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CN114007893A - Control system for an electric machine for generating a braking torque by means of an electric machine and method for operating a control system for an electric machine - Google Patents

Control system for an electric machine for generating a braking torque by means of an electric machine and method for operating a control system for an electric machine Download PDF

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Publication number
CN114007893A
CN114007893A CN202080046698.4A CN202080046698A CN114007893A CN 114007893 A CN114007893 A CN 114007893A CN 202080046698 A CN202080046698 A CN 202080046698A CN 114007893 A CN114007893 A CN 114007893A
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electric machine
current
generator
control system
generated
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Granted
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CN202080046698.4A
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CN114007893B (en
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S·保卢斯
F·森格布施
G·戈廷
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/36—Arrangements for braking or slowing; Four quadrant control
    • 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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor
    • H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by regenerative braking
    • 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
    • H02P6/24—Arrangements for stopping
    • 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
    • H02P2205/03—Power loop, i.e. comparison of the motor power with a power 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
    • 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
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

本发明提供一种用于电机（EM）的控制系统（10），所述控制系统用于通过所述电机（EM）在牵引驱动装置处产生制动力矩，所述控制系统包括控制装置（SE），其中，所述控制装置（SE）被设立用于：求取所述电机（EM）的转矩（BM）并且此后求取在相应的转矩（BM）下由所述电机（EM）所产生的发电机电流（Is）并且如此调节所述电机的发电机电流（Is），使得在所述牵引驱动装置的运动期间能够将所述电机（EM）的电功率（Pel）至少限制在预先确定的最小值之下。

Figure 202080046698

The invention provides a control system (10) for an electric machine (EM) for generating a braking torque at a traction drive by means of the electric machine (EM), the control system comprising a control device (SE ), wherein the control device (SE) is designed to determine the torque (BM) of the electric machine (EM) and then to determine the torque (BM) from the electric machine (EM) at the corresponding torque (BM). The generator current (Is) is generated and the generator current (Is) of the electric machine is adjusted in such a way that during the movement of the traction drive the electric power (P el ) of the electric machine (EM) can be limited at least to below a predetermined minimum value.

Figure 202080046698

Description

Control system for generating a braking torque by an electric machine for an electric machine and method for operating a control system for an electric machine
Technical Field
The invention relates to a control system for an electric machine for generating a braking torque by means of the electric machine and to a method for operating a control system for an electric machine.
Background
For electrically operated vehicles, the electric motor generates regenerative energy during movement of the electric vehicle, which is generated from kinetic energy of the vehicle. The generated regenerative energy is mostly transmitted as electric energy to loads and batteries in the vehicle. For the case that the battery is no longer able to receive energy due to it being fully charged, defective or not connected, the flow of energy towards the battery should be inhibited. In general, the electric motor itself cannot generate a braking torque, without the battery or the load being supplied with power.
On the other hand, in a longer downhill drive or in a drive with trailer loading, an additional braking torque of the machine may be required in order to be able to unload the brake system. If the electric motor itself is not capable of generating an additional braking torque, the conventional braking device must be designed to be very large.
DE 102010054452 a1 describes a brake control device for an electric vehicle, which calculates a target braking torque on the basis of the wheels. The brake adjusting device enables ABS adjustment. The brake adjustment device can include a battery for storing regenerated energy and generate a motor torque command based on the state of charge.
Disclosure of Invention
The invention provides a control system for an electric machine for generating a braking torque by means of the electric machine according to claim 1 and a method for operating a control system for an electric machine according to claim 10.
Preferred developments are the subject matter of the dependent claims.
The present invention is based on the idea of specifying a control system for an electric machine for generating a braking torque by means of the electric machine and a method for operating a control system for an electric machine in order to be able to generate a controlled braking torque by means of the electric machine even in the event of a defective, fully charged or disconnected battery of the vehicle, without electrical power being output or being able to be held within a predetermined value range. The mechanical brake can be relieved by this additional braking torque.
According to the invention, a control system for an electric machine for generating a braking torque at a traction drive by means of the electric machine comprises a control device, wherein the control device is designed to: the torque of the electric machine is determined, and the generator current generated by the electric machine at the respective torque is determined, and the generator current of the electric machine is then regulated in such a way that the electric power of the electric machine can be limited at least below a predetermined minimum value during the movement of the traction drive.
The control system is advantageously suitable for electric and hybrid vehicles. The electrical power which can be fed into the direct current circuit, for example, of a battery for the electric drive, can advantageously be kept below a specific value or at zero.
According to a preferred embodiment of the control system, the control device is set up to: the generator current is calculated as a function of the respective torque generated by the electric machine or is determined from a characteristic map relating to the respective rotational speed and the respective torque of the electric machine.
The braking torque can advantageously be generated by the electric machine if the electric power is zero or close to zero and the associated generator voltage is equal to zero or close to zero (below a predetermined limit value).
In accordance with a preferred embodiment of the control system, the control device comprises a power regulating device which is set up to generate the current phase angle of the generator current in such a way that the electric power of the electric machine can be limited below a predetermined minimum value or can be set to zero.
In accordance with a preferred embodiment of the control system, the control device comprises a current regulation device which is set up to: the respective determined rotational speed of the electric machine is supplied with the determined value for the generator current and the associated value of the current phase angle and is adjusted as a function of the determined rotational speed in such a way that a generator voltage and the associated voltage phase angle are generated in the electric machine, so that the electric power of the electric machine can be limited to below a predetermined minimum value or can be set to zero.
According to a preferred embodiment of the control system, the current phase angle and/or the voltage phase angle can be generated such that the cosine of the difference between the two phase angles is equal to zero.
According to a preferred embodiment of the control system, the phase angle between the generator current and the generator voltage is + 90 ° or-90 °.
In accordance with a preferred embodiment of the control system, the current regulation device is connected to the electric machine, and the generator current generated at the electric machine after regulation by the current regulation device can be applied to the current regulation device again as an input variable for the current regulation device.
According to a preferred embodiment of the control system, the control device is set up to: the generated electric power of the electric machine is determined from the generator current generated at the electric machine and/or from a value of the voltage phase angle, which is respectively associated with the generated generator current, and/or from a value of the generator voltage, which is respectively associated with the generated generator current, and is generated as an input variable for the power regulating device.
According to a preferred embodiment of the control system, the control device is set up to: the generator current that is maximally produced by the electric machine is determined and the maximum torque associated with this maximally produced generator current is determined and taken into account during the regulation.
According to the invention, in the method for operating a control system for an electric machine, the torque of the electric machine and the generator current generated by the electric machine at the respective torque are determined; and the generator current of the electric machine is set in such a way that during the movement of the traction drive, the electric power of the electric machine is limited at least below a predetermined minimum value, and a braking torque is generated at the traction drive by the electric machine.
According to a preferred embodiment of the method, the power regulation of the control device generates a current phase angle relative to the generator current in such a way that the electric power of the electric machine can be limited below a predetermined minimum value or can be set to zero.
According to a preferred embodiment of the method, the current regulation device receives for the respectively determined rotational speed of the electric machine the determined value for the generator current and the associated value of the current phase angle, and regulates the generator current as a function of the determined rotational speed in such a way that a generator voltage and the associated voltage phase angle are generated in the electric machine, so that the electric power of the electric machine can be limited below a predetermined minimum value or can be set to zero.
According to a preferred embodiment of the method, the current regulation device is connected to the electric machine and the generator current generated at the electric machine after regulation by the current regulation device is applied to the current regulation device again as an input variable for the current regulation device.
According to a preferred embodiment of the method, the control device determines the generated electric power of the electric machine from the generator current generated at the electric machine and/or from a value of the voltage phase angle, which is respectively associated with the generated generator current, and/or from a value of the generator voltage, which is respectively associated with the generated generator current, and generates the electric power as an input variable for the power regulating device.
The method can also be advantageously distinguished by the features already mentioned in connection with the control system and its advantages and vice versa.
Further features and advantages of embodiments of the present invention result from the following description with reference to the drawings.
Drawings
The invention is explained in more detail below with the aid of embodiments illustrated in the schematic drawings of the figures.
Wherein:
fig. 1 shows a schematic diagram of a control system for an electric machine according to an embodiment of the invention in an electric vehicle; and is
Fig. 2 shows a schematic block diagram of a control system according to another embodiment of the invention.
Detailed Description
In the drawings, like reference numbers can indicate identical or functionally identical elements.
Fig. 1 shows a schematic diagram of a control system for an electric machine according to an embodiment of the invention in an electric vehicle.
In an electric vehicle F or a hybrid vehicle, a traction drive T can be present, which can be driven by an electric machine EM. In addition to the mechanical brake, the electric machine can advantageously also generate a braking torque such that the battery is not charged by regenerative energy.
For this purpose, the generator voltage can be set equal or close to zero, so that the electrical power P can be convertedelHoldingIs close to or equal to zero. To enable this, the electric machine can be connected to the control system 10.
Fig. 2 shows a schematic block diagram of a control system according to another embodiment of the invention.
The control system 10 for the electric machine EM comprises a control device SE for generating a braking torque at the traction drive by the electric machine EM, wherein the control device SE is designed to: determining a torque BM of the electric machine EM and determining a generator current Is generated by the electric machine EM at the respective torque BM, and thereafter regulating the generator current Is of the electric machine such that an electrical power P of the electric machine EM can be adjusted during a movement of the traction driveelAt least below a predetermined minimum value.
The torque BM can be calculated as follows:
Figure DEST_PATH_IMAGE002
wherein, in the step (A),
np is the number of pole pairs of the machine, FM is the flux of the permanent magnets, Iq is the current in the direction that creates the torque, Ld is the inductance in the d direction, and Lq is the inductance in the q direction.
According to the adjustment of the usually used field orientation of the synchronous machine, the d direction is referred to as the field-forming direction and the q direction is referred to as the transverse direction or torque-forming direction.
The control device SE can be set up to: the rotational speed D of the electric machine EM Is determined, i.e., advantageously read from the monitoring of the operation of the electric machine, and a characteristic diagram KF for the generator current Is generated by the electric machine EM Is determined therefrom as a function of the rotational speed D (phase and current are a function of the rotational speed in this case).
The control device SE can be further set up to: calculating a current phase angle phi belonging to the generator current Is from the characteristic curve family KF according to the rotating speed DII.e. it is identified in which phase the current is in at the current rotor angle.
The control device SE can be set up to: the generator current Is calculated as a function of the respective torque BM generated by the electric machine EM or Is determined from a characteristic diagram KF relating to the respective rotational speed D and the respective torque BM of the electric machine EM.
The control device SE can comprise a power regulating device R, which is set up to: the current phase angle phi of the generator current Is thus generatedISo that the electric power P of the electric machine EMelCan be limited to below a predetermined minimum value or can be set to zero.
The control device SE can comprise a current regulation device StR, which can be set up to: for a correspondingly determined rotational speed D of the electric machine EM, the determined value for the generator current Is and the current phase angle phi are respectively receivedIAnd, depending on the determined rotational speed D, is set in such a way that a generator voltage Us and an associated voltage phase angle phi are generated in the electric machine EMUSo that the electric power P of the electric machine EMelCan be limited to below a predetermined minimum value or can be set to zero.
The phase angle phi of the currentIAnd/or a voltage phase angle phiUIt can be generated such that the cosine of the difference of the two phase angles is equal to zero. In this case, the electric power for the battery circuit (dc circuit) can be equal to zero.
Phase angle
Figure DEST_PATH_IMAGE004
Can be between the generator current Is and the generator voltage Us + 90 ° or-90 °, for example by
Figure DEST_PATH_IMAGE006
And also by
Figure DEST_PATH_IMAGE008
Enabling the electrical power to be equal to zero. In this way, advantageously only a loss power is generated, for example for field reduction or field enhancement. The magnetic field of the permanent magnet can be influenced by the magnetic properties of the statorField weakening or strengthening (the current of the stator obtains a positive (field strengthening) or negative (field weakening) contribution in the d-direction).
Thereby, can also be at
Figure 738949DEST_PATH_IMAGE008
A braking torque is generated so that the electric power can be equal to zero.
In this case, the generator voltage Us can advantageously be set equal to zero, and the generator current Is therefore regulated in the current regulation device StR in such a way that the electric power Is
Figure DEST_PATH_IMAGE010
Wherein
Figure DEST_PATH_IMAGE012
Wherein phi isUMICan be phiUPhi and phiIThe angular difference between them, and the two phase angles can be expressed in the direction of the field forming and the torque forming.
The adjustment of the current Is can be performed, for example, using a standard regulator with field-oriented adjustment or the like.
The current regulation device StR can be connected to the electric machine EM and, after regulation by the current regulation device StR, the generator current Is _ i generated at the electric machine EM can be applied to the current regulation device again as an input variable for the current regulation device StR.
Furthermore, the control device SE can be set up for the control system 10 to: the generator current Is _ i and/or the voltage phase angle phi generated by the generator current Is _ i generated in a corresponding control step at the operating electric machine EM and at its outputUAnd/or by a value of the generator voltage Us (which belongs to the regulator and which Is specific or calculated in order to set the electrical power to zero) which Is accordingly related to the generated generator current Is _ i, in order to determine the generated (in fact at the respective regulation) of the electrical machineOutput at the output in the saving step) electric power PelAnd generates the electric power as an input variable for the power regulating device LR.
The generation of the new input variable can be effected in the sense of a feedback control loop, advantageously using the current Is-i actually present at the electric machine EM in order to determine the actual instantaneous electric power of the electric machine EM and to determine the power P desired in relation to the desired powerelA difference of 0. Such a control loop can be realized by the control device SE. For this purpose, other variables, such as, for example, the generator voltage Us and its phase angle Φ u, can also be taken into account. For this purpose, the control device SE can be set up to: from the generator current Is _ i generated at the electric machine EM and/or from the voltage phase angle phiUAnd/or the generated electric power P of the electric machine Is determined from a value of the generator voltage Us which Is correspondingly related to the generated generator current Is _ ielI and to generate said electrical power as an input variable for the power regulating device LR for readjusting the phase of the generator current.
The control device SE can be set up to: the maximum generatable generator current Is _ max of the electric machine EM Is determined and the maximum torque BM _ max associated with this maximum generatable generator current Is _ max Is determined and taken into account during the regulation.
According to
Figure DEST_PATH_IMAGE014
The generator current can be calculated, where BM des is the torque desired by the vehicle control system or driver, omega is the electrical rotational speed, np is the number of pole pairs, and R is the (electric machine) resistance. In this case, the power loss at the stator resistance can be planned, which can be achieved
Figure DEST_PATH_IMAGE016
To be implemented.
Thus, the electric power P of the electric machine EMelCan be limited toBelow the previously determined minimum value or can be set to zero.
The electric machine can comprise an inverter, at which the respective modulation can be applied, for example, also using a converter element (I/O).
Using the predetermined minimum value ensures that sufficiently little power flows into the dc circuit for the battery, which however can be particularly advantageously equal to zero.
For the
Figure DEST_PATH_IMAGE017
It can then be derived, that,
Figure DEST_PATH_IMAGE019
is changed into Pel0 or at least remains below tolerable limits.
However, it is possible that deviations of these variables from specific variables may occur and that, as a result, a tolerable predetermined limit value can be set for the generated power (actually determined in the iteration step), and the power can then be kept below this limit value.
By adjusting the current, for example, by means of the current adjustment device StR, the torque of the electric machine can thus also be adjusted as a direct result.
By means of this adjustment, it is also possible to provide torques which generate no or hardly any vibrations in the drive train, i.e. shocks in the torques can be reduced or avoided.
Although the present invention has been fully described in the foregoing by way of preferred embodiments, it is not limited thereto but can be modified in various ways and methods.

Claims (14)

1.一种用于电机（EM）的控制系统（10），所述控制系统用于通过所述电机（EM）在牵引驱动装置处产生制动力矩，所述控制系统包括：1. A control system (10) for an electric machine (EM) for generating a braking torque at a traction drive by the electric machine (EM), the control system comprising: - 控制装置（SE），其中，所述控制装置（SE）被设立用于：求取所述电机（EM）的转矩（BM）并且求取在相应的转矩（BM）下由所述电机（EM）所产生的发电机电流（Is），并且此后如此调节所述电机的发电机电流（Is），使得在所述牵引驱动装置的运动期间能够将所述电机（EM）的电功率（Pel）至少限制在预先确定的最小值之下。a control device (SE), wherein the control device (SE) is designed to determine the torque (BM) of the electric machine (EM) and to determine the torque (BM) from the electric machine The generator current (Is) produced by the electric machine (EM) and thereafter adjusted in such a way that the electric power of the electric machine (EM) ( P el ) at least below a predetermined minimum value. 2.根据权利要求1所述的控制系统（10），其中所述控制装置（SE）被设立用于：计算与相应的由所述电机（EM）所产生的转矩（BM）相关的发电机电流（Is），或者由与所述电机（EM）的相应的转速（D）和相应的转矩（BM）相关的特性曲线族（KF）来求取所述发电机电流。2. The control system (10) according to claim 1, wherein the control device (SE) is set up to calculate the power generation in relation to the respective torque (BM) produced by the electric machine (EM) The generator current (Is) or the generator current is determined from a characteristic curve family (KF) as a function of the corresponding rotational speed (D) and the corresponding torque (BM) of the electric machine (EM). 3.根据权利要求1或2所述的控制系统（10），其中，所述控制装置（SE）包括功率调节装置（LR），所述功率调节装置被设立用于：如此产生所述发电机电流（Is）的电流相位角（Phi_I），使得所述电机（EM）的电功率（Pel）能够限制在所述预先确定的最小值之下或者能够设置为零。3. The control system (10) according to claim 1 or 2, wherein the control device (SE) comprises a power regulation device (LR) which is set up to generate the generator in this way The current phase angle (Phi_I) of the current (Is) so that the electrical power (P el ) of the electrical machine (EM) can be limited below the predetermined minimum value or can be set to zero. 4.根据权利要求3所述的控制系统（10），其中所述控制装置（SE）包括电流调节装置（StR），所述电流调节装置被设立用于：为所述电机（EM）的相应地所求取的转速（D）分别接收针对发电机电流（Is）的所求取的数值和所述电流相位角（Phi_I）的所属的数值并且根据所求取的转速（D）如此进行调节，使得在所述电机（EM）中产生发电机电压（Us）和所属的电压相位角（Phi_U），从而所述电机（EM）的电功率（Pel）能够限制在预先确定的最小值之下或者能够设置为零。4. The control system (10) according to claim 3, wherein the control device (SE) comprises a current regulation device (StR), which is set up for: a corresponding control of the electric machine (EM) The ascertained rotational speed (D) receives in each case the ascertained value for the generator current (Is) and the associated value of the current phase angle (Phi_I) and is adjusted in this way as a function of the ascertained rotational speed (D). , so that the generator voltage (Us) and the associated voltage phase angle (Phi_U) are generated in the electrical machine (EM), so that the electrical power (P el ) of the electrical machine (EM) can be limited below a predetermined minimum value Or can be set to zero. 5.根据权利要求4所述的控制系统（10），其中能够如此产生所述电流相位角（Phi_I）和/或电压相位角（Phi_U），使得这两个相位角的差的余弦等于零。5. The control system (10) according to claim 4, wherein the current phase angle (Phi_I) and/or the voltage phase angle (Phi_U) can be generated such that the cosine of the difference between these two phase angles is equal to zero. 6. 根据权利要求5所述的控制系统（10），其中在所述发电机电流（Is）与所述发电机电压（Us）之间的相位角（Phi_UM）为+ 90°或者- 90°。6. The control system (10) according to claim 5, wherein the phase angle (Phi_UM) between the generator current (Is) and the generator voltage (Us) is +90° or -90° . 7.根据权利要求3至6中任一项所述的控制系统（10），其中所述电流调节装置（StR）与所述电机（EM）相连接，并且在通过所述电流调节装置（StR）进行调节之后在所述电机（EM）上所产生的发电机电流（Is_i）能够重新作为用于所述电流调节装置（StR）的输入参量而加载在所述电流调节装置处。7. The control system (10) according to any one of claims 3 to 6, wherein the current regulating device (StR) is connected to the electric machine (EM) and is passed through the current regulating device (StR) ) after the regulation has been carried out on the generator current (Is_i) at the electric machine (EM) which can be applied to the current control device again as an input variable for the current control device (StR). 8.根据就参照权利要求3而言的权利要求7所述的控制系统（10），其中所述控制装置（SE）被设立用于：由在所述电机（EM）处所产生的发电机电流（Is_i）并且/或者由所述电压相位角（Phi_U）的相应地与所产生的发电机电流（Is_i）相关的数值并且/或者由所述发电机电压（Us）的相应地与所产生的发电机电流（Is_i）相关的数值来求取所述电机的所产生的电功率（Pel-i），并且将所述电功率产生作为用于所述功率调节装置（LR）的输入参量。8. The control system (10) according to claim 7 in relation to claim 3, wherein the control device (SE) is set up for: a generator current generated at the electric machine (EM) (Is_i) and/or by the corresponding value of the voltage phase angle (Phi_U) and the generated generator current (Is_i) and/or by the corresponding value of the generator voltage (Us) and the generated generator current (Is_i) The generated electrical power (P el -i) of the electric machine is determined from the value of the generator current (Is_i) and used as an input variable for the power regulator (LR). 9.根据权利要求1至8中任一项所述的控制系统（10），其中所述控制装置（SE）被设立用于：求取由所述电机（EM）最大能产生的发电机电流（Is_max）并且求取与这个最大能产生的发电机电流（Is_max）相关联的最大转矩（BM_max）并且在调节时考虑到这一点。9 . The control system ( 10 ) according to claim 1 , wherein the control device (SE) is designed to determine the generator current that can be produced by the electric machine (EM) at its maximum. 10 . (Is_max) and determine the maximum torque (BM_max) associated with this maximum producible generator current (Is_max) and take this into account when regulating. 10.一种用于运行用于电机（EM）的控制系统（10）的方法，所述方法包括以下步骤：10. A method for operating a control system (10) for an electrical machine (EM), the method comprising the steps of: - 求取（S1）所述电机（EM）的转矩（BMs）和在相应的转矩（BM）下由所述电机（EM）所产生的发电机电流（Is）；- finding (S1) the torques (BMs) of the electric machine (EM) and the generator current (Is) produced by the electric machine (EM) at the corresponding torque (BM); - 如此调节（S2）所述电机的发电机电流（Is），使得在所述牵引驱动装置的运动期间将所述电机（EM）的电功率（Pel）至少限制在预先确定的最小值之下，并且在此通过电机在所述牵引驱动装置处产生制动力矩。- adjusting (S2) the generator current (Is) of the electric machine in such a way that the electric power (P el ) of the electric machine (EM) is limited at least below a predetermined minimum value during the movement of the traction drive , and in this case a braking torque is generated on the traction drive by the electric machine. 11.根据权利要求10所述的方法，其中所述控制装置（SE）的功率调节装置（LR）如此产生属于发电机电流（Is）的电流相位角（Phi_I），使得所述电机（EM）的电功率（Pel）能够限制在预先确定的最小值之下或者能够设置为零。11. The method according to claim 10, wherein the power regulation device (LR) of the control device (SE) generates a current phase angle (Phi_I) belonging to the generator current (Is) such that the electric machine (EM) The electrical power (P el ) of can be limited below a predetermined minimum value or can be set to zero. 12.根据权利要求11所述的方法，其中电流调节装置（StR）为所述电机（EM）的相应地所求取的转速（D）分别接收针对所述发电机电流（Is）的所求取的数值和所述电流相位角（Phi_I）的所属的数值，并且根据所求取的转速（D）如此调节所述发电机电流（Is），使得在所述电机（EM）中产生发电机电压（Us）和所属的电压相位角（Phi_U），从而所述电机（EM）的电功率（Pel）能够限制在预先确定的最小值之下或者能够设置为零。12 . The method according to claim 11 , wherein a current regulating device (StR) receives the required generator current (Is) for a correspondingly determined rotational speed (D) of the electric machine (EM), respectively. 13 . The value taken and the associated value of the current phase angle (Phi_I), and the generator current (Is) is adjusted according to the determined rotational speed (D) in such a way that a generator is produced in the electric machine (EM) The voltage (Us) and the associated voltage phase angle (Phi_U) so that the electrical power (P el ) of the electrical machine (EM) can be limited below a predetermined minimum value or can be set to zero. 13.根据权利要求12所述的方法，其中所述电流调节装置（StR）与所述电机（EM）相连接，并且在通过所述电流调节装置（StR）进行调节之后将所述电机（EM）处所产生的发电机电流（Is_i）重新作为用于所述电流调节装置（StR）的输入参量而加载在所述电流调节装置处。13. The method according to claim 12, wherein the current regulating device (StR) is connected to the electrical machine (EM) and the electrical machine (EM) is connected after regulation by the current regulating device (StR) The generator current (Is_i) generated at ) is applied to the current control device again as an input variable for the current control device (StR). 14.根据权利要求13所述的方法，其中所述控制装置（SE）由在所述电机（EM）处所产生的发电机电流（Is_i）并且/或者由所述电压相位角（Phi_U）的相应地与所产生的发电机电流（Is_i）相关的数值并且/或者由所述发电机电压（Us）的相应地与所产生的发电机电流（Is_i）的相关数值来求取所述电机的所产生的电功率（Pel-i），并且将所述电功率产生作为用于所述功率调节装置（LR）的输入参量。14. The method according to claim 13, wherein the control means (SE) is determined by the generator current (Is_i) produced at the electric machine (EM) and/or by the corresponding voltage phase angle (Phi_U) The value of the generated generator current (Is_i) and/or from the corresponding value of the generator voltage (Us) and the generated generator current (Is_i) to determine the total value of the electric machine The generated electrical power (P el -i) is generated and used as an input parameter for the power regulation device (LR).
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