Method and apparatus for regulating an electric machine

Abstract

A method (400) for regulating an electric machine (190) with at least one first filter (140) and at least one second filter (142, 144), the method having the steps of determining (410) a feedback variable (Idq); filtering (412) a specifiable GW constant control variable (Idq*); determining (414) a filtered feedback variable without a fundamental component (IdqWo-Funda); filtering (416) the filtered feedback variable without a fundamental component (IdqWo-Funda); determining (418) a filtered feedback variable without a harmonic component (IdqFunda); energizing (480) at least one winding of the electric machine (190) as a function of the filtered feedback variable without a harmonic component (IdqFunda).

Description

TECHNICAL FIELD

[0001] The present application relates to a method and a device for regulating an electric machine. The present application also relates to an electric drive system having a corresponding device and a vehicle having an electric drive system as well as a computer program and a computer-readable storage medium. BACKGROUND

[0002] The publication DE 2017 102 03691 A1 discloses a regulation for an electric machine, in the case of which disturbance quantities are simultaneously compensated and target values are set. For the operation of the electric machine, a phase current is adjusted as a target value. The phase current is preferably adjusted to be a sinusoidal fundamental wave. In the operation of the electric machine, the phase current causes an output of a uniform average torque. Due to non-ideal sinusoidal magnetic fields, winding arrangements, slotting, tooth shapes, saturation effects and / or other effects, in addition to the uniform average torque, also harmonics of the torque are formed. This effect leads to force waves between the rotor and the stator, which act as tangential and radial tooth forces on the stator teeth in the case of characteristic orders. Due to the mechanical transfer behavior of the electric machine, these forces can be perceived as vibrations in the machine, the machine housing and the coupling elements and thereby as structure and air-borne noise or surface vibrations. Here, the harmonics of the torque also cause harmonics of the electric frequency of the electric machine on the phase current as disturbance quantities. In order to minimize these disturbance quantities, the harmonics are adjusted and specified in a targeted manner, which are superimposed to the adjusted and specified phase current.

[0003] There is a need for alternative methods and devices for regulating an electric machine with which the harmonics are adjusted as robustly, stably, dynamically and flexibly as possible in order to take into account important frequency components. SUMMARY

[0004] A method for regulating an electric machine using at least one first filter and at least one second filter is provided. The method comprises the following steps:

[0005] determining a feedback variable, wherein the feedback variable comprises actual variables of a fundamental wave and of harmonics of a specified frequency in a field-oriented system;

[0006] filtering a specifiable GW constant control variable by means of the first filter;

[0007] determining a filtered feedback variable without a fundamental wave component as a difference between the feedback variable and the filtered GW constant control variable;

[0008] filtering the filtered feedback variable without a fundamental wave component by means of the at least one second filter;

[0009] determining a feedback variable without harmonic components as the sum of the output variable of the at least one second filter and the filtered GW constant control variable;

[0010] energizing at least one winding of the electrical machine in accordance with the filtered feedback variable without harmonic components.

[0011] For the regulation of electrical machines, field-oriented regulation is widely used. Here, alternating variables, also called fundamental waves, of the phase currents to be regulated, which are preferably sinusoidal in the time domain, are transferred into a coordinate system rotating with the frequency of these alternating variables, respectively, by means of a mathematical transformation. The frequency of these alternating variables also determines the frequency of the magnetic field in the machine, so that this coordinate system rotating with the frequency of the alternating variables is also called a field-oriented system. In the steady-state operation of the electrical machine, constant variables in the field-oriented system are derived from the alternating variables in the time domain, which can be regulated by means of usual methods of regulation technology. The field-oriented system is also called a d / q coordinate system. Here, the d-axis of the d / q coordinate system points in the direction of the rotor flux. The q-axis is perpendicular to the d-axis. The sinusoidal phase currents are represented as a stator current vector or stator current vector, which is characterized by its length and its direction. The current vector rotates synchronously with the rotating stator or rotor flux of the electrical machine. In the d / q coordinate system, the current vector can be represented by means of two mutually perpendicular components Idand Idaccording to its length and its direction, which are both constant variables in the steady-state case.

[0012] For the regulation of an electrical machine which can be connected or can be connected to a harmonic regulator, a feedback variable of the electrical machine is recorded in the field-oriented system. The feedback variable comprises a fundamental wave and superimposed harmonics. In the field-oriented system, the phase currents are constant variables, while the harmonics are alternating variables. A specifiable GW constant control variable is filtered by means of a first filter. In this case, the filtered GW constant control variable preferably corresponds to the modelled fundamental wave component of the closed regulation loop of the field-oriented regulation. Furthermore, a feedback variable without fundamental wave components is determined as the difference between the feedback variable and the filtered GW constant control variable. The filtered feedback variable without fundamental wave components is filtered by means of at least one second filter. A feedback variable without harmonic components is determined as the sum of the output variable of the at least one second filter and the filtered GW constant control variable. Then, at least one winding of the electrical machine is energized in accordance with the feedback variable without harmonic components.

[0013] Advantageously, the feedback variable without harmonic components has no or only minor harmonic components for a fundamental wave regulator which is preferably based on a measured current or phase current of the electrical machine. Thus, a method for efficiently determining a filtered feedback variable without harmonic components for a fundamental wave regulator is provided.

[0014] Within the scope of the present application, the expression that the variable of the regulating loop comprises a harmonic or a fundamental means that the variable of the regulating loop characterizes or describes at least one harmonic or a fundamental, wherein the respective variable of the regulating loop can also contain further signal components, for example a fundamental and one or more harmonics and additionally also present disturbing quantities.

[0015] For regulating the electrical machine, the target phase current is specified in wide accordance with the torque specification from the determined actual phase current, wherein the phase voltage is set as the manipulated variable. Therefore, preferably within the scope of the present application, the feedback variable (Idq), the constant feedback variable (IHrmc), the constant control variable (IHrmc*), the machine feedback variable (Iabc) or the specifiable GW constant control variable (Idq*) comprise respectively a current value; and / or the constant manipulated variable (UHrmc*), the manipulated variable (UdqHrmc*), the GW constant manipulated variable or the machine manipulated variable (Uabc*) comprise respectively a voltage value.

[0016] Preferably, the feedback variable in the field-oriented system comprises a fundamental and a harmonic of the k-th order of the electrical frequency of the electrical machine with a first amplitude and a first phase with positive frequency and / or a second amplitude and a second phase with negative frequency.

[0017] The feedback variable in the field-oriented system comprises at least one fundamental and a harmonic. With respect to the electrical frequency of the electrical machine, the harmonic or the harmonics have a positive and / or negative frequency of the k-th order with a respective amplitude and phase. Orders which represent important disturbing quantities due to their particularly large amplitude, for example the 6th order, are preferably in the positive and negative direction. For example in the case of an electrical frequency of the electrical machine, i.e. a fundamental, of 450 Hz, the 6th order frequency is 450 Hz + 450 Hz * 6 = 3150 Hz and in the negative direction 450 Hz - 6 * 450 Hz = -2250 Hz. In the field-oriented system whose coordinate system rotates with the electrical frequency of the electrical machine, the electrical frequency of the electrical machine is mapped to 0 Hz and for the + / - 6th order harmonics frequencies of +2700 Hz and -2700 Hz result. Depending on the size of the amplitude and the phase, force waves between the rotor and the stator of the electrical machine result which act as tangential and radial tooth forces on the stator teeth and cause harmonic oscillations of the torque. The more important solutions of the feedback variable are considered for the regulation, the more effectively the disturbing quantities are eliminated.

[0018] In another design of the application, the specifiable GW constant control variable of the field-oriented system comprises a target variable for generating a fundamental of a sinusoidal phase current for energizing at least one winding of the electrical machine.

[0019] The GW constant control variable is a target value for generating a fundamental wave with the electrical frequency of the electrical machine in order to energize the electrical machine. This target value is specified, in particular, analytically from a torque specification, a (phase) current target value or an actual current value, preferably a (phase) current target value or an actual current value of the determined phase current, or by means of a synthesis characteristic curve. For use in the GW regulator in a field-oriented system, this target value has been correspondingly transformed and specified.

[0020] Advantageously, a GW constant control variable is provided in order to determine a feedback variable without harmonic components for the fundamental wave regulator.

[0021] In another design of the application, the filtering of the filtered feedback variable without fundamental wave components by means of at least one second filter comprises a notch filtering of the filtered feedback variable without fundamental wave components.

[0022] By means of notch filtering, harmonic components of the difference between the feedback variable and the filtered GW constant control variable are removed in a targeted manner. Preferably, a plurality of notch filters are applied in succession or connected in series in order to filter positive, negative frequencies and / or harmonic components of different orders. Preferably, the coefficients of the notch filters are multiplied in order to provide a filter with a plurality of stop bands. The notch filters are designed in an ideal case as IIR filters in a digital manner.

[0023] Advantageously, an effective method for removing harmonic components of a specified order of the filtered feedback variable without harmonic components is provided.

[0024] In another design of the application, the filtering of the specified GW constant control variable by means of a first filter comprises a low-pass filtering of the GW constant control variable.

[0025] Advantageously, an effective method for removing the fundamental wave components of the GW constant feedback variable on the basis of the GW constant control variable is provided.

[0026] In another design of the application, the filter time constant of the filter corresponds to the bandwidth of the field-oriented system or the bandwidth of the closed field-oriented regulation loop.

[0027] The filter time constant is specified to be equal to or on the basis of the settling time of the closed regulation loop of the field-oriented regulation.

[0028] Advantageously, a possibility is provided for modeling the change process of the GW constant feedback variable on the basis of the GW constant control variable.

[0029] In another design of the method for regulating an electrical machine, the electrical machine further comprises a fundamental wave regulator, wherein the fundamental wave regulator comprises a GW input transformation, a GW regulator and a GW output transformation. The method comprises the following further steps:

[0030] determining a machine feedback variable, wherein the machine feedback variable comprises an actual variable of the electrical machine;

[0031] transforming the machine feedback variable into a feedback variable in a field oriented system by means of the GW input transformation;

[0032] determining a GW constant control deviation as a difference between a specified GW constant control variable and the filtered feedback variable without harmonic components in the field oriented system;

[0033] determining a GW constant manipulated variable from the GW constant control deviation by means of the GW regulator;

[0034] inverse transforming the GW constant manipulated variable into a machine manipulated variable by means of the GW output transformation; and energizing at least one winding of the electrical machine in accordance with the machine manipulated variable.

[0035] The alternating variable of the desired adjusted phase current, which is preferably sinusoidal in the time domain, is regulated by means of the fundamental wave regulation. For regulating the electrical machine, which can be connected or can be connected to the fundamental wave regulator, a machine feedback variable, i.e. an actual variable, of the electrical machine is recorded in the time domain. The machine feedback variable is preferably the phase current of the electrical machine with superimposed disturbance variables. The machine feedback variable comprises the phase current as a fundamental wave and comprises harmonics as disturbance variables, which are superimposed to the phase current through the electrical machine. In the time domain, the phase current is an alternating variable, which is superimposed to other alternating variables of the harmonics. For regulating the fundamental wave, a transformation from the time domain into the field oriented domain takes place. For this purpose, the machine feedback variable is transformed into a feedback variable in the field oriented system by means of the GW input transformation. Preferably, "GW" as a symbol represents the regulation steps and transformations, which are used for regulating the fundamental wave, in the scope of the present application. In the steady state operation of the electrical machine, the alternating variable in the time domain results in constant variables in the field oriented system. These constant variables can be regulated by means of usual methods of the regulation technology. Correspondingly, a GW constant control deviation is determined as a difference between a specified GW constant control variable and the filtered feedback variable without harmonic components in the field oriented system. By means of the GW regulator, a GW constant manipulated variable is determined from the GW constant control deviation. The GW constant manipulated variable in the field oriented system is inverse transformed into a machine manipulated variable in the time domain by means of the GW output transformation for further use to manipulate or energize the electrical machine in the time domain. In the time domain, the machine manipulated variable comprises an alternating variable, i.e. a fundamental wave. Finally, the method comprises the step of energizing the electrical machine in accordance with the machine manipulated variable.

[0036] Advantageously, a method for an efficient fundamental regulator is provided.

[0037] In another design of the method for regulating an electrical machine, the electrical machine further comprises a harmonic regulator, wherein the harmonic regulator comprises an input transformation, a regulator and an output transformation. The method has the further steps of:

[0038] transforming the filtered feedback variable without fundamental component into a constant feedback variable in the harmonic oriented system by means of the input transformation;

[0039] determining a regulation deviation as the difference between the assignable constant control variable and the constant feedback variable in the harmonic oriented system;

[0040] determining a constant manipulated variable from the regulation deviation by means of the regulator;

[0041] transforming the constant manipulated variable into a manipulated variable in the field oriented system by means of the output transformation;

[0042] superimposing the GW constant manipulated variable with the manipulated variable, wherein the output value of the superimposition of the GW constant manipulated variable with the manipulated variable is transformed into the machine manipulated variable in the step of transforming into the machine manipulated variable by means of the GW output transformation.

[0043] filtering the assignable GW constant control variable by means of a first filter. In this case, the filtered GW constant control variable preferably corresponds to the modelled fundamental component of the closed regulation loop of the field oriented regulation. The filtered feedback variable without fundamental component is determined as the difference between the feedback variable and the filtered GW constant control variable. In order to use the feedback variable without fundamental component in the harmonic regulator, the feedback variable without fundamental component is transformed into a constant feedback variable in the harmonic oriented system by means of the input transformation.

[0044] In order to regulate the harmonics in the harmonic regulator, the mathematical transformation from the field oriented system to the harmonic oriented system with the frequency of the harmonics is similar to the transformation from the time domain to the field oriented domain by means of the input transformation. For this purpose, the feedback variable without fundamental component is transformed into the harmonic oriented system by means of the input transformation to the constant feedback variable. In the steady state operation of the electrical machine, variables which are present as alternating variables in the field oriented system are present as constant variables in the harmonic oriented system. These constant variables can be regulated by means of usual methods of regulation technology.

[0045] The transformation from the field-oriented system to the harmonic-oriented system comprises a rotation by means of a rotation matrix or a rotation matrix. Thus, 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, i.e. in the case of a transformation of the 6th harmonic of the electrical frequency by 6 times the current rotor angle. For k harmonics in the positive direction, the rotation is in the positive direction, in the case of k harmonics in the negative direction, the rotation is in the negative direction. The resulting constant variables in the harmonic-oriented system can be specified, characterized or described by means of complex numbers or as complex parameters, for example as iPosReal, iPosImag or as iNegReal and iNegImag.

[0046] In addition to the rotation, alternatively, other transformations can also be used. For example, the complex components iQSin, IQCos (also called mixing or heterodyning) can also be calculated by multiplying the d current by a sine depending on k times the rotor angle and by a cosine of the complex component iDSin, IDCos and by multiplying the q current by the sine and by the cosine.

[0047] As a further alternative, complex harmonics can be used which have the amplitude and the phase of the d current and the q current, respectively.

[0048] Again, these components can also be presented as ellipses with height, width, rotation and phase by superimposition of two counter-rotating vectors with different amplitudes and phases, preferably for particularly efficient calibration.

[0049] Furthermore, an adjustment deviation is determined as the difference between the specifiable constant control variable and the constant feedback variable in the harmonic-oriented system. By means of the regulator, a constant manipulated variable is determined from the adjustment deviation. This constant manipulated variable as a constant variable in the harmonic-oriented system is inversely transformed into a manipulated variable in the field-oriented system by means of an output transformation for further use in the field-oriented regulation of the electrical machine. In the field-oriented system, the manipulated variable comprises alternating variables, i.e. harmonics.

[0050] Preferably, the specifiable constant control variable of the harmonic-oriented system comprises a target variable in the harmonic-oriented system for generating harmonics on the sinusoidal phase currents to energize at least one winding of the electrical machine.

[0051] The constant control variable is a target value for generating a specifiable frequency or k-th harmonic of the motor to superimpose a sinusoidal phase current or fundamental wave to energize the motor. The target value is specified analytically, in particular, in accordance with a torque specification, a (phase) current target value or an actual current value, a determined (phase) current target value or actual current value of the phase current, or by means of a synthesis characteristic curve. For use in a harmonic regulator in a harmonic-oriented system, the target value has been correspondingly transformed for specification.

[0052] Preferably, the constant manipulated variable is inversely transformed in accordance with a determined current rotor angle of the motor. The inverse transformation comprises a rotation by a rotation angle which corresponds to k times the current rotor angle. The inverse transformation comprises a rotation in the positive and / or negative direction opposite to the rotation of the feedback variable transformed by means of the input transformation, respectively. The transformation from the harmonic-oriented system to the field-oriented system comprises a rotation by means of a rotation matrix or a rotation matrix. In this way, the constant variable in the harmonic-oriented system becomes an alternating variable in the field-oriented system. For this purpose, the constant manipulated variable is rotated by a rotation angle which corresponds to k times the current rotor angle, i.e. in the case of a transformation of the 6th harmonic of the electrical frequency by 6 times the current rotor angle. For k-th harmonics in the positive direction, a rotation in the positive direction is effected, in the case of k-th harmonics in the negative direction, a rotation in the negative direction is effected. An alternating variable in the field-oriented system is obtained. Preferably, the obtained alternating variable in the field-oriented system is added to the manipulated variable in a complex manner in the case of a rotation in the negative and positive direction.

[0053] Furthermore, the manipulated variable is superimposed or added to the GW constant manipulated variable in the field-oriented system as an output signal of the harmonic regulator. 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 energize or control the motor in the time domain. In the time domain, the machine manipulated variable comprises an alternating variable, i.e. a fundamental wave, and at least one further superimposed alternating variable, i.e. a harmonic. Finally, the method comprises a step of energizing the motor in accordance with the machine manipulated variable.

[0054] Advantageously, a method for an efficient fundamental wave and harmonic regulator is provided.

[0055] The present application also relates to a computer program comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method described so far.

[0056] The present application also relates to a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method described so far.

[0057] The invention also relates to a device for regulating an electric machine, the device having a computing unit and at least one first filter and at least one second filter. The device is set up to carry out the steps of the described method.

[0058] Advantageously, a device for efficient determination of a filtered feedback variable without harmonic components for a fundamental regulator is provided.

[0059] In another design variant of the invention, the device comprises a fundamental regulator, wherein the fundamental regulator comprises a GW input transformation, a GW regulator and a GW output transformation. The device is set up to carry out the steps of the described method.

[0060] Advantageously, a device for efficient harmonic regulation of an electric machine is provided.

[0061] In another design variant of the invention, the device comprises a harmonic regulator, wherein the harmonic regulator comprises an input transformation, a regulator and an output transformation. The device is set up to carry out the steps of the described method.

[0062] Advantageously, a device for efficient combined fundamental and harmonic regulation of an electric machine is provided.

[0063] The invention also relates to an electric drive system having an electric machine and the described device. Such an electric drive system is for example used for driving an electric vehicle. An optimized operation of the drive train can be achieved by means of the method and the device.

[0064] The invention also relates to a vehicle having the described drive system. Advantageously, a vehicle is thus provided which comprises a device for efficient regulation of an electric machine.

[0065] It is easily understood that the features, characteristics and advantages of the method according to the invention can be applied or adapted accordingly to the device or the drive system and the vehicle, and vice versa.

[0066] Further features and advantages of embodiments of the invention result from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0067] In the following, the invention shall be further explained with reference to several drawings, for which purpose:

[0068] Figure 1 a schematic regulation structure for regulating an electric machine is shown;

[0069] Figure 2 a schematic regulation structure for regulating an electric machine with a harmonic regulator is shown;

[0070] Figure 3a schematic regulation structure of a harmonic regulator is shown;

[0071] Figure 4 a flow chart of a schematically presented method for regulating an electric machine is shown;

[0072] Figure 5 a schematically presented device for regulating an electric machine is shown;

[0073] Figure 6 a schematically presented vehicle with an electric drive system is shown. DETAILED DESCRIPTION

[0074] Figure 1 a schematic regulation structure for regulating an electric machine 190 is shown. The electric machine 190 is presented as a unit consisting of an inverter 192 and an electric motor 194. The fundamental regulator 200 comprises a GW input transformation 210, a GW regulator 220 and a GW output transformation 230. The regulation structure further comprises a first filter 140 and second filters 142 and 144. A machine feedback variable Iabc of the electric machine is determined in the time domain and is delivered to the GW input transformation 210. The machine feedback variable Iabc is transformed into a field oriented system by means of the GW input transformation 210 to a feedback variable Idq. A specifiable GW constant control variable Idq* is filtered by means of the first filter 140. A filtered feedback variable IdqWoFundahaving no fundamental component is determined as a difference of the feedback variable Idq and the filtered GW constant control variable Idq* which is filtered by means of the second filters 142, 144. A filtered feedback variable IdqFunda having no harmonic component is determined as a sum of an output variable of the at least one second filter 142, 144 and the filtered GW constant control variable Idq*. A GW regulation deviation is determined as a difference of the specifiable GW constant control variable Idq* and the filtered feedback variable IdqFunda in the field oriented system. A GW constant manipulated variable is determined from the GW regulation deviation by means of the GW regulator 220. The GW constant manipulated variable is transformed into the time domain by means of the GW output transformation 230 to a machine manipulated variable Uabc*. In order to energize at least one winding of the electric machine 190, the winding is supplied with the machine manipulated variable Uabc*, preferably a phase voltage. The phase voltage is generated by means of the inverter 192 and is applied at least on a winding of the electric motor 194.

[0075] Figure 2 a schematic regulation structure for regulating an electric machine with a harmonic regulator 100 is shown. Unlike the regulation structure shown in Fig. 1, the GW input transformation 210 is not used to transform the machine feedback variable Iabc into the feedback variable Idq. Instead, the GW input transformation 210 is used to transform the machine feedback variable Iabc into a feedback variable Iabc* in the time domain. The GW constant control variable Idq* is filtered by means of the first filter 140. A filtered feedback variable IdqWoFundahaving no fundamental component is determined as a difference of the filtered GW constant control variable Idq* and the feedback variable Iabc* in the time domain. A filtered feedback variable IdqFunda having no harmonic component is determined as a sum of an output variable of the at least one second filter 142, 144 and the filtered GW constant control variable Idq*. A GW regulation deviation is determined as a difference of the specifiable GW constant control variable Idq* and the filtered feedback variable IdqFunda in the time domain. A GW constant manipulated variable is determined from the GW regulation deviation by means of the GW regulator 220. The GW constant manipulated variable is transformed into the time domain by means of the GW output transformation 230 to a machine manipulated variable Uabc*. In order to energize at least one winding of the electric machine 190, the winding is supplied with the machine manipulated variable Uabc*, preferably a phase voltage. The phase voltage is generated by means of the inverter 192 and is applied at least on a winding of the electric motor 194. Figure 1The harmonic regulator determines a manipulated variable UdqHrmc* from the filtered feedback variable IdqWoFunda without fundamental component. In this case, the in parallel determined GW constant manipulated variable is superimposed with the manipulated variable UdqHrmc*. The superimposed output variable in the field-oriented system is transformed into the time domain by means of the GW output transformation 230 to the machine manipulated variable Uabc*. In order to energize at least one winding of the electrical machine 190, the machine manipulated variable Uabc*, preferably a phase voltage, is supplied to the winding. The phase voltage is generated by means of the inverter 192 and is applied at least on the winding of the electrical motor 194.

[0076] Figure 3 A schematic regulating structure of a harmonic regulator 100 with a filter 140 is shown. The harmonic regulator 100 comprises an input transformation 110. The specifiable 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 fundamental component is determined as the difference of the feedback variable Idq and the filtered GW constant control variable Idq*. This filtered feedback variable IdqWoFunda is transformed into a constant feedback variable IHrmc in the harmonic-oriented system by means of the input transformation 110. The harmonic regulator 100 further comprises a regulator 120 and an output transformation 130. The difference of the determined specifiable constant control variable IHrmc* and the constant feedback variable IHrmc in the harmonic-oriented system is delivered as a regulating deviation and input variable to the regulator 120. By means of the regulator 120, a constant manipulated variable UHrmc* is determined from the regulating deviation. This constant manipulated variable UHrmc* in the harmonic-oriented system is transformed into a manipulated variable UdqHrmc* in the field-oriented system by means of the output transformation. Preferably, at least one winding of the electrical machine 190 is energized from the manipulated variable UdqHrmc*.

[0077] Figure 4 A flow chart of a schematically presented method 400 for regulating an electrical machine 190 is shown. The method starts in step 401. Preferably, in step 402, a machine feedback variable Iabc of the electrical machine 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 the GW input transformation 210 to the feedback variable Idq.

[0078] In step 410, a feedback variable Idq is determined. In step 412, the assignable GW constant control variable Idq* is filtered by means of the first filter 140. In step 414, a 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*. In step 416, the filtered feedback variable IdqWoFunda without a fundamental component is filtered by means of at least one second filter 142, 144. In step 418, a filtered feedback variable IdqFunda without a harmonic component is determined as the sum of the output variable of the at least one second filter 142, 144 and the filtered GW constant control variable Idq*. Preferably, in step 480, at least one winding of the electric machine 190 is energized in accordance with the filtered feedback variable IdqFunda without a harmonic component.

[0079] Preferably, in step 420, the filtered feedback variable IdqWoFunda without a fundamental component is transformed into a constant feedback variable IHrmc in a harmonic-oriented system by means of the input transformation 110. In step 430, the difference between the assignable constant control variable IHrmc* and the constant feedback variable IHrmc is delivered to the regulator 120 as a regulation deviation and an input variable. In step 440, the constant control variable UHrmc* is determined in accordance with the regulation deviation by means of the regulator. In step 450, the constant control variable UHrmc* in the harmonic-oriented system is transformed into a control variable UdqHrmc* in a field-oriented system by means of the output transformation. Preferably, in step 452, a GW regulation deviation is determined as the difference between the assignable GW constant control variable Idq* and the filtered feedback variable IdqFunda without a harmonic component in the field-oriented system. Preferably, in step 454, a GW constant control variable is determined in accordance with the GW regulation deviation by means of the GW regulator 220. Preferably, in step 460, the GW constant control variable is superimposed on the control variable UdqHrmc*. Preferably, in step 470, the superimposed output variable in the field-oriented system is transformed into the time domain by means of the GW output transformation 230 to the machine control variable Uabc*. Preferably, in step 480, at least one winding of the electric machine 190 is energized in accordance with the machine control variable Uabc*. The method ends with step 490.

[0080] Figure 5A device 300 for regulating an electric machine 190 is shown in a schematic presentation. The electric machine 190 is presented as a unit consisting of an inverter 192 and an electric motor 194. The device 300 comprises a harmonic regulator 100 and a computing unit 310 for controlling and implementing the structure of the harmonic regulator 100. The device preferably comprises a fundamental regulator 200, which is likewise controlled and implemented by means of the computing unit 310. The device is set up to carry out the above-described method steps and thus to operate and regulate the electric machine 190.

[0081] Figure 6 A vehicle 600 is shown in a schematic presentation, which comprises an electric drive system 500. The drive system 500 comprises an electric machine 190, which comprises an inverter 192 and an electric motor 194, and a device 300 for regulating the electric machine, as described with respect to Figure 5 The electric drive system preferably comprises a battery for supplying the electric drive system 500 with electric energy.

Claims

1. A method (400) for regulating a motor (190) using at least one first filter (140) and at least one second filter (142, 144), the method comprising 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; The specified GW constant control variable (Idq*) is filtered (412) by means of the first filter (140); The filtered feedback variable (IdqWoFunda) without fundamental component is determined (414) 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 filtered by means of at least one second filter (142, 144) (416). The filtered feedback variable (IdqFunda) without harmonic components is determined (418) as the sum of the output variable of the at least one second filter (142, 144) and the filtered GW constant control variable (Idq*). At least one winding (480) of the motor (190) is energized based on a filtered feedback variable (IdqFunda) without harmonic components. The method described herein 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 (452) 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 (454) 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); At least one winding (480) of the motor (190) is energized according to the machine manipulation variable (Uabc*). The symbol "GW" represents the adjustment steps and transformations used to regulate the fundamental frequency.

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 any one of the preceding claims, wherein The filtering (416) of the filtered feedback variable (IdqWoFunda) without a fundamental component by means of at least one second filter (142, 144) includes: Notch filtering is applied to the filtered feedback variable (IdqWoFunda) that has no fundamental component.

4. The method according to claim 1 or 2, wherein Filtering of the specified GW constant control variable (Idq*) by means of the first filter (140) includes: Low-pass filtering is applied to the constant control variable (Idq*) of GW.

5. The method according to claim 1 or 2, wherein The filtering time constant of the filter (140) corresponds to the bandwidth of the magnetic field orientation system.

6. The method (400) according to claim 1 or 2. The method uses 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. 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 (120) 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 GW constant manipulator is superimposed on the manipulator (UdqHrmc*) (460), wherein in the step of inverse transformation (470) by means of the GW output transformation (230) to the machine manipulator (Uabc*), the output value of the superposition (460) of the GW constant manipulator and the manipulator (UdqHrmc*) is inversely transformed into the machine manipulator (Uabc*).

7. 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 6.

8. 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 6.

9. A device (300) for regulating a motor (190). The apparatus has a computing unit (310) and at least one first filter (140) and at least one second filter (142, 144), and has a fundamental frequency modulator (200), wherein 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 any one of claims 1 to 5.

10. The apparatus (300) according to claim 9. 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 claim 6.

11. An electric drive system (500) having a motor (190) and a device (300) according to any one of claims 9 to 10.

12. A vehicle (600) having an electric drive system (500) according to claim 11.

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