TW202318780A

TW202318780A - Method for determining a regulation angle of rotation of an electric motor

Info

Publication number: TW202318780A
Application number: TW111121843A
Authority: TW
Inventors: 馬克思克雷奇莫
Original assignee: 德商羅伯特博世有限公司
Priority date: 2021-06-15
Filing date: 2022-06-13
Publication date: 2023-05-01
Also published as: DE102021206071A1; WO2022263039A1

Abstract

A method for determining a regulation angle of rotation of an electric motor for regulating the electric motor is described, comprising the following steps: providing incremental angles of rotation, determined using sensor technology, of the electric motor; and determining the regulation angle of rotation, wherein the regulation angle of rotation is interpolated on the basis of a number of successive incremental angles of rotation determined using sensor technology.

Description

用於決定電氣馬達的調節旋轉角度之方法Method for determining the adjustment rotation angle of an electric motor

本發明涉及用於決定電氣馬達的調節旋轉角度之方法。The invention relates to a method for determining the adjustment rotation angle of an electric motor.

對於一些應用，諸如電動機車，需要廉價的電驅動器，接著該些電驅動器配備有價格非常合理的感測器以用於其操作。針對藉助於逆變器以例如三相操作的電氣馬達之此類電驅動器而言，無法使用以大角度增量決定電氣馬達之旋轉角度的簡單感測器來進行最佳地調節。For some applications, such as electric locomotives, inexpensive electric drives are required, which are then equipped with very reasonably priced sensors for their operation. For such an electric drive as an electric motor operated eg in three phases by means of an inverter, it cannot be optimally regulated using simple sensors which determine the angle of rotation of the electric motor in large angular increments.

本發明之目標在於基於來自決定電氣馬達之旋轉角度的簡單感測器之量測值，以改良之方式調節電氣馬達。The object of the present invention is to regulate an electric motor in an improved manner based on measurements from a simple sensor which determines the angle of rotation of the electric motor.

根據本發明之一個態樣，指定對應於獨立請求項之特徵的一種用於決定電氣馬達之調節旋轉角度的方法、一種用於調節電氣馬達之方法、一種用於決定調節旋轉角度之控制裝置、一種用於行動平台之系統、一種行動平台及一種控制裝置之用途，以上各者至少在一定程度上實現了所描述目標。有利組態為下文的隨附申請專利範圍及說明書之主題。According to an aspect of the invention, a method for determining an adjustment angle of rotation of an electric motor, a method for adjusting an electric motor, a control device for determining an adjustment angle of rotation, specifying the features corresponding to the independent claims, A system for a mobile platform, a mobile platform and a use of a control device, each of which achieve the described objectives at least to some extent. Advantageous configurations are the subject of the appended claims and description below.

在整篇說明書中，以使得易於理解方法之方式說明方法步驟之順序。然而，所屬技術領域中具有通常知識者將認識到，許多方法步驟亦可以不同次序實施且導致相同或對應結果。在此意義上，可在不改變方法之情況下對應地改變方法步驟之次序。已運用分類提供了一些特徵以便改善可讀性或使指派更清晰，但此並不暗示特定特徵之存在。Throughout the specification, the order of method steps is described in such a way that the method is easily understood. However, one of ordinary skill in the art will recognize that many method steps can also be performed in a different order and lead to the same or corresponding results. In this sense, the order of the method steps can be changed correspondingly without changing the method. Classes have been used to provide features to improve readability or to clarify assignments, but do not imply the existence of specific features.

根據一個態樣，提議一種用於決定電氣馬達之調節旋轉角度以用於調節電氣馬達的方法，其中在一個步驟中，提供電氣馬達之使用感測器技術決定的增量旋轉角度。在另一步驟中，決定調節旋轉角度，其中該調節旋轉角度係基於使用感測器技術藉助於內插決定之數個連續增量旋轉角度而決定。According to one aspect, a method for determining an adjustment rotation angle of an electric motor for adjustment of an electric motor is proposed, wherein in one step an incremental rotation angle of the electric motor determined using sensor technology is provided. In a further step, an adjustment rotation angle is determined, wherein the adjustment rotation angle is determined based on several successive incremental rotation angles determined by means of interpolation using sensor technology.

在此狀況下，電氣馬達之調節可包含狹義上的電氣馬達之封閉迴路控制及/或電氣馬達之開放迴路控制。特定而言，可使用感測器技術在下一次增量旋轉角度決定之前的一段時間內藉助於內插決定多個調節旋轉角度，以便改善電氣馬達之調節。有利地，其他調節旋轉角度係在使用感測器技術決定之兩個旋轉角度之間的時段內藉助於內插決定，且此等其他調節旋轉角度儘可能準確地預測電氣馬達之旋轉角度以便改善電氣馬達之調節。In this case, the regulation of the electric motor may comprise a closed-loop control of the electric motor and/or an open-loop control of the electric motor in the narrower sense. In particular, sensor technology can be used to determine a plurality of adjustment rotation angles by means of interpolation over a period of time before the next incremental rotation angle determination in order to improve the regulation of the electric motor. Advantageously, further adjustment rotation angles are determined by means of interpolation in the period between two rotation angles determined using sensor technology and these further adjustment rotation angles predict the rotation angle of the electric motor as accurately as possible in order to improve Regulation of electric motors.

舉例而言，運用此方法，可以改良之方式調節電氣馬達，其中該電氣馬達之使用感測器技術決定的旋轉角度係藉助於霍爾感測器量測，且因此相較於所決定的旋轉角度，可具有大的增量旋轉角度。運用該方法，可在使用感測器技術決定之旋轉角度的最近更新量測與未來量測之間的時段內進行合適的內插，以便預測最近更新的旋轉角度且因此改善電氣馬達之調節。Using this method, for example, an electric motor can be regulated in an improved manner, wherein the angle of rotation of the electric motor determined using sensor technology is measured by means of Hall sensors and is thus compared to the determined rotation Angle, which can have large incremental rotation angles. Using this method, a suitable interpolation can be performed in the time period between the last updated measurement and the future measurement of the rotation angle determined using the sensor technology, in order to predict the last updated rotation angle and thus improve the regulation of the electric motor.

根據一個態樣，提議藉助於二階多項式對調節旋轉角度進行內插。According to one aspect, it is proposed to interpolate the adjustment rotation angle by means of a second order polynomial.

出人意料地，已發現二階多項式明顯改善了電氣馬達之調節，其中將在下文描述之用於決定多項式的必要參數係以相對較小之計算複雜度進行分析決定。Surprisingly, it has been found that a second order polynomial significantly improves the regulation of the electric motor, wherein the necessary parameters for determining the polynomial, which will be described below, are determined analytically with relatively little computational complexity.

根據一個態樣，提議使用以下公式決定二階多項式 α = at ²+ bt ，其中α為調節旋轉角度，a為第一係數，b為第二係數，且其中第一係數a及第二係數b係藉助於使用感測器技術決定之三個在各狀況下最近更新的連續增量旋轉角度來決定，且變數t指定自使用感測器技術決定之三個連續增量旋轉角度中之第一者經過的時間。 According to one aspect, it is proposed to use the following formula to determine the second-order polynomial α = at ² + bt , where α is the adjustment rotation angle, a is the first coefficient, b is the second coefficient, and wherein the first coefficient a and the second coefficient b are Determined by means of the three most recently updated consecutive incremental rotation angles in each case determined using sensor technology, and the variable t is assigned from the first of the three consecutive incremental rotation angles determined using sensor technology elapsed time.

有利地，第一係數a及第二係數b可藉助於使用感測器技術決定之三個儘可能最近更新的旋轉角度進行分析計算，以便估計電氣馬達之最近更新旋轉角度，直至下一次提供使用感測器技術決定之旋轉角度，從而改善電氣馬達之調節。Advantageously, the first coefficient a and the second coefficient b can be analyzed and calculated by means of the three latest possible updated rotation angles determined using sensor technology in order to estimate the latest updated rotation angle of the electric motor until the next use The angle of rotation determined by sensor technology improves the regulation of electric motors.

根據一個態樣，提議一旦提供了使用感測器技術決定之新的最近更新旋轉角度，便重新決定第一係數及第二係數。According to one aspect, it is proposed to re-determine the first coefficient and the second coefficient once a new latest updated rotation angle determined using sensor technology is provided.

有利地，憑藉重複地重新決定第一係數及第二係數，可足夠準確地決定待與電氣馬達之旋轉角度匹配的調節旋轉角度以用於調節電氣馬達。Advantageously, by repeatedly re-determining the first coefficient and the second coefficient, the adjustment rotation angle to be matched to the rotation angle of the electric motor can be determined with sufficient accuracy for the adjustment of the electric motor.

根據一個態樣，提議在使用感測器技術決定之下一個提供的旋轉角度之前的一段時間內決定多個調節旋轉角度。According to one aspect, it is proposed to determine a plurality of adjustment rotation angles over a period of time before using sensor technology to determine the next provided rotation angle.

在此狀況下，多個調節旋轉角度在各狀況下皆為根據使用感測器技術決定之最近更新旋轉角度進行的前瞻性預測。In this case, the multiple adjustment rotation angles are in each case a forward-looking prediction based on the most recently updated rotation angle determined using sensor technology.

有利地，憑藉多個調節旋轉角度，電氣馬達之旋轉角度的估計可與電氣馬達之感測器的控制時脈匹配。Advantageously, by means of a plurality of adjustments to the rotation angle, the estimation of the rotation angle of the electric motor can be matched to the control clock of the sensor of the electric motor.

根據一個態樣，提議藉助於霍爾感測器決定使用感測器技術決定之增量旋轉角度。藉助於霍爾感測器決定使用感測器技術決定之旋轉角度可特別廉價地執行，且運用該方法，可決定足夠準確之調節旋轉角度以便以改良之方式調節電氣馬達。According to one aspect, it is proposed to determine incremental rotation angles determined using sensor technology by means of Hall sensors. The determination of the angle of rotation determined using sensor technology by means of Hall sensors can be carried out particularly inexpensively, and with this method a sufficiently accurate adjustment angle of rotation can be determined for an improved regulation of the electric motor.

根據一個態樣，提議使用感測器技術決定之旋轉角度的角度增量為360度之整數分率。有利地，該方法可藉由將第一參數及/或第二參數與不同角度增量匹配來調適。According to one aspect, it is proposed to use sensor technology to determine the angle increments of the rotation angle as integer fractions of 360 degrees. Advantageously, the method can be adapted by adapting the first parameter and/or the second parameter to different angular increments.

根據一個態樣，提議使用感測器技術決定之旋轉角度的角度增量為六十度。有利地，該方法亦可用於使用感測器技術決定之旋轉角度之增量較大的狀況，諸如使用霍爾感測器進行使用感測器技術之決定的狀況，該增量通常為60°。According to one aspect, it is proposed to use sensor technology to determine the rotation angle in angular increments of sixty degrees. Advantageously, the method can also be used in cases where the sensor-based determination of the angle of rotation is made in large increments, such as the case of the sensor-based determination using Hall sensors, where the increment is typically 60° .

根據一個態樣，提議藉助於多個調節旋轉角度來調節電氣馬達，以便提供額定（setpoint）扭矩。憑藉使用用於決定調節旋轉角度之方法，可以改良之方式設定電氣馬達之額定扭矩，尤其係額定扭矩具有較少波動。According to one aspect, it is proposed to adjust the electric motor by means of a plurality of adjustment rotation angles in order to provide a setpoint torque. By using the method for determining the adjustment angle of rotation, the setpoint torque of the electric motor can be set in an improved manner, especially if the setpoint torque has less fluctuations.

提議一種用於調節電氣馬達之方法，其中在一個步驟中，提供電氣馬達之額定角加速度。在另一步驟中，藉助於用於逆變器之車輛控制電腦決定電氣馬達之額定扭矩。在另一步驟中，提供電氣馬達之使用感測器技術決定的三個最近更新增量旋轉角度。在另一步驟中，如上文所描述，基於使用感測器技術決定之三個最近更新的連續增量旋轉角度而決定至少一個調節旋轉角度。在另一步驟中，藉助於逆變器及至少一個調節旋轉角度決定用於電氣馬達之至少一個相電壓，以便調節電氣馬達。A method for regulating an electric motor is proposed, wherein in one step the nominal angular acceleration of the electric motor is provided. In a further step, the nominal torque of the electric motor is determined by means of the vehicle control computer for the inverter. In another step, the three most recent updated incremental rotational angles of the electric motor determined using sensor technology are provided. In a further step, as described above, at least one adjustment rotation angle is determined based on the three most recent updated successive incremental rotation angles determined using sensor technology. In a further step, at least one phase voltage for the electric motor is determined by means of an inverter and at least one regulating angle of rotation in order to regulate the electric motor.

藉助於用於調節電氣馬達之此方法，可以改善之效率操作電氣馬達，如將在下文進一步解釋。By means of this method for regulating an electric motor, the electric motor can be operated with improved efficiency, as will be explained further below.

根據一個態樣，提議在用於調節電氣馬達之方法中，藉助於至少一個手動換能器提供電氣馬達之額定角加速度。According to one aspect, it is proposed that in a method for regulating an electric motor, the nominal angular acceleration of the electric motor is provided by means of at least one manual transducer.

此手動換能器可為例如加速器油門及/或制動桿。This manual transducer can be, for example, an accelerator pedal and/or a brake lever.

提議一種用於決定調節旋轉角度之控制裝置，該控制裝置包含用於電氣馬達之使用感測器技術決定之增量旋轉角度的輸入，及用於提供調節旋轉角度之輸出，其中該控制裝置經設計以決定調節旋轉角度，如上文所描述。A control device for determining the angle of adjustment rotation is proposed, the control device comprising an input for an incremental rotation angle of an electric motor determined using sensor technology and an output for providing the angle of adjustment rotation, wherein the control device is passed Designed to determine the adjustment angle of rotation, as described above.

運用此類控制裝置，該方法可易於整合於不同應用中。With such a control device, the method can be easily integrated in different applications.

提議一種用於行動平台之系統，該系統包含用於驅動行動平台之電氣馬達及用於提供額定加速度值之手動換能器。此外，該系統具有：車輛控制電腦，其用於藉助於所提供之額定加速度值而決定用於逆變器之額定扭矩；及逆變器，其電耦接至電氣馬達，該逆變器用於提供用於操作電氣馬達之至少一個相電壓，來自車輛控制電腦之額定扭矩經提供至逆變器。此外，該系統具有：感測器，其用於使用感測器技術決定電氣馬達之增量旋轉角度，其中該感測器耦接至電氣馬達及控制裝置；及上述控制裝置，其用於決定調節旋轉角度，該控制裝置依據信號技術耦接至逆變器。A system for a mobile platform is proposed comprising an electric motor for driving the mobile platform and a manual transducer for providing a nominal acceleration value. Furthermore, the system has: a vehicle control computer for determining a nominal torque for the inverter by means of the provided nominal acceleration value; and an inverter electrically coupled to the electric motor for At least one phase voltage is provided for operating the electric motor, and the rated torque from the vehicle control computer is provided to the inverter. In addition, the system has: a sensor for determining the incremental rotation angle of the electric motor using sensor technology, wherein the sensor is coupled to the electric motor and the control device; and the above-mentioned control device for determining To adjust the angle of rotation, the control unit is coupled to the inverter according to signal technology.

運用此系統，可以改善之效率操作行動平台，此例如在藉助於電池進行電驅動之狀況下導致較大範圍。With this system, the mobile platform can be operated with improved efficiency, which results in a greater range, for example in the case of electric drive by means of batteries.

根據一個態樣，提議上述系統中之感測器為霍爾感測器。According to one aspect, it is proposed that the sensors in the above system are Hall sensors.

有利地，藉由用於決定調節旋轉角度之方法，可實現一種廉價的系統，儘管霍爾感測器具有例如60°之大角度增量，但該系統具有高效率。Advantageously, by means of the method for determining the adjustment angle of rotation, an inexpensive system can be realized which has a high efficiency despite the large angle increments of eg 60° of the Hall sensors.

提議具有上述系統中之一者的行動平台。A mobile platform with one of the above systems is proposed.

在此狀況下，行動平台可理解為意謂任何電動車輛，且特定而言，為電動機車及/或至少部分自動化的行動系統及/或車輛之先進駕駛輔助系統。實例可為至少部分自動化的車輛或具有先進駕駛輔助系統之車輛。亦即，就此而言，至少部分自動化的系統就至少部分自動化的功能性而言包括行動平台，但行動平台亦包括車輛及包括先進駕駛輔助系統之其他行動機器。行動平台之其他實例可為具有複數個感測器之先進駕駛輔助系統、諸如機器人真空吸塵器或割草機之行動多感測器機器人、多感測器監測系統、製造機、個人輔助、飛機或船舶或訪問監測系統。此等系統中之任一者可為完全或部分自動化的系統。In this context, a mobility platform may be understood to mean any electric vehicle, and in particular an electric vehicle and/or an at least partially automated mobility system and/or an advanced driver assistance system of the vehicle. Examples may be at least partially automated vehicles or vehicles with advanced driver assistance systems. That is, for this purpose, an at least partially automated system includes, with respect to at least partially automated functionality, a mobile platform, but a mobile platform also includes a vehicle and other mobile machines including advanced driver assistance systems. Other examples of mobile platforms could be advanced driver assistance systems with multiple sensors, mobile multi-sensor robots such as robotic vacuum cleaners or lawn mowers, multi-sensor monitoring systems, manufacturing machines, personal assistance, aircraft or Vessel or access monitoring system. Any of these systems can be a fully or partially automated system.

提議一種用於決定調節旋轉角度之上述控制裝置的用途，以便基於調節旋轉角度而調節電氣馬達。A use of the above-described control device for determining an adjustment angle of rotation is proposed for adjusting an electric motor based on the adjustment angle of rotation.

憑藉此用途，用於決定調節旋轉角度之方法所具有的上述優點可有利地用於具有電氣馬達之行動平台的驅動。By virtue of this use, the above-mentioned advantages of the method for determining the adjustment angle of rotation can be advantageously used for the drive of a mobile platform with an electric motor.

圖1示意性地展示電氣馬達110之例示性控制迴路100。舉例而言，例如具有此控制迴路100之電動機車的駕駛員可藉助於諸如加速油門131及/或制動桿132之機械換能器，向車輛控制電腦135提供加速或減速期望。車輛控制電腦135經設計以藉助於加速或減速期望來計算額定扭矩，且此額定扭矩例如藉由CAN通信提供至逆變器130。逆變器130接著例如在三相電氣馬達110之狀況下將額定扭矩轉換成三個相電壓112，該些電壓在電氣馬達110中產生機械扭矩且導致電氣馬達110之旋轉移動。FIG. 1 schematically shows an exemplary control loop 100 for an electric motor 110 . For example, a driver of an electric vehicle with such a control circuit 100 can provide acceleration or deceleration desires to the vehicle control computer 135 by means of mechanical transducers such as the accelerator pedal 131 and/or the brake lever 132 . The vehicle control computer 135 is designed to calculate a rated torque by means of acceleration or deceleration expectations, and this rated torque is provided to the inverter 130 through CAN communication, for example. The inverter 130 then converts the nominal torque, eg in the case of a three-phase electric motor 110 , into three phase voltages 112 which generate mechanical torque in the electric motor 110 and result in a rotational movement of the electric motor 110 .

可藉助於旋轉角度感測器120量測或決定電氣馬達110之旋轉移動，其被量測為旋轉角度，亦即，實際旋轉角度，且將其作為使用感測器技術決定之旋轉角度而被提供至逆變器130。此角度資訊「使用感測器技術決定之旋轉角度」為一變數，其用於根據額定扭矩決定用於操作電氣馬達110之相電壓112。可愈準確地決定使用感測器技術決定之各別旋轉角度，則電氣馬達110之調節品質可愈好。舉例而言，若使用感測器技術決定之旋轉角度極不準確，例如具有120°之誤差，則可能會出現駕駛員之加速期望導致車輛減速或甚至倒車。The rotational movement of the electric motor 110 can be measured or determined by means of an angle of rotation sensor 120, which is measured as an angle of rotation, ie the actual angle of rotation, and is recorded as the angle of rotation determined using sensor technology. provided to the inverter 130. This angle information "rotation angle determined using sensor technology" is a variable that is used to determine the phase voltage 112 for operating the electric motor 110 according to the rated torque. The more precisely the individual rotation angles determined using sensor technology can be determined, the better the regulation quality of the electric motor 110 can be. For example, if the rotation angle determined using sensor technology is extremely inaccurate, for example with an error of 120°, it may happen that the driver's desire to accelerate causes the vehicle to slow down or even reverse.

由於巨大的價格壓力，可例如在電動機車之狀況下使用霍爾感測器，以便使用感測器技術決定電氣馬達110之旋轉角度。此等霍爾感測器原則上可具有角解析度，亦即，使用感測器技術決定之旋轉角度的60°增量。圖2使用曲線圖210描述電氣馬達110隨時間推移之角速度210，其中該角速度在1000 rpm與-1000 rpm之間劇烈波動，其中頻率為1赫茲。此外，圖2在曲線圖220中展示電氣馬達110之實際旋轉角度221及使用感測器技術決定之旋轉角度222。圖2中之對應關聯曲線圖230展示在旋轉角度感測器之角解析度為60°的狀況下，隨時間推移由實際旋轉角度221與使用感測器技術決定之旋轉角度222之間的差異產生的誤差。運用在圖2中之曲線圖210中示出的測試信號，可與實際旋轉角度221之此決定相關聯的誤差230變得清晰。取決於旋轉方向，與實際旋轉角度之決定相關的此誤差可介於0°與60°之間或0°與-60°之間。將使用感測器技術決定之此旋轉角度222提供至逆變器130，以便基於額定扭矩而決定三個相電壓112。Due to the great price pressure, Hall sensors can be used eg in the case of electric locomotives in order to determine the angle of rotation of the electric motor 110 using sensor technology. These Hall sensors can in principle have an angular resolution, ie, 60° increments of the angle of rotation determined using the sensor technology. Figure 2 depicts the angular velocity 210 of the electric motor 110 over time using a graph 210, where the angular velocity fluctuates wildly between 1000 rpm and -1000 rpm, with a frequency of 1 Hz. Furthermore, FIG. 2 shows in a graph 220 the actual rotation angle 221 of the electric motor 110 and the rotation angle 222 determined using sensor technology. The corresponding correlation graph 230 in FIG. 2 shows the difference over time between the actual rotation angle 221 and the rotation angle 222 determined using the sensor technology for a rotation angle sensor with an angular resolution of 60°. resulting error. Using the test signal shown in the graph 210 in FIG. 2 , an error 230 that may be associated with this determination of the actual rotation angle 221 becomes clear. Depending on the direction of rotation, this error associated with the determination of the actual angle of rotation may be between 0° and 60° or between 0° and −60°. This rotational angle 222 determined using sensor technology is provided to the inverter 130 to determine the three phase voltages 112 based on the rated torque.

圖3中之曲線圖310、320、330用以解釋用於使用電氣馬達之角速度的另一測試信號310之實例決定調節旋轉角度的方法，該測試信號係在比圖2中更短的時間間隔內示出。憑藉針對電氣馬達的使用感測器技術決定之三個在各狀況下最近更新的增量旋轉角度341、342、343或角度改變而決定的各別時間，例如0 s、大約0.058 s、大約0.08 s，可決定調節旋轉角度以用於改善電氣馬達110之調節。在此實例中，電氣馬達之使用感測器技術決定的各別旋轉角度為0°、60°及120°。藉助於二次多項式，可憑藉以下多項式之第一係數a及第二係數b以出人意料的品質估計電氣馬達110之旋轉角度隨時間推移的改變，該些係數係基於使用感測器技術決定之在各狀況下最近更新的增量旋轉角度341、342、343而計算，以便藉助於公式α = at ²+ bt決定調節旋轉角度α，其中變數t指定自使用感測器技術決定之三個連續增量旋轉角度中之第一者經過的時間。換言之，在超過使用感測器技術決定的最近更新增量旋轉角度343之時間而直至使用感測器技術決定之新提供的增量旋轉角度的持續時間內，藉助於來自公式之此多項式例如以16 kHz之頻率，計算或決定調節旋轉角度或角度跳躍。在圖3中之實例中，接著在180°處發生使用感測器技術決定之此新的最近更新增量旋轉角度，其對應於圖3中大約0.1 s之時間。 The graphs 310, 320, 330 in FIG. 3 are used to explain the method for determining the angle of rotation using an example of another test signal 310 of the angular velocity of the electric motor at shorter time intervals than in FIG. 2 shown inside. The three most recently updated incremental rotation angles 341, 342, 343 in each case determined by means of sensor technology used for electric motors or respective times determined by angle changes, e.g. 0 s, about 0.058 s, about 0.08 s s, it may be determined to adjust the rotation angle for improving the regulation of the electric motor 110 . In this example, the respective rotation angles of the electric motor determined using sensor technology are 0°, 60° and 120°. By means of quadratic polynomials, the change in the angle of rotation of the electric motor 110 over time can be estimated with surprising quality by means of the first coefficient a and the second coefficient b of the following polynomials, which coefficients are determined using sensor technology based on The most recently updated incremental rotation angles 341, 342, 343 for each situation are calculated in order to determine the adjustment rotation angle α by means of the formula α = at ² + bt, where the variable t is specified from three consecutive incremental rotations determined using sensor technology. Measures the elapsed time of the first of the rotation angles. In other words, for the duration beyond the last updated incremental rotation angle 343 determined using sensor technology up to the duration of the newly provided incremental rotation angle determined using sensor technology, by means of this polynomial from the formula e.g. 16 kHz frequency, calculate or decide to adjust the rotation angle or angle jump. In the example in FIG. 3 , this new last update incremental rotation angle determined using sensor technology then occurs at 180°, which corresponds to a time of approximately 0.1 s in FIG. 3 .

亦即，每當使用感測器技術決定之新的最近更新增量旋轉角度被提供時，便運用使用感測器技術決定之對應三個最近更新或最近更新的增量旋轉角度及分別相關聯之時間間隔（諸如，在60°、120°及180°）為多項式分別計算新的第一係數a及第二係數b，且在240°處使用感測器技術決定之下一個提供的增量旋轉角度之前，對調節旋轉角度進行內插，等等。That is, whenever a new latest updated incremental rotation angle determined using sensor technology is provided, the corresponding three most recently updated or most recently updated incremental rotation angles determined using sensor technology and respectively associated Time intervals (such as at 60°, 120° and 180°) for the polynomial to calculate new first and second coefficients a and b respectively, and at 240° use sensor technology to determine the next provided increment Interpolate the adjusted rotation angle before the rotation angle, etc.

具有曲線圖410、420及430之圖4在很大程度上對應於圖3，但已應用用於決定調節旋轉角度之上述方法。FIG. 4 with graphs 410 , 420 and 430 largely corresponds to FIG. 3 , but the above-described method for determining the adjustment rotation angle has been applied.

曲線圖410對應於曲線圖310，其中電氣馬達110之角速度已繪製為隨時間變化的測試信號。Graph 410 corresponds to graph 310 in which the angular velocity of electric motor 110 has been plotted as a test signal over time.

在圖4中之曲線圖420中，已隨時間繪製旋轉角度421之特性，且可將其與使用感測器技術決定之增量旋轉角度422進行比較。在大約0.08秒的時間之後，使用感測器技術決定之第三旋轉角度在120°處被提供，以便決定二階多項式之第一係數及第二係數，如上文所描述。曲線423之特性指示使用感測器技術決定之其他增量旋轉角度的路線將如何。使用二階多項式決定之調節旋轉角度的特性，在此圖示中無法與旋轉角度431隨時間推移的特性進行區分。In the graph 420 in Figure 4, the behavior of the rotation angle 421 has been plotted over time and can be compared to the incremental rotation angle 422 determined using sensor technology. After a time of approximately 0.08 seconds, a third rotation angle determined using sensor technology is provided at 120° to determine the first and second coefficients of the second order polynomial, as described above. The nature of the curve 423 indicates what the course of other incremental rotation angles determined using sensor technology would be. The behavior of adjusting the rotation angle determined using a second order polynomial is indistinguishable from the behavior of the rotation angle 431 over time in this illustration.

使用所描述方法決定調節旋轉角度中之改善，尤其可見於圖4中之曲線圖430中，其中示出隨時間推移的對應誤差，亦即，調節旋轉角度與電氣馬達110之旋轉角度之間的差異。在曲線431之第一區段中，相較於誤差，看不到任何差別，如上文已關於曲線圖330所描述，此係因為該方法可僅在使用感測器技術決定之三個提供的增量旋轉角度之後決定二次多項式之係數。曲線圖430中之曲線432指示在無上述方法之情況下，將出現的使用感測器技術決定之旋轉角度的誤差。隨著曲線圖430中之曲線431繼續，可見當應用上述方法時，誤差實際上為零。亦即，憑藉使用該方法，可預測可很好地對應於電氣馬達110之旋轉角度的調節旋轉角度。The improvement in the adjustment angle of rotation determined using the described method can be seen in particular in the graph 430 in FIG. difference. In the first section of the curve 431, no difference can be seen compared to the error, as already described above with respect to the graph 330, because the method can only be provided using three of the sensor technology decisions The coefficients of the quadratic polynomial are determined after the incremental rotation angle. Curve 432 in graph 430 indicates the error in the rotation angle determined using sensor technology that would occur without the method described above. As curve 431 in graph 430 continues, it can be seen that the error is practically zero when the method described above is applied. That is, by using this method, it is possible to predict an adjustment rotation angle that corresponds well to the rotation angle of the electric motor 110 .

圖5中之曲線圖510、520、530在很大程度上對應於曲線圖410、420、430，其中差別在於曲線圖530中之Y軸經示出為比曲線圖430中大得多。因此，應用上述用於決定調節旋轉角度之方法的誤差，在此實例中可以被決定為具有大約2°之誤差，且因此可展示相較於使用感測器技術決定之增量旋轉角度，極大改善調節旋轉角度之決定。Graphs 510 , 520 , 530 in FIG. 5 largely correspond to graphs 410 , 420 , 430 with the difference that the Y-axis in graph 530 is shown to be much larger than in graph 430 . Therefore, the error applying the method described above for determining the adjustment angle of rotation can be determined to have an error of about 2° in this example, and thus it can be shown that compared to the incremental angle of rotation determined using sensor technology, it is very large Improve the decision to adjust the rotation angle.

為了進一步解釋使用所描述方法對電氣馬達110進行調節的改善，在圖6及圖7中，對於使用感測器技術決定之60°（圖6）及5°（圖7）旋轉角度之解析度，對照電氣馬達110之電流iQ及iD設定電氣馬達110之扭矩，以便在此處所描述之方法用於藉助於二階多項式決定調節旋轉角度的情況下，估計電氣馬達110可預期之控制品質。To further explain the improvement of the regulation of the electric motor 110 using the described method, in FIGS. , the torque of the electric motor 110 is set against the currents iQ and iD of the electric motor 110 in order to estimate the expected control quality of the electric motor 110 when the method described here is used to determine the adjustment angle of rotation by means of a second order polynomial.

在使用基於60°之增量旋轉角度之調節的電氣馬達110之扭矩610的特性，與調節係基於5°之增量旋轉角度的扭矩710之對應特性之間進行比較之狀況下，顯而易見，增量較小之扭矩的特性之波動小得多。此同樣適用於電氣馬達110之電流iQ 620，其中相較於將較小增量用於決定旋轉角度來進行調節的電氣馬達110之電流iQ 720，已使用較大增量決定使用感測器技術決定之旋轉角度。In the case of a comparison between the characteristics of the torque 610 of the electric motor 110 using adjustments based on incremental rotation angles of 60°, and the corresponding characteristics of the torque 710 adjusted based on incremental rotation angles of 5°, it is evident that increasing The fluctuation of the characteristics of the small amount of torque is much smaller. The same applies to the current iQ 620 of the electric motor 110, where larger increments have been used to determine the use of sensor technology compared to the current iQ 720 of the electric motor 110 which uses smaller increments for determining the angle of rotation for regulation Determine the rotation angle.

特別顯而易見的係以較大旋轉角度增量調節電氣馬達110的電氣馬達110之電流iD 630，相較於以較小增量進行旋轉角度決定的電氣馬達110之電流iD 730的波動差異。Particularly noticeable is the difference in fluctuations in the current iD 630 of the electric motor 110 adjusting the electric motor 110 in larger rotational angle increments compared to the fluctuation of the electric motor 110 current iD 730 in smaller increments of rotational angle determination.

由於電流iQ及iD中之波動中的對應電荷反轉與對應電損耗相關聯，因此當使用用於決定調節旋轉角度以調節電氣馬達110之方法時，可明顯改善系統之效率，此係因為例如可減少驅動電氣馬達110之逆變器130的加熱。Since the corresponding charge reversals in the fluctuations in the currents iQ and iD are associated with corresponding electrical losses, the efficiency of the system can be significantly improved when using the method for determining the adjustment angle of rotation to regulate the electric motor 110, because for example Heating of the inverter 130 driving the electric motor 110 can be reduced.

100:控制迴路 110:三相電氣馬達 112:相電壓 120:旋轉角度感測器 130:逆變器 131:加速油門/手動換能器 132:制動桿/手動換能器 135:車輛控制電腦 210:角速度/曲線圖 220:曲線圖 221:實際旋轉角度 222:旋轉角度 230:曲線圖/誤差 310:曲線圖/測試信號 320:曲線圖 330:曲線圖 341:最近更新增量旋轉角度 342:最近更新增量旋轉角度 343:最近更新增量旋轉角度 410:曲線圖 420:曲線圖 430:曲線圖 421:旋轉角度 422:增量旋轉角度 423:曲線 431:曲線/旋轉角度 432:曲線 510:曲線圖 520:曲線圖 530:曲線圖 610:扭矩 620:電流iQ 630:電流iD 710:扭矩 720:電流iQ 730:電流iD 100: control loop 110:Three-phase electric motor 112: phase voltage 120: Rotation angle sensor 130: Inverter 131: Acceleration throttle/manual transducer 132: Brake lever/manual transducer 135: Vehicle control computer 210: Angular Velocity/Graph 220: Curve 221: Actual rotation angle 222: Rotation angle 230: Graph/Error 310: Curve diagram/test signal 320: Curve 330: Curve 341: Latest update incremental rotation angle 342: Latest update incremental rotation angle 343: Latest update incremental rotation angle 410: Curve 420: Curve 430: Curve 421: Rotation angle 422: Incremental rotation angle 423: curve 431: Curve/rotation angle 432: curve 510: Curve 520: Curve 530: Curve 610: Torque 620: current iQ 630: current iD 710: Torque 720: current iQ 730: current iD

本發明之例示性具體實例在圖1至圖7中及以下具體實例中示出且將在下文更詳細地解釋。Illustrative embodiments of the invention are shown in Figures 1 to 7 and in the following embodiments and will be explained in more detail below.

在圖式中： [圖1]展示電氣馬達之控制迴路； [圖2]展示曲線圖，該些曲線圖展示電氣馬達之角速度、實際旋轉角度及所量測旋轉角度以及由此產生的誤差； [圖3]展示用於解釋用於決定調節旋轉角度之方法的曲線圖； [圖4]展示用於解釋用於決定調節旋轉角度之方法的曲線圖，其中在決定旋轉角度時具有由該方法產生之誤差； [圖5]展示用於解釋用於決定調節旋轉角度之方法的曲線圖，其中在放大圖示中展示了在決定旋轉角度時由該方法產生的誤差； [圖6]展示用於針對使用感測器技術決定之60°旋轉角度增量而比較電氣馬達之扭矩以及電流iQ及iD的曲線圖； [圖7]展示用於針對使用感測器技術決定之5°旋轉角度增量而比較電氣馬達之扭矩以及電流iQ及iD的曲線圖； In the schema: [Figure 1] shows the control circuit of the electric motor; [Fig. 2] shows graphs showing the angular velocity, actual and measured rotation angles of the electric motor and the resulting errors; [FIG. 3] Shows graphs for explaining the method for determining the adjustment rotation angle; [FIG. 4] A graph showing a method for determining an adjustment rotation angle with an error caused by the method in determining the rotation angle; [FIG. 5] A graph for explaining a method for determining an adjustment rotation angle is shown, wherein an error generated by the method at the time of determining the rotation angle is shown in an enlarged illustration; [ FIG. 6 ] Shows graphs for comparing torque and currents iQ and iD of electric motors for 60° rotation angle increments determined using sensor technology; [ FIG. 7 ] Shows graphs for comparing torque and currents iQ and iD of electric motors for 5° rotation angle increments determined using sensor technology;

100:控制迴路 100: control loop

110:三相電氣馬達 110:Three-phase electric motor

112:相電壓 112: phase voltage

120:旋轉角度感測器 120: Rotation angle sensor

130:逆變器 130: Inverter

131:加速油門/手動換能器 131: Acceleration throttle/manual transducer

132:制動桿/手動換能器 132: Brake lever/manual transducer

135:車輛控制電腦 135: Vehicle control computer

Claims

一種用於決定一電氣馬達（110）之一調節旋轉角度以用於調節該電氣馬達（110）的方法，其包含提供該電氣馬達之使用感測器技術決定的增量旋轉角度；決定該調節旋轉角度，其中該調節旋轉角度係基於使用感測器技術決定之數個連續增量旋轉角度進行內插。 A method for determining an angle of rotation of an adjustment of an electric motor (110) for adjusting the electric motor (110), comprising Provides incremental rotation angles determined using sensor technology for the electric motor; The adjustment rotation angle is determined, wherein the adjustment rotation angle is interpolated based on a number of successive incremental rotation angles determined using sensor technology.

如請求項1之方法，其中該調節旋轉角度係藉助於二階之一多項式進行內插。The method of claim 1, wherein the adjusted rotation angle is interpolated by means of a second-order polynomial.

如請求項2之方法，其中該二階之該多項式係使用以下公式決定： α = at ²+ bt ，其中α為該調節旋轉角度，a為一第一係數，b為一第二係數，且其中該第一係數a及該第二係數b係藉助於使用感測器技術決定之三個在各狀況下最近更新的連續增量旋轉角度來決定，且一變數t指定自使用感測器技術決定之該三個連續增量旋轉角度中之第一者經過的一時間。 The method of claim 2, wherein the polynomial of the second order is determined using the following formula: α = at ² + bt , wherein α is the adjustment rotation angle, a is a first coefficient, b is a second coefficient, and wherein The first coefficient a and the second coefficient b are determined by means of the three most recently updated successive incremental rotation angles in each case determined using sensor technology, and a variable t is assigned from using sensor technology The elapsed time of the first of the three consecutive incremental rotation angles.

如請求項3之方法，其中一旦提供了使用感測器技術決定之一新的最近更新旋轉角度，便重新決定該第一係數a及該第二係數b。The method of claim 3, wherein the first coefficient a and the second coefficient b are re-determined once a new latest updated rotation angle determined using sensor technology is provided.

如請求項1至4中任一項之方法，其中在使用感測器技術決定之下一個提供的旋轉角度之前的一段時間內決定多個調節旋轉角度。The method of any one of claims 1 to 4, wherein a plurality of adjustment rotation angles are determined within a period of time before a next provided rotation angle is determined using sensor technology.

如請求項1至4中任一項之方法，其中使用感測器技術決定之該些增量旋轉角度係藉助於一霍爾感測器（120）決定。The method of any one of claims 1 to 4, wherein the incremental rotation angles determined using sensor technology are determined by means of a Hall sensor (120).

如請求項1至4中任一項之方法，其中使用感測器技術決定之該些旋轉角度的一角度增量為360度之一整數分率。The method according to any one of claims 1 to 4, wherein an angular increment of the rotation angles determined using sensor technology is an integer fraction of 360 degrees.

如請求項1至4中任一項之方法，其中該電氣馬達（110）係藉助於多個調節旋轉角度調節以便提供一額定扭矩。The method of any one of claims 1 to 4, wherein the electric motor (110) is adjusted by means of a plurality of adjustment rotation angles to provide a rated torque.

一種用於調節一電氣馬達（110）之方法，其包含提供該電氣馬達之一額定角加速度；藉助於用於一逆變器（130）之一車輛控制電腦（135）決定該電氣馬達（110）之一額定扭矩；提供該電氣馬達（110）之使用感測器技術決定的三個最近更新的增量旋轉角度；如請求項1至8中任一項，基於使用感測器技術決定之該三個最近更新的連續增量旋轉角度而決定至少一個調節旋轉角度；藉助於該逆變器（130）及至少一個調節旋轉角度決定用於該電氣馬達（110）之至少一個相電壓（112），以便調節該電氣馬達（110）。 A method for regulating an electric motor (110), comprising provide a rated angular acceleration of the electric motor; determining a rated torque of the electric motor (110) by means of a vehicle control computer (135) for an inverter (130); providing the three most recent updated incremental rotation angles of the electric motor (110) determined using sensor technology; As in any one of claims 1 to 8, determining at least one adjustment angle of rotation based on the three most recently updated successively incremental angles of rotation determined using sensor technology; At least one phase voltage (112) for the electric motor (110) is determined by means of the inverter (130) and at least one control angle of rotation in order to regulate the electric motor (110).

如請求項9之方法，其中該電氣馬達（110）之該額定角加速度係藉助於至少一個手動換能器（131，132）提供。The method of claim 9, wherein the rated angular acceleration of the electric motor (110) is provided by means of at least one manual transducer (131, 132).

一種用於決定一調節旋轉角度之控制裝置，其包含：一輸入，其用於一電氣馬達（110）之使用感測器技術決定的增量旋轉角度；一輸出，其用於提供調節旋轉角度，其中該控制裝置經設計以如請求項1至8中任一項而決定一調節旋轉角度。 A control device for determining an adjustment rotation angle, comprising: an input for the incremental rotation angle of an electric motor (110) determined using sensor technology; An output for providing an adjustment rotation angle, wherein the control device is designed to determine an adjustment rotation angle according to any one of claims 1-8.

一種用於一行動平台之系統，其包含：一電氣馬達（110），其用於驅動該行動平台；一手動換能器（131，132），其用於提供一額定加速度值；一車輛控制電腦（135），其用於藉助於所提供之額定加速度值決定用於一逆變器（130）之一額定扭矩；一逆變器（130），其電耦接至該電氣馬達（110），該逆變器用於提供用於操作該電氣馬達（110）之至少一個相電壓（112），來自該車輛控制電腦（135）之該額定扭矩經提供至該逆變器；一感測器（120），其用於使用感測器技術決定該電氣馬達（110）之一增量旋轉角度，其中該感測器（120）耦接至該電氣馬達（110）及一控制裝置；及該控制裝置，其用於如請求項1至8中任一項而決定一調節旋轉角度，該控制裝置依據信號技術耦接至該逆變器（130）。 A system for a mobile platform comprising: an electric motor (110) for driving the mobile platform; a manual transducer (131, 132) for providing a rated acceleration value; a vehicle control computer (135) for determining a nominal torque for an inverter (130) by means of the provided nominal acceleration values; an inverter (130), electrically coupled to the electric motor (110), for providing at least one phase voltage (112) for operating the electric motor (110), from the vehicle control computer ( 135) the rated torque is supplied to the inverter; A sensor (120) for determining an incremental rotational angle of the electric motor (110) using sensor technology, wherein the sensor (120) is coupled to the electric motor (110) and a control device; and The control device is used for determining an adjustment rotation angle according to any one of claims 1 to 8, and the control device is coupled to the inverter (130) according to signal technology.

如請求項12之系統，其中該感測器（120）為一霍爾感測器。The system according to claim 12, wherein the sensor (120) is a Hall sensor.

一種行動平台，其具有如請求項12或13之一系統。A mobile platform having a system as claimed in item 12 or 13.

一種如請求項11之一控制裝置的用途，其用於決定一調節旋轉角度，以便基於該調節旋轉角度而調節一電氣馬達（110）。Use of a control device according to claim 11 for determining an adjustment rotation angle in order to adjust an electric motor (110) based on the adjustment rotation angle.