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WO2018162334A1 - Procédé et dispositif de réglage d'un entraînement électrique et entraînement électrique - Google Patents

Procédé et dispositif de réglage d'un entraînement électrique et entraînement électrique Download PDF

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Publication number
WO2018162334A1
WO2018162334A1 PCT/EP2018/055133 EP2018055133W WO2018162334A1 WO 2018162334 A1 WO2018162334 A1 WO 2018162334A1 EP 2018055133 W EP2018055133 W EP 2018055133W WO 2018162334 A1 WO2018162334 A1 WO 2018162334A1
Authority
WO
WIPO (PCT)
Prior art keywords
inverter
temperature
electric machine
electric drive
electric
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2018/055133
Other languages
German (de)
English (en)
Inventor
Lin Feuerrohr
Sven Reimann
Florian Malchow
Maximilian MANDERLA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2018162334A1 publication Critical patent/WO2018162334A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component

Definitions

  • the present invention relates to a method for controlling an electric drive, a device for controlling an electric drive and an electric drive.
  • Electric drives include temperature sensitive components which can be damaged or destroyed by high thermal stress. Therefore, it is necessary to recognize at an early stage that certain components could enter a thermal boundary area in order to initiate appropriate countermeasures in good time. Possible here is a derating of the electric drive, d. H. a reduction in the maximum permissible torque or the maximum permissible currents of the electric drive.
  • the invention provides a method for controlling an electric drive with the features of claim 1, a device for controlling an electric drive with the features of claim 8 and an electric drive with the features of claim 10 ready.
  • the invention accordingly relates to a method for controlling an electric drive, wherein the electric drive is an electrical Machine and an inverter includes. Temperature information relating to the electrical machine and to the inverter is determined.
  • the invention accordingly relates to a device for controlling an electric drive, wherein the electric drive comprises an electric machine and an inverter.
  • the device comprises a temperature determination device, which is designed to determine temperature information relating to the electrical machine and with respect to the inverter.
  • the device comprises an adjusting device, which is designed to an operating point of the electric machine and a switching frequency of
  • Inverter using the determined temperature information and taking into account a torque specification and taking into account predetermined thermal capacity information with respect to the electric drive set.
  • the invention therefore relates to an electric drive with an inverter, an electrical machine and a device for controlling the inverter and the electric machine.
  • the invention enables a holistic view of both the electrical machine and the inverter. This makes it possible to optimize both the operating point and the switching frequency, ie to come as close as possible to certain specifications or target values. At the same time it is ensured that the maximum thermal load capacity of the electric drive, ie both the electrical machine and the inverter, is not exceeded.
  • both the operating point of the electric machine and the switching frequency of the inverter are available as degrees of freedom, there are more possibilities perform appropriate power control or derating the electrical machine. For example, even if the electrical machine has already reached its thermal limits by adapting the operating point, derating can be further delayed because, by varying the switching frequency of the
  • Heating of the inverter can be prevented. In this case, a derating need only take place if the inverter or components of the
  • the invention therefore makes it possible to optimally utilize the thermal capacities of the electric drive.
  • the invention provides a thermal management method which better exploits the thermal capacities of the components in overload conditions. As a result, ultimately more continuous output can be achieved.
  • further information can be determined, such as how long the currently requested torque, d. H. the torque specification can still be met.
  • d. H. the torque specification can still be met.
  • the invention is also advantageous in the context of electric drive design processes, as thermal management may allow for a smaller design of the machine, thereby reducing costs.
  • Temperature information a temperature of a rotor of the electric machine and / or a temperature of a stator of the electric machine and / or a
  • Temperature of diodes of the inverter and / or a temperature of transistors of the inverter are thus taken into account in determining the operating point of the electrical machine and the switching frequency of the inverter. According to a preferred embodiment of the method include the thermal
  • Loading information is a maximum temperature of the rotor and / or a maximum temperature of the stator and / or a maximum temperature of the diodes of the inverter and / or a maximum temperature of the transistors of the
  • the operating point of the electric machine and the switching frequency of the inverter is set so that the temperatures of the respective components do not exceed the maximum temperatures.
  • adjusting the operating point of the electric machine comprises calculating a d-axis component of a current vector of the electric machine and a q-axis component of the
  • the calculated current vector is preferably adjusted by a subordinate field-oriented control.
  • the adjustment of the operating point of the electrical machine and the switching frequency of the inverter by optimizing a rinseglantationals, which depends on the operating point of the electric machine, the switching frequency of the inverter and the
  • temperature profiles of components of the electric drive as a function of the operating point of the electrical machine and the switching frequency of the inverter are determined on the basis of a model taking into account the determined temperature information.
  • the optimization is further carried out under the secondary condition that the temperature profiles are within predetermined value ranges.
  • the temperature profiles include in particular information regarding expected
  • Temperature changes, d. H. a predicted temperature development of components of the electric drive.
  • the temperature profiles may extend over a time interval up to a given future time. According to the invention, this ensures that the temperatures of the components do not rise too high and thus do not overheat the components of the electric drive.
  • a weighting of a deviation of an actual torque of the electric machine from the torque input in the quality functional is adjustable. This makes it possible to switch between different operating modes of the electric drive.
  • the weighting may be performed such that the actual torque is as close as possible to the torque setting, ie that a term of the quality function, which is the deviation of the actual
  • Torque of the torque specification includes, as much as possible weighted.
  • the operating point and the switching frequency are set such that the actual torque is as close as possible to the torque specification.
  • a derating of the electric drive is delayed as long as possible.
  • Torque bias are weighted less so that the derating occurs earlier. The torque is thereby throttled earlier, causing the
  • Temperature detecting means adapted to measure a temperature of a rotor of the electric machine and / or a temperature of a stator of the electric machine and / or a temperature of diodes of the inverter and / or a temperature of transistors of the inverter. Alternatively, estimation methods for temperature determination can also be used.
  • Figure 1 is a schematic block diagram of an apparatus for controlling an electric drive according to an embodiment of the invention
  • Figure 2 shows an exemplary course of temperatures of components
  • Figure 3 shows an exemplary course of temperatures of components of a
  • FIG. 4 shows an exemplary profile of a switching frequency of the inverter
  • FIG. 5 shows an exemplary profile of currents of an electrical machine; an exemplary course of a torque of the electric drive; an exemplary course of a power of the electric drive; a schematic block diagram of an electric drive according to an embodiment of the invention; and a flowchart of a method for controlling an electric drive.
  • FIG. 1 shows a schematic block diagram of a device 1 for controlling an electric drive 2 according to an embodiment of the invention.
  • the electric drive 2 to be controlled comprises an inverter 21, which is provided with a
  • the electric drive 2 may for example be part of a drive for a vehicle.
  • the device 1 further comprises a temperature determination device 11, which is designed to determine temperature information relating to the electrical machine 22 and the inverter 21.
  • a temperature determination device 11 which is designed to determine temperature information relating to the electrical machine 22 and the inverter 21.
  • Temperature detecting means 11 comprise at least one temperature sensor which is adapted to measure a temperature of the inverter 21 and / or the electric machine 22.
  • the inverter 21 and / or the electric machine 22 comprise at least one temperature sensor which is adapted to measure a temperature of the inverter 21 and / or the electric machine 22.
  • Temperature determination device 11 to be designed to respective current Temperatures of components of the inverter 21 and the electric machine 22 to measure.
  • the inverter 21 may include diodes and transistors
  • the electric machine 22 may include a rotor and a stator.
  • Temperature information includes a temperature of the rotor of the electrical
  • the transistors of the inverter 21 are formed for example as IGBTs.
  • the temperature detecting means 11 may also be configured to provide temperature information regarding the electric machine 22 and the
  • Inverter 21 to determine based on an empirical or physical model.
  • the temperature detecting device 11 can for this purpose exist
  • the temperature determination device 11 is additionally designed to determine temperature profiles of the components of the electric drive 2 taking into account the determined temperature information.
  • the temperature profiles may in this case depend on an operating point of the electric machine 22 and a switching frequency fpwM of the inverter 21.
  • the operating point of the electric machine 22 is preferably determined by a d-axis component id of a current vector of the electric machine 22 and by a q-axis component i q of the current vector of the electric machine 22.
  • the temperature determination device 11 can thus provide a prediction model, by means of which the temperature determination device, for example, an expected stator temperature T sta tor (k + l) at a future time in dependence on a stator temperature T sta tor (k) at the present time, a cooling temperature T coo i , an operating point id, i q of the electric machine 22 and a switching frequency fpwM of the inverter 21 calculated, for example, according to the following formula:
  • stator (k + 1) fi (T stator (k), Tcool, ld, iq, fpwM).
  • the temperature detecting means 11 based on the prediction model in an analogous manner, a temperature T ro tor of a rotor of the electric machine 22, a Temperature Tdiode diodes of the inverter 21 and a temperature TKJBT of transistors of the inverter 21 at a future time in response to a respective corresponding temperature at the current time, a cooling temperature T coo i, from the operating point id, i q of the electric machine 22nd and determine the switching frequency fpwM of the inverter 21, that is, the following
  • Tdiode (k + l) f3 (Tdiode (k), Tcool, ld, lq, fpWM),
  • TlGBl (k + l) £ t (TlGBT (k), Tcool, ld, lq, fpWM).
  • fi, ⁇ 2, f? Denote respective model-dependent functions. These functions can be determined on the basis of a physical model, but can also be determined on the basis of characteristics of the electric drive. While the temperature information thus relates to current temperatures of the components of the electric drive 2, the temperature profiles also relate to future temperatures of the components of the electric drive 2.
  • the device 1 further comprises an adjusting device 12, which is designed to set the operating point id, i q of the electric machine 22 and the switching frequency fpwM of the inverter 21.
  • the adjusting device 12 determines this
  • Quality functional J which depends on the operating point id, i q of the electric machine 22, the switching frequency fpwM of the inverter 21, an operating point specification id, Z iei, iq.ziei, a switching frequency specification fpwM, ziei and a torque input M zie i.
  • the quality functional J can be given by the following formula:
  • J kl (id - id, target) 2 + k2 (lq - lq.target) 2 + ks (M - M z iel) 2 + ⁇ fpWM, goal) 2 .
  • the operating point specification id, Z iei, iq.ziei corresponds to a predetermined target value for the operating point id, i q
  • the switching frequency specification fpwM, ziei corresponds to a predetermined target value for the switching frequency fpwM
  • the torque input M Z iei corresponds to a predetermined target value for the torque M.
  • Typical criteria for determining id, ziei and iq.ziei are the maximum efficiency or the maximum torque per ampere. In reality, however, the target values can not always be achieved without certain components of the electric drive 2 having their own thermal load limits.
  • the weighting factors ki to k4 the respective contributions to the quality function J can be weighted accordingly.
  • the different target values can be changed. For example, in a sports mode the
  • Weighting factor k3 of the torque M can be increased and in an Eco mode, the weighting factor k3 of the torque M can be reduced. By changing the weighting k3, a deviation of the actual torque M from the torque input M zie i or from the target value for the torque can therefore be set.
  • the adjusting device 12 is configured to determine the operating point id, i q of the electric machine 22 and the switching frequency fpwM of the inverter 21 by optimizing the quality function as J.
  • the adjusting device 12 takes into account the temperature information and temperature profiles ascertained by the temperature determination device 11.
  • the adjusting device 12 may be designed to, the
  • Switching frequency fpwM of the inverter 21 are limited, for example according to the following formulas:
  • T stator, max, Trotor, max, Tdiode, max, TlGBT, max and imax are predetermined threshold values which represent thermal load information of the electric drive 2.
  • the parameters Umax, fpwM, m m and fpwM, ma X are drive-related threshold values.
  • the parameter N denotes the number of time steps.
  • the adjusting device 12 may be designed to this non-linear
  • the setting device 12 adjusts the operating point id, i q of the electric machine 22 and the switching frequency fpwM of the inverter 21 to those values which solve the optimization problem.
  • SQL Sequential Quadratic Programming
  • the setting of the operating point id, i q and the switching frequency fpwM is explained by way of example with reference to a scenario illustrated in FIGS. 2 to 7.
  • the electric machine 22 initially heats up, so that the temperatures T sta tor of the stator and the temperature T ro tor of the rotor of the electric machine 22 increase up to a first time ti, wherein in particular the temperature Trotor of the rotor a permissible maximum temperature of 100 ° C approaches.
  • the temperature Tdiode of the diodes and the temperature TKJBT of the transistors of the inverter 21 remain substantially constant and are smaller than the maximum allowable temperature of 100 ° C, as illustrated in FIG.
  • the switching frequency fpwM of the inverter 21 is in
  • the torque M substantially corresponds to
  • the power P of the electric drive 2 is also constant, as illustrated in Figure 7.
  • Inverter 21 increases, as seen in Figure 4. This reduces the q -axis component i q of the current vector, while the d-axis component id of the Current vector increases. Due to the switching losses occurring and the increasing current vector norm, the temperatures Tdiode, TKJBT of the diodes and the transistors increase. In order to prevent overheating of the transistors, therefore, the switching frequency fpwM is reduced again, as can be seen in FIG. The torque M of the electric drive 2 remains constant and equal to the torque input
  • a derating can be done by varying the switching frequency fpwM of the
  • Inverter 21 further delayed.
  • the output power P of the electric drive 2 remains unchanged.
  • the torque M must be reduced to prevent overheating of the transistors and the rotor.
  • derating occurs and the torque M is different from the torque command M, as seen in FIG.
  • the output power P of the electric drive 2 decreases.
  • the torque input M zie i is reduced.
  • the d-axis component id and the q- axis component i q of the current vector decrease while the switching frequency fpwM of the inverter 21 increases.
  • the torque input M zie i can be achieved again.
  • the invention is not limited to the embodiments shown.
  • the temperatures and temperature profiles as well as operating parameters of other components of the electric drive 2 can be taken into account.
  • a DC link capacitor can be taken into account.
  • elements of the drive train, a battery or a transmission of a vehicle can be taken into account.
  • the switching frequency of the inverter and control methods of the inverter can be adjusted accordingly, so that critical components of the inverter 21 experience a low power dissipation.
  • the components of the quality function J can be time-dependent, so that aging or load models are taken into account in the quality functional J.
  • FIG. 8 shows a block diagram of an electric drive 2 in accordance with FIG.
  • the electric drive 2 comprises an inverter 21, which converts DC voltage into AC voltage and provides it to an electric machine 22 of the electric drive 2.
  • the electric Machine 22 is a three-phase machine, such as a synchronous machine or
  • the electric drive 2 further comprises a
  • Device 1 which is designed to determine temperature information relating to the electric machine 22 and with respect to the inverter 21 and an operating point i q , id of the electric machine 22 and a switching frequency fpwM of the inverter 21 using the determined temperature information and taking into account a torque command M zie i as well as predetermined thermal load information with respect to the electric drive 2 to determine and set.
  • the device 1 preferably corresponds to one of the embodiments described above.
  • FIG. 9 illustrates a flow chart of a method for controlling an electric drive 2.
  • the electric drive 2 comprises, as described above, an electric machine 22 and an inverter 21.
  • a first method step S 1 temperature information relating to the electric machine 22 and with respect to the inverter 21 is determined.
  • Temperature information can be determined based on sensor data and / or on the basis of physical models or characteristics of the electric drive 2.
  • an operating point id, i q of the electric machine 22 and a switching frequency fpwM of the inverter 21 are determined using the determined temperature information and taking into account a
  • a corresponding quality function J is optimized, which depends on the operating point id, i q of the electric machine 22, the switching frequency fpwM of the inverter 21 and the torque input M zie i.

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

Abstract

L'invention concerne un procédé de réglage d'un entraînement électrique (2), lequel comporte une machine électrique (22) et un onduleur (21). Le procédé comporte les étapes : de détermination (S 1) d'informations de température concernant la machine électrique (22) et l'onduleur (21) ; et de réglage (S2) d'un point de fonctionnement de la machine électrique (22) et d'une fréquence de commutation (fpwm) de l'onduleur (21) au moyen des informations de température déterminées et avec prise en compte d'une consigne de couple (Mcible) ainsi que d'informations de contrainte thermique prédéfinies concernant l'entraînement électrique (2).
PCT/EP2018/055133 2017-03-07 2018-03-02 Procédé et dispositif de réglage d'un entraînement électrique et entraînement électrique Ceased WO2018162334A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017203656.7 2017-03-07
DE102017203656.7A DE102017203656A1 (de) 2017-03-07 2017-03-07 Verfahren und Vorrichtung zur Regelung eines elektrischen Antriebs und elektrischer Antrieb

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WO2018162334A1 true WO2018162334A1 (fr) 2018-09-13

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WO (1) WO2018162334A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
FR3104855A1 (fr) * 2019-12-17 2021-06-18 Renault S.A.S Procédé de commande d’un ensemble électrique comprenant une machine électrique

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DE102018221491A1 (de) * 2018-12-12 2020-06-18 Robert Bosch Gmbh Verfahren zum Betreiben einer elektrischen Maschine
DE102022134554A1 (de) 2022-12-22 2024-06-27 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Betreiben einer elektrischen Maschine
DE102023205685A1 (de) * 2023-06-19 2024-12-19 Zf Friedrichshafen Ag Verfahren und Steuervorrichtung zum Betreiben einer elektrischen Maschine, elektrischer Achsantrieb, Kraftfahrzeug

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WO2015028242A2 (fr) * 2013-08-28 2015-03-05 Abb Technology Ag Contrôle prédictif par modèles d'un système électrique
DE102014211447A1 (de) * 2014-06-16 2015-12-17 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Steuerungseinrichtung zum Steuern der durch ein Elektrofahrzeug erzeugten Verlustwärme
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WO2015028242A2 (fr) * 2013-08-28 2015-03-05 Abb Technology Ag Contrôle prédictif par modèles d'un système électrique
DE102014211447A1 (de) * 2014-06-16 2015-12-17 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Steuerungseinrichtung zum Steuern der durch ein Elektrofahrzeug erzeugten Verlustwärme
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3104855A1 (fr) * 2019-12-17 2021-06-18 Renault S.A.S Procédé de commande d’un ensemble électrique comprenant une machine électrique

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