WO2015036198A2 - Détermination de position d'un moteur électrique par évaluation de la direction de déplacement - Google Patents

Détermination de position d'un moteur électrique par évaluation de la direction de déplacement Download PDF

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Publication number
WO2015036198A2
WO2015036198A2 PCT/EP2014/067318 EP2014067318W WO2015036198A2 WO 2015036198 A2 WO2015036198 A2 WO 2015036198A2 EP 2014067318 W EP2014067318 W EP 2014067318W WO 2015036198 A2 WO2015036198 A2 WO 2015036198A2
Authority
WO
WIPO (PCT)
Prior art keywords
rotor
rotation
determining
computer program
hall sensor
Prior art date
Application number
PCT/EP2014/067318
Other languages
German (de)
English (en)
Other versions
WO2015036198A3 (fr
Inventor
Eman Mehrjerdian
Christian Kugler
Khaled Sharaf
Original Assignee
Zf Lenksysteme 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 Zf Lenksysteme Gmbh filed Critical Zf Lenksysteme Gmbh
Publication of WO2015036198A2 publication Critical patent/WO2015036198A2/fr
Publication of WO2015036198A3 publication Critical patent/WO2015036198A3/fr

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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/03—Synchronous motors with brushless excitation
    • 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
    • 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
    • H02P6/20—Arrangements for starting
    • H02P6/22—Arrangements for starting in a selected direction of rotation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Definitions

  • the present invention relates to a method for determining the position of a rotor of an electric machine, a steering system for a vehicle with a
  • Control unit a computer program and a computer program product.
  • the current position of rotors / rotors of electric machines can be determined by means of Hall sensors.
  • Hall sensors There are embodiments in which there is no clear correlation between the results of the Hall sensors and the position of the rotor / rotor.
  • the starting position is determined and stored in a non-volatile memory, whereby an always accurate position determination can be made due to the known starting position of the rotor.
  • the starting position stored in the memory can be deleted. In this case, no definite position determination may be possible anymore. It is therefore an object to provide a method for re-determining the exact position after clearing the starting position of the rotor.
  • a method of determining the position of a rotor of an electric machine comprising the steps of: determining the potentially possible positions of the rotor, determining a target position, applying a commutation to reach the target position, and determining the direction of rotation of the rotor.
  • a steering system for a vehicle is provided with a control unit, wherein the control unit a
  • Storage means having a computer program stored thereon, wherein the computer program for carrying out a method according to one of claims 1 to 5 is configured.
  • a computer program for carrying out a method according to one of claims 1 to 5 is configured.
  • a computer program product comprising program code means, which on a
  • a method further comprising the step of: determining the position based on the direction of rotation.
  • n-times specification target position n-times corresponding commutation
  • n-times determining the direction of rotation n-times specification target position, n-times corresponding commutation and n-times determining the direction of rotation.
  • n 2, 3, 4, 5, 6, 7, 8 or any natural value and / or being the same by the commutations
  • Rotation directions or different directions of rotation are generated and / or wherein the different directions of rotation in each case have alternating directions.
  • a method is provided wherein an equal waiting time or different waiting times are inserted between individual PWMs.
  • FIG. 1 a magnetic motor ring and a first magnetic sensor ring
  • FIG. 2 a magnetic motor ring and a second magnetic sensor ring
  • FIG. 1 Hall sensor values of three Hall sensors in a magnetic sensor ring according to FIG. 1
  • FIG. 4 Hall sensor values of three Hall sensors in a magnetic sensor ring according to FIG. 2
  • FIG. 1 Hall sensor values of three Hall sensors in a magnetic sensor ring according to FIG. 1
  • FIG. 4 Hall sensor values of three Hall sensors in a magnetic sensor ring according to FIG. 2
  • FIG. 6 shows an increase of the PWM control (for example based on 0%, over 2%, 4% and 6% up to 8%)
  • FIG. 7 Hall sensor values and associated motor poles and a schematic procedure according to the invention
  • 8 is an illustration of an alternative method according to the invention
  • FIG. 9 shows a representation of a further alternative method according to the invention
  • FIG. 10 shows a representation of a further alternative method according to the invention
  • FIG. 11 shows a method according to the invention as a flow chart.
  • Fig. 1 shows a magnetic motor ring 1, which is a part of the rotor of the drive motor, and a magnetic sensor ring 5, which is also arranged on the drive motor and synchronously runs with the magnetic motor ring 1. Based on the magnetic sensor ring 5, a position of the rotor of the drive motor can be uniquely determined by the arrangement of Hall sensors 2, 3, 4.
  • Fig. 2 shows the magnetic motor ring 1 of the drive motor and another synchronously co-rotating magnetic sensor ring 6, wherein the magnetic sensor ring 6 in comparison to the magnetic sensor ring 5 of Figure 1 has a double resolution.
  • the associated motor pole can be unambiguously determined. For example, starting from the Hall sensor value
  • Hall sensor value "5" determined that at the corresponding position, a north pole N of the rotor / rotor is present.
  • FIG. 5 shows the possible effects if a wrong position 8 is assumed. Starting situation is that a position between the
  • Hall sensor values 2 and 6 to be approached. This could in principle be position 10 or position 11.
  • a commutation would be made, which would lead from the correct position 9 to a movement to the left (with respect to drawing plane), which would be opposite to the actual direction of rotation of the electric motor and therefore never should.
  • the electric motor is switched off immediately by the control unit and an error message is generated. If the correct position 9 had been selected as the assumed position, a movement to the right (with regard to the plane of the drawing) would actually have resulted, ie in the direction of the actual direction of rotation.
  • the task is therefore, in an electric motor with ambiguous assignment of Hall sensor values and
  • Rotor position to provide a method that allows initialization and avoids that the rotor is moved counter to the actual direction of rotation.
  • the problem should be solved in particular without an extension of the sensors. (Thus, for example, no arrangement of an additional Hall sensor is required.)
  • FIG. 6 shows a slow or stepwise increase of the pulse width modulation in order to overcome external forces slowly.
  • Fig. 7 shows an inventive method to determine the correct position of the rotor can.
  • the electric motor could be a servomotor of a steering assistance of a vehicle. If, for example, the relevant steering wheel is held in place, an external force acts and a force acts
  • FIG. 8 shows a particular embodiment of a method in which PWM phases 17, 18 alternately lead to the generation of Hall sensor values 19, 20.
  • PWM phases 17, 18 are to be generated pulsating Hall sensor values 19, 20.
  • alternating Hall sensor values 19, 20 result, it can be assumed that no (relevant) external forces act and therefore the measurement result is correct.
  • the PWM phases 17, 18 are formed as rising and falling stairs, respectively, to form a successively increasing force. This can be used to overcome existing external forces gradually, without resulting in an initial "overreacting".
  • FIG. 9 shows a further variant of a method according to the invention in which a larger force (higher PWM) is used to start from the outset
  • FIG. 10 shows a further variant in the case of between individual PWM phases
  • FIG. 11 shows a method according to the invention as a flow chart.

Landscapes

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

Abstract

La présente invention concerne un procédé de détermination de la position d'un rotor d'une machine électrique, lequel procédé comprend les étapes qui consistent à : déterminer les positions potentiellement possibles du rotor 23, déterminer une position cible 24, appliquer une commutation afin d'atteindre la position cible 25 et déterminer le sens de rotation du rotor 26.
PCT/EP2014/067318 2013-09-10 2014-08-13 Détermination de position d'un moteur électrique par évaluation de la direction de déplacement WO2015036198A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013109885.1 2013-09-10
DE102013109885.1A DE102013109885A1 (de) 2013-09-10 2013-09-10 Positionsbestimmung eines Elektromotors durch Auswertung der Bewegungsrichtung

Publications (2)

Publication Number Publication Date
WO2015036198A2 true WO2015036198A2 (fr) 2015-03-19
WO2015036198A3 WO2015036198A3 (fr) 2015-04-30

Family

ID=51302995

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/067318 WO2015036198A2 (fr) 2013-09-10 2014-08-13 Détermination de position d'un moteur électrique par évaluation de la direction de déplacement

Country Status (2)

Country Link
DE (1) DE102013109885A1 (fr)
WO (1) WO2015036198A2 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010063692A1 (de) * 2010-08-05 2012-02-09 Continental Teves Ag & Co. Ohg Verfahren und Schaltungsanordnung zur Überprüfung der Rotorposition einer Synchronmaschine
US20120068638A1 (en) * 2009-03-27 2012-03-22 Frank Sieweke Method and amplifier for operating a synchronous motor
DE102012111799A1 (de) * 2011-12-19 2013-06-20 Clean Mobile Ag Elektrisch kommutierter Motor und Verfahren zum Kalibieren eines elektrisch kommutierten Motors

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004059830A2 (fr) * 2002-12-31 2004-07-15 Emb-Papst St. Georgen Gmbh & Co. Kg Ensemble de detection de la position d'un rotor et procede de detection de la position d'un rotor
US8040085B2 (en) * 2006-06-23 2011-10-18 Mitsubishi Electric Corporation Brushless motor apparatus
US8350503B2 (en) * 2007-03-16 2013-01-08 Mitsubishi Electric Corporation Brushless motor device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120068638A1 (en) * 2009-03-27 2012-03-22 Frank Sieweke Method and amplifier for operating a synchronous motor
DE102010063692A1 (de) * 2010-08-05 2012-02-09 Continental Teves Ag & Co. Ohg Verfahren und Schaltungsanordnung zur Überprüfung der Rotorposition einer Synchronmaschine
DE102012111799A1 (de) * 2011-12-19 2013-06-20 Clean Mobile Ag Elektrisch kommutierter Motor und Verfahren zum Kalibieren eines elektrisch kommutierten Motors

Also Published As

Publication number Publication date
DE102013109885A1 (de) 2015-03-12
WO2015036198A3 (fr) 2015-04-30

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