• 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:
    Method and device for estimating the torque ripple TTR of an electric motor (1) connected to a load (3), wherein an output torque Tset_UUT for the electric motor (1), an output torque Tshaft measured at the load (3) and a mass moment of inertia J of the electric motor ( 1) in the controlled system of a control circuit (5) the ideal speed is determined wideal of the electric motor (1), and by the controller (6) of the control circuit (5) the ideal speed widget of the electric motor (1) measured real speed wUUT is tracked such that the current torque ripple TTR is generated as a manipulated variable of the controller (6).
    公开号:AT520232A1
    申请号:T50613/2017
    申请日:2017-07-21
    公开日:2019-02-15
    发明作者:Helmut Kokal Dr；Luigi Giordano Dr；Propst Mario
    申请人:Avl List Gmbh；
    IPC主号:
    专利说明:

    Summary
    Method and device for estimating the torque ripple Ttr of an electric motor (1) connected to a load (3), with an actuating torque Tset_uuT for the electric motor (1), an output torque Tshaft measured at the load (3) and a mass moment of inertia J of the electric motor ( 1) the ideal speed cideal of the electric motor (1) is determined in the controlled system of a control loop (5), and the ideal speed cideal of the real speed ωυυτ measured on the electric motor (1) is tracked by the controller (6) of the control loop (5) such that the current torque ripple Ttr is generated as the manipulated variable of the controller (6).
    Fig. 2c / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    Method and device for estimating the torque ripple of an electric motor
    The invention relates to a method and a device for estimating the torque ripple of an electric motor.
    Electric motors, especially permanent magnet synchronous motors (PMSM), are widely used in the automotive sector. These electric motors are mostly used in conjunction with a gearbox and drive shafts for the drive wheels as the drive train. Such a drive train represents a complex mechanical system with structural and torsional eigenmodes. The occurrence of periodic excitations in frequencies close to the frequencies of these eigenmodes can result in unpleasant noises for the driver. However, this can also have an impact on component life, up to the destruction of individual drive train components.
    A typical side effect when using such electric motors is the occurrence of a torque ripple, which is also known as “torque ripple” or “ripple torque”. This is understood as a slightly torque-dependent torque distribution over the angle of rotation of the rotor of the electric motor. The causes can be an uneven distribution of the motor winding, inhomogeneities of the permanent magnets, but also asymmetries of the electronic components used.
    / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    Typically, these torque ripples occur in orders of the rotational frequency, the order number being determined, for example, by the number of pole pairs and the number of usages.
    Another typical side effect is the occurrence of so-called cogging torques in such motors. The cogging torque is the torque ripple of the de-energized electric motor.
    In order to be able to measure the torque ripple precisely, it is advantageous to measure the torque on the output shaft of the electric motor. Usually, however, no torque measurement is provided in the electric motor / gearbox combination.
    Using a test bench on which the output torque of the electric motor is measured, for example via a measuring flange, the torque ripple can also be calculated in a post-processing step. However, this requires measuring and differentiating the speed of the electric motor. This is problematic during operation and is usually only possible by low-pass filtering the measurement signal, but this should be prevented.
    It is an object of the invention, inter alia, to provide a method and a device by means of which torque ripples of an electric motor can be estimated as accurately as possible on the test bench and during operation without having to differentiate the measured motor speed.
    These and other objects are achieved according to the invention by a method according to claim 1. The method according to the invention estimates the torque ripple Ttr of an electric motor connected to a load from an actuating torque Tset_UUT for the electric motor, an output torque Tshaft measured on the load and the known mass moment of inertia J of the electric motor by forming a control circuit for tracking the speed of the electric motor. The ideal speed oideal of the electric motor is determined in the control system of the control loop and this ideal speed oideal is tracked by the controller of the control loop ideally to the real speed measured on the electric motor in such a way that the / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT) current torque ripple Ttr appears as a manipulated variable at the output of the controller.
    The manipulated variable can then be routed to the outside and tapped.
    The controller can in particular be designed as a PI controller. The method according to the invention can be used to estimate the torque ripple of a permanent magnet synchronous machine. The method can be used on a test bench. The load can be a controllable load. The method can also be used during the operation of a vehicle driven by the electric motor if the measured variables of speed and shaft torque are known.
    The invention also extends to a device for estimating the torque ripple Ttr of an electric motor connected to a load via a shaft. The device according to the invention comprises a sensor for measuring the real speed ωυυτ of the electric motor and a sensor for measuring the output torque Tshaft of the load.
    The device further comprises a control circuit for tracking the speed of the electric motor with a control system and a controller. In the controlled system, an ideal rotational speed cideal of the electric motor is determined from an actuating torque Tset_uuT of the electric motor, the output torque Tshaft and a mass moment of inertia J of the electric motor. The controller is designed such that it tracks the ideal speed cideal of the real speed ωυυτ in such a way that the torque ripple Ttr is generated as the manipulated variable of the controller. This manipulated variable can then be routed to the outside and tapped.
    According to the invention it can be provided that the device is part of a test bench for an electric motor. According to the invention, it can be provided that the electric motor is a permanent magnet synchronous machine, an asynchronous machine or a reluctance motor. The load can be a controllable load. The device can also be part of the drive of a vehicle.
    / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    Further features of the invention emerge from the claims, the
    Description of the embodiments and the drawings.
    The invention is explained in more detail below using an exemplary embodiment. Show it
    1: a conventional structure of a test bench for an electric motor;
    2a-2c: Details of an embodiment of the system and method according to the invention.
    1 shows a conventional construction of a test bench for an electric motor 1. The electric motor 1 to be tested (device under test or unit-under-test UUT) is connected to a controllable load 3 via a shaft 2. With a control unit 4 (not shown in this figure) of the load 3, different load conditions are specified for the electric motor 1 to be tested, for example a specification of the speed to be achieved or the torque to be achieved. Such test benches are usually used without a gearbox, drive train and other drive components.
    In this figure, Tset_UUT denotes the actuating torque and nUUT the measured speed on the electric motor 1 to be tested. The symbol Tshaft denotes the output torque measured on the shaft 2. The torque specified on the load 3 is identified by the symbol Tset_Dyno, and the speed measured on the load 3 by the symbol nDyno.
    A calculation of the torque ripple (ripple torque) Ttr can be carried out in a post-processing step from the speed measured on the test specimen, using the predetermined moment of inertia Juut of the electric motor 1:
    Ttr = Juut {^ -uut 33) - T setuuT + T sha f t / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    Differentiation of the measured torque nUUT during operation is problematic and usually only possible with low-pass filtering of the signal.
    2 shows an ideal torque generator 4 which can be used as part of the method according to the invention. In this ideal torque generator 4, Tset denotes the actuating torque, Tshaft the measured output torque, and Oideal the speed of the ideal electric motor. With the symbol J that is
    Mass moment of inertia of the electric motor. The mathematical context is:
    To calculate the real speed, Oreal is added to the actuating torque and
    Output torque the unknown torque ripple (ripple torque) Ttr:
    set T s haft + Ar
    The ideal speed Odeai thus becomes equal to the real speed Oreal if the ripple torque Ttr is taken into account at the input of the ideal electric motor in addition to the actuating torque and the output torque.
    2b shows a correspondingly designed control circuit 5, in which the ideal speed Oideal is tracked as a control variable of the real measured speed Oreal as a control variable. For this purpose, a controller 6 is provided, which in the present exemplary embodiment is designed as a PI controller. The controller 6 receives the difference between the ideal speed Oideal and the real speed Oreal as the control deviation.
    The controller 6 delivers a torque deviation as a manipulated variable. In the controlled system, the manipulated variable is subtracted from the current actuating torque Tset and the measured output torque Tshaft, and the result is divided by the mass moment of inertia J and the time is derived so that the current speed is formed as a controlled variable.
    / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    The output variable of the controller 6 thus inevitably corresponds to the current torque ripple, that is to say the ripple torque Ttr. The current torque ripple in this control loop 5 thus automatically results as a by-product of the guided speed control.
    2c shows an embodiment of the invention using the example of a concrete test bench. Again, the electric motor 1 to be tested is connected to a controllable load 3 via a shaft 2. In this figure, Tset_uuT again designates the actuating torque of the electric motor 1 to be tested and ωυυτ the measured speed at the electric motor 1 to be tested.
    A control unit 6 calculates the target torque Tset_Load of the load 3 from the difference between the speed of the load 3 and the predetermined speed OOdem_Load.
    Both the load 3 and the electric motor 1 to be tested are controlled via a driver unit 7, which converts the desired torque Tset_Load and Tset_uuT into corresponding control signals for the load 3 or the electric motor 1. The symbol Tshaft again designates the output torque measured on shaft 2.
    As explained in connection with FIG. 2b, the current ripple torque TTR is determined from Tset_uuT, Tshaft and the measured speed ωυυτ without the need to differentiate the current speed of the electric motor.
    The invention is not limited to a specific embodiment of the electric motor, the load, or the control circuit, but encompasses all methods and devices within the scope of the following claims.
    / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    LIST OF REFERENCE NUMBERS
    electric motor
    wave
    load
    torque generator
    loop
    regulator
    Ί Driver unit / 15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    权利要求:
    Claims (11)
    [1]
    claims
    1. Method for estimating the torque ripple Ttr of an electric motor (1) connected to a load (3), with an actuating torque Tset_uuT for the electric motor (1), an output torque Tshaft measured on the load (3) and a mass moment of inertia J of the electric motor ( 1) the ideal speed Oideal of the electric motor (1) is determined in the controlled system of a control circuit (5), and the ideal speed Oideal of the real speed ωυυτ measured on the electric motor (1) is tracked by the controller (6) of the control circuit (5) such that the current torque ripple Ttr is generated as the manipulated variable of the controller (6).
    [2]
    2. The method according to claim 1, characterized in that the method for estimating the torque ripple of a permanent magnet synchronous machine is used.
    [3]
    3. The method according to claim 1 or 2, characterized in that the method is used on a test bench.
    [4]
    4. The method according to claim 3, characterized in that the load (3) is a controllable load (3).
    [5]
    5. The method according to claim 1 or 2, characterized in that the method is used during the operation of a vehicle driven by the electric motor (1).
    [6]
    6. The method according to claim 1, characterized in that the method for torque ripple compensation is used.
    9/15
    - 56568 / AG / AVL List GmbH, Hans-List-Platz 1.8020 GRAZ (AT)
    [7]
    7. Device for estimating the torque ripple Ttr of an electric motor (1) connected to a load (3), comprising a sensor for measuring the real speed ωυυτ of the electric motor (1) and a sensor for measuring the output torque Tshaft of the load (3), characterized that the device comprises a control loop (5), the control loop (5)
    a. comprises a controlled system in which an ideal rotational speed oideal of the electric motor (1) is determined from an actuating torque Tset_uuT of the electric motor (1), the output torque Tshaft and a mass moment of inertia J of the electric motor (1),
    b. and comprises a controller (6) which tracks the ideal speed oideal to the real speed ojjt in such a way that the torque ripple Ttr is generated as a manipulated variable of the controller (6).
    [8]
    8. The device according to claim 6, characterized in that the device is part of a test bench for an electric motor (1).
    [9]
    9. The device according to claim 7, characterized in that the load (3) is a controllable load (3).
    [10]
    10. The device according to claim 6, characterized in that the device is part of the drive of a vehicle.
    [11]
    11. Device according to one of claims 6 to 9, characterized in that the electric motor (1) is a permanent magnet synchronous machine.
    10/15
    1.2
    类似技术:
    公开号 | 公开日 | 专利标题
    DE112012007019T5|2015-07-02|Engine control unit for an electric vehicle
    DE102008021425A1|2008-11-27|Method and system for aligning a resolver in an electric motor system
    DE10162786A1|2003-07-10|Method for determining performance, measuring device and dynamometer for a test object
    DE102006025878A1|2006-12-28|Dynamic torque generator e.g. internal combustion engine, testing method for motor vehicle, involves determining torque transmitted through shaft at rotational speeds and determining parameters describing dynamic behavior of shaft
    EP2421146B1|2015-02-11|Device and method for identifying magnetomechanical parameters of an alternating current synchronous motor without using a rotary encoder
    DE102012201200A1|2012-09-20|Vehicle engine control device
    DE102011012598A1|2011-09-29|Control for a spindle with a coder
    EP1659683A1|2006-05-24|Method and apparatus for determining the AC component of a current produced by the mechanical commutation of a DC motor
    DE102017103072A1|2017-08-17|Detecting offset errors in a phase current measurement for an engine control system
    EP0696729A2|1996-02-14|Procedure and device for simulating mass in a fixed test bench
    EP0337100A2|1989-10-18|Method and apparatus for measuring rotation speed
    AT520232B1|2019-11-15|Method and apparatus for estimating the torque ripple of an electric motor
    DE102005059585A1|2007-06-21|Method and device for determining the rotational speed of an electrical machine
    DE102014013429A1|2016-03-24|Method for exact position determination
    DE102010053098A1|2012-06-06|Method for monitoring rotor position sensor, involves reading rotor position signal and reading voltage signal and current signal, where error signal for rotor position signal is determined from rotor position signal and voltage signal
    DE102009054603A1|2011-06-16|Method for controlling an electric motor
    DE102015207333B4|2017-01-12|Method and device for generating a steering angle
    DE102012102050A1|2013-09-12|Method for sequential determination of rotor layer angle values of permanent synchronous motor of steering device of motor car, involves computing rotor layer angle values in electromotor operating mode as approximate values by polynomial
    DE102015202229A1|2016-08-11|Method and device for torque ripple determination
    DE102014209603B3|2015-04-23|Method and device for sensorless detection of the rotor position of a synchronous machine
    DE102008044303A1|2010-06-10|Method and device for operating a vehicle
    DE102019115787B3|2020-10-15|Method for determining the angle of the rotor of an electric motor, control unit and vehicle
    DE3910643A1|1990-10-04|Method for testing the performance of small DC motors with permanent magnets in series production
    DE102019122558B4|2021-07-01|Method for determining the angle of the rotor and / or the angular speed of an electric motor, control unit and vehicle
    EP2360830B1|2012-09-19|Method and device for simulating an electromechanical converter
    同族专利:
    公开号 | 公开日
    JP2020527934A|2020-09-10|
    EP3656051A1|2020-05-27|
    AT520232B1|2019-11-15|
    US20200228034A1|2020-07-16|
    WO2019016348A1|2019-01-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP2002223582A|2001-01-26|2002-08-09|Hitachi Ltd|Apparatus and method for controlling permanent magnet type synchronous motor|
    EP1995869A2|2007-05-24|2008-11-26|Aisin Seiki Kabushiki Kaisha|Synchronous motor control device and method for optimizing synchronous motor control|
    JP2010051162A|2008-08-25|2010-03-04|Yokohama National Univ|Controlling apparatus and method of pm motor|
    CN104034464A|2014-06-28|2014-09-10|哈尔滨工业大学|Even unit alternating-current permanent magnet motor torque ripple testing method|
    DE102015202229A1|2015-02-09|2016-08-11|Schaeffler Technologies AG & Co. KG|Method and device for torque ripple determination|
    JP3114470B2|1993-12-09|2000-12-04|株式会社日立製作所|Automotive control device|
    DE102007043261A1|2007-09-11|2009-04-02|Siemens Ag|Method for dynamically adapting test benches|
    JP5496854B2|2010-11-01|2014-05-21|ジヤトコ株式会社|Vehicle control device|CN112987812B|2021-02-24|2021-12-10|深圳市优必选科技股份有限公司|Torque control method and device, terminal equipment and storage medium|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT506132017A|AT520232B1|2017-07-21|2017-07-21|Method and apparatus for estimating the torque ripple of an electric motor|AT506132017A| AT520232B1|2017-07-21|2017-07-21|Method and apparatus for estimating the torque ripple of an electric motor|
    PCT/EP2018/069703| WO2019016348A1|2017-07-21|2018-07-20|Method and device for estimating the torque ripple of an electric motor|
    US16/632,681| US20200228034A1|2017-07-21|2018-07-20|Method and device for estimating the torque ripple of an electric motor|
    EP18743782.7A| EP3656051A1|2017-07-21|2018-07-20|Method and device for estimating the torque ripple of an electric motor|
    JP2020503035A| JP2020527934A|2017-07-21|2018-07-20|Methods and devices for estimating the torque pulsationof an electric motor|
    [返回顶部]