Method and apparatus for regulating an electric machine

Abstract

A method (400) for regulating a motor (190) using a harmonic filter (150), wherein the harmonic filter (150) includes a second filter (142) and a filter output transform (132), the method comprising the steps of: determining (410) a feedback variable (Idq); determining (414) a filter specification variable (FV); filtering the filter specification variable (FV) (415); determining (417) a filtered feedback variable (IdqFunda) without harmonic components; and energizing at least one winding of the motor (190) according to the filtered feedback variable (IdqFunda) without harmonic components (480).

Description

Technical Field

[0001] This invention relates to a method and apparatus for regulating an electric motor. The invention also relates to an electric drive system having a corresponding apparatus, a vehicle having an electric drive system, a computer program, and a computer-readable storage medium. Background Technology

[0002] Publication DE 2017 102 03691 A1 discloses a regulation for an electric motor that simultaneously compensates for disturbances and sets target values. For motor operation, the phase current is adjusted as the target value. The phase current is preferably adjusted to a sinusoidal fundamental frequency. During motor operation, the phase current causes a uniform average torque output. In addition to the uniform average torque, torque harmonics are also formed due to non-ideal sinusoidal magnetic fields, winding arrangements, slotting, tooth profile, saturation effects, and / or other effects. This effect results in force waves between the rotor and stator, which, in the case of a characteristic order, act as tangential and radial tooth forces on the stator teeth. Due to the mechanical transmission behavior of the motor, these forces can be perceived as vibrations in the machine, machine housing, and coupling elements, and thereby as structural and aerodynamic noise or surface vibration. Here, the torque harmonics also cause harmonics of the motor's electrical frequency in the phase current as disturbances. To minimize these disturbances, the harmonics are selectively adjusted and specified, and these harmonics are superimposed on the adjusted and specified phase current.

[0003] There is a need for alternative methods and devices for regulating motors to adjust harmonics as robustly, stably, dynamically, and flexibly as possible, taking into account important frequency components. Summary of the Invention

[0004] A method for regulating a motor using a harmonic filter is provided, wherein the harmonic filter includes a second filter and a filter output transform. The method includes the following steps:

[0005] Determine the feedback variables, which include the actual variables of the fundamental wave and the harmonics of the specified frequency in the magnetic field orientation system;

[0006] Determine the filter specifications in the harmonic directional system;

[0007] The filter is applied to the specified variable using a second filter.

[0008] The filtered specified variable is inversely transformed into the harmonic variable (IdqHrmc) in the magnetic field orientation system by means of filter output transformation.

[0009] The filtered feedback variable without harmonic components is defined as the difference between the feedback variable and the harmonic variable;

[0010] At least one winding of the motor is energized based on a filtered feedback variable free of harmonic components.

[0011] For motor regulation, field-oriented control is widely used. Here, the alternating variable of the phase current to be adjusted, preferably sinusoidal in the time domain, also called the fundamental frequency, is transferred, through mathematical transformation, to a coordinate system rotating at the frequency of these alternating variables. The frequency of these alternating variables also determines the frequency of the magnetic field in the machine, so this coordinate system rotating at the frequency of these alternating variables is also called the field-oriented system. During the steady-state operation of the motor, constant variables in the field-oriented system are derived from these alternating variables in the time domain. These constant variables can be adjusted using common methods of regulation techniques. The field-oriented system is also called the d / q coordinate system. Here, the d-axis of this d / q coordinate system points in the direction of the rotor flux. The q-axis is perpendicular to the d-axis. The sinusoidal phase current is represented as a stator current vector, characterized by its length and direction. This current vector rotates synchronously with the rotating stator or rotor flux of the motor. In the d / q coordinate system, the current vector can be represented by its length and direction using two mutually perpendicular components Id and Id, which are constant variables in steady state.

[0012] To regulate a motor that can be connected to or interact with a harmonic regulator, feedback variables of the motor are recorded in the field-oriented system. These feedback variables include the fundamental frequency and harmonics, which are superimposed on the phase current, i.e., the fundamental frequency. In the field-oriented system, the phase current is a constant variable, while the harmonics are alternating variables. Harmonic regulation is analogous to a transformation from the time domain to the field-oriented domain; the alternating variables from the field-oriented system are transformed into the harmonic-oriented system at the harmonic frequencies using mathematical transformations. During steady-state operation of the motor, variables that are alternating in the field-oriented system become constant in the harmonic-oriented system. These constant variables can be regulated using common methods of regulation techniques.

[0013] In the harmonic orientation system, a filter specification variable is determined. This filter specification variable is filtered by a second filter and, for further use, inversely transformed into a harmonic variable in the field-oriented system by means of a filter output transform. Preferably, the second filter is a low-pass or band-pass filter. Preferably, the limiting frequency of the low-pass or band-pass filter is selected here according to the limiting frequency of the closed harmonic regulation loop. Finally, the filtered feedback variable without harmonic components is determined as the difference between the feedback variable and the harmonic variable. Then, at least one winding of the motor is energized based on the filtered feedback variable without harmonic components.

[0014] Advantageously, a method is provided for efficiently determining the filtered feedback variable without harmonic components for a fundamental frequency modulator.

[0015] Within the scope of this application, the statement that the variable of the regulating loop includes a harmonic or fundamental frequency means that the variable of the regulating loop characterizes or describes at least one harmonic or fundamental frequency, wherein the corresponding variable of the regulating loop may also include other signal components, such as the fundamental frequency and one or more harmonics, as well as additional interference.

[0016] To regulate the motor, the target phase current is broadly specified based on the torque specification and the determined actual phase current, wherein the phase voltage is set as a manipulated variable. Therefore, preferably within the scope of this application, the feedback variable (Idq), constant feedback variable (IHrmc), constant control variable (IHrmc*), machine feedback variable (Iabc), or specifyable GW constant control variable (Idq*) respectively include current values; and / or the constant manipulated variable (UHrmc*), manipulated variable (UdqHrmc*), GW constant manipulated variable, or machine manipulated variable (Uabc*) respectively include voltage values.

[0017] Preferably, the feedback variables in the field-oriented system include a first amplitude and a first phase harmonic of the kth order with a positive frequency and the electrical frequency of the motor, and / or a second amplitude and a second phase harmonic of the kth order with a negative frequency and the electrical frequency of the motor.

[0018] The feedback variables in a field-oriented system include at least one harmonic. This harmonic, or harmonics thereof, has positive and / or negative frequencies of the kth order with corresponding amplitude and phase, relating to the electrical frequency of the motor. Since the order, particularly large in amplitude and representing a significant disturbance, is, for example, the 6th order, it is preferably in both the positive and negative directions. For example, in the case where the motor's electrical frequency, i.e., the fundamental frequency, is 450 Hz in the time domain, the 6th order frequency is 450Hz + 450Hz * 6 = 3150Hz and in the negative direction, it is 450Hz - 6 * 450Hz = -2250Hz. In a field-oriented system where its coordinate system rotates at the motor's electrical frequency, the motor's electrical frequency is mapped to 0Hz, and for the + / - 6th order harmonics, frequencies of +2700Hz and -2700Hz are derived. Based on the magnitude of the amplitude and phase, force waves between the rotor and stator of the motor are derived, which act as tangential and radial tooth forces on the stator teeth and cause harmonic oscillations of torque. The more important the solutions to the feedback variables considered for this adjustment, the more effectively the disturbances will be eliminated.

[0019] In another design of the present invention, the constant control variable in the harmonic directional system is designated as the filter specification variable.

[0020] Preferably, the specifyable constant control variables of the harmonic orientation system include target variables in the harmonic orientation system for generating harmonics on a sinusoidal phase current to energize at least one winding of the motor.

[0021] Preferably, the constant control variable is a target value used to generate a specified frequency or k-th order harmonic of the motor to superimpose a sinusoidal phase current or fundamental wave to energize the motor. This target value is specifically specified analytically, either based on torque specifications, a target or actual phase current value, or a determined target or actual phase current value, or by means of a comprehensive characteristic curve. For use in a harmonic regulator in a harmonic-oriented system, this target value has been correspondingly modified and specified.

[0022] Advantageously, a filter specification variable is provided for effectively determining the filtered feedback variable free of harmonic components. When considering the target value of the filter specification variable to generate a specified order of harmonics, it is advantageous to consider only the corresponding harmonics of the non-superimposed interference signals in terms of the difference. This results in a feedback variable free of harmonic components of the filtered, non-superimposed interference signal. Even if the target value changes, it will not be superimposed by the interference signal.

[0023] In another design of the method for regulating a motor using a first filter and filter input transformation, the method includes the following steps:

[0024] The specified GW constant control variable is filtered using a first filter;

[0025] The filtered feedback variable without a fundamental component is defined as the difference between the feedback variable and the filtered GW constant control variable.

[0026] By using filter input transformation, the filtered feedback variable without fundamental component is transformed into a constant feedback variable in the harmonic directional system;

[0027] The constant feedback variable is designated as the filter specification variable.

[0028] The specified constant control variable of the harmonic field (GW) is filtered using a first filter. In this case, the filtered constant control variable of GW preferably corresponds to the modeled fundamental component of the closed-loop control system of the field-oriented modulation. The filtered feedback variable without the fundamental component is determined as the difference between the feedback variable and the filtered constant control variable of GW. In order to use the feedback variable without the fundamental component in the harmonic modulator, the feedback variable without the fundamental component is transformed into a constant feedback variable in the harmonic-oriented system by means of a filter input transformation. This constant feedback variable is specified as the filter specification variable.

[0029] To regulate harmonics in a harmonic regulator, the mathematical transformation from the field-oriented system to the harmonic-oriented system at the harmonic frequency is analogous to the transformation from the time domain to the field-oriented domain using a filter input transformation. Therefore, the feedback variable without a fundamental component is transformed into the harmonic-oriented system using a filter input transformation to a constant feedback variable. During steady-state operation of the motor, variables that are alternating in the field-oriented system become constant in the harmonic-oriented system. These constant variables can be adjusted using common methods of regulation techniques.

[0030] The transformation from a field-oriented system to a harmonic-oriented system involves rotation using a rotation matrix or a turning matrix. Therefore, the alternating variables in the field-oriented system become constant variables in the harmonic-oriented system. For this purpose, the feedback variables are rotated by a rotation angle corresponding to k times the current rotor angle; that is, in the case of a transformation to the 6th harmonic of the electrical frequency, they are rotated by 6 times the current rotor angle. For the kth harmonic in the positive direction, the rotation is in the positive direction; for the kth harmonic in the negative direction, the rotation is in the negative direction. The resulting constant variables in the harmonic-oriented system can be described, characterized, or explained using complex numbers or as complex parameters, such as iPosReal, iPosImag, or iNegReal and iNegImag.

[0031] In addition to rotation, other transformations can also be used. For example, the complex components iQSin and IQCos (also known as mixing or heterodyne) can be calculated by multiplying the d current by a sine that depends on k times the rotor angle and by multiplying it by the cosine of the complex components iDSin and IDCos, and by multiplying the q current by that sine and the cosine.

[0032] As an alternative description, complex harmonics with amplitudes and phases of d current and q current can be used.

[0033] Similarly, these components can also be represented as an ellipse with height, width, rotation, and phase by superimposing two counter-rotating vectors with different amplitudes and phases, which is preferably used for particularly efficient calibration.

[0034] Advantageously, an alternative filter specification variable is provided for effectively determining the filtered feedback variable without harmonic components.

[0035] In another embodiment of the invention, the specifyable GW constant control variable of the field-oriented system includes a target variable for generating a fundamental wave of a sinusoidal phase current to energize at least one winding of the motor.

[0036] The GW constant control variable is a target value used to generate the fundamental frequency of the motor to energize it. This target value is specified analytically, either based on torque specifications, a target or actual (phase) current value, or preferably a determined target or actual (phase) current value. For use in a fundamental frequency regulator in a field-oriented system, this target value has been correspondingly modified and specified.

[0037] Advantageously, a constant control variable for GW is provided to determine alternative filter specification variables.

[0038] In another embodiment of the present invention, filtering of the specified GW constant control variable by means of a filter includes: performing low-pass filtering on the GW constant control variable.

[0039] Advantageously, an efficient method is provided for removing the fundamental component of the GW constant feedback variable.

[0040] In another embodiment of the invention, the steps of determining, filtering, and inverse transforming the filtered specified variable are performed for multiple and different orders of the filtered specified variable. This results in multiple harmonic variables, which are assigned to different orders. When determining the filtered feedback variable without harmonic components, the multiple harmonic variables are considered as the difference between the feedback variable and the multiple harmonic variables.

[0041] Advantageously, an optimized determination of the filtered, harmonic-free feedback variable for the fundamental frequency modulator is provided.

[0042] In another design of the method for regulating a motor, the motor further includes a fundamental frequency regulator, wherein the fundamental frequency regulator includes a GW input converter, a GW regulator, and a GW output converter. The method includes the following additional steps:

[0043] Determine the machine feedback variables, which include the actual variables of the motor;

[0044] The machine feedback variables are transformed into feedback variables in the field orientation system by means of GW input transformation;

[0045] The GW adjustment deviation is defined as the difference between the specified constant GW control variable and the filtered feedback variable without harmonic components in the field-oriented system.

[0046] The constant manipulated variable of GW is determined by using the GW regulator based on the GW regulation deviation;

[0047] By means of GW output transformation, the constant manipulated variable of GW is inversely transformed into the machine manipulated variable; and at least one winding of the motor is energized according to the machine manipulated variable.

[0048] The alternating variable of the phase current to be adjusted, preferably sinusoidal, in the time domain is adjusted by means of fundamental frequency regulation. To regulate a motor that can be connected to or is connected to a fundamental frequency regulator, the machine feedback variable, i.e., the actual variable, of the motor is recorded in the time domain. The machine feedback variable is preferably the phase current of the motor. The machine feedback variable includes the phase current as the fundamental frequency and includes harmonics as interference quantities, which are superimposed on the phase current passing through the motor. In the time domain, the phase current is an alternating variable, which is superimposed on other alternating variables of the harmonics. To regulate the fundamental frequency, a transformation is performed from the time domain to the field-oriented domain. For this purpose, the machine feedback variable is transformed into a feedback variable in the field-oriented system by means of a GW input transformation. Preferably, within the scope of this application, "GW" is used as a symbol to represent the regulation steps and transformations used to regulate the fundamental frequency. During the steady-state operation of the motor, the alternating variables in the time domain yield constant variables in the field-oriented system. These constant variables can be adjusted using common methods of regulation techniques. Correspondingly, the GW regulation deviation is determined as the difference between the specified GW constant control variable and the filtered, harmonic-free feedback variable in the field-oriented system. The GW constant manipulated variable is determined based on the GW regulation deviation using the GW regulator. The GW constant manipulated variable is inversely transformed into a time-domain machine manipulated variable by means of the GW output transform for further use in controlling or energizing the motor in the time domain. In the time domain, this machine manipulated variable includes: an alternating variable, i.e., the fundamental frequency; and at least one other superimposed alternating variable, i.e., a harmonic. Finally, the method includes the step of energizing the motor based on the machine manipulated variable.

[0049] Advantageously, a method for an effective fundamental frequency modulator is provided.

[0050] In another design of the method for regulating a motor, the motor further includes a harmonic regulator having an input converter, a regulator, and an output converter. The method includes the following additional steps:

[0051] By means of input transformation, the filtered feedback variable without fundamental component is transformed into a constant feedback variable in the harmonic directional system;

[0052] The adjustment deviation is defined as the difference between a specified constant control variable and a constant feedback variable in the harmonic directional system;

[0053] The constant manipulated variable is determined based on the regulation deviation using the regulator;

[0054] By using output transformation, the constant manipulated variable is inversely transformed into the manipulated variable in the magnetic field orientation system;

[0055] The constant GW manipulation variable is superimposed on this manipulation variable.

[0056] In the step of inversely transforming into machine-manipulated variables by means of GW output transformation, the output variable of the superposition of the GW constant manipulated variable and the manipulated variable is inversely transformed into machine-manipulated variables.

[0057] To use a feedback variable without a fundamental component in the harmonic regulator, the feedback variable without a fundamental component is transformed into a constant feedback variable in the harmonic orientation system by means of an input transformation. This input transformation is preferably performed in accordance with the aforementioned filter input transformation. The adjustment deviation is determined as the difference between a specifyable constant control variable and a constant feedback variable in the harmonic orientation system. A constant manipulated variable is determined based on this adjustment deviation using the regulator. This constant manipulated variable, as a constant variable in the harmonic orientation system, is inversely transformed into a manipulated variable in the field-oriented system in the field-oriented regulation of the motor by means of an output transformation for further use. In the field-oriented system, this manipulated variable includes an alternating variable, i.e., a harmonic. This manipulated variable, as the output signal of the harmonic regulator, is superimposed or added to the GW constant manipulated variable in the field-oriented system. The superimposed output variable in the field-oriented system is inversely transformed into a machine manipulated variable in the time domain by means of a GW output transformation for further use to control or energize the motor in the time domain. In the time domain, this machine manipulated variable includes: an alternating variable, i.e., a fundamental frequency; and at least one other superimposed alternating variable, i.e., a harmonic.

[0058] Advantageously, a method for an efficient fundamental and harmonic modulator is provided. The invention also relates to a computer program comprising instructions that, when executed by a computer, cause the computer to perform the steps of the method described so far.

[0059] The present invention also relates to a computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the steps of the methods described to date.

[0060] The present invention also relates to a device for regulating a motor, the device comprising a computing unit, a first filter, a filter input converter, and a harmonic filter.

[0061] The harmonic filter includes a second filter and a filter output converter. This apparatus is configured to implement the steps of the described method.

[0062] Advantageously, an apparatus is provided for efficiently determining the filtered feedback variable without harmonic components for a fundamental frequency modulator.

[0063] In another embodiment of the invention, the device includes a fundamental frequency modulator, wherein the fundamental frequency modulator includes a GW input converter, a GW modulator, and a GW output converter. The device is configured to implement the steps of the described method.

[0064] Advantageously, an effective fundamental frequency regulation device for an electric motor is provided.

[0065] In another embodiment of the invention, the device includes a harmonic modulator, wherein the harmonic modulator includes an input converter, a modulator, and an output converter. The device is configured to perform the steps of the described method.

[0066] Advantageously, an effective combined fundamental and harmonic modulation device for motors is provided.

[0067] The present invention also relates to an electric drive system having a motor and the described device. Such an electric drive system is used, for example, to drive electric vehicles. Optimized operation of the drivetrain can be achieved by means of the method and the device.

[0068] The present invention also relates to a vehicle having the described drive system. Advantageously, a vehicle is therefore provided that includes means for effectively regulating the motor.

[0069] It is readily understood that the features, characteristics, and advantages of the method according to the invention can be correspondingly applied to or adapted to the device or the drive system and the vehicle, and vice versa.

[0070] Other features and advantages of embodiments of the present invention will become apparent from the following description with reference to the accompanying drawings. Attached Figure Description

[0071] The invention will now be further described with reference to several accompanying drawings, for which:

[0072] Figure 1 A schematic control structure is shown for determining the filtered, harmonic-free feedback variable for the fundamental frequency modulator;

[0073] Figure 2 A schematic control structure for determining constant feedback variables in a harmonic directional system is shown.

[0074] Figure 3 A schematic adjustment structure for adjusting the motor is shown;

[0075] Figure 4 A schematic diagram of the harmonic modulator's adjustment structure is shown.

[0076] Figure 5 A flowchart illustrating a method for adjusting a motor is shown;

[0077] Figure 6 A schematic representation of a device for adjusting a motor is shown;

[0078] Figure 7A vehicle with an electric drive system is shown as an illustration. Detailed Implementation

[0079] Figure 1 A schematic adjustment structure is shown for determining the filtered feedback variable IdqFunda, which is free of harmonic components, for the fundamental frequency modulator. The feedback variable Idq is determined. In the harmonic orientation system, the filter-defined variable FV is determined as the input variable for the harmonic filter 150. The filter-defined variable FV is filtered by means of a second filter 142. The filtered filter-defined variable FV is transformed into the harmonic variable IdqHrmc in the field-oriented system by means of a filter output transform 132. Finally, the filtered feedback variable IdqFunda, which is free of harmonic components, is determined as the difference between the feedback variable Idq and the harmonic variable IdqHrmc. Preferably, at least one winding of the connected motor 190 is energized based on the filtered feedback variable IdqFunda, which is free of harmonic components.

[0080] Figure 2 A schematic adjustment structure for determining a constant feedback variable in a harmonic directional system is shown. A specifyable constant control variable Idq* for the GW is filtered, preferably low-pass filtered, by means of a first filter 140. Furthermore, the feedback variable Idq in the field-oriented system is determined. The filtered feedback variable IdqWoFunda, without a fundamental component, is determined as the difference between the feedback variable Idq and the filtered constant control variable Idq* for the GW. This filtered feedback variable IdqWoFunda, without a fundamental component, is transformed into a constant feedback variable IHrmc in the harmonic directional system by means of a filter input transform 112.

[0081] Figure 3A schematic control structure for regulating motor 190 is shown. Motor 190 is presented as a unit consisting of inverter 192 and electric motor 194. Fundamental wave regulator 200 includes GW input converter 210, GW regulator 220, and GW output converter 230. The machine feedback variable Iabc of the motor is determined in the time domain and fed to GW input converter 210. The machine feedback variable Iabc is transformed into the field-oriented system by means of GW input converter 210 to feedback variable Idq. Feedback variable Idq is fed to harmonic filter 150. Filtering specification variable FV is fed to the harmonic filter as another input signal. The output signal of the harmonic filter is the filtered feedback variable IdqFunda without harmonic components. GW control deviation is determined as the difference between the specifyable GW constant control variable Idq* and the filtered feedback variable IdqFunda without harmonic components in the field-oriented system. GW constant manipulated variable is determined based on GW control deviation by means of GW regulator 220. Preferably, the manipulated variable UdqHrmc* is determined based on the feedback variable Idq using the harmonic regulator 100. Preferably, the GW constant manipulated variable is superimposed with the manipulated variable UdqHrmc*. The output variable of the GW constant manipulated variable, or preferably the superposition in the field-oriented system, is transformed into the time domain by means of the GW output transform 230 to the machine manipulated variable Uabc*. To energize at least one winding of the motor 190, the machine manipulated variable Uabc*, preferably a phase voltage, is provided to that winding. The phase voltage is generated by means of the inverter 192 and applied at least to the winding of the electric motor 194.

[0082] Figure 4 A schematic adjustment structure of a harmonic modulator 100 with a first filter 140 is shown. The harmonic modulator 100 includes an input transformer 110. A specifyable GW constant control variable Idq* is filtered, preferably low-pass filtered, by means of the filter 140. Furthermore, a feedback variable Idq in the field-oriented system is determined. The filtered feedback variable IdqWoFunda without a fundamental component is determined as the difference between the feedback variable Idq and the filtered GW constant control variable Idq*. This filtered feedback variable IdqWoFunda without a fundamental component is transformed into a constant feedback variable IHrmc in the harmonic orientation system by means of the input transformer 110. The harmonic modulator 100 further includes a regulator 120 and an output transformer 130. The difference between the determined specifyable constant control variable IHrmc* and the constant feedback variable IHrmc in the harmonic orientation system is supplied to the regulator 120 as an adjustment deviation and an input variable. Using regulator 120, a constant manipulated variable UHrmc* is determined based on the regulation deviation. This constant manipulated variable UHrmc* in the harmonic orientation system is transformed into the manipulated variable UdqHrmc* in the field orientation system by means of output transformation.

[0083] Figure 5A flowchart illustrating a method 400 for adjusting a motor 190 is shown. The method begins at step 401. Preferably, in step 402, the machine feedback variable Iabc of the motor is determined in the time domain. Preferably, in step 404, the machine feedback variable Iabc is transformed into the field-oriented system by means of a GW input transform 210 to the feedback variable Idq. In step 410, the feedback variable Idq is determined. Preferably, in step 411, the assignable GW constant control variable Idq* is filtered by means of a first filter 140. Preferably, in step 412, the filtered feedback variable IdqWoFunda without a fundamental component is determined as the difference between the feedback variable Idq and the filtered GW constant control variable Idq*. Preferably, in step 413, the filtered feedback variable IdqWoFunda without a fundamental component is transformed into a constant feedback variable IHrmc in the harmonic orientation system by means of a filter input transform 112. In step 414, a filter specification variable FV is determined in the harmonic orientation system. In this case, either the constant control variable IHrmc* in the harmonic orientation system, i.e., the target variable, is designated as the filter specification variable FV, or the constant feedback variable IHrmc, i.e., the actual variable, is designated as the filter specification variable FV. In step 415, the filter specification variable FV is filtered using a second filter 142. In step 416, the filtered filter specification variable FV is transformed into the harmonic variable IdqHrmc in the field-oriented system using a filter output transform 132. In step 417, the filtered feedback variable IdqFunda without harmonic components is determined as the difference between the feedback variable Idq and the harmonic variable IdqHrmc, or between multiple harmonic variables ldqHrmc_k of different orders. Preferably, in step 418, the GW adjustment deviation is determined as the difference between the designated GW constant control variable Idq* and the filtered feedback variable IdqFunda without harmonic components in the field-oriented system. Preferably, in step 419, the GW constant manipulated variable is determined based on the GW adjustment deviation using the GW regulator 220. Preferably, in step 480, at least one winding of the connected motor 190 is energized based on the filtered feedback variable IdqFunda without harmonic components. Preferably, in step 420, the filtered feedback variable IdqWoFunda without fundamental components is transformed into a constant feedback variable IHrmc in the harmonic directional system using the input converter 110. Preferably, in step 480, at least one winding of the motor 190 is energized based on the constant feedback variable IHrmc. In step 430, the difference between the assignable constant control variable IHrmc* and the constant feedback variable IHrmc is determined as the adjustment deviation and fed as an input variable to the regulator 120.In step 440, a constant manipulated variable UHrmc* is determined based on the adjustment deviation using the regulator. In step 450, the constant manipulated variable UHrmc* in the harmonic orientation system is transformed into a manipulated variable UdqHrmc* in the field-oriented system using an output transform. Preferably, in step 480, at least one winding of the motor 190 is energized based on the manipulated variable UdqHrmc*. Preferably, in step 460, the GW constant manipulated variable is superimposed with the manipulated variable UdqHrmc*. Preferably, in step 470, the superimposed output variable in the field-oriented system is transformed into the time domain using the GW output transform 230 to the machine manipulated variable Uabc*. Preferably, in step 480, at least one winding of the motor 190 is energized based on the machine manipulated variable Uabc*. The method ends at step 490.

[0084] Figure 6 A schematic representation of a device 300 for regulating a motor 190 is shown. The motor 190 is depicted as a unit consisting of an inverter 192 and an electric motor 194. The device 300 includes a harmonic regulator 100 and a computing unit 310 for controlling and implementing the configuration of the harmonic regulator 100. The device preferably includes a fundamental frequency regulator 200, which is also controlled and implemented by means of the computing unit 310. The device is configured to implement the above-described method steps and thus operate and regulate the motor 190.

[0085] Figure 5 A vehicle 600 is shown as an schematic representation, which includes an electric drive system 500. The drive system 500 includes: a motor 190, which includes an inverter 192 and an electric motor 194; and a device 300 for regulating the motor, as described above. Figure 6 As described. Preferably, the electric drive system includes a battery for supplying electrical energy to the electric drive system 500.

Claims

1. A method (400) for adjusting a motor (190), The method uses a harmonic filter (150), wherein the harmonic filter (150) includes a second filter (142) and a filter output transform (132). The method comprises the following steps: Determine (410) the feedback variable (Idq), wherein the feedback variable includes the actual variables of the fundamental wave and the harmonics of the specified frequency in the magnetic field orientation system; In the harmonic directional system, determine the filter specification variable (FV) (414); The filter specification variable (FV) is filtered by means of the second filter (142) (415); The filtered filter specification variable (FV) is inversely transformed (416) into the harmonic variable (IdqHrmc) in the magnetic field orientation system by means of the filter output transformation (132). The filtered feedback variable (IdqFunda) without harmonic components is determined (417) as the difference between the feedback variable (Idq) and the harmonic variable (IdqHrmc); At least one winding (480) of the motor (190) is energized according to the filtered feedback variable (IdqFunda) without harmonic components. The method described herein uses a first filter (140) and a filter input transform (112), and the method comprises the following steps: The specified GW constant control variable (Idq*) is filtered (411) by means of the first filter (140); The filtered feedback variable (IdqWoFunda) without fundamental component is determined (412) as the difference between the feedback variable (Idq) and the filtered GW constant control variable (Idq*); The filtered feedback variable (IdqWoFunda) without fundamental component is transformed (413) into a constant feedback variable (IHrmc) in the harmonic directional system by means of the filter input transformation (112). The constant feedback variable (IHrmc) is specified as the filter specification variable (FV).

2. The method according to claim 1, wherein The assignable GW constant control variable (Idq*) of the magnetic field orientation system includes a target variable for generating a fundamental wave of a sinusoidal phase current to energize at least one winding of the motor (190).

3. The method according to claim 1 or 2, wherein Filtering (411) for a specified GW constant control variable (Idq*) includes: Low-pass filtering is applied to the constant control variable (Idq*) of GW.

4. The method according to claim 1 or 2, The steps of determining (414), filtering (415), and inverse transformation (416) of the filtered filter specified variable (FV) are performed for multiple and different orders of the filter specified variable (FV), and the steps cause multiple harmonic variables (ldqHrmc_k) to be assigned to different orders respectively, wherein when determining (417) the filtered feedback variable (IdqFunda) without harmonic components, the multiple harmonic variables (ldqHrmc_k) are considered as the difference between the feedback variable (Idq) and the multiple harmonic variables (ldqHrmc_k).

5. The method according to claim 1 or 2, The method uses a fundamental frequency modulator (200). The fundamental frequency modulator includes a GW input converter (210), a GW modulator (220), and a GW output converter (230), and the method comprises the following steps: Determine (402) the machine feedback variable (Iabc), wherein the machine feedback variable includes the actual variable of the motor; The machine feedback variable (Iabc) is transformed (404) into the feedback variable (Idq) in the magnetic field orientation system by means of the GW input transformation (210); The GW adjustment deviation is determined (418) as the difference between the specified constant GW control variable (Idq*) and the filtered feedback variable (IdqFunda) without harmonic components in the magnetic field orientation system. The GW regulator (220) determines (419) the constant GW manipulator variable based on the GW regulation deviation; The GW constant manipulator is inversely transformed (470) into a machine manipulator (Uabc*) by means of the GW output transformation (230); and At least one winding (480) of the motor (190) is energized according to the machine manipulation variable (Uabc*).

6. The method (400) according to claim 5. The method has a harmonic modulator (100). The harmonic modulator includes an input converter (110), a modulator (120), and an output converter (130), and the method comprises the following steps: The filtered feedback variable (IdqWoFunda) without fundamental component is transformed (420) into a constant feedback variable (IHrmc) in the harmonic directional system by means of the input transformation (110). The adjustment deviation is determined (430) as the difference between the assignable constant control variable (IHrmc*) and the constant feedback variable (IHrmc) in the harmonic directional system; The regulator determines (440) a constant manipulated variable (UHrmc*) based on the regulation deviation. The constant manipulated variable (UHrmc*) is inversely transformed (450) into the manipulated variable (UdqHrmc*) in the magnetic field orientation system by means of the output transformation. The constant GW manipulation variable is superimposed on the manipulation variable (UdqHrmc*) (460). In the step of inversely transforming (470) into GW manipulation variable (Uabc*) by means of the GW output transformation (230), the output value of the superposition (460) of the GW constant manipulation variable and the manipulation variable (UdqHrmc*) is inversely transformed into the GW manipulation variable (Uabc*).

7. The method (400) according to claim 6, wherein the constant control variable (IHrmc*) includes a target variable in the harmonic orientation system for generating harmonics on a sinusoidal phase current to energize at least one winding of the motor (190).

8. A computer program product comprising instructions that, when executed by a computer, cause the computer to perform the process / steps of the method (400) according to any one of claims 1 to 7.

9. A computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the process / steps of the method (400) according to any one of claims 1 to 7.

10. A device (300) for regulating a motor (190). The device has a computing unit (310), a first filter (140), a filter input transform (112) and a harmonic filter (150), wherein the harmonic filter (150) includes a second filter (142) and a filter output transform (132), wherein the device is configured to implement the steps of the method according to any one of claims 1-4.

11. The apparatus (300) according to claim 10. The device has a fundamental frequency modulator (200). The fundamental frequency modulator includes a GW input converter (210), a GW modulator (220), and a GW output converter (230), wherein the apparatus is configured to implement the steps of the method according to claim 5.

12. The apparatus (300) according to claim 11. The device has a harmonic modulator (100). The harmonic modulator includes an input converter (110), a modulator (120), and an output converter (130), wherein the device is configured to implement the steps of the method according to any one of claims 6-7.

13. An electric drive system (500) having a motor (190) and a device (300) according to any one of claims 10 to 12.

14. A vehicle (600) having an electric drive system (500) according to claim 13.

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