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EP4487465A1 - Procédé de mesure des profils de saturation magnétique d'une machine synchrone, et dispositif pour la commande en boucle ouverte et en boucle fermée d'une machine à induction - Google Patents

Procédé de mesure des profils de saturation magnétique d'une machine synchrone, et dispositif pour la commande en boucle ouverte et en boucle fermée d'une machine à induction

Info

Publication number
EP4487465A1
EP4487465A1 EP22713317.0A EP22713317A EP4487465A1 EP 4487465 A1 EP4487465 A1 EP 4487465A1 EP 22713317 A EP22713317 A EP 22713317A EP 4487465 A1 EP4487465 A1 EP 4487465A1
Authority
EP
European Patent Office
Prior art keywords
current
rotor
pulse
synchronous machine
impressed
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.)
Pending
Application number
EP22713317.0A
Other languages
German (de)
English (en)
Inventor
Peter Landsmann
Sascha Kühl
Dirk Paulus
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.)
Kostal Drives Technology GmbH
Original Assignee
Kostal Drives Technology GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kostal Drives Technology GmbH filed Critical Kostal Drives Technology GmbH
Publication of EP4487465A1 publication Critical patent/EP4487465A1/fr
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/141—Flux estimation
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

Definitions

  • the present invention relates to a method for measuring the magnetic saturation curves of a synchronous machine, comprising a rotor and a stator, the synchronous machine being controlled via clocked terminal voltages using the pulse width modulation method and the current of the synchronous machine being measured cyclically, see above - like a device for controlling and regulating an induction machine.
  • the method described and the device are used to derive rotor position assignment parameters when starting up a synchronous motor in order to enable motor control without a position encoder.
  • rotor position feedback enables the use of efficiency and performance-optimized motor control methods and also the fulfillment of higher-level tasks such as speed control or positioning.
  • the rotor position is usually measured during operation using a sensor attached to the rotor shaft - the so-called rotor position encoder, or encoder for short.
  • Encoders have a number of disadvantages, such as increased system costs, reduced robustness, increased probability of failure and greater installation space requirements, which justify the great industrial interest in obtaining the position signal without using an encoder.
  • Fundamental wave methods evaluate the voltage induced during movement, deliver very good signal properties at medium and high speeds, but fail in the lower speed range, especially at standstill.
  • Anisotropy methods evaluate the position dependence of the machine's inductance, which is also possible at low speeds and at standstill.
  • machine is used here in the sense of an “electrical machine”, ie an electric motor or an electric generator.
  • Engine, motor and generator are have the same meaning with regard to the method presented, so that the terms can be interchanged as desired.
  • the term flux ⁇ describes the magnetic flux linkage 'P minus its remanence component. For zero current, the flux ⁇ is also zero by definition, while the entire magnetic flux linkage 'P still contains an offset ⁇ pm in permanent magnet (PM) motors, for example.
  • the term pulse here refers to the impressing of a specific flux value for as short a time as possible, with the term “macroscopic” denoting the size of the flux value: namely that the flux pulses should produce current values in the entire operating range of the motor, which depends on the application can be a multiple of the rated motor current and usually leads to a change in the magnetic saturation state of the motor.
  • the method presented determines a parameter set for a clear assignment of the rotor position without using a load test stand, i.e. simply by connecting the converter to the synchronous machine.
  • Macroscopic flux pulses are impressed, which briefly produce magnetic saturation states as they occur during operation. This results in corresponding current and torque values, which, however, due to the short duration of the pulse impression, do not adequately reflect the speed and consequently also the rotor position change significantly in order to have a relevant effect on the parameter acquisition.
  • an additional injection cycle is run through in order to also obtain the values of the admittance/inductance at this operating point.
  • Fig. 1 Time curve of voltage u (top), resulting flux ⁇ (middle) and current i (bottom) each with d (continuous) and q (dashed) components during a macroscopic flux pulse.
  • Fig. 2 Representation of the current responses of all flux pulses during commissioning, plotted in normalized dq coordinates (related to the nominal motor current), with the flux pulse values being distributed equidistantly and the distorted distribution of the current responses shown reflecting the magnetic non-linearity.
  • Fig. 3 Time curve of voltage u (top), resulting flow ⁇ (middle) and current i (bottom) each with d (continuous) and q component (dashed) during a macroscopic flow pulse with additional impression of an injection cycle.
  • Fig. 4 Representation of the calculated anisotropy vectors for all flow pulses during commissioning. Based on FIG. 2, each anisotropy vector is plotted as a line emanating from the associated current point, with the unit of length [500 A/Vs] being chosen for clear scaling.
  • Fig. 5 Time curve of voltage u (top), resulting flow ⁇ (middle) and current i (bottom) each with d (continuous) and q component (dashed) during a macroscopic flow pulse with additional impression of an injection cycle and subsequent Counter pulse for angular momentum compensation.
  • admittance Y of a synchronous machine designates the inverse of the inductance L, both of which can be described as a matrix in the case of magnetically anisotropic behavior
  • the superscript generally stands for the coordinate system (KS), in this case stator coordinates (axes a and ß), the subscript describes the size in more detail, in this case the reference of the size to the stator winding.
  • the transformation matrix T(0) enables vectors to be transferred from one CS to another in these examples the current vector and the admittance matrix were converted from stator to rotor coordinates (axes d and q) using the rotor angle.
  • the anisotropy vector is the following linear combination of the components of the admittance matrix ⁇ s s
  • the isotropic component Y ⁇ is also relevant for certain methods, which can be calculated using a further linear combination which cannot be assigned to any coordinate system.
  • the combination of anisotropy vector and isotropic part Y results in the admittance vector in corresponding coordinate naming the anisotropy vector.
  • macroscopic flux pulses are impressed, which briefly increase the motor current to an extent that can change the magnetic saturation state of the motor.
  • Each flow pulse is preceded by a setpoint flow value, which is taken from a table, for example. This setpoint flux value is converted by imprinting a voltage-time area and the current value that occurs at the end of this voltage-time area is measured and stored.
  • the actually impressed voltage can be corrected for known interference terms (e.g. resistance and/or converter non-linearities), which are not included in the calculation of the voltage-time area.
  • the impressed voltage values can preferably be selected as high as possible within the scope of the available intermediate circuit voltage (the times ⁇ t are correspondingly short) in order to minimize those interference effects.
  • the lower graph of FIG. 1 shows, by way of example, how the current rises non-linearly, which can occur differently in the d and q components.
  • This non-linear increase during a linear increase in flux is caused by the magnetic saturation of the iron in the machine and differs in quality and quantity between different motor types.
  • the setpoint flux value is set in the flow, and the non-linear associated current value in the current, which is now recorded by means of a current measurement.
  • a small or zero voltage can be temporarily impressed after the voltage-time area in order to minimize interference during the current measurement (eg due to charge reversal in the motor cable).
  • the period of high current should be kept as short as possible because over this time the torque associated with the pulse is converted into an angular momentum and consequently a rotational movement is created which, after the flux pulse has ended, must come to a standstill again before the next pulse can be impressed.
  • each flux pulse ends with a negated voltage-time area, through which the flux values and also the current are quickly brought back to zero.
  • This second voltage-time area has the same d and q component as the first, but with the opposite sign.
  • the values of the flow pulse and the measured result current are stored in an associated manner as an operating point data pair and the next setpoint flow value is taken from a table, for example, in order to repeat the process for a large number of systematically different flow values.
  • a large number of macroscopic flow pulses with different d and q components are impressed and the resulting pairs of operating point data are stored in a table.
  • a data record is created as illustrated in FIG. 2 by way of example.
  • Each measured current value is plotted here in its d and q component by a point, with 224 flow pulses being impressed.
  • the target flux values were on a rectangular, equidistant grid (pulses that would have exceeded 250% nominal current were omitted), while the arrangement of the current points is clearly distorted. This distortion reflects the magnetic non-linearity of the present motor, which in this exemplary case was a synchronous reluctance motor. Their symmetry conditions allow measurement in only one quadrant. Synchronous motors with magnets also require measurements with a negative d current.
  • an injection pattern is run through for each macroscopic flow pulse, ie while the macroscopic current value is still present.
  • This consists of microscopic flux pulses, which should not change the saturation state due to their much smaller voltage-time areas, but are suitable for detecting the value of the local inductance or admittance at this operating point.
  • several microscopic, ie not relevant saturation-changing flow pulses are impressed, which are different from each other, add up to zero and form the injection pattern in their shape and arrangement.
  • FIG. 3 shows an example of the imprinting of a square injection pattern, where the microscopic pulses are imprinted first in +d, then in +q, then in -d and finally in -q direction. They are of the same magnitude and are orthogonal or antiparallel to each other, so the injection pattern is a square.
  • the technical advantages of this injection pattern described in [3] are not essential for this admittance measurement; any other injection pattern can also be used at this point.
  • the current response to each of the microscopic pulses is recorded and after completion of the injection pattern, all measured values are converted into inductance, admittance and/or anisotropy values using the known algorithms of the associated injection method, ie here for example according to [3].
  • the dq components of the anisotropy vector from (6) could be calculated here as follows if for A the d-current change due to the first microscopic pulse, for the q current rise as a result of the second microscopic pulse etc is used and ⁇ inj never describes the sum of the voltage-time areas of all microscopic injection flow pulses.
  • microscopic centering pulses can be given before the first and after the last microscopic pulse to center the injection response around the macro- to hold the scopic current reading.
  • admittance and/or anisotropy values are stored assigned to the macroscopic pulse, ie the flux and/or current value, and this sequence is repeated after each macroscopic flux pulse.
  • the entries of the local admittance or inductance are calculated from the current response to the injection pattern, added to the operating point data pair and saved.
  • the exemplary data set from FIG. 2 is expanded to include associated inductance, admittance and/or anisotropy data.
  • this is shown in FIG. 4 by means of black lines, which, starting from the associated current point, depict the respective anisotropy vector (12)-(13) in the actual direction and scaled length.
  • angular momentum as a result of the macroscopic pulses can be compensated for by impressing a counter-pulse directly after the test pulse, as illustrated by way of example in the right-hand half of FIG. 5 .
  • a counter-pulse directly after the test pulse, as illustrated by way of example in the right-hand half of FIG. 5 .
  • angular momentum can be balanced by impressing a second pulse which is more identical in magnitude and duration to the first, but where the sign of the q-component of all quantities shown is reversed, while the sign of the d-component remains the same (cf. Fig. 5 right vs. left).
  • each macroscopic flow pulse is followed by an associated compensation pulse, which has the same d and a negated q component in order to minimize the resulting angular momentum.
  • the injection pattern does not need to be repeated because it is free of mean values.
  • this is achieved by impressing a direct current in the magnitude of the nominal motor current in a defined direction before each macroscopic flux pulse until the resulting pendulum movement has subsided and the rotor is aligned with the current again in its initial position.
  • the dq-KS is not rotated with the rotor during the rotor movement, but is initialized only once before the first test pulse and from then on remains firmly aligned with the initial position for the duration of all test pulses.
  • a d-current can then simply be adjusted after a test pulse and a parameterizable time can be waited for.
  • an additional damping term can optionally be created, which allows the pendulum movement to decay more quickly.
  • the initialization of the dq-KS before the first test pulse can be done by means of sensorless initial position determination (eg according to [4]) in order to minimize the rotor movement as a result of the first direct current impression; or arbitrarily if the rotor movement is not relevant.
  • the motor shaft is externally mechanically blocked before the first test pulse, so that the mechanical rigidity returns the rotor to its initial position after each pulse and direct current injection is not required.
  • an initial position determination without an encoder e.g. according to [4] is necessary in order to align the dq-KS safely with the locked rotor.
  • a new sensorless initial position detection is carried out, and the dq-KS is realigned for the subsequent pulse. Even if the accuracy of sensorless initial position detection is generally lower than that of alignment by direct current injection, this embodiment can be advantageous if, for example, due to special circumstances such as high friction or a high reluctance component in the nominal torque of a permanent magnet motor, direct current alignment is not sufficiently possible.
  • the position assignment parameters are finally derived.
  • a rule for value calculation apart from/between/outside the data pairs is selected. This can be a linear or non-linear interpolation/extrapolation, taking over the next value, an analytical or numerical approximation or some other type of smoothing specification. Irrespective of the choice of this regulation, the term interpolation is used below for the selected regulation.
  • simple rotor position assignment parameters are calculated from the entries in the table by means of interpolation.
  • the load dependency for example, of the secant inductance and the anisotropy shift is determined, which are exemplary parameters for simple sensorless methods.
  • a current trajectory is first selected that is to be used during operation (eg the maximum torque per ampere curve, MTPA for short).
  • several current points are taken from this trajectory and the value for each of these points via the stored data pairs of the flow and, if applicable, the value of the anisotropy interpolated.
  • the value of the secant inductance is then obtained for each of these points, such as ( 15) and the value of the anisotropy shift calculated and stored assigned to the selected current point.
  • unambiguous rotor position assignment parameters are derived from the entries in the table by means of interpolation and SFC calculation.
  • SFC trajectories of the flow and/or the admittance are derived from the stored data pairs, which are the basis for methods of unambiguous position assignment [1] and/or [2].
  • these SFC trajectories describe the course of the flux or the admittance over the changing rotor position if the current is fixed in stator coordinates. Any fixed current in the stator coordinates i s s results in the following rotor position-dependent value i s r in the rotor coordinates (17)

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

Abstract

La présente invention concerne un procédé de mesure des profils de saturation magnétique d'une machine synchrone comprenant un rotor et un stator, la machine synchrone étant activée par des tensions de borne cadencées selon un procédé de modulation de largeur d'impulsion et le courant de la machine synchrone étant mesuré cycliquement. L'invention concerne également un dispositif pour la commande en boucle ouverte et en boucle fermée d'une machine à induction. Le procédé et le dispositif décrits sont utilisés, lors de la mise en service d'un moteur synchrone, pour calculer des paramètres d'attribution de position de rotor afin de permettre au moteur d'être commandé sans capteur de position.
EP22713317.0A 2022-03-01 2022-03-01 Procédé de mesure des profils de saturation magnétique d'une machine synchrone, et dispositif pour la commande en boucle ouverte et en boucle fermée d'une machine à induction Pending EP4487465A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2022/055106 WO2023165677A1 (fr) 2022-03-01 2022-03-01 Procédé de mesure des profils de saturation magnétique d'une machine synchrone, et dispositif pour la commande en boucle ouverte et en boucle fermée d'une machine à induction

Publications (1)

Publication Number Publication Date
EP4487465A1 true EP4487465A1 (fr) 2025-01-08

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Application Number Title Priority Date Filing Date
EP22713317.0A Pending EP4487465A1 (fr) 2022-03-01 2022-03-01 Procédé de mesure des profils de saturation magnétique d'une machine synchrone, et dispositif pour la commande en boucle ouverte et en boucle fermée d'une machine à induction

Country Status (3)

Country Link
US (1) US20240418780A1 (fr)
EP (1) EP4487465A1 (fr)
WO (1) WO2023165677A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3381509B2 (ja) * 1996-02-29 2003-03-04 トヨタ自動車株式会社 電気角検出装置および同期モータの駆動装置
US7388367B2 (en) * 2003-11-06 2008-06-17 Continental Teves Ag & Co. Ohg Method for determining the rotor position of a synchronous machine
DE102015217986A1 (de) 2015-09-18 2017-03-23 Technische Universität München Verfahren zur Identifikation der magnetischen Anisotropie einer elektrischen Drehfeldmaschine
DE102018006657A1 (de) 2018-08-17 2020-02-20 Kostal Drives Technology Gmbh Verfahren und vorrichtung zur regelung eines synchronmotors ohne lagegeber mittels eindeutiger zuordunung der admittanz oder induktivität zur rotorlage
EP3826169B1 (fr) 2019-11-25 2023-12-13 KOSTAL Drives Technology GmbH Procédé et dispositif de régulation d'une machine synchrone sans capteur de position au moyen d'une attribution unique de couplage de flux à l'emplacement du rotor
DE102020100132A1 (de) * 2020-01-07 2021-07-08 Hanon Systems Verfahren zur Bestimmung einer Rotorposition eines Elektromotors

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US20240418780A1 (en) 2024-12-19
WO2023165677A1 (fr) 2023-09-07

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