuously determining a rotor position is to be understood as the position sensor according to the invention.
  • the rotor position of the rotor of the at least one further electric machine for the near future can be roughly derived or determined.
  • the determination of the rotor position of the rotor of the at least one further electrical machine can be determined permanently.
  • the rotor position of all rotors can be determined in the system with a reduced number of position sensors. It is thus possible, for example, to determine a plurality of rotor positions of a corresponding plurality of rotors in electric machines by means of only one single position sensor, by means of which the rotor position of the rotor of the first electric machine is continuously detected.
  • less and less position sensors are always required as rotors.
  • the cost of the unnecessary position sensors can be saved.
  • the fact that fewer position sensors are needed the required space can be reduced in the system. Nevertheless, it is possible by the present method, in spite of dispensing with position sensors to achieve a high control quality over the entire speed range of the respective electrical machines.
  • the parameter determination device preferably has one or more sensors, by means of which, in particular, operating parameters of the at least one further electrical machine can be determined.
  • the parameter determination device for example, to a converter via which operating parameters such as
  • Phase currents, pulse patterns and / or a traction network voltage can be obtained.
  • the method according to the invention can be used, for example, in motor vehicles in which the summation of the torques takes place, for example, via two electrically driven axles or shafts via the roadway.
  • Machine of a wave can be determined here, for example, directly via a position sensor, wherein the rotor position of a second electric machine of the other wave can be determined by the method according to the invention.
  • the rotor position is detected by a respective position sensor of a plurality of rotors of a plurality of associated electrical machines.
  • a respective position sensor of a plurality of rotors of a plurality of associated electrical machines By providing multiple position sensors on multiple rotors, ie, in each case a position sensor on an associated rotor, the rotor position of the rotor of the at least one further electric machine can be determined even more precisely with reduced computational effort with respect to the system.
  • the rotor position of the rotor of the at least one further electric machine can be determined on the basis of the rotor positions of the associated electrical machines detected by means of the respective position sensors.
  • By directly detecting a plurality of rotor positions by means of corresponding position sensors it is possible to achieve an even more precise and faster determination of the rotor position of the rotor of the at least one further electrical machine.
  • At least one parameter is determined by a plurality of the electrical machines. That is, at least one parameter can be determined in each case from an electrical machine of a plurality of electrical machines.
  • Machine or the rotor positions of rotors of other electrical machines can be determined even more precisely.
  • Control pattern for the power electronics of at least one other electrical machine is determined.
  • a drive pattern is to be understood as meaning, in particular, methods and measures for controlling the power electronics of the at least one further electrical machine, which are defined, for example, by defined current and / or voltage profiles or specific switching sequences.
  • a phase current and a phase voltage of the at least one further electrical machine are determined as the at least one parameter.
  • the parameter determination device can for this purpose have a current sensor for detecting the respective phase current.
  • the phase voltage can either be measured directly or derived from a pulse width modulated drive signal for the at least one further electrical machine.
  • the rotor position directly or indirectly via the
  • Inductances of the at least one further electric machine calculated and derived from the corresponding rotor position. From this calculated rotor position of the at least one further electric machine and the detected rotor position of the first electric machine, a correction angle can be determined with the aid of which the rotor position of the at least one further electric machine can be determined from the detected or measured rotor position of the first electric machine. Furthermore, it is possible according to the invention for the at least one parameter to be one
  • Rotor speed of the at least one further electrical machine is detected.
  • the slip of the at least one further electrical machine relative to the first electrical machine can be detected, and thus the rotor position of the at least one further electrical machine can be determined.
  • a correction angle can be determined with the aid of which the rotor position of the at least one further electrical machine can be permanently determined with precision.
  • the parameter determination device may for example comprise a speed sensor.
  • the at least one parameter is determined by an incremental encoder, for example a speed incremental encoder, or a Hall sensor, which generates a signal at one or more fixed rotational angles of the at least one further electrical machine.
  • an incremental encoder for example a speed incremental encoder, or a Hall sensor, which generates a signal at one or more fixed rotational angles of the at least one further electrical machine.
  • a correction angle of the at least one further electric machine can be determined exactly at continuously recurring times, and thus the rotor position of the at least one further electric machine can be permanently determined with precision.
  • a correction angle of a rotor of the at least one further electrical machine is determined as the at least one parameter.
  • the angle of correction is to be understood as meaning the angle which describes the difference between a rotor position angle of the first electric machine and the at least one further electrical machine. It is influenced by the slippage and the play of the first electric machine and the at least one further electric machine.
  • the rotor position of the rotor of the at least one further electric machine can be determined, for example, based on the rotor position of the rotor of the first electric machine and the correction angle of the rotor of the at least one further electric machine, wherein the at least one further electric machine after determining the correction angle
  • the at least one electric machine can first be driven or energized in such a way that it rotates by utilizing the slip of a torque transfer to a known correction angle.
  • the now known correction angle can be adopted as the initial value.
  • the known correction angle of the rotor of the at least one further electrical machine is stored and taken over as the initial value when the system or the at least one further electric machine is switched on again.
  • Correction angle of the rotor of the at least one further electric machine the fast and correct availability of the correction angle can be ensured.
  • this machine can be operated for the first revolution according to a method of sensorless control until the rotor position has been determined and thus the correction angle to the position sensor first machine can be determined.
  • a system including a plurality of electric machines that transmit their torque to a common output, the system having a controller configured to perform the method as set forth above.
  • the system according to the invention brings the same advantages as have been described in detail with reference to the device according to the invention.
  • the system preferably has a position sensor for detecting the rotor position of at least one rotor of a first electric machine and a
  • Parameter determining device for determining at least one parameter of at least one further electrical machine.
  • a controller which is designed to carry out the method described above and / or to control and / or regulate the above system.
  • the controller preferably has a rotor position determining device for determining the rotor position of a rotor of the at least one other electric machine based on the rotor position of the at least one rotor of the first electric machine and the at least one determined parameter of the at least one further electric machine.
  • Figure 1 is a block diagram showing a system according to an embodiment of the present invention.
  • FIG. 2 is a flow chart illustrating a method according to an embodiment of the present invention.
  • the first electric machine 20 has a first rotor 22 and a first stator 21, wherein the first rotor 22 is arranged to be movable or rotatable relative to the first stator 21.
  • the second electric machine 30 has a second rotor 32 and a second stator 31, wherein the second rotor 32 is arranged to be movable or rotatable relative to the second stator 31.
  • the third electric machine 40 has a third rotor 42 and a third stator 41, wherein the third rotor 42 is arranged to be movable or rotatable relative to the third stator 41.
  • the electric machines 20, 30, 40 are designed according to the embodiment shown in Fig. 1 as a three-phase synchronous machines.
  • the illustrated in FIG. 1 electrical machines 20, 30, 40 transmit their torque to a common output 50 in terms of torque addition. As a result, a correspondingly high torque can be achieved via the output 50.
  • the system 10 further includes a position sensor 23 for detecting the rotor position of the first rotor 22 of the first one electrical machine 20 on.
  • the system 10 illustrated in FIG. 1 also has two parameter determination devices 60, wherein a parameter determination device 60 is designed to determine at least one parameter of the second electrical machine and the other parameter determination device 60 is designed to determine at least one parameter of the third electrical machine.
  • Parameter determining device 60 for example, a drive pattern for the power electronics of the respective electric machine 30, 40, a phase current or
  • Phase currents of the respective electric machine 30, 40, a rotor speed of the respective electric machine 30, 40 and / or a correction angle of a rotor 32, 42 of the respective electric machine 30, 40 are determined.
  • the system shown in Figure 1 also includes a controller 70 configured to control the system. More specifically, the controller 70 is provided to process the signals from the parameter detecting devices 60 and the position sensor 23 and determine therefrom the rotor position of the second rotor 32 of the second electric machine and the rotor position of the third rotor 42 of the third electric machine. More specifically, the controller 70 is configured and arranged by the same based on the rotor position of the first rotor 22 of the first electric machine 20, which is detected by the position sensor 23, and at least one determined parameter of the second electric machine 30 and at least one determined parameter third electrical machine 40, the exact rotor position of the second rotor 32 and the third rotor 42 can be determined.
  • step S1 the rotor position of the first rotor 22 of the first electric machine 20 is detected by the position sensor 23 for this purpose.
  • step S10 and the following steps, which may be executed in parallel to or after step S1 parameters of the second electric machine 30 are detected by the parameter determination device 60.
  • the second rotor 32 is initially driven in step S10 by means of a phase current and optionally associated pulse width modulation. Due to slippage or play, the rotors 22, 32 and 42 can thereby rotate to different degrees.
  • step S1 1 is now detected by recognizing a known rotor position based on the results of Parameter determining devices 60, for example, by a Hall sensor or a Drehiereinkrementalgeber, a correction angle determined, which determines an angular difference between the known rotor position of the rotor 32 and the sensor 23 determined by
  • Rotor position of the rotor 22 corresponds exactly at this time.
  • the correction angle can still be filtered by a low-pass filter.
  • the rotor position of the second rotor 32 of the second electric machine 30 can now be determined based on the rotor position of the first rotor 22 and the determined correction angle.
  • step S10 first the second rotor 32 can be driven by means of a phase current and optionally associated pulse width modulation.
  • the rotors 22, 32 and 42 rotate differently wide.
  • step S1 1 the ratio of inductances Ld / Lq for the second rotor 32 is determined based on the phase currents by the parameter determination device 60 and the pulse width modulation determined.
  • step S12 the rotor position of the second rotor 32 is determined based on the phase currents and the phase voltages, alternatively based on the ratio Ld / Lq as a function of the phase currents, and then determines a correction angle, which the angular difference between the detected rotor position of the rotor 32 and the determined by sensor 23 rotor position of the rotor 22 corresponds. Finally, the correction angle can optionally be filtered by a low-pass filter.
  • step S13 the rotor position of the second rotor 32 of the second electric machine 30 can now be determined again based on the rotor position of the first rotor 22 and the determined correction angle.
  • Steps S20 to S23 for determining the rotor position of the third rotor 42 of the third electric machine 40 essentially correspond to the steps S10 to S13 in FIG

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

La présente invention concerne un procédé de détermination de la position de rotors dans un système (10) avec plusieurs machines électriques (20, 30, 40) qui transmettent leur couple sur un dispositif entraîné commun (50). Le procédé comprend les étapes suivantes : la détection de la position d'au moins un rotor (22) d'une première machine électrique (20) par un capteur de position (23) et la détermination d'au moins un paramètre d'au moins une autre machine électrique (30, 40) par un dispositif de détermination de paramètres (60), la position d'un rotor (32, 42) de la ou des autres machines électriques (30, 40) étant déterminée à l'aide de la position du ou des rotors (22) de la première machine électrique (20) et du ou des paramètres déterminés de la ou des autres machines électriques (30, 40). La présente invention concerne en outre un système (10) avec plusieurs machines électriques (20, 30, 40) qui transmettent leur couple sur un dispositif entraîné commun (50). Le système comprend un dispositif de commande (70) qui est agencé pour exécuter le procédé selon l'invention. La présente invention concerne par ailleurs un dispositif de commande (70) qui est agencé pour exécuter le procédé selon l'invention et/ou pour commander ou pour réguler le système (10) selon l'invention.
EP16763268.6A 2015-10-16 2016-09-09 Procédé et dispositif de détermination de la position de rotors dans un système avec plusieurs machines électriques Withdrawn EP3363113A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015117702.1A DE102015117702A1 (de) 2015-10-16 2015-10-16 Verfahren und Vorrichtung zur Rotorlageermittlung in einem Mehrfachelektromaschinensystem
PCT/EP2016/071376 WO2017063800A1 (fr) 2015-10-16 2016-09-09 Procédé et dispositif de détermination de la position de rotors dans un système avec plusieurs machines électriques

Publications (1)

Publication Number Publication Date
EP3363113A1 true EP3363113A1 (fr) 2018-08-22

Family

ID=56893985

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16763268.6A Withdrawn EP3363113A1 (fr) 2015-10-16 2016-09-09 Procédé et dispositif de détermination de la position de rotors dans un système avec plusieurs machines électriques

Country Status (4)

Country Link
EP (1) EP3363113A1 (fr)
CN (1) CN108450053A (fr)
DE (1) DE102015117702A1 (fr)
WO (1) WO2017063800A1 (fr)

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DE4437793C2 (de) 1994-10-21 1998-05-07 Agie Ag Ind Elektronik Verfahren und Vorrichtung zur Steuerung eines Elektromotors
JP2000184784A (ja) * 1998-12-17 2000-06-30 Toshiba Corp Ｐｗｍインバータ装置
JP2002354871A (ja) * 2001-05-25 2002-12-06 Mitsubishi Electric Corp 電動パワーステアリング装置
US7999496B2 (en) * 2007-05-03 2011-08-16 GM Global Technology Operations LLC Method and apparatus to determine rotational position of an electrical machine
FR2921310B1 (fr) * 2007-09-20 2011-04-29 Michelin Soc Tech Architecture materielle redondante pour l'etage de signaux de commande d'un systeme de freinage d'un vehicule dont toutes les roues sont reliees chacune a au moins une machine electrique rotative
DE102008042201B4 (de) * 2007-09-27 2023-12-21 Baumüller Nürnberg GmbH Elektromotorischer Verspannmechanismus und Startmethodik dafür
EP2043251B1 (fr) * 2007-09-27 2010-05-19 Baumüller Nürnberg Gmbh Agencement d'électromoteur réglé pour un mécanisme d'haubanage
DE102007049788A1 (de) 2007-10-17 2009-04-23 Continental Automotive Gmbh Verfahren und Einrichtung zur elektronischen Kommutierung eines Motors
DE102008012471A1 (de) * 2008-03-04 2009-09-17 Siemens Aktiengesellschaft Antrieb mit durch Stromzwischenkreisumrichter gespeisten Drehstromsynchronmaschinen
CN101340165A (zh) * 2008-04-25 2009-01-07 深圳职业技术学院 多电机同步控制系统
JP5195923B2 (ja) * 2008-12-24 2013-05-15 アイシン・エィ・ダブリュ株式会社 ハイブリッド駆動装置
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JP5622125B2 (ja) * 2011-06-03 2014-11-12 株式会社安川電機 多軸モータ駆動システム及び多軸モータ駆動装置
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Also Published As

Publication number Publication date
CN108450053A (zh) 2018-08-24
WO2017063800A1 (fr) 2017-04-20
DE102015117702A1 (de) 2017-04-20

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