WO2015166173A2 - Method for estimating the electrical angle of an asynchronous electric machine for a motor vehicle - Google Patents

Method for estimating the electrical angle of an asynchronous electric machine for a motor vehicle Download PDF

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Publication number
WO2015166173A2
WO2015166173A2 PCT/FR2015/051108 FR2015051108W WO2015166173A2 WO 2015166173 A2 WO2015166173 A2 WO 2015166173A2 FR 2015051108 W FR2015051108 W FR 2015051108W WO 2015166173 A2 WO2015166173 A2 WO 2015166173A2
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stator
components
rotor
clarke
estimated
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PCT/FR2015/051108
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French (fr)
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WO2015166173A3 (en
Inventor
Abdelmalek Maloum
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Renault S.A.S.
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Priority to EP15723266.1A priority Critical patent/EP3138193A2/en
Publication of WO2015166173A2 publication Critical patent/WO2015166173A2/en
Publication of WO2015166173A3 publication Critical patent/WO2015166173A3/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control

Definitions

  • the invention relates to the technical field control of electrical machines, and in particular, the control of asynchronous electrical machines.
  • the asynchronous electric machine by its construction, is the most robust and cheapest electric machine on the market. Advances in the control of such machines and considerable technological advances, both in the field of power electronics and in microelectronics, have made it possible to install powerful controls for this machine, making it daunting competitor in the areas of variable speed and rapid torque control. However, many problems remain. The influence of variations in the parameters of the machine and the presence of mechanical sensors are all difficulties that have sharpened the curiosity of researchers and engineers.
  • the electric angle sensor which makes it possible to know the position of the electric angle of the rotor of the machine is particularly expensive.
  • the document US 2013 / 0289934A1 describes a method for estimating the flux of the stator from the signals of the voltage and currents of the machine, which is then used to estimate the rotor flux of the machine from the stator flux.
  • the method also includes determining the electrical angle and its derivative.
  • CN102437813 discloses a method for increasing the rotor angle and velocity from the rotor flux for a permanent magnet synchronous machine. Moreover, the teaching of the document implies an extensive use of the physical filtering through an extraction of the fundamental of the voltage and current of the rotor. Such a document is therefore irrelevant to the problem to be solved.
  • the subject of the invention is a method for estimating the electric angle of an asynchronous electric machine for a motor vehicle, characterized in that it comprises the following steps:
  • components of the estimated stator flux in the Clarke two-phase coordinate system are determined as a function of components of the estimated stator currents in said two-phase reference frame and components of the estimated rotor flux in said two-phase reference,
  • estimated stator current components in said two-phase coordinate system are determined as a function of measured stator current components expressed in said two-phase coordinate system, said estimated stator flux components, stator supply voltages expressed in said two-phase reference and d a correction of the nonlinearities on the errors in stator currents in the form of gain, integral and second order filters.
  • estimated rotor flux components are determined in the Clarke two-phase reference as a function of components of the estimated supply current of the rotor in said two-phase reference, and a correction of the nonlinearities on the stator current errors in the form of filters first and second order, and
  • the estimated electric angle is determined as the arc tangent of the ratio of the two estimated rotor flux components expressed in the Clarke two-phase coordinate system.
  • the correction of the nonlinearities can be determined as a function of the difference between the observed values and the setpoints of the stator and rotor supply currents in the Clarke two - phase reference, of the control parameters, the resistivity of the rotor, the inductance of the rotor, the mutual inductance between the rotor and the stator and the product of the mechanical speed of rotation by the number of pairs of poles of the machine.
  • FIG. 1 illustrates the three-phase mark and the two-phase mark of
  • FIG. 2 illustrates the various usual references in electrical control
  • Clarke transformation rather than that of Concordia to change three-phase quantities (a, b, c) to two-phase magnitudes ( ⁇ , ⁇ ).
  • Clarke's single-phase reference frame rotates like the stator voltages. It is therefore possible to measure the electrical angle in this rotating system.
  • the inventors had the surprising idea of using machine control knowledge to simplify the model used.
  • the stator voltages are controlled so as to obtain a zero rotor flux on the axis q of the machine, that is to say in the orthoradial direction to the magnetic axis of the rotor, which makes the control of the point efficient of performance.
  • the rotor flux is oriented on the axis d, so as to obtain a zero value of the quadrature component of the flux, which is illustrated in FIG. 2.
  • the Park benchmark is only mentioned here to explain the reasoning that led the inventors to design the rotor flux observer model.
  • the observer obtained makes it possible to go directly from the three-phase reference point to the two-phase mark of Clarke.
  • the difficulty lies in estimating flows. Indeed, it is known that the supply voltages of the electrical machine are not applied in a precise manner, which is due to the non-linearities of the inverter (converter). Given that the angle is determined by the measured currents and
  • Equation 6 is determined iteratively using the previously estimated values of stator currents or rotor flux as well as values estimated at the current stage, in particular for the stator flows and the rotor current.
  • a first step 1 the components of the rotor and stator power currents and voltages of the electric machine are determined in a Clarke two - phase reference as a function of the components of the rotor supply currents and voltages. stator in a three-phase reference. The components of currents accessible to the measurement are the stator components in the three-phase reference.
  • the method is continued in a second step 2, during which the components of the stator flux in the Clarke diphasic reference are determined as a function of the components of the stator current and the components of the rotor flux in the stator. Clarke's two-phase benchmark.
  • the stator flux is obtained as a function of the stator current and the rotor flux by applying the equation (Eq.4). This equation is applied to the values measured or estimated at the previous iteration when solving the equation (Eq.6).
  • At the first iteration of the resolution of the equation Eq.6 one of course uses null initial values for certain values (in particular of flux).
  • the rotor flux components in the Clarke two-phase coordinate system are determined as a function of the components of the rotor supply current in the Clarke two-phase reference and the components of the magnetic flux of the rotor in the second phase. Clarke's two-phase benchmark and a correction of the nonlinearities on the error components in stator currents in the Clarke coordinate system.
  • This stage 3 also determines the estimated components of the stator current as a function of the supply voltage and the stator flux in the Clarke two-phase reference, and a correction of the non-linearities on the stator current error components. in Clarke's landmark.
  • the rotor flux is obtained as a function in particular of the rotor current by applying the system of equations (Eq.6).
  • step 4 the electrical angle is determined as the arctangent of the ratio between the two rotor flux components expressed in the Clarke two-phase reference.

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

Abstract

Method for estimating the electrical angle of an asynchronous electric machine for a motor vehicle, comprising the following steps: the components of the supply currents and voltages of the rotor and of the stator of the electric machine are determined in a Clarke two-phase reference frame as a function of the components of the rotor and stator supply currents and voltages in three-phase reference frame, the rotor flux components are determined in the Clarke two-phase reference frame as a function of the components of the rotor and stator supply current and voltage components in the Clarke two-phase reference frame and of a correction for the non-linearities of these components, and the electrical angle is determined as being the arctangent of the ratio between the two rotor flux components expressed in the Clarke two-phase reference frame.

Description

Procédé d'estimation de l'angle électrique d'une machine électrique asynchrone pour véhicule automobile  Method for estimating the electric angle of an asynchronous electric machine for a motor vehicle
L'invention a pour domaine technique la commande de machines électriques, et en particulier, la commande de machines électriques asynchrones. The invention relates to the technical field control of electrical machines, and in particular, the control of asynchronous electrical machines.
La machine électrique asynchrone, de par sa construction, est la machine électrique la plus robuste et la moins chère du marché. Les progrès concernant la commande de telles machines et les avancées technologiques considérables, tant dans le domaine de l'électronique de puissance que dans celui de la micro-électronique, ont rendu possible l'implantation de commandes performantes de cette machine faisant d'elle un concurrent redoutable dans les secteurs de la vitesse variable et du contrôle rapide du couple. Cependant de nombreux problèmes demeurent. L'influence des variations des paramètres de la machine et la présence de capteurs mécaniques sont autant de difficultés qui ont aiguisé la curiosité des chercheurs et ingénieurs.  The asynchronous electric machine, by its construction, is the most robust and cheapest electric machine on the market. Advances in the control of such machines and considerable technological advances, both in the field of power electronics and in microelectronics, have made it possible to install powerful controls for this machine, making it formidable competitor in the areas of variable speed and rapid torque control. However, many problems remain. The influence of variations in the parameters of the machine and the presence of mechanical sensors are all difficulties that have sharpened the curiosity of researchers and engineers.
Parmi les capteurs mécaniques, le capteur d'angle électrique qui permet de connaître la position de l'angle électrique du rotor de la machine est particulièrement coûteux.  Among the mechanical sensors, the electric angle sensor which makes it possible to know the position of the electric angle of the rotor of the machine is particularly expensive.
Il existe un problème technique relatif à la détermination de l'angle électrique du rotor sans capteur dédié.  There is a technical problem relating to the determination of the electric angle of the rotor without a dedicated sensor.
De l'état de la technique, on connaît les documents suivants. From the state of the art, the following documents are known.
Le document US 2013/0289934A1 décrit un procédé pour estimer le flux du stator à partir des signaux de la tension et des courants de la machine, servant ensuite à estimer le flux rotorique de la machine à partir du flux statorique. Le procédé comprend aussi la détermination de l'angle électrique et sa dérivée. The document US 2013 / 0289934A1 describes a method for estimating the flux of the stator from the signals of the voltage and currents of the machine, which is then used to estimate the rotor flux of the machine from the stator flux. The method also includes determining the electrical angle and its derivative.
Le document US 2007/0194742A1 décrit l'estimation du flux sans impliquer un observateur au sens propre du terme mais plutôt avec des signaux sinusoïdaux décalés. Le document CN102983806 décrit une simple technique d'estimation du flux statorique. Un tel document n'est donc pas pertinent vis-à-vis du présent problème à résoudre. US 2007 / 0194742A1 describes the estimation of the flow without implying an observer in the true sense of the term but rather with sinewave signals shifted. Document CN102983806 describes a simple technique for estimating the stator flux. Such a document is therefore irrelevant to the problem to be solved.
Le document CN102437813 décrit une méthode pour remonter à l'angle et à la vitesse du rotor à partir du flux rotorique, pour une machine synchrone à aimant permanent. Par ailleurs, l'enseignement du document implique une utilisation extensive du filtrage physique au travers d'une extraction de la fondamentale de la tension et courant du rotor. Un tel document n'est donc pas pertinent vis-à-vis du présent problème à résoudre.  CN102437813 discloses a method for increasing the rotor angle and velocity from the rotor flux for a permanent magnet synchronous machine. Moreover, the teaching of the document implies an extensive use of the physical filtering through an extraction of the fundamental of the voltage and current of the rotor. Such a document is therefore irrelevant to the problem to be solved.
L'invention a pour objet un procédé d'estimation de l'angle électrique d'une machine électrique asynchrone pour véhicule automobile, caractérisé par le fait qu'il comprend les étapes suivantes :  The subject of the invention is a method for estimating the electric angle of an asynchronous electric machine for a motor vehicle, characterized in that it comprises the following steps:
on détermine des composantes du flux estimé du stator dans le repère diphasé de Clarke en fonction de composantes des courants estimés du stator dans ledit repère diphasé et de composantes du flux estimé du rotor dans ledit repère diphasé,  components of the estimated stator flux in the Clarke two-phase coordinate system are determined as a function of components of the estimated stator currents in said two-phase reference frame and components of the estimated rotor flux in said two-phase reference,
on détermine des composantes de courants estimés du stator dans ledit repère diphasé en fonction de composantes de courants mesurés du stator exprimés dans ledit repère diphasé, desdites composantes de flux estimés du stator, des tensions d'alimentation du stator exprimées dans ledit repère diphasé et d'une correction des non- linéarités sur les erreurs en courants statoriques sous forme de gain, d'intégrale et de filtres du second ordre.  estimated stator current components in said two-phase coordinate system are determined as a function of measured stator current components expressed in said two-phase coordinate system, said estimated stator flux components, stator supply voltages expressed in said two-phase reference and d a correction of the nonlinearities on the errors in stator currents in the form of gain, integral and second order filters.
on détermine des composantes de flux estimés du rotor dans le repère diphasé de Clarke en fonction de composantes du courant d'alimentation estimé du rotor dans ledit repère diphasé , et d'une correction des non linéarités sur les erreurs en courants statoriques sous forme de filtres du premier et du second ordre, et  estimated rotor flux components are determined in the Clarke two-phase reference as a function of components of the estimated supply current of the rotor in said two-phase reference, and a correction of the nonlinearities on the stator current errors in the form of filters first and second order, and
on détermine l'angle électrique estimé comme l'arc-tangente du rapport entre les deux composantes de flux estimé du rotor exprimées dans le repère diphasé de Clarke. On peut déterminer la correction des non linéarités en fonction de l ' écart entre les valeurs obs ervées et les consignes des compos antes des courants d ' alimentation du stator et du rotor dans le repère diphasé de Clarke, de paramètres de réglage, la rés istance du rotor, l ' inductance du rotor, l ' inductance mutuelle entre le rotor et le stator et le produit de la vitesse de rotation mécanique par le nombre de paires de pôles de la machine. the estimated electric angle is determined as the arc tangent of the ratio of the two estimated rotor flux components expressed in the Clarke two-phase coordinate system. The correction of the nonlinearities can be determined as a function of the difference between the observed values and the setpoints of the stator and rotor supply currents in the Clarke two - phase reference, of the control parameters, the resistivity of the rotor, the inductance of the rotor, the mutual inductance between the rotor and the stator and the product of the mechanical speed of rotation by the number of pairs of poles of the machine.
D ' autres buts, caractéristiques et avantages de l ' invention apparaîtront à la lecture de la description suivante, donnée uniquement à titre d' exemple non limitatif et faite en référence aux dess ins annexés sur lesquels :  Other objects, features and advantages of the invention will become apparent on reading the following description, given solely by way of nonlimiting example and with reference to the appended drawings in which:
- la figure 1 illustre le repère triphasé et le repère diphasé de FIG. 1 illustrates the three-phase mark and the two-phase mark of
Clarke, Clarke,
- la figure 2 illustre les différents repères usuels en commande électrique, et  FIG. 2 illustrates the various usual references in electrical control, and
- la figure 3 illustre les principales étapes du procédé d ' estimation.  - Figure 3 illustrates the main steps of the estimation process.
Afin de réaliser la mis e en équation de la machine asynchrone, on préférera utiliser la trans formation de Clarke plutôt que celle de Concordia pour passer des grandeurs triphas ées (a,b,c) aux grandeurs diphas ées (α, β). De plus, contrairement au plan de P ark et à la transformation correspondante, le référentiel monophasé de Clarke tourne comme les tensions du stator. Il est donc poss ible de mesurer l ' angle électrique dans ce système tournant. Par contre, cela ne serait pas possible dans un repère lié au rotor comme celui de P ark qui ne tourne pas .  In order to realize the equation of the asynchronous machine, it is preferable to use the Clarke transformation rather than that of Concordia to change three-phase quantities (a, b, c) to two-phase magnitudes (α, β). Moreover, unlike the P ark plane and the corresponding transformation, Clarke's single-phase reference frame rotates like the stator voltages. It is therefore possible to measure the electrical angle in this rotating system. On the other hand, it would not be possible in a reference linked to the rotor like that of P ark which does not rotate.
Le produit vectoriel suivant permet de pas ser du repère des grandeurs triphasées au repère des grandeurs diphasées :  The following vector product allows the reference of the three-phase quantities to the reference of the two-phase quantities:
Figure imgf000004_0001
Avec
Figure imgf000005_0002
Figure imgf000004_0001
With
Figure imgf000005_0002
Le produit vectoriel suivant permet de passer du repère des grandeurs diphasées au repère des gradeurs triphasées :  The following vector product makes it possible to go from the two-phase magnitudes marker to the three-phase graders mark:
Figure imgf000005_0001
Figure imgf000005_0001
Les inventeurs ont eu l'idée surprenante d'utiliser la connaissance de la commande de la machine pour simplifier le modèle utilisé. Les tensions du stator sont commandées de manière à obtenir un flux rotorique nul sur l'axe q de la machine, c'est-à-dire dans la direction orthoradiale à l'axe magnétique du rotor, ce qui rend la commande performante du point de vue rendement. The inventors had the surprising idea of using machine control knowledge to simplify the model used. The stator voltages are controlled so as to obtain a zero rotor flux on the axis q of the machine, that is to say in the orthoradial direction to the magnetic axis of the rotor, which makes the control of the point efficient of performance.
Dans le repère de Park (d,q), le flux rotorique est orienté sur l'axe d, de sorte à obtenir une valeur nulle de la composante en quadrature du flux, ce qui est illustré par la figure 2. In the Park coordinate system (d, q), the rotor flux is oriented on the axis d, so as to obtain a zero value of the quadrature component of the flux, which is illustrated in FIG. 2.
Figure imgf000005_0006
Figure imgf000005_0006
Le repère de Park n'est ici mentionné que pour expliquer le raisonnement ayant amené les inventeurs à concevoir le modèle d'observateur du flux rotorique. L'observateur obtenu permet de passer directement du repère triphasé au repère diphasé de Clarke.  The Park benchmark is only mentioned here to explain the reasoning that led the inventors to design the rotor flux observer model. The observer obtained makes it possible to go directly from the three-phase reference point to the two-phase mark of Clarke.
On reconstruit ensuite les deux composantes du flux rotorique pour pouvoir remonter à l'angle électrique sans passer par
Figure imgf000005_0003
Figure imgf000005_0004
The two components of the rotor flux are then reconstructed to be able to go up to the electric angle without going through
Figure imgf000005_0003
Figure imgf000005_0004
un capteur physique. a physical sensor.
L'équation suivante montre la reconstitution de l'angle
Figure imgf000005_0005
à partir des composantes α et β du flux (dans un référentiel lié au stator), dans le cas d'une orientation du flux rotorique telle qu'explicitée ci-dessus.
Figure imgf000006_0002
The following equation shows the reconstruction of the angle
Figure imgf000005_0005
from the components α and β of the flow (in a reference linked to stator), in the case of an orientation of the rotor flux as explained above.
Figure imgf000006_0002
Avec la composante du flux rotorique sur l'axe β du repère
Figure imgf000006_0003
With the component of the rotor flux on the axis β of the reference
Figure imgf000006_0003
de Clarke et la composante du flux rotorique sur l'axe α du repère
Figure imgf000006_0004
of Clarke and the component of the rotor flux on the axis α of the reference
Figure imgf000006_0004
de Clarke, les axes α et β étant définis par les équations Eq.1 et Eq.2. of Clarke, the axes α and β being defined by the equations Eq.1 and Eq.2.
Toute la difficulté réside alors dans l'estimation des flux. En effet, il est connu que les tensions d'alimentation de la machine électrique ne sont pas appliquées d'une façon précise, ce qui est dû aux non-linéarités de l'onduleur (convertisseur). Compte tenu que l'angle est déterminé en fonction des courants mesurés et des
Figure imgf000006_0005
The difficulty lies in estimating flows. Indeed, it is known that the supply voltages of the electrical machine are not applied in a precise manner, which is due to the non-linearities of the inverter (converter). Given that the angle is determined by the measured currents and
Figure imgf000006_0005
tensions d'alimentation de la machine électrique, il est nécessaire que l'observateur utilisé dans cette détermination soit robuste vis-à-vis de ces non-linéarités et éventuellement vis-à-vis de la variation des paramètres de la machine. supply voltages of the electrical machine, it is necessary that the observer used in this determination is robust vis-à-vis these non-linearities and possibly vis-à-vis the variation of the parameters of the machine.
Dans un référentiel lié au stator, on a le système d'équations suivant : In a frame linked to the stator, we have the following system of equations:
Figure imgf000006_0001
Figure imgf000006_0001
Avec :With:
: composantes du flux statorique exprimées dans le
Figure imgf000006_0006
: components of the stator flux expressed in the
Figure imgf000006_0006
repère de Clarke, Clarke landmark,
sont les courants mesurés circulant dans la machine,
Figure imgf000006_0007
are the measured currents flowing in the machine,
Figure imgf000006_0007
exprimés dans le repère de Clarke, expressed in Clarke's landmark,
Ls l'inductance du stator, L s the inductance of the stator,
Lr l'inductance du rotor, L r inductance of the rotor,
M l'inductance mutuelle, compos antes du flux rotorique exprimées dans le
Figure imgf000007_0005
M mutual inductance, composts of the rotor flux expressed in the
Figure imgf000007_0005
repère de Clarke. Clarke's landmark.
Le système d' équations (Eq. 4) peut être réécrit de la façon suivante afin de faire apparaître les tensions de stator dans le
Figure imgf000007_0006
The system of equations (Eq.4) can be rewritten as follows in order to reveal the stator voltages in the
Figure imgf000007_0006
référentiel diphasé de Clarke. two-phase reference system by Clarke.
Figure imgf000007_0001
Figure imgf000007_0001
Avec :  With:
Figure imgf000007_0002
Figure imgf000007_0002
et
Figure imgf000007_0003
les tensions appliquées au stator exprimées dans le repère de Clarke, and
Figure imgf000007_0003
the voltages applied to the stator expressed in the Clarke coordinate system,
sont les courants rotoriques non access ibles à la
Figure imgf000007_0004
are the rotor currents not accessible to the
Figure imgf000007_0004
mesure circulant dans la machine exprimés dans le repère diphasé de Clarke, measured in the machine expressed in Clarke's two-phase reference,
Rs la résistance du stator de la machine, R s the stator resistance of the machine,
Rr la résistance du rotor de la machine, la vitess e de rotation mécanique multipliée par le nombre de
Figure imgf000008_0003
R r the rotor resistance of the machine, the speed of mechanical rotation multiplied by the number of
Figure imgf000008_0003
paires de pôles de la machine. pairs of poles of the machine.
A partir du système d' équations (Eq. 5 ), on obtient l ' observateur de flux suivant en insérant des termes correctifs permettant de corriger d' éventuelles non-linéarités de l ' onduleur. From the system of equations (Eq.5), the following flux observer is obtained by inserting correction terms to correct possible nonlinearities of the inverter.
Figure imgf000008_0001
Figure imgf000008_0001
Avec les termes correcteurs suivants : With the following corrective terms:
Figure imgf000008_0002
Et avec :
Figure imgf000008_0002
And with :
les observateurs des composantes du flux statorique
Figure imgf000008_0004
observers of the components of the stator flux
Figure imgf000008_0004
dans le repère de Clarke,in the Clarke landmark,
Figure imgf000008_0005
les obs ervateurs de courants statoriques circulant dans la machine sur les axes respectifs α et β du repère de Clarke, les observateurs de courants
Figure imgf000009_0001
Figure imgf000008_0005
the observers of stator currents circulating in the machine on the respective axes α and β of the Clarke mark, current observers
Figure imgf000009_0001
rotoriques circulant dans la machine sur les axes respectifs α et β du repère de Clarke,rotor circulating in the machine on the respective axes α and β of the Clarke mark,
Figure imgf000009_0002
Ki et Kp des paramètres de réglage de l ' observateur,
Figure imgf000009_0003
l ' opérateur de Laplace.
Figure imgf000009_0002
K i and K p of the observer setting parameters,
Figure imgf000009_0003
the Laplace operator.
Dans ces termes correcteurs , appliqués aux erreurs en courants statoriques, on remarque des corrections en gain, en intégrale (termes dans
Figure imgf000009_0005
par filtrage au premier
Figure imgf000009_0004
ou au deuxième ordre
Figure imgf000009_0006
Ces termes améliorent la robustess e du procédé par rapport aux non-linéarités du système. L ' équation 6 se résout itérativement en utilisant les valeurs précédemment estimées de courants statoriques ou de flux rotorique ainsi que des valeurs estimées à l ' étape courante notamment pour les flux statoriques et le courant rotorique. In these correcting terms, applied to the errors in stator currents, we notice gain corrections, in integral (terms in
Figure imgf000009_0005
by filtering the first
Figure imgf000009_0004
or second order
Figure imgf000009_0006
These terms improve the robustness e of the process compared to the nonlinearities of the system. Equation 6 is determined iteratively using the previously estimated values of stator currents or rotor flux as well as values estimated at the current stage, in particular for the stator flows and the rotor current.
Sur la figure 3 , on peut voir les principales étapes du procédé d ' estimation de l ' angle électrique. Au cours d' une première étape 1 , on détermine les composantes des courants et tensions d ' alimentation du rotor et du stator de la machine électrique dans un repère diphasé de Clarke en fonction des composantes des courants et tensions d ' alimentation du rotor et du stator dans un repère triphasé. Les composantes de courants acces sibles à la mesure sont les composantes statoriques dans le repère triphasé.  In Figure 3, we can see the main steps of the method of estimating the electric angle. In a first step 1, the components of the rotor and stator power currents and voltages of the electric machine are determined in a Clarke two - phase reference as a function of the components of the rotor supply currents and voltages. stator in a three-phase reference. The components of currents accessible to the measurement are the stator components in the three-phase reference.
Le procédé se poursuit au cours d 'une deuxième étape 2, au cours de laquelle on détermine les composantes du flux du stator dans le repère diphas é de Clarke en fonction des compos antes du courant du stator et des composantes du flux du rotor dans le repère diphasé de Clarke. On obtient le flux statorique en fonction du courant statorique et du flux rotorique en appliquant l ' équation (Eq. 4) . Cette équation est appliquée aux valeurs mesurées ou estimées à l ' itération précédente lors de la résolution de l ' équation (Eq.6) . A la première itération de la résolution de l ' équation Eq.6 on utilise bien sûr des valeurs initiales nulles pour certaines valeurs (notamment de flux). Au cours d'une troisième étape 3, on détermine les composantes de flux du rotor dans le repère diphasé de Clarke en fonction des composantes du courant d'alimentation du rotor dans le repère diphasé de Clarke et des composantes du flux magnétique du rotor dans le repère diphasé de Clarke et d'une correction des non linéarités sur les composantes d'erreur en courants statoriques dans le repère de Clarke. On détermine également dans cette étape 3 les composantes estimées de courant statorique en fonction de la tension d'alimentation et du flux du stator dans le repère diphasé de Clarke, et d'une correction des non linéarités sur les composantes d'erreur en courants statoriques dans le repère de Clarke. On obtient le flux rotorique en fonction notamment du courant rotorique en appliquant le système d'équations (Eq.6). The method is continued in a second step 2, during which the components of the stator flux in the Clarke diphasic reference are determined as a function of the components of the stator current and the components of the rotor flux in the stator. Clarke's two-phase benchmark. The stator flux is obtained as a function of the stator current and the rotor flux by applying the equation (Eq.4). This equation is applied to the values measured or estimated at the previous iteration when solving the equation (Eq.6). At the first iteration of the resolution of the equation Eq.6 one of course uses null initial values for certain values (in particular of flux). During a third step 3, the rotor flux components in the Clarke two-phase coordinate system are determined as a function of the components of the rotor supply current in the Clarke two-phase reference and the components of the magnetic flux of the rotor in the second phase. Clarke's two-phase benchmark and a correction of the nonlinearities on the error components in stator currents in the Clarke coordinate system. This stage 3 also determines the estimated components of the stator current as a function of the supply voltage and the stator flux in the Clarke two-phase reference, and a correction of the non-linearities on the stator current error components. in Clarke's landmark. The rotor flux is obtained as a function in particular of the rotor current by applying the system of equations (Eq.6).
Le procédé se termine à l'étape 4, au cours de laquelle on détermine l'angle électrique comme l'arctangente du rapport entre les deux composantes de flux du rotor exprimées dans le repère diphasé de Clarke.  The process ends in step 4, during which the electrical angle is determined as the arctangent of the ratio between the two rotor flux components expressed in the Clarke two-phase reference.

Claims

REVENDICATIONS
1 . Procédé d' estimation de l ' angle électrique d' une machine électrique asynchrone pour véhicule automobile, caractérisé par le fait qu' il comprend les étapes suivantes : 1. A method for estimating the electric angle of an asynchronous electric machine for a motor vehicle, characterized in that it comprises the following steps:
on détermine des composantes du flux estimé du stator dans le repère diphas é de Clarke en fonction de composantes des courants estimés du stator dans ledit repère diphas é et de compos antes du flux estimé du rotor dans ledit repère diphas é,  components of the estimated stator flux are determined in the Clarke diphased reference frame as a function of components of the estimated stator currents in said two-phase reference frame and of components of the estimated rotor flux in said two-phase reference frame,
on détermine des composantes de courants estimés du stator dans ledit repère diphasé en fonction de composantes de courants mesurés du stator exprimés dans ledit repère diphasé, des dites composantes de flux estimés du stator, des tensions d' alimentation du stator exprimées dans ledit repère diphasé et d' une correction des non- linéarités sur les erreurs en courants statoriques s ous forme de gain, d ' intégrale et de filtres du second ordre.  stator current components of the stator in said two-phase coordinate system are determined as a function of measured stator current components expressed in said two-phase coordinate system, said stator estimated flux components, stator supply voltages expressed in said two-phase reference and a correction of the nonlinearities on the errors in stator currents in the form of gain, integral and second order filters.
on détermine des compos antes de flux estimés du rotor dans le repère diphas é de Clarke en fonction de compos antes du courant d ' alimentation estimé du rotor dans ledit repère diphas é , et d' une correction des non linéarités sur les erreurs en courants statoriques s ous forme de filtres du premier et du s econd ordre, et  an estimated rotor flux composites are determined in the Clarke diphasic reference as a function of the components of the estimated supply current of the rotor in said diphasic reference, and a correction of the nonlinearities on the stator current errors. we form filters of the first and the second order, and
on détermine l ' angle électrique estimé comme l ' arc-tangente du rapport entre les deux composantes de flux estimé du rotor exprimées dans le repère diphasé de Clarke.  the estimated electric angle is determined as the arc tangent of the ratio of the two estimated rotor flux components expressed in the Clarke two - phase reference.
2. Procédé d' estimation selon la revendication 1 , dans lequel on détermine la correction des non linéarités en fonction de l' écart entre les valeurs observées et les consignes des composantes des courants d ' alimentation du stator et du rotor dans le repère diphasé de Clarke, de paramètres de réglage, la résistance du rotor, l' inductance du rotor, l ' inductance mutuelle entre le rotor et le stator et le produit de la vites se de rotation mécanique par le nombre de paires de pôles de la machine.  2. An estimation method according to claim 1, in which the correction of the non-linearities is determined as a function of the difference between the values observed and the setpoints of the components of the stator and rotor supply currents in the two-phase reference of FIG. Clarke, tuning parameters, rotor resistance, rotor inductance, mutual inductance between the rotor and the stator and the product of mechanical rotation speed by the number of pole pairs of the machine.
PCT/FR2015/051108 2014-04-30 2015-04-23 Method for estimating the electrical angle of an asynchronous electric machine for a motor vehicle WO2015166173A2 (en)

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