• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Control system for a three-phase motor vehicle electrical machine (2) powered by chopped voltages, comprising means (3) for determining the current values of the phases of the electric machine as a function of a torque request from the driver, and regulating means (4) capable of determining voltages of each phase as a function of the corresponding current setpoints. The system comprises means for correcting (5) the torque oscillations, able to determine the powers of each phase, determining whether the rotation speed of the magnetic field exceeds a threshold value, performing a bandpass filtering of the powers, and determining attenuation currents relating to each phase as a function of the power after filtering; subtracters (6, 7, 8) being able to subtract the attenuation currents relative to each phase from the current setpoints of the corresponding phases, intended for the regulation means (4).
    公开号:FR3013535A1
    申请号:FR1361194
    申请日:2013-11-15
    公开日:2015-05-22
    发明作者:Abdelmalek Maloum；Edouard Negre
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    [0001] Method and system for controlling a three-phase electric machine of a motor vehicle powered by chopped voltages
    [0002] The invention relates to the technical field control of an electric machine for a motor vehicle, and more particularly the control of torque oscillations of such a machine. In the development of electric vehicles, the torque provided by the electric motor must be controlled. The torque of a machine being directly related to the currents flowing in it, it must therefore be able to precisely control these currents. The electric motor to be controlled may in particular be a three-phase synchronous machine with wound rotor.
    [0003] The currents in the three phases of the stator are sinusoidal and each phase shifted by 2n / 3 rad. These currents create a rotating magnetic field in the machine. The rotor is traversed by a direct current which creates a magnetic field which makes it equivalent to a magnet. To achieve the mechanical torque, the stator magnetic field is controlled in quadrature, that is to say in constant controlled phase shift of 90 ° with the rotor field. Thus, the rotation frequency of the rotor field is equal to the frequency of the stator currents, hence the name "synchronous". It is the magnitudes of the stator currents and the value of the rotor current that creates the torque needed for machine rotation. To control these currents, it will therefore be necessary to apply sinusoidal voltages between the phases of the stator, each being also out of phase by 2n / 3 rad and to apply to the rotor a constant voltage. On the other hand, the Park transform is used to project the stator currents and voltages into a space where the sinusoidal signals become constants. The Park mark corresponds to a reference linked to the rotating field, thus linked to the rotor in the case of the synchronous machine. The use of the Park transform makes it possible to regulate constants, which is much easier to achieve than to regulate sinusoidal signals. The challenge is to regulate constant currents by controlling constant voltages. By performing the inverse transform, it is possible to reduce to the reference of the stator of the machine and therefore to know precisely the voltages to be applied to each phase of the electric machine. To regulate the currents in the machine, a corrector is necessary because, it is known that a three-phase machine powered with chopped voltages generates oscillations of torque at certain frequencies corresponding to harmonics of the electrical frequency (rotation frequency of the rotor of the machine). In the Park space, the system to be controlled is as follows: Vd = RsId ± Ld Id + Mf If - wrLqIq Vg = RsIq + Lq Li + oir (LdId + MfIf) (Eq 1) Vf Rf If Lf If aMf Id With : Vd, Vq and Vf: respectively the direct voltage, the quadrature voltage and the rotor voltage (in Volt), Id, Iq and If: the currents flowing in the machine on the three axes of the Park plane (in Ampere) , Id, Iq and If the derivatives of the respective currents Id, Iq and If, Rs and Rf the stator and rotor resistances of the machine (in Ohm), Ld, Lq and Lf: the inductances on each axis of the machine ( in Henry), Mf: the mutual inductance between the stator and the rotor (in Henry),: a constant term resulting from the Park transform (without unit), cor: the speed of rotation of the magnetic field of the machine (in rad / s), It should be noted that, in the case of a synchronous machine, the speed of rotation cor of the magnetic field of the machine is equal to the rotational speed of the rotor multiplied by the number of pairs poles of the machine.
    [0004] The voltages V d and Tg are created with an inverter, the voltage Vf is created with a chopper, both systems being powered by a battery. A chopper cuts DC voltages to produce DC voltages of different amplitude with high efficiency. When an inverter and a chopper are used, the following constraints must be respected: Vvd2 vq2 <3 and (Eq.2) (Eq.3) 3 vbat Vf Vbat With Vbat: the voltage of the battery supplying the power supply inverter and the chopper. However, such a system has torque oscillations that can cause a divergence of the current regulator. From the state of the art the following documents are known.
    [0005] The patent application FR2973607 aims to reduce torque oscillations at the source. However, the power is calculated in terms of power to the battery, which generates power losses. In addition, such a calculation requires an additional current sensor to measure the DC current. In addition, the new current setpoints are calculated from the new torque setpoint. In EP 1906523, the torque oscillations are eliminated by applying a voltage Vf across the inductor. There is no description of centralized or decentralized power processing. EP 1944861 does not describe any treatment at the power level. Nevertheless, a decentralization of compensation processing is described. In other words, the direct axis d and the quadrature axis q are treated separately. For this, it is described a real-time calculation of a phase shift between the electric angle of the current and the expected electric angle to compensate for torque oscillations. It is thus described a form of regulation anticipating current measurements in order to produce voltages that compensate for the oscillatory phenomenon of the torque. It is also known to apply a correction called "curative anti-strokes", in which is applied to the measurement of speed of the electric machine a filtering calculated from a dynamic model of the kinematic chain. The signal thus processed represents a torque setpoint out of phase with respect to the torque oscillations. This is injected into the main torque setpoint and achieves oscillation attenuation. However, these solutions do not reduce the oscillations "at the source", that is to say at the level of the electrical power, and over the entire range of rotational speeds. There is therefore a need for a control method of an electric motor to reduce the harmonics of torque related to the topology of the machine.
    [0006] An object of the invention is a method for controlling a three-phase electric machine of a motor vehicle powered by chopped voltages and comprising a step of determining current setpoints for each phase of the electric machine according to a torque request. of the driver, and a step of determining the voltages of each phase of the electric machine according to the current instructions for each phase. Chopped voltages means voltages coming from a chopper making it possible to modify the amplitude of an input voltage by cutting. The method comprises the following steps in which: the powers of each phase of the electric machine expressed in the Park mark are determined, it is determined whether a measurement of the rotational speed of the magnetic field in the electric machine exceeds a threshold value. if this is the case, a band-pass filtering of the powers of each phase of the electrical machine is performed, each power is multiplied after filtering by calibrated gains to obtain attenuation currents relative to each phase, instructions are determined final current currents by subtracting the attenuation currents relative to each phase from the current setpoints of the corresponding phases, and determining voltage supply voltages of the phases of the electric machine according to the final current instructions. The bandpass filtering can be performed for a low cutoff frequency lower than the rotation frequency of the magnetic field at which the oscillations are observed and a high cutoff frequency higher than the rotation frequency of the magnetic field at which the oscillations are observed. The electric machine can be synchronous or asynchronous. The rotation speed threshold of the magnetic field is determined as a function of the rotational speed of the magnetic field at which torque oscillations are observed. Another object of the invention is a control system of a three-phase electric machine of a motor vehicle powered by chopped voltages, comprising means for determining current setpoints of each phase of the electric machine according to a request from torque of the conductor, and a current regulating means adapted to determine voltages of each phase of the electric machine according to the current instructions for each phase. The system comprises a means for correcting the torque oscillations, able to determine the powers of each phase of the electric machine expressed in the Park mark, the correction means also being able to determine whether a measurement of the rotation speed of the field magnetic in the electrical machine exceeds a threshold value, and to perform band pass filtering of the powers of each phase of the electric machine, and to determine attenuation currents relating to each phase as a function of the powers after filtering, and subtractors capable of subtracting the attenuation currents relative to each phase from the current setpoints relative to the corresponding phases in order to obtain final current setpoints, and able to transmit the final current instructions to the regulation means of the electrical machine. The bandpass filtering can be performed for a low cutoff frequency lower than the rotation frequency of the magnetic field at which the oscillations are observed and a high cutoff frequency higher than the rotation frequency of the magnetic field at which the oscillations are observed. The rotation speed threshold of the magnetic field is determined as a function of the rotational speed of the magnetic field at which torque oscillations are observed. The electric machine can be synchronous or asynchronous. Other objects, features and advantages will appear on reading the following description given solely as a non-limitative example and with reference to the appended drawings, in which: FIG. 1 illustrates the main elements of a control system according to the invention, and - Figure 2 illustrates the main steps of a control method according to the invention.
    [0007] The control system 1, illustrated in FIG. 1, of an electric machine 2 comprises means 3 for determining the current setpoints relative to each of the phases of the electrical machine in the reference (d, q, f) of Park in function of the torque request of the driver Cref.
    [0008] The control system 1 comprises a regulation means 4 of the currents in the phases of the electric machine. The regulating means 4 determines the supply voltages Vd, Vq, Vf of each of the phases of the electrical machine as a function of the current instructions received at the input.
    [0009] The control system 1 also comprises a torque oscillation correction means 5 receiving at input the supply voltages Vd, Vq, Vf of each of the phases, measurements of the currents of each phase Id, Ig, If, and measuring the speed of rotation cor of the magnetic field. The means 5 for correcting torque oscillations emits attenuation currents at which attenuation currents corresponding to each phase are transmitted. A first subtractor 6 performs the subtraction between the current setpoint of the phase d and the corresponding attenuation current. It outputs a final current setpoint relative to phase d. A second subtractor 7 and a third subtractor 8 perform similar subtractions on the relative values respectively to the phase q and the phase f.
    [0010] Thus, when the system is started, the current setpoint of each phase is transmitted without modification to the regulation means 4 of the currents. However, as soon as measurements of the currents of each phase Id, Ig, If and a measurement of the rotational speed cor of the magnetic field are available, the current setpoints transmitted to the regulation means 4 of the currents are the current setpoints. final, thus reducing or even eliminating torque oscillations. The control method of an electric machine makes it possible to provide a dynamic correction of the current setpoints so as to reduce the amplitude of the torque oscillations. In FIG. 2, it can be seen that the method starts with a step 9 of calculating the powers of each phase, by applying the following equations: 1Pd = Vdid -RId Pq -VqIq -RIq (Eq.3) Pf = Vf If Rfif2 With Pd the power of the phase d, Pq the power of the phase q, and Pf the power of the phase f. During a second step 10, it is determined whether the rotational speed cor of the magnetic field exceeds a threshold value. The threshold value is determined based on previous tests, during which couples oscillations are observed. The threshold value is then set to a value equal to the rotational speed of the magnetic field at which the torque oscillations have been observed. It is recalled that speed of rotation and frequency of rotation are directly related. If this is the case, bandpass filtering of each power signal is applied to extract only the relevant frequencies. The band pass filter is configured with a low cutoff frequency lower than the rotation frequency of the magnetic field at which the oscillations are observed and a high cutoff frequency greater than the rotation frequency of the magnetic field at which the oscillations are observed. Pdfilt is then obtained the power of the phase after filtering, pfihi the power of the phase q after filtering, and Pffili the power of the phase f after filtering.
    [0011] During a third step 11, each power is multiplied after filtering by calibrated gains to obtain the attenuation currents for each phase. The following equations make it possible to determine these currents: ## EQU1 ## With attenuation current relative to the phase of Ir: attenuation current relative to the phase q jatt. attenuation current relative to the rotor f ad: calibratable gain relative to the phase d: calibratable gain relating to the phase q af: calibratable gain relative to the rotor f During a fourth step 12, subtracting the relative attenuation currents at each phase of the current setpoints relative to the corresponding phases and determined according to the torque request of the driver. The following equations make it possible to determine the final current setpoints resulting from the subtraction: ifidn r: f I q end = Iref Tatt if iref .tt f in f With Ifidn: setpoint of Ifin: setpoint of Iffin: setpoint of Iref d: setpoint of Iref: Tref setpoint: setpoint of the current current current current current current current relative to the final phase relative to the final phase relative to the rotor f relative to the phase d relative to the phase q relative to the rotor f (Eq.5) The final current instructions are then sent to the control means (4) of the electric machine during a fifth step 13. It should be noted that the system and the control method of the electrical machine to reduce oscillations torque described above can be applied to all synchronous or asynchronous electrical machines.
    权利要求:
    Claims (8)
    [0001]
    REVENDICATIONS1. A method of controlling a three-phase motor vehicle electrical machine (2) powered by chopped voltages and comprising a step of determining current setpoints for each phase of the electric machine (2) as a function of a torque request from the driver , and a step of determining the voltages of each phase of the electric machine (2) according to the current setpoints for each phase, characterized in that it comprises the following steps in which: the powers of each phase are determined of the electric machine expressed in the Park mark, it is determined whether a measurement of the rotational speed of the magnetic field in the electric machine (2) exceeds a threshold value, if this is the case, bandpass filtering is carried out. powers of each phase of the electric machine (2), each power is multiplied after filtering by calibrated gains to obtain relative attenuation currents at each phase, final current setpoints are determined by subtracting the attenuation currents relative to each phase from the current setpoints of the corresponding phases, and determining voltage supply voltages of the phases of the electric machine according to the final current instructions.
    [0002]
    2. Method according to the preceding claim, wherein the bandpass filtering is performed for a low cutoff frequency lower than the rotation frequency of the magnetic field at which the oscillations are observed and a high cutoff frequency greater than the rotation frequency of the magnetic field at which oscillations are observed.
    [0003]
    3. Method according to any one of the preceding claims, wherein the electric machine is synchronous or asynchronous.
    [0004]
    4. Method according to any one of the preceding claims, wherein the rotational speed threshold of the magnetic field is determined as a function of the rotational speed of the magnetic field at which torque oscillations are observed.
    [0005]
    5. Control system of a three-phase electric machine (2) of a motor vehicle powered by chopped voltages, comprising means (3) for determining the current values of each phase of the electric machine according to a torque request of the conductor, and a regulation means (4) of the currents able to determine voltages of each phase of the electric machine according to the current setpoints for each phase, characterized in that it comprises correction means (5) oscillations of torque, able to determine the powers of each phase of the electric machine expressed in the Park mark, the correction means (5) being also able to determine if a measurement of the speed of rotation of the magnetic field in the machine electric exceeds a threshold value, and to carry out a band pass filtering of the powers of each phase of the electric machine, and to determine attenuation currents r at each phase as a function of the powers after filtering, and subtracters (6, 7, 8) capable of subtracting the attenuation currents relative to each phase of the current orders relative to the corresponding phases in order to obtain final current instructions , and able to transmit the final current instructions to the control means (4) of the electric machine.
    [0006]
    6. System according to claim 5, wherein the bandpass filtering is performed for a low cutoff frequency lower than the rotation frequency of the magnetic field at which the oscillations are observed and a high cutoff frequency greater than the rotation frequency of the magnetic field at which oscillations are observed.
    [0007]
    7. System according to any one of claims 5 or 6, wherein the rotational speed threshold of the magnetic field isdetermined according to the rotational speed of the magnetic field at which torque oscillations are observed.
    [0008]
    8. System according to any one of claims 5 to 7, wherein the electrical machine is synchronous or asynchronous.
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    KR20160086328A|2016-07-19|
    US20160248358A1|2016-08-25|
    US9621091B2|2017-04-11|
    KR102105973B1|2020-04-29|
    FR3013535B1|2015-12-18|
    EP3069441A1|2016-09-21|
    JP6502346B2|2019-04-17|
    WO2015071576A1|2015-05-21|
    EP3069441B1|2017-07-12|
    引用文献:
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    法律状态:
    2015-11-19| PLFP| Fee payment|Year of fee payment: 3 |
    2016-11-18| PLFP| Fee payment|Year of fee payment: 4 |
    2018-08-31| ST| Notification of lapse|Effective date: 20180731 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1361194A|FR3013535B1|2013-11-15|2013-11-15|METHOD AND SYSTEM FOR CONTROLLING A THREE - PHASE ELECTRIC MACHINE OF A MOTOR VEHICLE SUPPLIED BY SPOTTED VOLTAGES.|FR1361194A| FR3013535B1|2013-11-15|2013-11-15|METHOD AND SYSTEM FOR CONTROLLING A THREE - PHASE ELECTRIC MACHINE OF A MOTOR VEHICLE SUPPLIED BY SPOTTED VOLTAGES.|
    EP14806018.9A| EP3069441B1|2013-11-15|2014-11-06|Method and system for controlling an automotive vehicle three-phase electric machine supplied via chopped voltages|
    KR1020167011655A| KR102105973B1|2013-11-15|2014-11-06|Method and system for controlling an automotive vehicle three-phase electric machine supplied via chopped voltages|
    US15/026,402| US9621091B2|2013-11-15|2014-11-06|Method and system for controlling an automotive vehicle three-phase electric machine supplied via chopped voltages|
    PCT/FR2014/052834| WO2015071576A1|2013-11-15|2014-11-06|Method and system for controlling an automotive vehicle three-phase electric machine supplied via chopped voltages|
    JP2016530825A| JP6502346B2|2013-11-15|2014-11-06|Method and system for controlling a motor vehicle three-phase electric machine supplied via a chop voltage|
    CN201480061042.4A| CN105706353B|2013-11-15|2014-11-06|For controlling the method and system of the three-phase electric machine by chopping voltage power supply of motor vehicles|
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