EP2467930A1 - Moteur électrique à commutation électronique avec prédiction de la position du rotor et une interpolation et procédé correspondant - Google Patents

Moteur électrique à commutation électronique avec prédiction de la position du rotor et une interpolation et procédé correspondant

Info

Publication number
EP2467930A1
EP2467930A1 EP10734757A EP10734757A EP2467930A1 EP 2467930 A1 EP2467930 A1 EP 2467930A1 EP 10734757 A EP10734757 A EP 10734757A EP 10734757 A EP10734757 A EP 10734757A EP 2467930 A1 EP2467930 A1 EP 2467930A1
Authority
EP
European Patent Office
Prior art keywords
rotor position
position signal
rotor
digital
electric motor
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Withdrawn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
EP10734757A
Other languages
German (de)
English (en)
Inventor
Siegbert Steinlechner
Jo Pletinckx
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2467930A1 publication Critical patent/EP2467930A1/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Withdrawn legal-status Critical Current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

Definitions

  • the invention relates to an electronically commutated
  • the electronically commutated electric motor has a stator and a particular permanent magnetic rotor formed.
  • the electric motor also has a control unit which is operatively connected to the stator and configured to generate control signals for commutating the stator such that the stator can generate a magnetic rotating field for rotating the rotor.
  • the electric motor also has at least one rotor position sensor which is designed to have a rotor position, in particular a rotor position
  • Rotor position signal representing rotor position to produce The control unit is designed, the
  • Rotor position detection has. For fast rotating electronically commutated
  • Electric motors is the problem that during a
  • the rotor position detection must be performed with a high detection frequency, if a frequent change of a Kommut ists should occur during a rotor revolution.
  • the control unit of the electric motor then has to a correspondingly high Have computing capacity.
  • control unit of the electronically commutated electric motor of the type mentioned above the control unit of the electronically commutated electric motor of the type mentioned above
  • the digital rotor position signal forms a temporal data stream corresponding to the sampled and
  • control unit comprises an interpolator, which
  • sampling and quantizing analog-to-digital converter advantageously be smaller than without the interpolator. This can be a computing power of the control unit, which
  • control unit is configured to generate the digital rotor position signal as a digital prediction rotor position signal, wherein the digital
  • Prediction rotor position signal in particular the temporal data stream, at least one or a plurality of
  • the interpolator is preferably designed to generate the intermediate value between two future rotor position values.
  • the rotor position can advantageously be available for a current rotor position or for future rotor positions for commutating the electric motor. Further advantageously, the so predicted rotor position for commutating the electric motor are available before the rotor position sensor, in particular an angle sensor, after conversion of a
  • Rotor position signal for further signal processing can provide.
  • the rotor position sensor is preferably an angle sensor.
  • the angle sensor is, for example, a giant magnetoresistive sensor (GMR sensor) or an anisotropic sensor.
  • the electric motor for example, a plurality of Hall sensors, which are each designed to generate a particular analog rotor position signal.
  • the angle sensor in particular the GMR sensor or AMR sensor is formed, a
  • control unit is embodied, in particular the digital prediction rotor position signal as a function of further rotor positions detected by means of the rotor position sensor
  • the prediction rotor position signal can be formed, for example, by a predetermined number of rotor position values, wherein the rotor position values are recorded with each new angle detected by the angle sensor, more preferably additionally by an analogue sensor. Converted digital converter - Rotor position value according to the principle FIFO be updated. This can advantageously be done with non-stationary motion patterns, the commutation of the electric motor. For example, the
  • Control unit act on the stator during a rotor rotation a variety of mutually different Kommutêtsmuster.
  • control unit is designed to use the digital prediction rotor position signal by means of an approximation function as a function of
  • Rotor position signal to generate as an output function to be approximated. This can advantageously by means of
  • Rotor position sensor generated rotor position signal for future rotor positions can be estimated advantageous.
  • the approximation function is a polynomial, in particular at least second degree or exactly second or third degree. Further advantageous
  • Embodiments of an approximation function are a spline function or an exponential function.
  • the control unit has in an advantageous
  • Embodiment a timer, and is configured to generate the prediction rotor position signal in response to a time signal generated by the timer, wherein a clock frequency of the timer is greater than a repetition frequency of successive rotor position values of the digital
  • Rotor position signal and to commutate the stator in response to the prediction rotor position signal.
  • the stator can be advantageous depending on
  • the control unit may preferably be designed to change the commutation time to a preferably future one
  • the invention also relates to a method for operating an electronically commutated electric motor, in particular of the electric motor described above.
  • a rotor position is detected by means of a rotor position sensor and a rotor position corresponding to the rotor position
  • Rotor position signal generated. Further, in the method, preferably the rotor position signal is sampled and
  • the prediction rotor position signal represents the sampled and quantized rotor position signal and includes at least one or a plurality of future timers extending beyond the rotor position signal
  • the digital prediction rotor position signal is dependent on further, detected by means of the rotor position sensor
  • the digital prediction rotor position signal is generated by forming an approximation function as a function of
  • the starting function is the function to be approximated, which can form support points for generating the approximation function. This allows the prediction
  • Rotor position signal also through one of the nodes be extrapolated - formed for example by means of the rotor position signal, or generated from this - area.
  • the approximation function is preferably a polynomial function of the second or third degree.
  • a commutation of the stator takes place as a function of the prediction rotor position signal after a time interval has elapsed, the sequence corresponding to a predetermined commutation time.
  • the commutation takes place by means of
  • FPGA Field Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • control program for example, controlled by a control program, which is stored on a disk and forms a computer program product together with the disk.
  • the invention also relates to a control unit according to the above-described type for an electric motor
  • the control unit then has no rotor and no stator and is designed to be connected to a stator of an electric motor.
  • Figure 1 shows an embodiment of an electronically ko ⁇ tmut faced electric motor with the inventive
  • FIG. 2 shows a method for operating the electric motor shown in FIG. 1
  • Figure 3 shows a diagram which illustrates the operation of the electric motor shown in Figure 1 and the method shown in Figure 2.
  • FIG. 1 shows an exemplary embodiment of an electronically commutated electric motor 1.
  • the electric motor 1 has a stator 10 with three stator coils, namely a stator coil 12, a stator coil 14 and a stator coil 16.
  • the stator 10 also has an angle sensor which is a
  • the angle sensor 18 is designed to detect a rotor position of a rotor 11 of the electric motor 1.
  • control unit 30 has an analog-to-digital converter 27, which on the input side with the connection 50 and thus with the angle sensor 18th
  • An angle resolution of the angle sensor is in Case of analogue, in particular time-continuous
  • the analog-to-digital converter 27 is connected on the output side via a connecting line 54 to a polynomial generator 29.
  • the analog-to-digital converter 27 is configured to
  • the analog-to-digital converter 27 has an output side via a
  • the polynomial generator 29 is formed, depending on the received via the connecting line 54, -
  • the polynomial generator is preferably formed, the
  • the approximation function is preferably a polynomial
  • the polynomial generator 29 is designed to determine polynomial coefficients of the previously determined approximation function, in particular of the polynomial, and these are output on a coefficient line memory 32 via a connecting line 56 output.
  • the polynomial generator 29 has, for example, an FIR filter for each polynomial coefficient, in this exemplary embodiment three exemplary FIR filters 36, 38 and 39.
  • the coefficient memory 32 is designed to keep the polynomial coefficients generated by the polynomial generator 29 in stock.
  • the coefficient memory 32 is connected on the output side via a connecting line 58 to a predictor 34.
  • the predictor 34 is
  • the data stream comprises temporally successive future ones
  • Rotor position values - shown dotted in this embodiment - which each have a future, of the
  • Angle sensor 18 not yet detected rotor position - especially with a higher angular resolution than the digital-generated by the analog-to-digital converter
  • Rotor position signal - represent.
  • the data stream in this embodiment forms the previously mentioned prediction rotor position signal.
  • the control unit 42 is connected to a timer 40 and is designed to commutate the stator 10 at least in dependence on the prediction rotor position signal received via the connection line 60.
  • the control unit 42 is connected on the output side via a connection 53 to a power output stage 25 of the electric motor 1.
  • the control unit 42 is formed, the
  • the power output stage 25 is the output side via a connection 52 with the stator 10, and there connected to the stator coils 12, 14 and 16.
  • the control unit 42 is designed to precisely determine the commutation times for commutating the stator 10 as a function of the particular high-resolution time signal received by the timer 40.
  • the control unit 42 is connected on the input side via a bidirectional connection 61 to a memory 62. In the memory 62 to each other different Bestromungsmuster are kept in stock, one of which
  • Energizing pattern 62 is exemplified.
  • control unit 42 depending on the prediction rotor position signal to select a Bestromungsmuster the stock held in the memory and the stator 10 according to the Bestromungsmuster for generating the
  • the polynomial generator 29 may advantageously be available for each polynomial coefficient in the coefficient memory 32 held polynomial coefficients have a FIR (Finite Impulse Response) filter.
  • FIR Finite Impulse Response
  • the control unit 42 is also on the input side via the
  • the control unit 42 is embodied, the power output stage 35 for commutating the stator coils in dependence on the rotor position values calculated by the predictor 34
  • Rotor position signal is greater than the repetition frequency of the digital-generated by the analog-to-digital converter
  • FIG. 2 shows an exemplary embodiment of a method for commutating an electronically commutated electric motor.
  • a rotor position of a rotor of the electronically commutated electric motor is detected, in particular by means of an angle sensor, and a rotor position signal is generated which comprises at least one
  • Rotor position of the rotor represents.
  • the rotor position signal is digitized by means of an analog-to-digital converter and a digitized
  • Rotor position signal generated.
  • a polynomial is generated in dependence on the digitized rotor position signal, which digitizes the
  • Polynomial generates a data stream, which includes rotor position values in a time range in which the of the
  • Angle sensor detected rotor position values, and in addition to future rotor position values, which have not yet been detected by the angle sensor and / or are not yet represented by the signal generated by the analog-to-digital converter 24.
  • the data stream comprises rotor position values generated by interpolation, such that a time clock rate of the successive rotor position values of the data stream is greater than a sampling rate during analog-to-digital conversion.
  • a commutation pattern is selected as a function of the data stream, and in a step 82 the stator is supplied with the commutation pattern.
  • FIG. 3 shows a diagram 90.
  • the diagram 90 has a time axis 91 and an amplitude axis 92.
  • Diagram 90 shows a curve 95 which combines samples 101, 102, 104, 106, 108, 110, and 112 together.
  • the curve 95 corresponds to a polynomial which has been generated, for example, by means of the polynomial generator 29 shown in FIG. 1, and which represents a rotor position profile.
  • the polynomial 95 is in this
  • Embodiment a third degree polynomial. Rotor position values 101, 103, 105, 107, 109, 111 and 113 are also shown.
  • the rotor position value 101 has been detected by the angle sensor, for example by the angle sensor 18 shown in FIG. Shown are also a time interval 96 and a time interval 98.
  • the time interval 96 represents a sampling period of an analog-to-digital converter, for example the analog-to-digital converter 27 shown in FIG. 1.
  • the rotor position values 100, 102, 104, 106, 108 and 110 112 are respectively to preceding and following
  • the rotor position value 101 follows the rotor position value 100 after the time interval 98.
  • the rotor position value 103 follows the rotor position value 102 after the time interval 98.
  • the time interval 98 represents one
  • the control unit - for example, the control unit 30 in
  • Commutation time 115 is spaced from rotor position value 102 by time interval 99.
  • the time interval 99 is shorter than the time interval 98, so that the
  • Angle sensor have not yet been detected, can advantageously be a sampling frequency for detecting a rotor position of the rotor lower than without the prediction by means of the predictor polynomial. Further advantageous is the low sampling frequency of the sampling of the rotor position signal by generating the intermediate values by means of interpolation
  • the control unit compares the rotor position values 108, 110 and 112 generated by the predictor with those rotor position values 109, 111 and 113 detected by the angle sensor and for forming a further Polynomverlaufs of the predictor polynomial.
  • FIG. 4 shows an exemplary embodiment of a predictor 120 which, for example, can be a component of the electric motor 1 instead of the predictor 34 shown in FIG.
  • the predictor 120 has an input 124 and an output 129.
  • the input 124 is already with that in FIG. 4
  • timer 40 connected.
  • the input 124 is connected via a connecting line 121 to a multiplier 126 and a multiplier 128.
  • the multiplier 126 is also connected to an adder 123 on the input side.
  • the adder 123 has an input 131 with a connection 131 and connected via connection 131 to an input 132.
  • the adder 123 may receive a polynomial coefficient via the input 132, in this embodiment a polynomial coefficient a 2 of a second degree polynomial.
  • the multiplier 146 has its output connected to an adder 125.
  • the adder 125 is the input side with the multiplier 126, and also the input side with the
  • the adder 125 can receive a polynomial coefficient via the multi-channel connection 131 and thus from the input 132, in this embodiment a polynomial coefficient ai of the second-degree polynomial.
  • the adder 125 is connected to the multiplier 128 on the output side.
  • the multiplier 128 has its output connected to an adder 127.
  • the adder 147 has an input side with the multiplier 128 and also with the input 132 via the input side
  • Connection 131 and can receive over the connection 131 a polynomial coefficient, in this embodiment, a polynomial coefficient a 0 of the second degree polynomial.
  • the adder 127 has an output side with the
  • the predictor 120 may receive a particular ramped clock signal 43, the clock frequency of which is a multiple of a sampling frequency used by the analog-to-digital converter 27 during analog-to-digital conversion.
  • the timing signal is formed, for example, ramped and has a predetermined number of ramp stages for each clock of the sampling period of the analog-to-digital conversion.
  • Multiplier 126 is a received from the adder 123 Output signal with the timing signal and outputs on the output side a multiplication result to the adder 125.
  • the adder 121 adds that from the multiplier 126
  • the multiplier 128 multiplies the addition result received from the adder 125 by the clock signal which is also supplied to the multiplier 126 by the multiplier 126
  • Input 124 has received.
  • the multiplier 128 generates a corresponding multiplication result and outputs this to an adder 127 on the output side.
  • the adder 127 adds the one generated by the multiplier 128
  • the adder 127 has received from the input 132 via the connection 131.
  • the adder 127 can then do the
  • the adder 123 can input side - shown dotted - in the case of
  • the input 132 is, for example, with the one shown in FIG.
  • FIG. 5 shows an exemplary embodiment of a predictor 130.
  • the predictor 130 can replace the predictor 34 in FIG. 1, for example.
  • the predictor 130 has no multipliers and can therefore be provided in a cost-effective manner, for example by means of an ASIC.
  • the predictor 130 has an input 135 and an output 165 and is connected to a timer 134.
  • the predictor 130 has a plurality of integrators, in particular together forming a cascade.
  • the integrators each have an adder and a memory.
  • the memory 133 is on the output side via a
  • Connection line 154 is connected to a further adder 136.
  • the memory 133 is also connected on the output side via a feedback connection line 150 to the adder 132.
  • the adder 132 forms an integrator together with the memory 133.
  • the memory 133 is on the output side via a
  • Connection line 154 is connected to the adder 136.
  • the adder 136 is connected on the output side via a connecting line 156 to a memory 137.
  • the memory 137 is connected on the output side via a connecting line 158 to the adder 136 in a feedback manner.
  • the memory 147 is
  • the adder 138 On the output side also connected via a connecting line 160 to an adder 138.
  • the adder 138 is
  • the adder 138, the adder 136 and the adder 132 are each connected on the input side to an input 135 and can via the input 135 polynomial coefficients
  • the predictor 130 may be connected via the input 135 to, for example, the one shown in FIG.
  • Coefficient memory 32 and be connected by the
  • Coefficient memory 32 which receives polynomial coefficients.
  • the arithmetic unit formed by the predictor 130 may, for example, by a microprocessor, a
  • FPGA Field Programmable Gate Array FPGA
  • ASIC Application Specific Integrated Circuit
  • the predictor 130 may include, for example, other integrators connected to the adder 132 for computing a higher order polynomial.
  • the predictor 130 is also connected to a timer 134 on the input side.
  • the timer 134 is designed to generate a time signal which has an in particular L-fold higher clock rate than a sampling rate used by the analog-to-digital converter 27.
  • the integrators of the predictor 130 are each connected to the timer 134 and each carry one
  • the timer 134 is for example designed to generate the clock for clocking the integrators according to the following rule:
  • JTakt -L-- a with fTakt clock frequency of the clock for clocking the clock
  • T a sampling period, for example of the analog-to-digital converter 27 in FIG. 1
  • the factor L is chosen as a power to a base 2.
  • the division operations for generating the polynomial coefficients bo, bi and b2, more preferably b n can thus be advantageously produced by means of addition operations.
  • the predictor 130 can thus at the output 165 by means of the am
  • Input 135 received polynomial coefficients generated
  • Polynomial output - as a prediction rotor position signal.
  • the output 165 may, for example, be connected to the connecting line 60 shown in FIG. 1, so that the predictor 130 is connected on the output side to the control unit 42.
  • the control unit 42 may, for example, in
  • Dependency of the polynomial received from the predictor 130 ⁇ as a prediction rotor position signal - from the memory 65 select a Bestromungsmuster 62, and energize the stator 10 of the electric motor 1 by means of the power amplifier 25 according to the Bestromungsmuster.

Landscapes

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

Abstract

L'invention concerne un moteur électrique à commutation électronique. Le moteur électrique à commutation électronique présente un stator et un rotor qui est notamment conçu avec des aimants permanents. Le moteur électrique présente également une unité de commande qui est en liaison fonctionnelle avec le stator et est conçue pour générer des signaux de commande aux fins de commutation du stator de telle façon que le stator puisse générer un champ magnétique tournant pour la rotation du rotor. Le moteur électrique présente également au moins un capteur de position de rotor qui est conçu pour détecter une position du rotor, notamment une position angulaire du rotor et pour générer un signal de position du rotor représentant la position du rotor. L'unité de commande est conçue pour générer les signaux de commande en fonction du signal de position du rotor. Selon l'invention, l'unité de commande est conçue pour balayer et quantifier le signal de position du rotor et pour générer un signal numérique de position du rotor. Le signal numérique de position du rotor forme un flux de données temporelles qui correspond au signal balayé et quantifié de position du rotor, l'unité de commande présentant un interpolateur qui est conçu pour générer dans le signal de position du rotor au moins deux valeurs intermédiaires entre deux valeurs de position du rotor temporellement chronologiques.
EP10734757A 2009-08-17 2010-07-27 Moteur électrique à commutation électronique avec prédiction de la position du rotor et une interpolation et procédé correspondant Withdrawn EP2467930A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009028582A DE102009028582A1 (de) 2009-08-17 2009-08-17 Elektronisch kommutierter Elektromotor mit einer Rotorpositions-Prädiktion und einer Interpolation und Verfahren
PCT/EP2010/060832 WO2011020682A1 (fr) 2009-08-17 2010-07-27 Moteur électrique à commutation électronique avec prédiction de la position du rotor et une interpolation et procédé correspondant

Publications (1)

Publication Number Publication Date
EP2467930A1 true EP2467930A1 (fr) 2012-06-27

Family

ID=42732108

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10734757A Withdrawn EP2467930A1 (fr) 2009-08-17 2010-07-27 Moteur électrique à commutation électronique avec prédiction de la position du rotor et une interpolation et procédé correspondant

Country Status (6)

Country Link
US (1) US20120146561A1 (fr)
EP (1) EP2467930A1 (fr)
JP (1) JP5479593B2 (fr)
CN (1) CN102474211B (fr)
DE (1) DE102009028582A1 (fr)
WO (1) WO2011020682A1 (fr)

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US10444714B2 (en) 2016-06-21 2019-10-15 General Electric Company Machine monitoring device
CN109844453B (zh) * 2016-10-18 2020-09-25 三菱电机株式会社 显示装置
CN108871385B (zh) * 2017-05-12 2021-09-07 西门子公司 编码器、电机、编码器数据处理方法及存储介质
DE102021206071A1 (de) * 2021-06-15 2022-12-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen eines Regelungs-Drehwinkels eines Elektromotors
DE102022113399A1 (de) 2022-05-27 2023-11-30 Jörg Heinrich Vorrichtung, System und Verfahren zur Lagebestimmung des Rotors einer elektrischen Maschine
DE102022209630A1 (de) 2022-09-14 2024-03-14 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Bereitstellen eines Drehzahlsignals für bürstenkommutierte Elektromotoren

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Also Published As

Publication number Publication date
CN102474211A (zh) 2012-05-23
US20120146561A1 (en) 2012-06-14
JP2013502200A (ja) 2013-01-17
DE102009028582A1 (de) 2011-02-24
JP5479593B2 (ja) 2014-04-23
WO2011020682A1 (fr) 2011-02-24
CN102474211B (zh) 2016-01-20

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