WO2007090760A2 - Verfahren und vorrichtung zum bestimmen des drehmoments einer elektrischen maschine - Google Patents
Verfahren und vorrichtung zum bestimmen des drehmoments einer elektrischen maschine Download PDFInfo
- Publication number
- WO2007090760A2 WO2007090760A2 PCT/EP2007/050869 EP2007050869W WO2007090760A2 WO 2007090760 A2 WO2007090760 A2 WO 2007090760A2 EP 2007050869 W EP2007050869 W EP 2007050869W WO 2007090760 A2 WO2007090760 A2 WO 2007090760A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- electric machine
- determining
- uind
- phase voltage
- Prior art date
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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/907—Specific control circuit element or device
- Y10S388/912—Pulse or frequency counter
Definitions
- the invention relates to a method for determining the torque of an electrical, in particular permanently excited, electric machine according to the preamble of claim 1, and to a corresponding device according to the preamble of claim 5.
- Permanently excited synchronous machines used as an electric drive.
- Permanently excited synchronous machines comprise a rotor in which the magnets which generate the magnetic flux are arranged, as well as a stator with the stator windings.
- the electric machine generates a torque, which depends in particular on the phase current and the magnetic flux in the machine.
- the generated torque determines the acceleration or drivability of the vehicle and thus represents an important quantity to be determined.
- the torque of the electric machine is usually calculated by means of a mathematical model. Assuming that no reluctance torque occurs, applies to the torque M:
- An essential aspect of the invention is to measure a phase voltage and the speed of the electric machine and to calculate the torque therefrom.
- the term "rotational speed” should also be understood to mean a proportional variable, such as the angular frequency, which has the significant advantage that the torque M of the electric machine can be calculated more accurately and temperature influences in particular can be taken into account.
- the torque is preferably in accordance with the mathematical model:
- the phase voltage U i nd is preferably measured when the electric machine 1 is idling. In this state, all switches are one with the open circuit connected electrical machine and the phase voltages show a substantially sinusoidal course. The phase voltage can therefore be measured accurately. For the calculation of the moment M, preferably the peak value of the phase voltage Uind is used.
- the control unit preferably generates an output signal for driving a pulse-controlled inverter (PWR), with which, in particular, the power of the electrical machine can be changed.
- PWR pulse-controlled inverter
- FIG. 1 shows a schematic representation of a three-phase electrical machine 1 with a pulse inverter 2 connected thereto.
- the pulse inverter (PWR) 2 comprises circuit breakers 6a-6f which are connected to the individual phases U, V, W of the electrical machine 1 and the phases U , V, W either against a high supply potential
- the pulse inverter 2 further comprises a plurality of free-wheeling diodes 7a-7f, which are each arranged parallel to one of the switches 6a-6f.
- the PWR 2 determines the power and operating mode of the electric machine 1 and is controlled accordingly by a control unit 12.
- the electric machine 1 can thus be operated either in motor or generator mode.
- the pulse inverter 2 also comprises a so-called intermediate circuit capacitor 8, which essentially serves to stabilize a battery voltage.
- the electrical system of the vehicle with a battery 9 is connected in parallel to the DC link capacitor 8.
- the electric machine 1 is here designed in three phases and comprises a stator with three strings 3a-3c and a rotor with a plurality of permanent magnets 11.
- the ohmic resistances of the strings 3a-3c are represented by the elements 10a-10c.
- the electrical machine 1 produces a torque M, which depends in particular on the phase current Iu, Iv, Iw and the cross-current I q (Field Oriented Control) and the prevailing in the electrical machine 1 magnetic flux ⁇ .
- the current torque M of the electric machine is calculated by means of a mathematical model, which is stored in the control unit 12. This model or algorithm calculates the torque M by the following relationship:
- the magnetic flux ⁇ is determined by the law of induction, with
- the angular frequency ⁇ of the electric machine 1 is measured here by means of a speed sensor 5.
- the voltage Uind induced in the stator windings 3a-3c is shown schematically by voltage sources 4a-4c and can be measured by means of a simple voltage sensor.
- the voltage between two of the phases, eg U and V, or the voltage between one of the phases U, V, W and a reference potential can be measured as induced voltage Uind.
- This tension is at the idling of the electric machine 1 sinusoidal and is therefore preferably in this Condition measured. (At idle, all six power switches 6a-6f of the pulse-controlled inverter 2 are open.)
- the speed of the electric machine 1 should be sufficiently large in the measurement, but on the other hand, a maximum speed, from which the
- Free-wheeling diodes 7a - 7f act as rectifier bridge, do not exceed.
- the phase voltages U, V, W would otherwise be distorted and no longer sinusoidal.
- the voltage and speed signals Uind, n are supplied to the controller 12 at its input.
- the peak value is calculated from the voltage signal. This corresponds to the above-mentioned induced voltage Uind- stored in the control unit 12 algorithm processes these variables and determines therefrom the current torque M of the electric machine. 1
- the mathematical model for calculating the torque M may be either analytically or e.g. be deposited as a map in the control unit 12.
- the torque M can be determined in this way particularly accurate and easy.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07704222A EP1985006A2 (de) | 2006-02-09 | 2007-01-30 | Verfahren und vorrichtung zum bestimmen des drehmoments einer elektrischen maschine |
JP2008553718A JP2009526512A (ja) | 2006-02-09 | 2007-01-30 | 電力機器のトルクを求めるための方法および装置 |
US12/162,646 US7688012B2 (en) | 2006-02-09 | 2007-01-30 | Method and device for determining the torque of an electric machine |
KR1020087019528A KR101056572B1 (ko) | 2006-02-09 | 2007-01-30 | 전기 기기의 토크를 결정하기 위한 방법 및 장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006005854.2 | 2006-02-09 | ||
DE102006005854A DE102006005854A1 (de) | 2006-02-09 | 2006-02-09 | Verfahren und Vorrichtung zum Bestimmen des Drehmoments einer elektrischen Maschine |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2007090760A2 true WO2007090760A2 (de) | 2007-08-16 |
WO2007090760A3 WO2007090760A3 (de) | 2007-12-13 |
Family
ID=38288582
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2007/050869 WO2007090760A2 (de) | 2006-02-09 | 2007-01-30 | Verfahren und vorrichtung zum bestimmen des drehmoments einer elektrischen maschine |
Country Status (7)
Country | Link |
---|---|
US (1) | US7688012B2 (de) |
EP (1) | EP1985006A2 (de) |
JP (1) | JP2009526512A (de) |
KR (1) | KR101056572B1 (de) |
CN (1) | CN101379690A (de) |
DE (1) | DE102006005854A1 (de) |
WO (1) | WO2007090760A2 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008135138A1 (de) * | 2007-04-27 | 2008-11-13 | Kaltenbach & Voigt Gmbh | Verfahren und vorrichtung zur bestimmung der motorkonstante eines elektromotors |
WO2012152463A3 (de) * | 2011-05-06 | 2013-06-20 | Robert Bosch Gmbh | Verfahren und vorrichtung zum überwachen eines drehmoments eines elektromotors |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009046583A1 (de) * | 2009-11-10 | 2011-05-12 | Robert Bosch Gmbh | Verfahren zum Plausibilisieren des Drehmomentes einer elektrischen Maschine und Maschinenregler zur Regelung einer elektrischen Maschine und zur Durchführung des Verfahrens |
US10336212B2 (en) * | 2013-11-27 | 2019-07-02 | Ford Global Technologies, Llc | Torque monitoring system and method |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10218538A1 (de) * | 2001-05-04 | 2002-11-07 | Ford Global Tech Inc | Vorrichtung und Verfahren zur Überwachung des Leistungsverlustes eines Magneten in einem Motor sowie Hybrid-Elektrofahrzeug |
US20040145355A1 (en) * | 2003-01-29 | 2004-07-29 | Denso Corporation | Torque computation unit for vehicle generator |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07128161A (ja) * | 1993-11-05 | 1995-05-19 | Toei Denki Kk | トルク測定方法およびその装置とこれらを用いたトルク制御装置 |
US6373211B1 (en) * | 1999-09-17 | 2002-04-16 | Delphi Technologies, Inc. | Extended speed range operation of permanent magnet brushless machines using optimal phase angle control in the voltage mode operation |
JP3685138B2 (ja) * | 2002-02-18 | 2005-08-17 | 日産自動車株式会社 | モーター制御装置 |
JP2004312825A (ja) * | 2003-04-03 | 2004-11-04 | Koyo Seiko Co Ltd | モータ制御装置 |
US6894455B2 (en) * | 2003-04-30 | 2005-05-17 | Remy Inc. | Performance improvement of integrated starter alternator by changing stator winding connection |
US7821217B2 (en) * | 2006-05-22 | 2010-10-26 | Black & Decker Inc. | Electronically commutated motor and control system employing phase angle control of phase current |
-
2006
- 2006-02-09 DE DE102006005854A patent/DE102006005854A1/de not_active Withdrawn
-
2007
- 2007-01-30 CN CNA2007800048494A patent/CN101379690A/zh active Pending
- 2007-01-30 WO PCT/EP2007/050869 patent/WO2007090760A2/de active Application Filing
- 2007-01-30 KR KR1020087019528A patent/KR101056572B1/ko active IP Right Grant
- 2007-01-30 EP EP07704222A patent/EP1985006A2/de not_active Withdrawn
- 2007-01-30 JP JP2008553718A patent/JP2009526512A/ja active Pending
- 2007-01-30 US US12/162,646 patent/US7688012B2/en not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10218538A1 (de) * | 2001-05-04 | 2002-11-07 | Ford Global Tech Inc | Vorrichtung und Verfahren zur Überwachung des Leistungsverlustes eines Magneten in einem Motor sowie Hybrid-Elektrofahrzeug |
US20040145355A1 (en) * | 2003-01-29 | 2004-07-29 | Denso Corporation | Torque computation unit for vehicle generator |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008135138A1 (de) * | 2007-04-27 | 2008-11-13 | Kaltenbach & Voigt Gmbh | Verfahren und vorrichtung zur bestimmung der motorkonstante eines elektromotors |
US8547042B2 (en) | 2007-04-27 | 2013-10-01 | Kaltenbach & Voigt Gmbh | Method and device for determining the motor constant of an electric motor |
US8773053B2 (en) | 2007-04-27 | 2014-07-08 | Kaltenbach & Voigt Gmbh | Method for operating an electric motor |
WO2012152463A3 (de) * | 2011-05-06 | 2013-06-20 | Robert Bosch Gmbh | Verfahren und vorrichtung zum überwachen eines drehmoments eines elektromotors |
US9369079B2 (en) | 2011-05-06 | 2016-06-14 | Robert Bosch Gmbh | Method and device for monitoring a torque of an electric motor |
Also Published As
Publication number | Publication date |
---|---|
KR20080108083A (ko) | 2008-12-11 |
WO2007090760A3 (de) | 2007-12-13 |
DE102006005854A1 (de) | 2007-08-23 |
US7688012B2 (en) | 2010-03-30 |
CN101379690A (zh) | 2009-03-04 |
JP2009526512A (ja) | 2009-07-16 |
KR101056572B1 (ko) | 2011-08-11 |
US20090167222A1 (en) | 2009-07-02 |
EP1985006A2 (de) | 2008-10-29 |
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