Device for determining angular position of rotor of rotating electrical machine

Abstract

Disclosed is a device (100) for determining the angular position of a rotor (4) of a rotating electrical machine on the basis of only two sensor signals provided by a position sensor (20), the device comprising:-a circuit (103) for estimating the rotor position, in particular via implementation of a control loop, which circuit (103) provides a signal representative of the rotor position as an output, and-a circuit (102) for dynamically compensating for an orthogonality defect between a first input signal (200) obtained from one of the two sensor signals provided by the one or more position sensors (20) and a second input signal (201) obtained from the other of the two sensor signals provided by the one or more position sensors (20), the circuit (102) for compensating for orthogonality defects receives as inputs at least a first input signal (200) and a second input signal (201), and the circuit (102) for compensating for orthogonality defects provides as an output an input of the circuit (103) for estimating the rotor position, the circuit (102) for compensating for orthogonality defects is configured to: dynamically determine, based on a first input signal and a second input signal, a value of an orthogonality defect between the two signals; constructing a compensation matrix on the basis of the values thus determined, and compensating for orthogonality defects between the input signals (200, 201) by applying the compensation matrix to the input signals.

Description

Technical Field

[0001] The invention relates to a device for determining the angular position of a rotor of a rotating electrical machine and to an assembly comprising such a determination device and such a rotating electrical machine. Background Art

[0002] The electric machine is, for example, an alternator or starter-alternator powered by a nominal voltage of 12 V or 48 V or even higher. The electric machine can also be a propulsion machine powered by a nominal voltage of 12 V or 48 V or even higher, for example a voltage higher than 300 V, such as 400 V or 800 V.

[0003] The electric motor can be integrated into a hybrid or purely electric vehicle, such as a motor vehicle. More generally, within the meaning of this patent application, the term "vehicle" includes any form of locomotion, whether it is propelled by purely electric, hybrid, internal combustion, or other means. Thus, the term "vehicle" includes machines having four, three, two, or any other number of wheels, that travel on the ground, or that move in the air or on water, or even in space.

[0004] In order to control the motor, it is necessary to know the angular position of the motor's rotor. To this end, it is known practice, in the case of a three-phase synchronous motor, to use two signals provided by sensors (e.g. Hall sensors, inductive sensors or shaft end sensors) which are offset by 90° (electrical or mechanical angles, depending on the type of sensor). The signals provided by these sensors are processed by a circuit for estimating the rotor position, for example by a control loop. This circuit provides a signal representing the rotor position as an output. This measurement result can then be used, for example, to control an inverter / rectifier placed between the stator of the motor and a unit on board the vehicle for storing electrical energy, in particular a battery.

[0005] The accuracy of the rotor position obtained as an output of the circuit for estimating the rotor position depends, among other things, on whether the angular offset or phase difference between the two signals provided by the position sensor is actually 90°. Non-orthogonality in such an offset, which is not 90°, can be caused, for example, by inaccurate positioning of the sensor on the motor. In this case, a non-90° offset can produce errors, such as in the second harmonic of the resulting signal representing the rotor position, ultimately leading to current and torque oscillations in the motor.

[0006] To avoid this problem, it is known practice to perform an end-of-line calibration operation before the motor is shipped to the customer. However, such end-of-line calibration operations are complex and time-consuming, as they are based, for example, on iterative extraction of Fourier series at a constant speed, followed by complex processing. Furthermore, and most importantly, such end-of-line calibration operations cannot be performed when the motor is supplied by the manufacturer independently of its power and control electronics.

[0007] Therefore, there is a need to remedy the above-mentioned shortcomings. Summary of the Invention

[0008] According to one aspect of the present invention, the present invention satisfies this need with a device for determining the angular position of a rotor of a rotating electrical machine based solely on two sensor signals provided by a position sensor, the device comprising:

[0009] a circuit for estimating the rotor position, in particular via application of a control loop, the circuit providing as output a signal representative of the rotor position, and

[0010] a circuit for dynamically compensating for non-orthogonality between a first input signal obtained from one of the two sensor signals provided by the one or more position sensors and a second input signal obtained from the other of the two sensor signals provided by the one or more position sensors, the circuit for compensating for non-orthogonality receiving as input at least the first input signal and the second input signal,

[0011] This circuit for compensating for non-orthogonality provides as an output a signal which is transmitted to, in particular provides an input to, the circuit for estimating the rotor position.

[0012] The circuit for compensating for non-orthogonality is configured to:

[0013] - dynamically determining a value of non-orthogonality between the first input signal and the second input signal;

[0014] - constructing a compensation matrix based on the value of the non-orthogonality thus determined, and

[0015] - compensating for non-orthogonality between the input signals by applying the compensation matrix to the input signals.

[0016] The present invention makes it possible to compensate for the non-orthogonality caused by the position sensor used in a manner other than end-of-line calibration. As outputs of the circuit for compensating for non-orthogonality, two signals are available whose fundamental waves are offset by 90°. This compensation for non-orthogonality is performed upstream of the circuit for estimating the rotor position, which therefore receives as input the two signals whose fundamental waves are offset by 90°.

[0017] The invention is based on dynamic compensation and therefore it is able to detect and even correct any position drift caused by motor aging.Although an end-of-line calibration operation is not essential to the invention, when such an operation is performed it is possible to check whether it has been performed correctly.

[0018] According to the invention, the accuracy of the signal representing the rotor position is improved by a simple solution implemented in a determination device upstream of the circuit for estimating the rotor position, in particular via a control loop. Furthermore, this solution has the following advantages:

[0019] - it does not require oversampling,

[0020] - It does not introduce delays in data acquisition and therefore does not cause any risk of instability,

[0021] - it does not involve complex adaptive frequency filters,

[0022] - it does not involve complex cross-correlation functions or trigonometric functions,

[0023] - It does not require the motor to run at a constant speed for a long time as in end-of-line calibration operations,

[0024] -It is not a static solution, but a dynamic solution.

[0025] The solution according to the invention may have the advantage that no state observer, such as a Kalman filter, is involved.

[0026] The solution according to the invention may also have the following advantages:

[0027] - It is insensitive to electrical harmonics,

[0028] - It is not relevant to the passband of the circuit used to estimate the rotor position.

[0029] The signal representing the rotor position is, for example, an angular value relative to a reference position. This may be an angle representing the electrical position of the motor rotor or an angle representing the mechanical position of the motor rotor.

[0030] The circuit for compensating for non-orthogonality is placed upstream of the circuit for estimating the rotor position, in particular by applying a control loop. The output from this circuit for compensating for non-orthogonality is directly received as input by the circuit for estimating the rotor position, for example.

[0031] The number of sensor signals may be equal to the number of position sensors, with each position sensor providing, for example, only one sensor signal. Alternatively, the number of sensor signals may be different from the number of position sensors. For example, if the sensors are used in differential mode, the number of position sensors may be twice the number of sensor signals.

[0032] Where appropriate, within the ratio of the number of pole pairs, the angular offset between the sensor signals may be equal to the angular offset between the sensors providing the sensor signals. The angular offset between the sensor signals may be equal to the angular offset between the sensors providing the sensor signals.

[0033] The circuit for compensating for non-orthogonality can dynamically determine the non-orthogonality associated with the mechanical angular offset between two sensor signals provided by the position sensors, for example, when these sensors are end-of-shaft sensors.

[0034] As a variant, the circuit for compensating for non-orthogonality can dynamically determine the non-orthogonality associated with the electrical angle offset between the two sensor signals provided by the position sensor, for example when the position sensor is an inductive sensor, a Hall sensor or a resolver.

[0035] In all of the above, dynamically determining the non-orthogonality between the first input signal and the second input signal may include:

[0036] - multiplying the first input signal and the second input signal and applying a first filter, in particular a low-pass filter, to the signal resulting from this multiplication,

[0037] - adding the square of the first input signal and the square of the second input signal and applying a second filter, in particular a low-pass filter, to the signal resulting from this addition.

[0038] The output of the first filter may be proportional to the square of the amplitude and the sine of the non-orthogonality between the first input signal and the second input signal.

[0039] Taking the output signal of the second filter into account can reduce the impact of any computational errors that occur at the input of the first filter.Taking the output signal of the second filter into account can also improve response time during transients.

[0040] The first filter and the second filter may be different. The first filter is, for example, a third-order or second-order filter, and the second filter is, in particular, a second-order or first-order filter. At least one of the first filter and the second filter is, in particular, a Butterworth filter.

[0041] As a variant, the first filter and the second filter may be identical, each being a first, second or third order filter.Each of the first filter and the second filter may take the form of a Butterworth filter.

[0042] Each of the first filter and the second filter is, for example, a low-pass filter. As described below, these filters can have a constant cut-off frequency or a variable cut-off frequency. At a given time, or even at any given time, the cut-off frequencies of the first filter and the second filter can be the same.

[0043] The output of the first filter can be divided by the output of the second filter. The signal resulting from this division can be input to a saturation module, allowing for improved accuracy during transients in a simple manner.

[0044] In all of the above, the compensation matrix may be a 2*2 matrix, at least two of whose coefficients depend on non-orthogonality.

[0045] The compensation matrix has, for example, the following coefficients: in corresponds to the determined non-orthogonality between the first and second input signals.

[0046] In the theoretical case where the determined value of the non-orthogonality between the first input signal and the second input signal is zero, it can be seen that the compensation matrix will be the identity matrix I2.

[0047] In all of the above, the non-orthogonality is compensated at every rotational speed of the rotor.

[0048] As a variant, in all of the above cases, non-orthogonality is compensated only within the rotor's rotational speed range, with the circuit for compensating for non-orthogonality also receiving the rotor's rotational speed as an input. The rotor's rotational speed is obtained, for example, at the output of the circuit for estimating the rotor's position. Compensation for non-orthogonality is performed, for example, only above a minimum rotor rotational speed. Below this minimum rotational speed, for example, below 100, 200, 300, 400, 500, 600, or 700 rpm, the non-orthogonality between the first and second signals is not compensated, and these first and second signals are transmitted directly to the circuit for estimating the rotor's position. Not compensating for non-orthogonality at low speeds avoids the need for overly selective low-pass filters.

[0049] Regardless of whether or not non-orthogonality is compensated for over the entire operating range of the motor, when both the first and second filters are low-pass filters, the cutoff frequency of each filter can vary with speed. The cutoff frequency can vary continuously or discontinuously and then continuously occupy different constant values. By varying each cutoff frequency or varying at least one of the two cutoff frequencies, such as varying only the cutoff frequency of the first filter or only the cutoff frequency of the second filter, a compromise between accuracy and speed of response of the circuit for compensating for non-orthogonality can be achieved. For example, increasing the cutoff frequencies of the first and second filters at lower speeds allows for a faster determination of the value of non-orthogonality, while decreasing the cutoff frequencies at higher speeds improves accuracy.

[0050] In all of the above, the circuit for estimating the rotor position may implement a control loop and subtract a position error signal determined based on the non-orthogonality between the first input signal and the second input signal from a signal output by the control loop.

[0051] In all of the above, the device may also include a circuit for dynamically normalizing each sensor signal provided by the one or more position sensors by the amplitude of the first harmonic, the circuit for dynamic normalization providing as an output a signal to the circuit for compensating for non-orthogonality, and in particular providing a first input signal and a second input signal to the circuit for compensating for non-orthogonality. Thus, the circuit for dynamic normalization is placed upstream of the circuit for compensating for non-orthogonality. Such a circuit for dynamic normalization is produced, for example, according to the teachings of patent application WO2021 / 121770.

[0052] According to another aspect of the present invention, another subject of the present invention is an assembly comprising:

[0053] - rotating electrical machines for driving hybrid or electric vehicles, and

[0054] - means for controlling the electric machine, comprising the determining means as defined above.

[0055] The rotating electrical machine is, for example, a synchronous machine, such as a three-phase synchronous machine or a synchronous machine whose stator windings define a double three-phase system. The stator windings of the motor are, for example, formed by wires or conductive bars connected to each other.

[0056] In all of the above, the rotor may be a claw-pole rotor. The rotor includes first and second staggered claw poles, the first claw pole defining a series of generally trapezoidal claws, each claw extending axially toward the second claw pole, and the second claw pole defining a series of generally trapezoidal claws, each claw extending axially toward the first claw pole. With respect to the rotor, the permanent magnets may be housed between two circumferentially consecutive claws.

[0057] As a variant, the rotor may be a rotor other than a claw-pole rotor, for example comprising a rotor consisting of a stack of laminations or even a squirrel-cage rotor.

[0058] In all of the above, the rotor may include any number of pole pairs, such as three, four, six or eight pole pairs.

[0059] In all of the above, the electric machine may comprise a circuit for cooling the stator, through which a fluid such as air or liquid flows. This liquid may be water or oil.

[0060] The rotor may be cooled by the same cooling circuit or by another cooling circuit through which air or a liquid such as water or oil flows.

[0061] The electric motor may have a rated mechanical power between 4 kW and 35 kW, such as 4 kW, 8 kW, 15 kW, 25 kW or 35 kW, or the electric motor may have a rated mechanical power between 40 kW and 400 kW, such as 40 kW, 80 kW, 100 kW, 150 kW, 180 kW, 200 kW, 300 kW or 400 kW.

[0062] The rotating electrical machine may be powered by a unit for storing electrical energy, through an inverter / rectifier of the assembly, which makes it possible to supply power to or receive power from the on-board network of the vehicle, depending on whether the electrical machine is operated as a motor or as a generator.

[0063] The rated voltage of the unit for storing electrical energy may be 12V, 48V or have other values, for example higher than 300V.

[0064] The rotating electric machine may also include a pulley or any other means for connecting to the rest of the vehicle's drivetrain. For example, the electric machine may be connected to the crankshaft of the vehicle's internal combustion engine, in particular via a belt. Alternatively, the electric machine may be connected to the drivetrain at another location, such as to the input of a gearbox from the perspective of providing torque to the wheels, to the output of a gearbox from the perspective of providing torque to the wheels, to the gearbox from the perspective of providing torque to the wheels, or even to the front or rear axle assembly of the drivetrain.

[0065] The rotating electrical machine does not have to be a synchronous machine; it can be an asynchronous machine.

[0066] According to another aspect of the invention, another subject of the invention is a method for determining the angular position of a rotor of a rotating electrical machine based solely on two sensor signals provided by a position sensor, wherein a determination device as defined above is used.

[0067] All or part of the above mentioned contents also apply to this other aspect of the present invention.

[0068] This determination method is integrated, for example, into a method for controlling an electric machine, in which the angular position of the rotor determined as above is used to control the torque of the electric motor and / or to control the current of a unit for storing electrical energy.

[0069] The determination method can be implemented by a computer program product. When the computer program product is read by a device for controlling a rotating electrical machine, the steps of the method can be implemented. The computer program product can be stored on a medium that can be read by the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The present invention may be better understood by reading the following description of a non-limiting embodiment of the invention and by examining the accompanying drawings, in which:

[0071] Figure 1 schematically shows an axial cross-sectional view of an example of a rotating electrical machine to which the present invention may be applied;

[0072] Figure 2 Shows a difference from Figure 1 Front view of the rotor type;

[0073] Figure 3 Schematically illustrates a device for determining a rotor position of a motor according to a non-limiting embodiment of the present invention;

[0074] Figure 4 schematically illustrates details of an implementation example of a circuit for compensating for non-orthogonality;

[0075] Figure 5 Schematically shows Figure 4 Details;

[0076] Figures 6 to 8 Shows that it can be used to generate Figure 5 Examples of filters of corresponding parts of compensation circuits;

[0077] Figure 9 Schematically shows Figure 4 Another detail;

[0078] Figure 10 Schematically shows Figure 4 Another detail; and

[0079] Figure 11 corresponds to a response curve which allows illustrating the effect of the invention. DETAILED DESCRIPTION

[0080] Figure 1A multiphase rotating electrical machine 1 is shown, in particular for a motor vehicle, and to which the invention can be applied.

[0081] The rotating electrical machine may form an alternator or starter-alternator of the vehicle. The rotating electrical machine may be powered by a battery having a nominal voltage of, for example, 12V or 48V or a value above 300V, via power electronics 9 comprising an inverter / rectifier.

[0082] A rotating electrical machine 1 includes a housing 2. Inside this housing 2, a shaft 3, a rotor 4 that rotates integrally with the shaft 3, and a stator 5 surrounding the rotor 4 are also located. The rotor 4 rotates about an axis X. In this example, the housing 2 includes a front end shield 6 and a rear end shield 7 that are joined together. These end shields 6 and 7 are hollow in shape and each centrally supports a corresponding ball bearing 10 and 11, thereby allowing the shaft 3 to be rotatably mounted.

[0083] In the example in question, the pulley 12 is fastened to the front end of the shaft 3, beside the front cover 6, for example using a nut resting against the bottom of the pulley's cavity. The pulley 12 can transmit the rotational motion to the shaft 3 and can be connected to the crankshaft of the vehicle's internal combustion engine by a belt.

[0084] Here, the rear end of the shaft 3 supports a slip ring belonging to the commutator, and the slip ring is connected to the winding through a wire connection. The brushes belonging to the brush holder 8 are placed so as to rub against the slip ring.

[0085] The front end shroud 6 and the rear end shroud 7 may also include substantially transverse apertures for the passage of air, thereby allowing the rotating electrical machine to be cooled by the airflow generated by the rotation of the front fan 13 on the front back side of the rotor 4 (i.e. next to the front end shroud 6) and the rear fan 14 on the rear back side of the rotor (i.e. next to the rear end shroud 7).

[0086] In this embodiment, the stator 5 comprises a body 15 in the form of a lamination stack containing slots, for example, semi-enclosed or open slots, equipped with slot insulators, to accommodate the stator's multi-phase electrical windings. Each phase comprises a winding 16 that passes through the slots of the body 15 and, together with all the other phases, forms a front winding and a rear winding on either side of the stator body. The windings 16 are, for example, made of continuous wire covered with enamel, or of interconnected strip-shaped conductive elements, such as pins. The stator's electrical windings are, for example, three-phase, then arranged in a star or delta configuration, the outputs of which are connected to the power electronics 9.

[0087] Figure 1 The rotor 4 is a claw-pole rotor. It includes two claw poles 17. The first claw pole 17 faces the power electronic device 9, and the second claw pole 17 faces the pulley 12.

[0088] Each claw pole 17 comprises a base 18 extending radially on either side of the axis X, defining a series of claws 19 of generally trapezoidal shape. Each claw of a claw pole 17 extends axially from a base located on the radial periphery of the base 18 in the direction of the other claw pole.

[0089] The rotor 4 further comprises, between the radially inner portion 20 and the claws 19 , a coil wound on a coil insulator 22 .

[0090] The rotor 4 may also comprise permanent magnets (not shown) placed on the outer periphery of the rotor between two adjacent claws 19. As a variant, the rotor 4 may be devoid of such permanent magnets.

[0091] The rotor 4 may even be different from Figure 1 The rotor shown is made of, for example, stacked sheets, such as Figure 2 shown.

[0092] The rotor 4 may define any number of pole pairs, such as three, four, six or eight pole pairs.

[0093] The motor further comprises a sensor 20 for measuring the position of the rotor 4, for example two Hall sensors, which are combined together in a common plastic housing and are positioned so as to be offset in electrical angle by 90°. One of these sensors provides a first sensor signal "S", here a sine signal, and the other of these sensors provides a second sensor signal "C", here a cosine signal.

[0094] These sensors are located, for example, in the rear shield 7 of the electric machine and they interact with a magnetic target that rotates integrally with the rotor.

[0095] The sensor signals S and C are used by a device for controlling a rotating electrical machine 1, which device comprises a device 100 for determining the angular position of the rotor 4. The device for controlling a rotating electrical machine 1 may be a computer, such as a microcontroller, or an integrated circuit, such as an FPGA or an ASIC, capable of receiving electrical signals, in particular signals from the sensor 20, and processing these signals.

[0096] The two signals S and C provided by the two sensors 20 are used by the device 100 to determine the angular position of the rotor 4, which will now be referred to. Figures 3 to 11 Describe it.

[0097] In a known manner, the device 100 comprises a circuit 101 for dynamically compensating for deviations by averaging samples.

[0098] exist Figure 3In the example of FIG, the signal output by the circuit 101 is input to a circuit 105 for dynamically normalizing each signal provided by the position sensor 20 by the amplitude of the first harmonic. The circuit 105 is described, for example, in the patent application WO2021 / 121770. Figure 3 As shown, circuit 105 also receives as input the output of circuit 102 for dynamically compensating for non-orthogonality, which will be described below. One of the signals output from circuit 105, namely the signal generated by first sensor signal S, forms a first input signal 200 of circuit 102 for dynamically compensating for non-orthogonality, and the other signal output from circuit 105, namely the signal generated by second sensor signal C, forms a second input signal 201 for circuit 102. As described below, circuit 102 dynamically compensates for the non-orthogonality between first input signal 200 and second input signal 201, which is equivalent to the non-orthogonality between first sensor signal S and second sensor signal C.

[0099] In one example (not shown), the circuit 105 does not exist, so the signal output from the circuit 101 is input as is to the circuit 102 for dynamic compensation of non-orthogonality.

[0100] from Figure 3 As can be seen in FIG. 1 , the circuit 102 for dynamically compensating for non-orthogonality may also receive the rotational speed of the rotor as input without limitation. The rotational speed is estimated and output by the circuit 103 , which will be described below.

[0101] In addition to the output signals received as input by circuit 105, circuit 102 for dynamically compensating for non-orthogonality also outputs two signals 204 and 205, which are generated from first input signal 200 and second input signal 201, respectively, and which are angularly offset by 90°. If first input signal 200 is described by [Math. 2] S = sin (omega * t) and second input signal 201 is described by [Math. 3] C = cos (omega * t + phi), signals 204 and 205 are described by [Math. 4] S = sin (omega * t) and [Math. 5] C = cos (omega * t), respectively.

[0102] These two signals 204 and 205 are received as input by a circuit 103 for estimating the rotor position, which provides as output a signal 206 representing the position of the rotor 4 by means of an angle θ measured relative to a reference position of the rotor. In the example described, this angle corresponds to an electrical angle representing the position of the rotor 4, but as a variant, it may correspond to a mechanical angle representing this position. Here, this circuit 103 uses a control loop to control the position of the rotor 4.

[0103] The circuit 102 also outputs a position error signal 207 determined by the circuit 102 based on the non-orthogonality between its first input signal 200 and the second input signal 201. Figure 3 As can be seen, the position error signal 207 is subtracted from the signal 206 in order to provide a signal representing the rotor position as an output of the apparatus 100 .

[0104] Circuit 103 is, for example, identical to the circuit described in the aforementioned patent application WO 2021 / 121770.

[0105] Now refer to Figures 3 to 6 The circuit 102 for dynamically compensating for non-orthogonality is described in more detail. Figure 3 It can be seen that, in addition to the output signal of the circuit 105 or, where appropriate, directly the output signal of the circuit 101 , the circuit 102 also receives as input the output 208 of the circuit 103 , ie a signal representative of the speed of the rotor 4 .

[0106] The operation of one example of the circuit 102 for dynamically compensating for non-orthogonality will now be described.

[0107] like Figure 3 As shown, the circuit 102 for dynamically compensating for non-orthogonality includes:

[0108] a module 220 for dynamically determining a value of non-orthogonality between the first input signal 200 and the second input signal 201 ,

[0109] - a module 221 for constructing a compensation matrix based on the value of non-orthogonality thus determined, and

[0110] - a module 222 for compensating for the non-orthogonality between said input signals 200 , 201 by applying the compensation matrix to said input signals 200 , 201 .

[0111] Now refer to Figure 4 An example of the dynamic determination module 220 is described. The module 220 receives the following signals as input:

[0112] - a first input signal 200 and a second input signal 201 of the dynamic compensation circuit 102;

[0113] - the value of the filter cut-off frequency, generated by a module 224 which itself receives as input a signal 208 representative of the rotor speed output from the circuit 103;

[0114] an initial value 209 of the non-orthogonality between the first and second signals, which may be 0 or between -10° and 10°, in particular between -1° and 1°, for example approximately 0.5° or -0.5°; and

[0115] - Reset value 210 of the output of filters 212 and 213 .

[0116] This module 220 applies two independent processing operations to the first signal 200 and the second signal 201 .

[0117] In a first processing operation, the first signal 200 is multiplied by the second signal 201, and the resulting product is processed by a first low-pass filter 212, the value of the cut-off frequency of which is provided by a module 224. In the event of a minimum rotation speed, for example below 100, 200, 300, 400, 500, 600 or 700 rpm, the module 224 can disable the module 220, so that the input signals 200 and 201 are transmitted as is to the output of the circuit 102 for dynamic compensation of non-orthogonality.

[0118] In a second processing operation, the first signal 200 is squared, the second signal 201 is squared, and the sum of the two squares is processed by a second low pass filter 213 having the same cutoff frequency as the first low pass filter.

[0119] Each of the first filter 212 and the second filter 213 is, for example, a low-pass filter. The first filter 212 and the second filter 213 can be different, the first filter being, for example, a third-order or second-order filter, the second filter being, in particular, a second-order or first-order filter, and at least one of the first filter and the second filter being, in particular, a Butterworth filter. As a variant, the first filter 212 and the second filter 213 can be identical, each being a first-order, second-order, or third-order filter. Each of these first and second filters can, for example, take the form of a Butterworth filter.

[0120] Each low-pass filter may have a cutoff frequency that varies with rotor speed. For example, the frequency may vary in stages, taking on a higher value at low speeds and gradually decreasing as speed increases. At any given time, the cutoff frequencies of first filter 212 and second filter 213 may be the same, for example.

[0121] As a variant, each filter 212 and 213 may have a constant cut-off frequency.

[0122] Figures 6 to 8 An example of a filter structure that can be used for the first filter 212 or the second filter 213 is shown. Each filter 212, 213 uses, for example Figures 6 to 8One of the architectures shown in .

[0123] like Figure 5 As shown, in the example described, the output of the first filter 212 is divided by the output of the second filter 213. The signal resulting from this division is then input to a saturation module 215, thereby allowing, in a simple manner, to improve the accuracy of the determination of the non-orthogonality during transients by the module 220. At the output of this saturation module 215, a gain 216 can be applied, here with a gain value of "-2", which is advantageously chosen so that the value of the non-orthogonality between the first input signal 200 and the second input signal 201 is accurately obtained at the output of the gain.

[0124] This module 220 has an output 217 which is input to a module 221 for constructing a non-orthogonal matrix, such as Figure 9 This output 217 corresponds to the non-orthogonality between the first signal 200 and the second signal 202 determined by the module 220. value. Figure 9 In the example of , the compensation matrix output by module 221 is a 2*2 matrix with the following coefficients:

[0125]

[0126] from Figure 5 As can be seen in FIG. 1 and as described above, the output 217 of the module 220 is received as input by the dynamic normalization circuit 105 .

[0127] In the example being discussed, the output 217 of the module 220 is also received as input by the module 223, as shown in FIG. Figure 10 In this example, the module 223 applies a gain (whose value is, for example, 1 / 2) to the determined value of non-orthogonality, and the output of the module 223 provides the signal 207, which has been referred to above. Figure 3 Described.

[0128] Module 222 consists in applying the compensation matrix generated by module 221 to the first signal 200 and the second signal 201 input to the dynamic compensation circuit 102. Signals 204 and 205 are obtained as outputs of this module 222, which are angularly shifted by 90° and input to the circuit 103.

[0129] Figure 11 The following are shown, with all x-axes representing the same time scale:

[0130] In curve 300 , for example, the speed variation of the motor rotor provided by device 100 ;

[0131] - in curve 301 , the variation of the signals input to the circuit 102 for compensating for non-orthogonality, each signal being generated by one of the position sensors 20 ;

[0132] - the variation in the value of the non-orthogonality between the first input signal 200 and the second input signal 201 determined by the module 220 of the circuit 102 , in the curve 302 ; and

[0133] - In curve 303 , the variation of the error in the rotor position.

[0134] In this example, the two sensor signals generated by the sensor 20 have an electrical offset not equal to 90°, but a non-orthogonality of 7°.

[0135] The circuit 102 for dynamically compensating for non-orthogonality is activated at time t0 , an implementation example of which has been described above.

[0136] By observation we can see that:

[0137] - Curve 302: the value of non-orthogonality between the input signals reaches 7° within 100 ms;

[0138] - Curve 303: the position error decreases to zero within a time interval; and

[0139] Curve 300 : The estimated rotational speed is increased due to compensation for the non-orthogonality, as evidenced by the disappearance of the second-order harmonics.

[0140] The invention is not limited to the embodiments that have just been described.

[0141] In particular, the circuit 102 for dynamically compensating for non-orthogonality can operate independently of the rotor's rotational speed, i.e., it can operate as soon as the motor starts. In this latter case, the cutoff frequency of each filter 212 and 213 can remain constant. Alternatively, in this latter case, as described above, the cutoff frequency of each filter 212 and 213 can be varied.

[0142] The angular position of the rotor 4 can be determined by a computer program product which, when used for controlling the operation of a device for controlling a rotating electrical machine 1, enables the execution of a method for determining the angular position of the rotor 4 of the rotating electrical machine 1 based on two sensor signals provided by the position sensor 20, as described with reference to Figures 3 to 11 As stated.

[0143] The computer program product can be stored on a storage medium readable by the control device in order to carry out the determination of the angular position of the rotor 4 .

Claims

1. A device (100) for determining the angular position of a rotor (4) of a rotating electrical machine based solely on two sensor signals (S, C) provided by a position sensor (20), the device comprising: a circuit (103) for estimating the position of the rotor, in particular by applying a control loop, the circuit (103) providing as output a signal representative of the position of the rotor, and - a circuit (102) for dynamically compensating for non-orthogonality between a first input signal (200) obtained from one of the two sensor signals provided by one or more position sensors (20) and a second input signal (201) obtained from the other of the two sensor signals provided by the one or more position sensors (20), the circuit (102) for compensating for non-orthogonality receiving at least the first input signal (200) and the second input signal (201) as inputs, The circuit (102) for compensating for non-orthogonality provides as output a signal which is transmitted to the circuit (103) for estimating the position of the rotor, and in particular provides an input for the circuit (103) for estimating the position of the rotor, The circuit (102) for compensating for non-orthogonality is configured to: - dynamically determining a value of non-orthogonality between the first input signal and the second input signal; - constructing a compensation matrix based on the value of the non-orthogonality thus determined, and - compensating for non-orthogonality between the input signals (200, 201) by applying the compensation matrix to the input signals.

2. The device according to claim 1, wherein: The circuit (102) for dynamic compensation dynamically determines non-orthogonality associated with a mechanical angular offset between the two sensor signals provided by the position sensor (20).

3. The device according to claim 1, wherein: The circuit (102) for dynamic compensation dynamically determines a non-orthogonality associated with an electrical angle offset between the two sensor signals provided by the position sensor (20).

4. A device as claimed in any one of the preceding claims, wherein: Dynamically determining the non-orthogonality between the first input signal (200) and the second input signal (201) comprises: - multiplying said first signal (200) and said second signal (201) and applying a first filter (212), in particular a low-pass filter, to the signal resulting from said multiplication, - adding the square of the first signal (200) and the square of the second signal (201) and applying a second filter (213), in particular a low-pass filter, to the signal resulting from this addition.

5. The device as claimed in claim 1, wherein: The first filter (212) and the second filter (213) are different, the first filter (212) is, for example, a third-order or second-order filter, the second filter (213) is in particular a second-order or first-order filter, and at least one of the first filter (212) and the second filter (213) is in particular a Butterworth filter.

6. The device according to claim 4 or 5, wherein: The output of the first filter (212) is divided by the output of the second filter (213).

7. A device as claimed in any one of the preceding claims, wherein: The transfer matrix is ​​a 2*2 matrix, at least two coefficients of which depend on the non-orthogonality (φ).

8. A device as claimed in any one of the preceding claims, wherein: The non-orthogonality is compensated at each rotational speed of the rotor.

9. The device according to any one of claims 1 to 7, wherein: The non-orthogonality is compensated only within a range of rotational speeds of the rotor, and the circuit (102) for dynamically compensating for the non-orthogonality also receives the rotational speed of the rotor as input.

10. The device according to any one of claims 4 to 6 and claim 9, wherein: Each of the first filter (212) and the second filter (213) is a low pass filter, and the cutoff frequency of each filter (212, 213) varies with speed, and in particular decreases as the speed increases.

11. A device as claimed in any one of the preceding claims, wherein: The circuit (103) for estimating the position of the rotor implements a control loop and subtracts a position error signal determined based on non-orthogonality between the first input signal and the second input signal from a signal output by the control loop.

12. The device as claimed in any of the preceding claims further comprises a circuit (105) for dynamically normalizing the amplitude of the first harmonic of each sensor signal provided by the position sensor (20), the circuit providing as an output a signal to the circuit (102) for dynamically compensating for non-orthogonality, and in particular providing the first input signal and the second input signal to the circuit (102) for dynamically compensating for non-orthogonality.

13. A component comprising: - rotating electrical machines for driving hybrid or electric vehicles, as well as - Device for controlling the electric machine, comprising a determination device (100) as claimed in any one of the preceding claims.

14. A method for determining the angular position of a rotor (4) of a rotating electrical machine based solely on two sensor signals provided by a position sensor (20), wherein: The method uses a determination device (100) as claimed in any one of claims 1 to 12.

15. A computer program product comprising instructions for causing the component as claimed in claim 13 to perform the steps of the method as claimed in claim 14.

16. A computer-readable medium having stored thereon the computer program product of claim 15.

Images