Electric machine with harmonic suppression by inverse signal conditioning under spatial vector representation

Abstract

The control device of the electric drive has a basic control circuit for vector control, which basic control circuit has a target value input (EG), a subsequent deviation detection (RA), a manipulated variable guide (RS) connected downstream of the deviation detection (RA), which manipulated variable guide has a modulation output (MA), the modulation output end is connected with an inverter (INV) of the driver in a control manner, and a feedback section (FBG). The manipulated variables (Ud, Uq) of the base control loop are used in the form of a space vector representation (RZG) involving the base angular frequency ([omega] G). The inverter control output (IOUT) is connected to the feed (EGS) of the inverse signal (GS) via an inverse signal feedback (FBO). The inverse signal feedback section (FBO) has an inverse signal generation section (GSRZ, RTO) which is connected downstream of the inverter control output (IOUT), the inverter control input (IIN) and / or the power supply input (VE) of the inverter (INV). At least one power signal (IU, IV, IW; iHV; ud, Uq). An inverse signal generation section (GSRZ, RTO) is arranged to calculate and output a space vector representation (GSOmega O) of the inverse signal relating to a harmonic angular frequency (Omega O).

Description

Background Art

[0001] It is known that, for example, electric vehicles are equipped with electric drives, in which the traction power is generated by an electric machine. In this case, not only a rotating field with the desired rotational speed (or in the case of an asynchronous machine: a rotating field with the desired rotor speed) is generated, but also harmonic components due to numerous effects. These harmonic components are undesirable and can cause losses, noise and similar side effects in the electric machine or inverter, and undesirable alternating components ("current ripple") in the DC voltage supply of the inverter.

[0002] In order to suppress harmonic components, an anti-signal can be generated which is inverted with respect to the interfering harmonics, so that at least partial cancellation occurs when the anti-signal is fed in. This active cancellation is based on an anti-signal having the correct amplitude and in particular the correct phase (compared to the interfering signal) in order to cancel the anti-signal. In particular in the case of variable rotational speeds and thus variable harmonic frequencies, it has been recognized that if the anti-signal is generated as a time domain signal which is offset by 180° with respect to the time domain signal of the harmonic component, this results in a large amount of computational overhead which must be borne in real time. Summary of the invention

[0003] It is therefore an object of the present invention to demonstrate the possibility of actively suppressing harmonics in a simple manner.

[0004] This object is achieved by the subject matter of claim 1. Further properties, features, embodiments and advantages are revealed from the dependent claims, the description and the drawings.

[0005] It is proposed to generate an anti-signal in the basic control loop of the electric machine, which is not calculated in the time domain, but reproduced in the form of a space vector representation or calculated as a space vector representation. When generating the anti-signal, the anti-signal is also calculated in the form of a space vector representation and is fed into the basic control loop in the form of a space vector representation. Therefore, the anti-signal generation is configured to use the anti-signal in the form of a space vector representation or to use the space vector representation for calculation when calculating the anti-signal. Therefore, in the calculation, the space vector representation is at least partially used, so as to significantly simplify the calculation. In addition, the anti-signal is also output as a space vector representation, wherein the anti-signal is also calculated and created in this way. This makes it possible to simplify the feeding into the basic control loop so that harmonic components can be at least partially suppressed in the basic control loop by means of the anti-signal.

[0006] The inverse signal generation using the space vector representation can be done in real time with significantly less computational overhead, wherein in particular the matrix or matrix transformation on which the space vector representation is based can be precomputed. Unlike the inverse signal generation in the time domain, which requires a spectral analysis of the entire signal and a time signal calculation, the method proposed here reduces the overhead required for real-time calculations.

[0007] Therefore, a control device for regulating an electric drive is proposed. The electric drive has an inverter and a multiphase electric machine connected downstream of the inverter. The control device is used to control the inverter, the electric machine or a drive comprising an electric machine and an inverter. The electric machine can be a synchronous machine or an asynchronous machine. The electric machine is in particular multiphase. This also applies to the inverter. The number of phases of the inverter preferably corresponds to the number of phases of the electric machine. The electric machine or the inverter can, for example, have three phases or more than three phases, for example six phases.

[0008] The regulating device has a basic regulating loop. The basic regulating loop is particularly used to represent vector regulation, in particular using space vector modulation. The basic regulating loop has a target value input. Target parameters such as target torque and / or target speed are input at the target value input. In addition, secondary condition parameters such as the current temperature of the motor and / or inverter and / or the level of the DC voltage forming the supply voltage of the inverter (at its power supply input) can be input at the target value input.

[0009] A deviation detection is connected (directly or indirectly) downstream of the target value input. The deviation detection serves to determine a control deviation or to feed in a feedback (which results in an actual control variable, such as a current flowing through the motor). The deviation detection serves to detect the difference between the target value input and the actual control variable and to control the motor in accordance with a predefined torque and / or a predefined speed. Thus, the basic control loop serves to control the operation of the motor in accordance with the input at the target value input.

[0010] A manipulated variable guide is connected downstream of the deviation detection unit. The manipulated variable guide has a modulation output (at the end opposite to the deviation detection unit), which is connected to the inverter in a controlled manner. The modulation output of the manipulated variable guide is arranged to output pulse width modulated signals to the individual phases of the inverter. These signals are therefore output to the controlled section. Therefore, the modulation output provides the inverter with a control signal in the time domain. The manipulated variable guide preferably has a section in which the manipulated variable is forwarded in the form of a space vector representation. The deviation detection unit is also particularly arranged to process the target variable and the actual controlled variable (the target variable and the actual controlled variable are fed back) in the form of a space vector representation, and thereby form a space vector representation of the control difference. Therefore, the deviation detection unit and the manipulated variable guide are both based on the space vector representation of the manipulated variable or the controlled variable guided there.

[0011] A (space vector) transformation unit can be provided upstream of the deviation detection unit, which maps the data at the target value input (e.g. target speed and target torque) into a space vector representation (space vector representation of a reference variable such as a target current). Furthermore, a target variable generation unit can be provided, which converts the data at the target value input into target variables (currents), which are forwarded in the form of a space vector representation due to the transformation unit. The target variable generation unit and the transformation unit can be designed together as processing elements of the control device or the basic control loop.

[0012] The basic control loop has a feedback section or a feedback segment. This feedback segment is connected downstream of the inverter output. Since the inverter output is connected to the motor, the feedback segment is also connected to the motor. The inverter and the motor together form the controlled segment of the control. The controlled segment receives a pulse width modulated voltage signal (voltage signal in the time domain) as the manipulated variable, wherein the current flowing in the motor or the inverter forms the manipulated variable (in the form of a time domain representation). Therefore, the controlled segment is connected downstream of the manipulated variable guide.

[0013] The feedback section starts from the inverter output section or the motor (i.e. the controlled section). The feedback section guides the power signal or current signal used by the inverter to operate the motor, i.e. the signal used by the motor (and in particular the inverter) to react to the manipulated variable (e.g. a pulse width modulated voltage or an inverter control signal). In other words, the feedback section starts from the controlled section. The feedback section also leads to the deviation detection section (an additional element for forming a control error, i.e. an additional element for detecting the deviation), thereby forming feedback of the manipulated variable. The manipulated variable corresponds in particular to the current signal or power signal of the motor. The manipulated variable is fed to the deviation detection section or to the controlled section side connected downstream of the target value input terminal (or the subsequent conversion section). The feedback section feeds back the power signal or control signal (pulse width modulated signal) in the time domain of the inverter output terminal or the motor to the deviation detection section. In the feedback section, the time domain representation of the manipulated variable is transformed into a space vector representation. In this case, the feedback section outputs the manipulated variable signal in the form of a space vector representation to the deviation detection section. The feedback stage thus transforms the motor control signals or power signals (manipulated variables) in the time domain into a space vector representation of these manipulated variables.

[0014] The basic control loop is configured to perform vector control using a manipulated variable in space vector representation. The manipulated variable is, for example, a pulse width modulated voltage output by an inverter or a pulse width control signal corresponding to the control of the inverter. The manipulated variable is a variable guided by a manipulated variable guide and exists in the form of a space vector representation.

[0015] This space vector representation refers to the basic angular frequency (in short: base angular frequency). The variables present in the space vector representation at the deviation detection, in the manipulated variable guidance and partly in the feedback section are also reproduced in the form of a space vector representation with respect to the base angular frequency. The base angular frequency corresponds in this case to the rotational speed of the stator magnetic field of the electric machine or (in the case of a synchronous machine) to the rotational speed of the electric machine. The space vector representation of the basic control loop therefore refers to the base angular frequency which is essentially determined by the rotational speed of the electric machine and therefore also to the target rotational speed entered at the target value input. The space vector representation can therefore have a phasor whose angular frequency corresponds to the base angular frequency.

[0016] The regulating device also has an inverse signal feedback section. Like the feedback section of the basic regulating loop, the inverse signal feedback section starts from the inverter output or the motor (i.e., the controlled section), in particular, from the point where the controlled variable exists in the time domain in the basic regulating loop. The inverter control output or the motor is connected to the inverse signal feed-in section via the inverse signal feedback section. The feed-in section can be provided in the manipulated variable guide section of the basic regulating loop, or provided before the inverter input, where the inverter control signal (usually the manipulated variable) exists in the time domain. The manipulated variable guide section of the basic regulating loop can be connected to a manipulated variable device, in which the inverter control signal exists in the time domain, wherein the manipulated variable device connects the manipulated variable guide section (which at least partially has a space vector representation) to the control input of the inverter. By feeding in an inverse signal, which represents one end of the inverse signal feedback section, the inverse signal can be fed into the basic regulating loop, in particular, into its manipulated variable guide section, so as to at least partially compensate for the interference signal component in the basic regulating loop by the inverse signal.

[0017] The anti-signal feedback unit has an anti-signal generating unit. The anti-signal generating unit is configured to generate a space vector representation of the anti-signal or to use a control variable in the form of a space vector representation when calculating the anti-signal. In particular, the anti-signal generating unit is connected downstream of the controlled section or downstream of the motor or downstream of the inverter control output or downstream of the inverter power input, where at least one power signal of the drive (i.e., a control variable for harmonic suppression, such as the alternating component of the motor current or the inverter power supply voltage) exists in the form of a time domain representation. In particular, there is a signal that reproduces the power signal. Therefore, at least one power signal can be given by the following factors: the phase current of the motor, the current or voltage output by the inverter control output, the inverter power supply voltage or power supply current (at the inverter power supply input) or the inverter power supply voltage or power supply current alternating component. These power signals (or their reproduction) form the control variable of the harmonic suppression or the involved control loop.

[0018] Preferably, at least one power signal (i.e., the regulated variable for harmonic suppression) is related to the power signal (current or voltage) of the inverter or its alternating component. In this case, the power signal does not have to be derived directly from the power input of the inverter, for example by measurement. On the contrary, the power signal can also only relate to the power input of the inverter and can be derived from signals provided at other locations of the drive. In particular, the power signal can also relate to the power input of the inverter and can be derived from the current signal and / or voltage signal of the inverter control output or the motor. Therefore, a measuring device can be provided, which detects the current signal and / or voltage signal of the inverter control output or the motor. The measuring device can correspond to the phase current measuring device described in this article.

[0019] An inverse signal generating section may be provided: an inverse signal is generated by mapping a harmonic component (at the inverter control output or in the power signal in the motor) to an inverse signal (in the form of a space vector representation) based on a reduction condition. In this case, the harmonic component is a signal that reproduces the harmonic itself, or a variable that characterizes the harmonic, either partially, such as only the current component, only the harmonics within the control variable, only the voltage component, only the harmonics within the manipulated variable, only the power or only the amplitude, or as a result of precalculation in combination with another variable, or fully, such as an amplitude or power including phase information or as a time-varying process signal of the current and voltage (or the manipulated variable and the control variable) under vector representation or as a representation in the time domain.

[0020] The reduction condition may provide for reducing harmonic components in a power signal at the inverter power input. Starting from a power signal at a certain location of the drive (e.g. at the inverter control output or in the motor), an inverse signal is generated with the aid of the reduction condition, the inverse signal being configured to at least partially reduce harmonic components at other locations of the drive (e.g. at the inverter power input). Therefore, the input variable of the reduction condition may relate to the inverter control output or the motor, while the output variable relates to the inverter power input. Therefore, the mapping with the aid of the reduction condition may include converting harmonic components at the inverter control output or in the motor into harmonic components obtained at the inverter power input.

[0021] Therefore, the reduction condition can be considered as follows: generating an anti-signal for reducing harmonic components at the power input of the inverter, and the input variable of the reduction condition is the power signal of the inverter control output or the motor. An example of a reduction condition is to reduce the power of the harmonic components at the inverter power input. This can be reproduced by the following condition: the component of the space vector representation of the voltage signal at the inverter control input ( Figure 1 In the figure: the reference numerals U_d, U_q) and the components represented by the space vector of the current signal at the inverter control output or in the motor ( Figure 1Middle: The convolution result (power) of reference numerals I_d', I_q') is equal to zero.

[0022] This condition can be simply reproduced as:

[0023] P_VE=l_d′(ω_O)*U_d(ω_G)+I_d′(ω_G)*U_d(ω_O)+I_q′(ω_O)*U_q(ω_G)+I_q′(ω_G)*U_q(ω_O)

[0024] in:

[0025] -P_VE: Power of harmonic components at the inverter power input

[0026] -I_d': the first component of the space vector representation of the current I

[0027] -I_q': the second component of the space vector representation of the current I

[0028] -U_d: The first component of the space vector representation of the voltage U

[0029] -U_q: The second component of the space vector representation of the voltage U

[0030] The current I indicates the current at the inverter control output or in the motor, the voltage U indicates the voltage at the inverter control output or in the motor, the suffix (ω_O) of the variable indicates that the space vector representation of the variable involves the harmonic angular frequency, the suffix (ω_G) of the variable indicates that the space vector representation of the variable involves the fundamental angular frequency and the name of the variable is the same as Figure 1 In addition, the variables P_VE, I_d', I_q, U_d' and / or U_q' can be standardized variables, for example, standardized to total power, nominal current, operating current (effective value), nominal voltage or operating voltage. If the spectral range of the variables involved is to be considered, the symbol "*" can represent convolution, or if the variables involved are scalars (such as scalars represented by space vectors), the symbol "*" can represent multiplication.

[0031] In short, the condition can therefore be reproduced by the sum of all products of the space vector components of the current and the space vector components of the voltage, wherein the two factors of each product relate to the space vector representation of different angular frequencies (fundamental angular frequency or harmonic angular frequency). The current and voltage in this case relate to the inverter control output and the motor, respectively.

[0032] The power signal involved can reproduce the harmonic components present in the control signal (current or voltage, multi-phase) of the inverter or in the phase current in the motor. Due to the reaction of the control signal to the inverter power input, the harmonic components in the inverter control signal or in the motor phase current are logically associated with the harmonic components in the (DC) power signal at the inverter power input. Therefore, the adjustment target can be to at least partially compensate for the harmonic components in the inverter control signal / in the motor phase current, or to at least partially compensate for the harmonic components in the power signal (current, voltage) of the inverter. Therefore, the power signal can also reproduce the harmonic components present in the power signal (current or voltage) of the inverter. The power signal is in particular a power signal. The power signal of the inverter preferably corresponds to the power signal output by the battery to the drive or to the inverter.

[0033] A transformation unit can be provided to convert these signals from the time domain into a space vector representation. The space vector representation can then be mapped to an inverse signal (also in the form of a space vector representation) by means of an inverse signal calculation by an inverse signal generation unit. Since both variables are present in a space vector representation, the mapping requires only a small amount of computational overhead, in particular since individual parts of this mapping, such as the transformation matrix, can be calculated in advance, so that only a small amount of computational overhead is generated during operation. The inverse signal is inverted into a harmonic component in the power signal, so that in the case of a suitable combination, the harmonic component (whether in the time domain representation or in the space vector representation) can be at least partially offset in the basic control loop or in the manipulated variable guidance unit or at the inverter (inverter control output, power supply input of the inverter). Since the inverse signal is calculated or output according to the invention by generating the inverse signal in the form of a space vector representation, the computational overhead is significantly reduced compared to a calculation based on the time domain, in particular during ongoing operation (real time). In addition, many space vector representations are already known and can be implemented by readily available circuits.

[0034] The feed-in (of the counter-signal) is connected downstream of the counter-signal generator. The feed-in can be provided in a part of the manipulated variable guidance of the basic control loop in which the manipulated variable is guided or transmitted in the form of a space vector representation. In other words, the feed-in can be provided at a point in the manipulated variable guidance where the signal is forwarded and processed in the form of a space vector representation.

[0035] The feed-in section is preferably configured to combine the space vector representation of the counter signal with the space vector representation of the manipulated variable. This combination results in at least partial cancellation of the harmonic component. The resulting combined space vector representation is forwarded as a manipulated variable in the manipulated variable guide section. In other words, the counter signal is injected into the manipulated variable guide section in the form of a space vector representation through the feed-in section, wherein the manipulated variable guide section is now operated in the form of a space vector representation. This results in the harmonic component reducing the counter signal. The counter signal is thus subtracted from the harmonic component, wherein both exist in the form of a space vector representation when subtracting. In particular, when the counter signal is fed in, both exist in a space vector representation, which rotates at the base angle frequency like a basic rotation system of the manipulated variable or the adjusted variable, so that the harmonic component and the counter signal are modulated with the harmonic angular frequency. In this representation of the combination of the harmonic component and the counter signal, which results in interference cancellation between the harmonic component and the counter signal, the harmonic component with the harmonic angular frequency appears in the form of a space vector representation based on the base angle frequency. The counter signal is adapted to the frequency and provided in the form of a space vector representation based on the fundamental angular frequency, and the counter signal having the harmonic angular frequency is provided in the form of the space vector representation.

[0036] Before this combination of the counter signal and the manipulated variable (i.e. before the counter signal is fed), the counter signal can be provided in the form of a space vector representation rotating with a harmonic angular frequency (in particular for the calculation of the counter signal). This results in quasi-static parameters for representing the counter signal, which can be calculated particularly easily.

[0037] If the space vector representation is based on the fundamental angular frequency, the space vector representation can relate to the rotation of the rotor and is static relative to the rotor. However, especially when an anti-signal is fed, both the anti-signal and the harmonic components rotate several times relative to the rotor. If the anti-signal or the harmonic components relate to n times the fundamental frequency, both the anti-signal and the harmonic components exist as harmonic angular frequencies corresponding to n times the fundamental angular frequency. For this purpose, the anti-signal can be modulated with the desired n times, i.e., with a cosine or sine signal whose frequency corresponds to the harmonic angular frequency.

[0038] It is also possible to provide an anti-signal feed-in (in short: feed-in) in the manipulated variable guide or in the manipulated variable device, which is included in the basic control loop and in which the manipulated variable is transmitted or guided as a pulse width modulated time domain signal. In other words, a feed-in can be provided at a certain position of the basic control loop (between the target value input and the inverter control input), where the signal (especially the manipulated variable) is processed and forwarded in the time domain. For example, a feed-in can be provided at the control input of the inverter or at the modulation output of the manipulated variable guide so as to feed the anti-signal in the time domain there. In the case of this variant, the feed-in is arranged to combine the time domain representation of the anti-signal with the pulse width modulated time domain signal. This results in the harmonic components present in the time domain signal being reduced by the anti-signal also present in the time domain. The combined signal thus obtained (whose harmonic components are reduced by the anti-signal) is forwarded in the controlled section as a manipulated variable. The feed-in can be arranged to combine the anti-signal under the time domain representation with the pulse width modulated time domain signal representing the manipulated variable.

[0039] The counter signal in the time domain representation can also be fed in together with other time domain signals in the segment between the target value input and the inverter. In this variant, it is provided that the feeding takes place in the time domain and the resulting signal is also forwarded as a time domain signal. In particular, the counter signal in the time domain representation is received at the feed-in and combined with the signal forwarded in the time domain in the segment between the target value input and the inverter.

[0040] Feeding in and combining the inverse signals in space vector representation has the advantage that no transformation of the inverse signals in space vector representation is necessary. Although feeding in the time domain requires a transformation of the space vector representation of the inverse signal into a time domain representation, this transformation does not require a particularly high computational effort. In particular, in the case of such a transformation, calculations can also be performed in advance, for example, the transformation matrix can be precalculated, so that only a limited computational effort is incurred during real-time operation.

[0041] When fed as a time domain signal, the counter signal is combined into a signal modulated with the harmonic angular frequency. The counter signal and the harmonic component to be reduced thus have the same frequency, ie a frequency corresponding to the harmonic angular frequency, so that the harmonic component can be at least partially cancelled out at a suitable phase position.

[0042] One aspect is to connect a modulator between the anti-signal generator and the feed. The modulator is arranged to modulate the space vector representation of the anti-signal calculated by the anti-signal generator with a harmonic angular frequency. Alternatively, the modulator is arranged to modulate the time domain representation of the anti-signal calculated by the anti-signal generator with a harmonic angular frequency. This results in a modulated space vector representation or time domain representation of the anti-signal output to the feed. If the anti-signal generator already generates an anti-signal modulated with a harmonic angular frequency, the modulator is redundant and the already modulated signal can be output to the feed.

[0043] The counter-signal generating unit preferably has a harmonic detection unit. The harmonic detection unit has an input connected to the inverter control output or the motor (in a signal transmission manner) or to the power input of the inverter (in a signal transmission manner). There is a control variable in the time domain, that is, at least one power signal. In this case, the control signal (current and / or voltage) of the motor or inverter or the inverter control output or the power supply signal (current and / or voltage) of the inverter is used as the power signal. These signals contain harmonic components to be compensated, so that at least the alternating component (AC component) thereof represents the control variable. In particular, the harmonic component is extracted from the signal to form the control variable. The harmonic detection unit is configured to detect the harmonic components (signal strength, phase) in the power signal.

[0044] In particular, the harmonic detection unit has an input connected to the manipulated variable guide unit and / or the feedback section. The harmonic detection unit is arranged to determine the harmonic component from the manipulated variable and / or the adjusted variable present at the manipulated variable guide unit or the feedback section, or to consider the harmonic component when generating the counter signal, or to generate the counter signal according to the harmonic component. For this purpose, a mapping, in particular an empirical mapping, can be used, or a harmonic calculation can also be used, which considers all or only some (or even only one) harmonic frequencies and at least approximately calculates the harmonic component from the manipulated variable and / or the adjusted variable, in particular the harmonic component caused by the (one or more) variables involved in the power supply signal (power supply current, power supply voltage) of the inverter. For this purpose, the variables involved are preferably present in a space vector representation, or are obtained in this form from the manipulated variable guide unit or the feedback section. Preferably, the manipulated variable is obtained from the manipulated variable guide unit before the position of the feed-in unit of the counter signal (and in particular after the deviation detection unit). The manipulated variable and / or the adjusted variable preferably exist in a space vector representation involving the base angle frequency (with a rotation of the base angle frequency). To determine the harmonic components, the manipulated variable and / or the adjusted variable may be present in a space vector representation related to the fundamental angular frequency and additionally in a space vector representation related to the harmonic angular frequency. The harmonic components may be determined as approximate values, in particular as approximate values ​​only for one frequency, in particular a frequency corresponding to the harmonic angular frequency.

[0045] For example, when using a space vector representation with two vectors (e.g., d / q representation), the harmonic component can be determined by using the product and sum of two factors, wherein the first factor corresponds to one of the two vectors of the manipulated variable, and the second factor corresponds to one of the two vectors of the adjusted variable, wherein one of the two factors is a vector under the space vector representation with a harmonic angular frequency, and the other factor is a vector under the space vector representation with a fundamental angular frequency. This will result in an item representing the compensated harmonic component and can be set to zero in order to determine the vector of the manipulated variable under the space vector representation with the harmonic angular frequency, which vectors form an anti-signal or define the phase and amplitude of the anti-signal (in the form of a space vector representation). For example, the P_VE item shown in this article can be used to represent the harmonic component within the reduction condition, wherein the harmonic component is derived from two vectors of the manipulated variable under the space vector representation with the fundamental angular frequency and a vector of the adjusted variable under the space vector representation with the fundamental angular frequency and a vector of the adjusted variable under the space vector representation with the harmonic angular frequency. The two vectors of the manipulated variable under the space vector representation with the harmonic angular frequency in this item correspond to the anti-signal (under the space vector representation).

[0046] In addition, the harmonic detection unit also has an output terminal, which is arranged to output the detected harmonic components, wherein the harmonic components are output in the form of a space vector representation (harmonic space vector representation). The harmonic components can be output as a parameter of the intensity of the reproduced harmonics (especially the intensity of the system of co-rotation and counter-rotation rotating at a harmonic angular frequency). The rotation involves a rotation relative to the rotor or involves a space vector representation of the basic control loop. Preferably, the parameter information is combined with the phase. When calculating, it should be taken into account that the harmonic space vector representation either involves the rotor or the stator, wherein when the basic space vector representation of the manipulated variable involved is fixed to the stator, or has rotated with the rotor and is therefore fixed to the rotor, a difference will be generated. The harmonic space vector representation generated by the anti-signal generating unit can be used directly by the anti-signal generating unit to generate an anti-signal, which also exists in a space vector representation. The anti-signal calculation in the anti-signal generating unit is also preferably based on the representation of the space vector.

[0047] The harmonic detection unit can be configured as different variants. The harmonic detection unit can be configured as a harmonic space vector transformation. The harmonic detection unit transforms the power signal (manipulated variable signal in the time domain representation) into a space vector representation. The space vector representation can be rotated at a harmonic angular frequency relative to the space vector representation of the manipulated variable. Depending on the type of transformation, the harmonic angular frequency can also rotate relative to the stator, wherein in this case the representation of the manipulated variable should be taken into account, and in particular whether the representation relates to the stator or the rotor, i.e. whether the stator is fixed or the rotor is fixed.

[0048] The harmonic detection unit can also be configured as a high-pass filter or a band-pass filter. The filter is configured to block the fundamental angular frequency and allow the harmonic angular frequency to pass. The filter is particularly configured to attenuate the fundamental angular frequency by at least 5, 10, 20 or 30 decibels more than the harmonic angular frequency or a frequency below, the frequency being greater than 2 times the harmonic angular frequency or its inverse value, or greater than 4 times the harmonic angular frequency or its inverse value.

[0049] Finally, the harmonic detection unit can also be designed as a spectrum analysis device, which implements a Fourier transformation, for example. The spectrum analysis device is designed to extract the components of the harmonic angular frequencies as a spectrum, in particular together with the phases of these components.

[0050] If the harmonic detection unit is designed as a harmonic space vector transformation unit, the harmonic components are mapped by a transformation based on the harmonic angular frequency (without mapping the fundamental component). In this transformation, in addition to the space vector, the phase position is also detected and output. In the case of a high-pass filter or a band-pass filter, the relevant signal is also output in the form of the signal strength or amplitude of the harmonic component, together with the relevant phase position. The phase position is in particular a power signal or a manipulated variable.

[0051] Preferably, the anti-signal generating unit includes an anti-signal calculating unit. The anti-signal calculating unit is connected to the downstream of the harmonic detection unit. The harmonic detection unit detects the intensity and angle of the harmonic signal (relative to the phase position of the signal component with the basic angular velocity), and the anti-signal generating unit generates a signal therefrom, which is suitable for reducing the harmonic components detected in the power signal (at the inverter control output or at the power input of the inverter). The anti-signal generated by the anti-signal generating unit is inverted into a harmonic signal detected by the harmonic detection unit, that is, for example, offset by 180 degrees, so as to achieve at least partial cancellation of the harmonic signal and thus reduce the harmonic signal. The anti-signal is suitable for reducing the harmonic components in the power signal (i.e., the current or voltage at the inverter control output or in the motor or the current or voltage in the power signal of the inverter). In this case, the anti-signal can be designed according to the requirements (reduction conditions) of reducing the harmonic components in the power signal of the power input of the inverter or reducing the harmonic components in the power signal of the inverter control output or the motor. Preferably, the counter signal is designed according to the requirement of reducing harmonic components in the power signal at the power input of the inverter to reduce the ripple current loaded on the intermediate circuit capacitor at the power input of the inverter. Thus, the requirement may provide for at least partially compensating the AC load of the intermediate circuit capacitor at the power input of the inverter.

[0052] The harmonic detection can represent a measure of the harmonic component together with the reduction condition (in order to generate a counter signal as a function of the harmonic component). The harmonic detection part processes the manipulated variable of the basic control loop in this case (see Figure 1: manipulated variable I_U-I_W, i.e. the manipulated variable as a time signal or preferably its space vector representation I_d', I_q), and in the reduced condition, the result of the harmonic detection is the manipulated variable of the manipulated variable guide (see Figure 1 : The manipulated variable U_dq(G), i.e. the manipulated variable preferably before the inverse signal is fed in, i.e. without the inverse signal) is used together for generating the inverse signal according to the reduction condition. In other words, the harmonic components are obtained when the signal output by the harmonic detection unit is processed together with the manipulated variable under the application of the reduction condition. It can therefore be provided that the harmonic components output by the harmonic detection unit are combined with the manipulated variable (within the reduction condition or inverse signal generation) to form a measure of the harmonic components, which form the basis for the inverse signal generation (within the reduction condition).

[0053] The anti-signal calculation unit has an input terminal configured to receive harmonic components. Harmonic components exist in this case with space vector representation. The input terminal is configured to receive both the intensity of the harmonic components and the phase position of the harmonic components (relative to the power signal component with the fundamental frequency). The anti-signal calculation unit is configured to map the space vector representation of the harmonic components to the space vector representation of the anti-signal based on the reduction condition. Therefore, the anti-signal calculation unit has a reduction condition, which can be, for example, that the sum of the anti-signal and the detected harmonic components is 0 (or not greater than a predetermined absolute value), or the sum of the anti-signal and the harmonic components detected at the inverter output terminal causes the harmonic components at the power input terminal of the inverter to be 0, or the (calculated or detected) power (e.g., power P_VE as shown above) of the harmonic components at the power input terminal of the inverter is 0.

[0054] The counter-signal calculation unit can set an approximation with the manipulated variable of the basic control loop (for example, the phase current or its fundamental component, see Figure 1 , reference numeral I_dq(G) in FIG. 1 ), a variable of the controlled section (eg, a voltage input to the inverter control input terminal, see Figure 1 Reference symbol U_dq(G) in Figure 1 The reference numerals I_d(O), I_d(O) in the figure are used as input variables, preferably in the form of space vector representation. These input variables can together form part of the reduction condition. The reduction condition can stipulate that the result of the approximation is 0, wherein the harmonic components present in the power signal (power supply signal of the inverter, phase current, etc.) are approximately reproduced (approximately).

[0055] The countersignal calculation unit can have, in particular, a manipulated variable as an input variable, which is fed into the feedback stage from the inverter control output of the inverter. The input variable(s) are preferably received in a space vector representation. It is provided to calculate the harmonic components, in particular in combination with the manipulated variable.

[0056] The reduction condition is provided in particular in a space vector representation. According to the reduction condition, the anti-signal can be calculated in a simple manner based on the harmonic component. The reduction condition can also provide that the intensity of the anti-signal corresponds to the intensity of the harmonic component, while the phase positions are offset by 180° from each other. Another possibility is that different signs are provided for the anti-signal and the harmonic component when the angular offset between the anti-signal and the harmonic component is 0. Thus, for example, the anti-signal can be generated by multiplying the harmonic component by negative 1 (under the same phase position). The reduction condition reflects that the anti-signal component and the harmonic component (at the inverter output or at the power supply input of the inverter) at least partially cancel each other or suppress or attenuate the harmonic component by the anti-signal. The reduction condition particularly reflects that the approximate harmonic component (for example, the component P_VE previously expressed as power) is minimized or (as a target description) equal to zero.

[0057] The harmonic components are mapped to the inverse signal taking into account the angular relationship between the regulated variable (e.g. the power signal of the motor or the signal at the inverter control output) and the manipulated variable in the controlled section. In this case, preferably both the power signal (i.e. the regulated variable) and the manipulated variable are present in a space vector representation. Conversely, the manipulated variable may be present in a space vector representation, while the power signal is represented in the time domain, wherein the angular relationship can be determined, for example, by converting the power signal into a space vector representation and by detecting the angular relationship between the space vector representation and the space vector representation of the manipulated variable. The power signal corresponds to the regulated variable present at the inverter control output or the regulated variable used to operate the motor.

[0058] The space vector representation used here is preferably reproduced with values ​​reproduced on two axes at a fixed angle to each other. These axes rotate at an assigned angular frequency. This particularly relates to the representation of the counter signal or other signals, which are represented as mentioned here in a space vector representation. The space vector representation of the variables in the manipulated variable guide unit involves vectors rotating at the base angular frequency. The space vector representation of the variables of the counter signal generator or harmonic detection unit or counter signal calculation unit involves two axes rotating at a fixed angle to each other and at a harmonic angular frequency. The feed unit preferably uses a space vector representation rotating at the base angular frequency, so that the counter signal is fed there as a signal modulated with a harmonic angular frequency to reproduce a faster rotation of the signal (compared to the base angular frequency).

[0059] The space vector representation specifies in particular two axes which are rotated at a fixed angle to one another and are perpendicular to one another. The space vector representation is thus a complex representation, wherein the two axes correspond to the real part and the imaginary part of the complex representation.

[0060] Therefore, the space vector representation of the counter signal is preferably reproduced by two axes rotated at a fixed angle to each other, which in particular form an angle of 90°. Therefore, the space vector representation of the counter signal can be particularly complex, with a real axis and an imaginary axis offset by 90° from the real axis. The counter signal calculation stipulates a reduction condition, which can be satisfied with only one axis of the space vector representation. This results in an uncertain system. Therefore, one axis of the space vector representation can be subjected to the counter signal calculation, while the other axis can be basically freely selected. However, when calculating the one axis according to the reduction condition, the height of the other axis plays a role. Therefore, when calculating the axis calculated according to the reduction condition, the value of the other axis is used as input to generate a counter signal that at least partially suppresses the harmonic components with the help of the reduction condition. Therefore, it can be provided that the counter signal calculation unit is set to map the value of one of the axes according to the reduction condition by the counter signal calculation unit, while the value source predetermines the value of the other axis. This value source can be, for example, a lookup table, or can correspond to a constant value.

[0061] The counter-signal calculation unit has an input connected downstream of the value source. Therefore, the value source is connected to the input in a controlled manner or in a signal-transmitting manner. The counter-signal calculation unit is preferably configured to map the space vector representation of the harmonic components to the space vector representation of the counter-signal taking into account the associated values. In other words, if different values ​​are present at the input of the counter-signal calculation unit (and output by the value source), the value of the first-mentioned axis is mapped to different values ​​by means of a reduction condition.

[0062] The feedback section of the basic control loop preferably has a subtraction element. The subtraction element is arranged to subtract the harmonic component from the manipulated variable transmitted by the feedback section, wherein the resulting signal (i.e. the difference) is forwarded by the subtraction element in the feedback section. In this way, the influence of the harmonic component is suppressed in the feedback section, so that the basic control loop does not change the manipulated variable due to the harmonic component. In addition to subtracting the harmonic component from the manipulated variable, it can also be provided that the subtraction element subtracts the inverse signal from the manipulated variable.

[0063] The subtraction element works in a space vector representation; therefore, subtraction is performed with variables that exist in a space vector representation. The (feedback) control variable is input into the subtraction element in the form of a space vector representation. The harmonic component or the anti-signal is also output to the subtraction element in the form of a space vector representation. In this case, the subtraction element obtains the control variable in the form of a space vector representation based on a rotation of the fundamental angular frequency. Since the space vector representation of the harmonic component or the anti-signal subtracted from the control variable should also involve the fundamental angular frequency, the harmonic component or the anti-signal is output to the subtraction element in a manner modulated by the harmonic angular frequency. Therefore, the subtraction element obtains a harmonic component or an anti-signal based on the fundamental angular frequency but modulated by the harmonic angular frequency under the space vector representation, so as to take into account that the feedback section forwards the control variable as a space vector representation based on the fundamental angular frequency and the harmonic component has a relatively higher frequency, i.e., the harmonic angular frequency. If the anti-signal is fed in instead of the harmonic component, it is preferred to output a version of the fundamental source signal rotated 180 degrees or a version multiplied by negative 1 instead of the fundamental source signal to the subtraction element.

[0064] The subtraction element is provided in a part of the feedback section of the basic control loop in which the signal is forwarded in the form of a space vector representation. The space vector representation in this case relates to the base angular frequency. The harmonic components are also subtracted in the subtraction element in the form of a space vector representation, wherein the space vector representation is based on the harmonic angular frequency. In other words, the harmonic components subtracted in the subtraction element are present in the form of a space vector representation that rotates with the base angular frequency (in order to be correctly subtracted from the above signal), but modulated with the harmonic angular frequency or with the ratio of the harmonic angular frequency to the base angular frequency. The latter serves on the one hand to subtract the space vector representation of the coordinate system rotating with the same angular frequency (base angular frequency), wherein at the same time it is taken into account that the harmonic components rotate faster in the form of a space vector representation than the signal in the basic control loop, i.e. rotate with the harmonic angular frequency. The latter is achieved by modulation with the harmonic angular frequency (or the ratio of the harmonic angular frequency to the base angular frequency).

[0065] The counter-signal generating unit may include a counter-signal calculating unit, such as described above. The counter-signal calculating unit preferably has an input terminal, which is configured to receive a regulated variable that exists in the form of a space vector representation and is output by the inverter control output terminal. Therefore, the input terminal can be configured to receive a regulated variable under a space vector representation, wherein the regulated variable corresponds to a power signal output by the inverter or a power signal used to run the motor. In addition, it can also be provided that the input terminal is configured to receive a manipulated variable of the controlled section, which is reproduced in a space vector representation. The space vector representations of the regulated variable and the manipulated variable both involve a base angle frequency. Therefore, the counter-signal calculating unit can determine the phase position of the regulated variable and the manipulated variable. In particular, the phase position of the counter-signal relative to the regulated variable or relative to the manipulated variable can be provided so that the counter-signal at least partially suppresses the harmonic components.

[0066] A further embodiment provides that a two-part linear regulator is provided between the deviation detection unit and the subsequent feed-in unit for the counter-signal. The regulator particularly comprises a first regulator part and a second regulator part. The first regulator part relates to a first axis of the space vector representation, while the second regulator part relates to a second axis of the space vector representation. In particular, the first regulator part may relate to the real axis of the space vector representation of the signal forwarded in the controlled segment, while the second regulator part may relate to the imaginary axis of the space vector representation. Therefore, the regulator part also works with the signal reproduced in the space vector representation. This simplifies the regulation. The regulator parts are preferably linear regulators, such as PID regulators. The regulator parts are preferably not interlocked with each other, but are regulated separately. The regulator parts are particularly all steep regulators.

[0067] A limiter can be connected downstream of the anti-signal generating unit or the anti-signal calculating unit. The limiter can reduce the amplitude of the space vector representation of the anti-signal. The limiter is preferably connected upstream of the modulator, through which the limited signal is output to the feed-in unit of the anti-signal. Alternatively, the limiter is connected downstream of the modulator to provide amplitude limitation for the modulated anti-signal (in the form of space vector representation). The limiter also works with signals present in space vector representation (in particular in space vector representation involving rotation at the base angle frequency).

[0068] A sensor, in particular an angle sensor, may be arranged at the motor, or a unit for determining the current rotor angle of the motor may be arranged instead, for example, based on the power signal (current signal and / or voltage signal) used for the operation of the motor. The angle signal output by the sensor may be output to the input of the harmonic detection unit. The harmonic detection unit is arranged to associate the power signal of the motor or the power signal output by the inverter with the angle signal so as to output the space vector representation of the harmonic component together with the correct angle. Preferably, the angle signal is adapted to the variable used for the operation of the harmonic detection unit, wherein the harmonic detection unit obtains the modulated signal. Therefore, at least one harmonic modulator may be provided, which modulates the angle signal so that the angle signal is adapted to the rotation of the space vector representation of the harmonic detection unit. In particular, two harmonic modulators may be provided to modulate the angle signal with a frequency corresponding to the harmonic angular velocity plus 1 (corresponding to the rotation of the basic system or rotor) or plus 2π (corresponding to the rotation of the basic system or rotor, in the form of angular velocity representation) on the one hand, to generate a harmonic system rotating in the same direction. Another modulator can be set to multiply the angle signal by 1 (times the speed corresponding to the fundamental angular velocity) or 2π (times the fundamental angular velocity) minus the difference between the harmonic angular velocities to produce a counter-rotating harmonic system. These modulation factors take into account that the space vector representation of the basic control loop is already rotating at the fundamental angular velocity, and is therefore not stator-fixed but rotor-fixed, and that the harmonic components rotate relative to the fundamental component, and therefore rotate relative to the rotor rather than the stator. In other words, the angle signal is modulated to produce a co-rotating and counter-rotating harmonic system that rotates at a harmonic angular frequency or at a ratio of the harmonic angular frequency to the fundamental angular frequency relative to the fundamental system to which the rotor is fixed, and that rotation at the fundamental angular frequency already means a simple rotation (by 1 or 2π), while the harmonic system is based on an already rotating fundamental system.

[0069] In the manipulated variable guide of the basic control loop or before the inverter control input, a transformation can be provided, which transforms the manipulated variable present in space vector representation into a corresponding signal in the time domain. The resulting signal, in particular a pulse width modulated time signal, is input to the inverter for control at its control input (inverter control input). This transformation can also be referred to as inverse space vector transformation IRT.

[0070] Downstream of the target value input, a transformation or mapping can be connected, which converts the input value into a variable in space vector representation, in particular into an input manipulated variable. This transformation can be called a space vector transformation and can also include the conversion of the target variable (speed, torque) into a target current (in the form of a space vector representation or as a parameter thereof). Between this space vector transformation and the inverse space vector transformation in the manipulated variable guidance, the variables provided there, in particular the manipulated variables provided there, are forwarded and processed in the form of a space vector representation. The manipulated variable can be a voltage, wherein a target voltage value (pulse width modulated) is input to the control input of the inverter.

[0071] As a manipulated variable, in particular as a variable in the feedback section of a basic control loop, a current can be provided. This current corresponds to a multiphase current flowing in the motor or to a current used by an inverter to operate the motor. These variables can be measured in particular at the output of the inverter, in the feeder to the motor or at the motor. The current is detected in the form of a time domain representation and in particular in a multiphase manner, in particular by measurement. The feedback section of the basic control loop also has a transformation of this manipulated variable (represented in the time domain) into a space vector representation. This can also be referred to as a space vector transformation, in particular as a space vector representation of the manipulated variable of the feedback.

[0072] The space vector representation mentioned here, in particular the d,q representation, is obtained, for example, by means of a Park transformation. Furthermore, the space vector representation can be a representation of a co-directional system and / or a counter-directional system of symmetrical components, which are obtained, for example, by means of a Fortescue transformation. The space vector representation is preferably a rotor-related space vector representation. Alternatively, a stator-related space vector representation can also be used, for example a space vector representation obtained by means of a Clarke transformation. Thus, the space vector representation can also be an α,β representation. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 The present invention is used to explain the regulating device described herein and the regulating method implemented by the regulating device based on exemplary embodiments represented by symbols. DETAILED DESCRIPTION

[0074] Figure 1A control device with a basic control loop is shown, which has a target value input EG, a subsequent deviation detection unit RA, a manipulated variable guide RS and a modulation output MA, to which the inverter INV (or its control input I_IN) is connected. The inverter INV is controlled by means of the control signals PWM_U, PWM_V, PWM_W in the time domain, i.e., by means of a multi-phase pulse width signal PS. The inverter INV thus receives a pulse width modulation signal PWM_U to PWM_W for each phase U, V, W at the inverter control input I_IN. This signal is a voltage signal and is used for pulse width modulated voltage control of the inverter.

[0075] The inverter has an inverter control output I_OUT, which is also multi-phase and connected to the motor EM in a multi-phase manner. The motor EM itself also has multi-phases and therefore also has a plurality of phase connection terminals, resulting in a multi-phase connection between the motor and the inverter INV.

[0076] The basic control loop also has a feedback section, which feeds back the inverter control output I_OUT or the electric machine EM (i.e. the connection between the inverter INV and the electric machine EM) to the deviation detection unit RA, which determines the control deviation. The deviation detection unit RA can thereby determine the error between the target variable and the actual variable (=control deviation), and can feed the control deviation-corrected adjustment value into the manipulated variable control unit RS based on this.

[0077] The feedback section FB_G of the basic control loop thus provides a feedback R, by means of which the target variable is fed back in order to determine a control error at the deviation detection section RA, based on which control is carried out. The feedback section transmits the manipulated variable (present in the form of a space vector) in the form of the current used for the operation of the electric machine EM to the deviation detection section RA. There, this fed-back manipulated variable (actual current of the electric machine) is compared with the corresponding target variable (present in the form of a space vector), i.e., with the current also output to the deviation detection section RA. The deviation detection section RA is followed by a two-part regulator REG, which outputs a manipulated variable in the form of a voltage U_D, U_Q matched to the difference to a further manipulated variable supply RS.

[0078] The basic control loop is set up for vector control. Many parts or sections of the control device (including the manipulated variable guide or parts thereof) use variables in space vector representation, where this is usually reproduced with the suffix RZ in the reference numerals, and specifically for the individual variables with the suffix "_d", "_q", reproduced as the d component and q component of the variable concerned in space vector representation. The input variables of the target value input terminal EG are converted by the target variable generation unit SE, which generates the target variable in the form of current based on these input data. The target current is reproduced in space vector representation in this case, containing the d component and the q component I_d and I_q. These components form a (multi-part, two-dimensional) target variable, which is generated by the target variable generation unit SE based on the input variables EG, where the target variable generation unit SE also includes a space vector transformation RT to provide the target variable in the form of space vector representation. The target variable is forwarded to the deviation detection unit RA (in the form of space vector representation).

[0079] The deviation detection unit RA, which calculates the control deviation, also works with the target variable and the actual variable in space vector representation. The regulator REG, which consists of two parts REG' and REG", also works with the control difference (in space vector representation) and generates the manipulated variables U_d, U_q therefrom, i.e. (complex) voltages in space vector representation. The voltages U_d and U_q of the manipulated variable controller RS ​​correspond to the (de-interferenced) space vector variables. The manipulated variable controller RS ​​ends with an inverse space vector transformation IRT, which generates a time signal (PWM_U-PWM_W) or a pulse width modulated signal PS from the space vector variables RZG of the voltages U_d and U_q of the manipulated variable controller RS.

[0080] From the resulting manipulated variable I_EM (i.e. the current in the time domain representation flowing through the electric machine EM), a corresponding space vector representation I_G_RZ of this current is generated by a space vector transformation RT_G, which is also represented by the components I_d' and I_q'. Therefore, the feedback section FB_G also has a manipulated variable in the form of a space vector representation. This manipulated variable is fed back via feedback R (in the form of a space vector representation) to the deviation detection unit RA, which also works in the space vector representation and calculates the control deviation in the space vector representation. The deviation detection unit RA is used to determine the control deviation, so that the control deviation can be assigned to the same reference numeral when considering the signals.

[0081] In summary, both the manipulated variable guide RS and the adjusted variable feedback FB_G have components and parts that forward and process manipulated variable signals and adjusted variable signals in the form of space vector representation. These space vector representations RZ within the basic control loop involve a base angle frequency that is essentially determined by the speed n (of the rotor or stator rotating field). The speed n is the target speed and is part of the input variable EG. In addition to the speed n, the target torque Tq is also input as an input variable, if necessary as a supplement to the variable U_HV (i.e., the current supply voltage of the battery Batt that supplies the inverter INV) and / or at least one temperature parameter TEMP, which reproduces the temperature of the motor EM, the temperature of the inverter INV, the temperature of the battery Batt or a combination thereof.

[0082] In order to understand the method presented here, it is important to take into account that at many locations in the basic control loop, variables are forwarded and processed in the form of a space vector representation and that this space vector representation involves a rotating system. In particular, this involves a rotating stator system or a rotating rotor. In the embodiment shown, the space vector representation is rotor-fixed, i.e. it reproduces a system or coordinate axis that is fixed to the rotor (or fixedly linked to the rotating system generated by the stator) and therefore presupposes a rotation with a certain angular frequency. For the components and parts shown above, this is the base angular frequency ω_G. It is shown by way of example that the electric machine EM can have an angle sensor SN, which measures the current rotation angle θ(t). The time derivative dθ(t) / dt corresponds to the angular frequency ω_G, which reproduces the movement of the rotor (or the rotation of the magnetic field system generated by the stator).

[0083] In order to actively reduce or suppress the harmonic components in the variables of the basic control loop, a counter-signal calculation unit is provided according to the invention, by means of which a counter-signal GS can be generated. The counter-signal is combined with the variables of the basic control loop, thereby actively canceling at least a part of the harmonic components. In order to simplify the calculation of the counter-signal, in particular in the case where the rotational speed n is variable and therefore the fundamental frequency ω_G is variable, a counter-signal generation unit with a counter-signal calculation unit GS_RZ is provided, which receives the variables in space vector representation and calculates the counter-signal in the form of space vector representation. The counter-signal can then be combined into a signal represented in space vector representation, or the counter-signal can be added to the variables of the basic control loop, or the counter-signal can be transformed into a signal in the time domain, so that the time signal obtained thereby can be combined with the variables of the basic control loop (also represented in the time domain).

[0084] The harmonic components (or their intensity and angular position) are determined. In the example shown, this is performed by the harmonic space vector transformation unit RT_O. The harmonic space vector transformation unit obtains a manipulated variable in the form of a current I_EM as a signal in the time domain (in particular as individual phase currents I_U, I_V, I_W). The harmonic space vector transformation unit RT_O obtains a signal that reproduces the manipulated variable in the time domain, for example a signal from a phase current measuring device SM. The manipulated variable supplied to the transformation unit RT_O is in this case the current output by the inverter INV (the current at the inverter control output I_OUT) or the current in the motor EM. As an alternative, as shown by the dashed line, the harmonic space vector transformation unit RT_O obtains a manipulated variable in the form of a power P_HV as a signal in the time domain. This variable corresponds to the alternating power of the current flowing at the power input VE of the inverter INV and the voltage involved ("ripple power"). P_HV can be derived from the variables I_G_RZ and U_d, U_q. Since this power is related to the power input of the inverter, this relationship is symbolically represented by a dashed line. The regulating device is preferably configured to minimize the alternating power P_HV, preferably to zero, by means of the inverse signal.

[0085] The harmonic space vector transformation unit RT_O obtains a signal that reproduces the manipulated variable I_EM in the time domain, for example, from a signal from a phase current measuring device SM, see the dashed illustration. Alternatively (shown in dashed lines), the harmonic space vector transformation unit RT_O obtains a signal that reproduces a variable P_HV in the time domain, wherein the variable is derived from, for example, a variable from a phase current measuring device SM. However, preferably, by reducing the condition RBF provisions, the power P_HV, i.e. the ripple power at the power supply input VE, which is obtained by the space vector representation of I_G_RZ, U_d and U_q, is minimized by the inverse signal GS in the space vector representation, and the power P_HV is approximately reproduced.

[0086] In order to detect the harmonic components of a specific frequency (as the signal strength or space vector representation of the harmonic signal) in a simple way, i.e. the harmonic angular frequency ω_O, the harmonic detection unit RT_O maps the control variable I_EM (present in the form of a time domain representation) into a space vector representation RZO, which, however, is based on the harmonic angular frequency ω_O. In other words, by transforming the time domain variables I_EM or I_U-I_W by means of a space vector transformation based on a rotation with the harmonic angular frequency ω_O, a space vector representation of the harmonic components with the harmonic angular frequency is generated. Since the corresponding space vector representation is based on the harmonic angular frequency ω_O, only the rotating system with the harmonic angular frequency is mapped, while the rotating system with the basic angular frequency (in particular the rotating system of the basic control loop) or the variable is not mapped as a phasor with a rotationally constant amplitude. By using a space vector transformation based on the harmonic angular frequency, a representation of only the harmonic components is automatically obtained, wherein these harmonic components already exist in the space vector representation. There are other possibilities for harmonic detection, such as low-pass filtering or band-pass filtering, in which components with harmonic angular frequencies ω_O are exclusively passed, or spectral analysis (for harmonic angular frequencies ω_O) or modulation using harmonic angular frequencies ω_O. With these other possibilities, the manipulated variable I_EM in the time domain is processed and the harmonic components are obtained in the form of a time domain representation. In particular, this time domain representation can then be converted into a space vector representation (in order to then generate the inverse signal in the form of a space vector representation).

[0087] It is shown that the adapted harmonic angular frequency signal ω_O' is supplied to the harmonic space vector transformation unit RT_O. This is obtained from the base angular frequency ω_G (detected by the sensor SN in the example shown), wherein the signal is modulated by means of a harmonic modulator OM. In the example shown, the sixth harmonic is detected as a harmonic component. Since the counter signal generation is already based on a space vector representation rotating at the basic angular frequency w_G, it is necessary to take this basic rotation into account when generating the adapted signal ω_O' (two parts). Therefore, in order to represent the harmonic system rotating in the same direction, modulation is performed by a factor of +7, that is, the order of the harmonics plus 1. In order to represent the harmonic rotation system rotating in the opposite direction, modulation is performed by a factor of -5 (=1-the order of the harmonics). The modulation for generating ω_O' uses a harmonic modulator OM shown in two parts. As mentioned above, it is taken into account that the harmonic rotation system rotates relative to the basic rotation system (at six times the angular frequency), but the basic system already rotates at the basic angular frequency ω_G (relative to the stator).

[0088] Therefore, two harmonic angular frequency signals are supplied to the harmonic space vector transformation unit RT_O, which are together represented by ω_O'. One of these signals represents a co-rotating system that rotates in the same direction as the rotating system of the basic control loop (just at a faster speed). The signal or signal component is used to extract the harmonic component of the rotating system that rotates in the same direction as the rotor or the basic rotating system. With the other component (for example, shown with a modulation factor of -5), the harmonic component of the rotating system that rotates in the opposite direction to the rotor or in the opposite direction to the rotating system of the basic control loop is extracted. As described above, the ordinal number of the harmonic angular frequency (6 in the example) relates to a multiple of the fundamental angular frequency, so that the rotating system based on the harmonic angular frequency ω_O rotates relative to the system rotating at the fundamental angular frequency, while the signal θ(t) of the sensor SN relates to the stator, so that the existing fundamental rotation is taken into account by a factor (+7 or -5) that deviates from +6 or -6.

[0089] The counter-signal calculation unit GS_RZ also works with variables under space vector representation, and therefore works with the complex space vector representation I_O_RZ of the harmonics. The complex space vector representation includes two components, namely the d component and the q component, involving harmonics with reference numerals I_d(O) and I_q(O). Therefore, the space vector representation I_O_RZ is a d, q component representation, wherein in the example shown, the space vector representation reproduces the current attributed to the harmonic component (at the inverter control output I_OUT or in the motor EM). The space vector representation is a complex representation with a real part and an imaginary part (I_d and I_q). Preferably, the complex space vector representation I_O_RZ of the harmonics received from the counter-signal calculation unit GS_RZ includes both a space vector representation of a co-rotating system rotating in the same direction as the basic rotating system of the basic regulation loop, and a representation of a rotating system rotating opposite thereto. Both rotating systems rotate at a harmonic angular frequency relative to the basic system (which rotates at ω_G). Therefore, four separate signals can be received to represent the harmonic rotating system, namely, a real separate signal and an imaginary separate signal for the harmonic rotating system rotating in the same direction, and a real separate signal and an imaginary separate signal for the counter-rotating system rotating at ω_0.

[0090] The counter-signal calculation unit GS_RZ includes a reduction condition RBF. This reduction condition stipulates that the harmonic components in the manipulated variable I_EM (in the form of a space vector) combined with the counter-signal (as a manipulated variable, also in the form of a space vector) result in zero. This is Figure 1is reproduced symbolically by the formula I_d*U_d+I_q*U_q=0 (reduction condition). The reduction condition RBF stipulates in particular that the power P_HV (harmonic components with ω_G in the current and voltage at the power input terminal VE) is equal to 0. The above formula represents a simplified calculation of the harmonic power at the power input terminal VE, which is obtained based on the variables I_d', I_q', U_d and U_q. A calculation device (not shown) can be provided, which calculates P_HV based on the last-mentioned variables. Since P_HV relates to the power input terminal VE, a corresponding dotted line is symbolically shown to represent the relationship between this variable and the power input terminal VE. In fact, P_HV can be calculated (approximately) based on I_G_RZ, U_d and U_q.

[0091] Figure 1 The combination shown is the power calculation of the harmonics of the regulated variable (as provided in the electric machine EM) and the manipulated variable (of the controlled segment RS). Figure 1 The method shown is based on a d,q transformation (Park transformation), so that the space vector representation involved is reproduced with a d component and a q component. In addition, the optional variable leads to a reduction condition: the components I_d and I_q of the reduction condition are generated by the harmonic detection RT_O, so that for active attenuation, the components U_d and U_q can be selected together (they represent the inverse signal indexed into the controlled segment) so that the desired harmonic component reduction occurs. However, for example, U_d can be freely selected, wherein U_q is calculated in particular from U_d in order to meet the reduction condition. U_q can also be freely selected, wherein U_d is calculated in particular from U_q in order to meet the reduction condition. Therefore, a degree of freedom is provided for the selection of U_d and U_q.

[0092] Therefore, one of these two variables can be predetermined by the look-up table LT as a data source.

[0093] In the example shown, U_q(O) is predetermined (i.e. freely selectable) so that U_d(O) can be calculated correspondingly in the counter-signal calculation unit GS_RZ based on the additionally predetermined parameters I_d, I_q and U_q. In summary, a counter-signal GS is obtained in a space vector representation, which is based on the harmonic angular frequency ω_O. This is the output signal GS_ω_O of the counter-signal calculation unit GS_RZ, which is reproduced in the form of a space vector representation. The components of this space vector representation are two components, namely a real component and an imaginary component, which together reproduce the complex space vector representation of the counter-signal GS.

[0094] Next comes the optional amplitude limitation Lim, which is shown by the dashed rectangle. In the feed-in EGS of the countersignal GS, an active attenuation of the harmonic components is performed in the basic control loop or its manipulated variable guide RS by combining the countersignal with the signal in the controlled section RS of the basic control loop. In particular, the countersignal GS is combined with the space vector representation of the manipulated variables U_d and U_q. In this case, the manipulated variable RZG (here a pulse width modulated voltage) is present in the space vector representation RZG.

[0095] The counter-signal output by the counter-signal calculation unit GS_RZ exists in a space vector representation based on a rotation with a harmonic angular frequency ω_O. However, in the controlled section RS of the basic control loop, the manipulated variable exists in a space vector representation RZG based on a rotation with a base angular frequency. In order to be able to correctly combine these variables in the feed-in unit EGS of the counter-signal GS, a modulator MOD is provided, which modulates the signal output by the counter-signal calculation unit GS_RZ (which exists in a space vector representation) with the harmonic angular frequency ω_O. Therefore, in the example of the sixth harmonic shown, the counter-signal is modulated with six times the base angular frequency ω_G, i.e., with ω_O (in the form of a space vector representation, based on ω_O as the rotation angular frequency). An adapted counter-signal GS_ω_G is obtained, which is modulated with the harmonic angular frequency ω_O. By this modulation, the counter-signal GS is adapted to the base angular frequency, which serves as the basis for the space vector representation of the manipulated variable in the controlled section RS of the basic control loop. Starting from the rotor-fixed representation of the manipulated variable in the basic control loop (see controlled segment RS), the rotating system of the space vector representation of the counter-signal rotates at a faster speed, i.e. at a harmonic angular frequency, i.e. at the ratio of the harmonic angular frequency to the fundamental angular frequency. In the example shown, this is six times. In order to take this into account, the space vector representation of the harmonic signal (which involves an imaginary rotation with ω_O) is therefore modulated with the harmonic angular frequency, so that for the space vector representation RZG with the fundamental angular frequency in the controlled segment RS, the space vector representation of the counter-signal rotates at six times the speed. Preferably, not only a rotating system (rotating in the same direction or in the opposite direction) is generated that reproduces the counter-signal GS, but also the counter-signals of the same direction and the opposite direction, preferably in the form of parameters of the space vector representation. Both are then modulated, wherein the space vector representation of the same direction and the opposite direction of rotation of the counter-signal is modulated during the modulation process while maintaining the direction of rotation, for example by modulating using the ratio of the harmonic angular frequency to the fundamental angular frequency and its negative expression.

[0096] The symbolically shown reduction condition RBF is shown, which can correspond to the condition shown above for P_VE. In this case, the (unmodulated) variable U_dq(G) of the controlled section (reference frequency: fundamental) and the variables (I_d', I_q') of the feedback section and the harmonic signals I_d(O), I_q(O) are combined to produce the counter signal GS. The reduction condition can include the aforementioned approximation (for P_VE).

[0097] In order to avoid that the two-part regulator REG of the basic control loop compensates for the counter-signal by regulation, a subtraction element SUB is provided in the partial feedback part R or the feedback section FB_G of the basic control loop. A modulated space vector representation of the harmonic component is fed in there. In the example shown, the subtraction element SUB is located in a part of the feedback section, in which the signal is forwarded in a space vector representation, see signals I_d' and I_q'. These signals correspond to the complex space vector representation of the control variable (which is related to the base angle frequency ω_G). Therefore, since the signal of the space vector representation into which the counter-signal is injected is related to the space vector representation rotated with the base angle frequency ω_G, the harmonic component is also modulated with the harmonic angular frequency or with the ratio of the harmonic angular frequency ω_O to the base angle frequency ω_G (corresponding to the order of the harmonic). The harmonic component is thus subtracted from the feedback R, so that the deviation detection unit detects the harmonic component at least partially reduced. Since the control deviation forms the input variable of the two-part controller REG, this controller does not react to the harmonic components, since, as described above, these have already been eliminated in advance by subtracting them from the feedback R of the basic control loop.

[0098] A low-pass filter TP or an average value former (in particular for forming a smooth average value) can be provided, through which the space vector representation of the harmonic component RZO is guided. The low-pass filter TP or the average value former can be connected downstream of the harmonic detection unit RT_O or can be connected upstream of the counter-signal calculation unit GS_RZ. The low-pass filter TP in particular suppresses alternating components under the space vector representation RZO, which are obtained by signals with angular velocities other than the desired harmonic angular velocity. Such signals other than the desired harmonic angular velocity are mapped into alternating components in the case of a space vector transformation using the desired harmonic angular velocity, and the alternating components are balanced to zero in particular by rotation.

[0099] Since both harmonic detection and anti-signal calculation are required to generate the anti-signal, both components can be referred to as an anti-signal generating unit. Figure 1 An embodiment of harmonic detection by means of harmonic space vector transformation is shown in FIG. , which transforms the power signal I_EM into a space vector representation RZO. However, other methods can also be used to calculate the intensity of the harmonics.

[0100] The manipulated variable I_EM including the signals I_U to I_W, i.e. the current used for the operation of the motor, can be called a power signal. This is a manipulated variable obtained by the motor EM running with a pulse width modulated voltage power signal (manipulated variable, time domain representation) and output at the output terminal I_OUT of the inverter INV or flowing in the motor. In other words, the motor EM converts the pulse width modulated signal output by the inverter into a manipulated variable. Due to the pulse width modulated voltage, the currents I_U to I_W flow. Since these currents form the manipulated variables and the target variable generation unit SE is also based on the current as a power signal (target value), the deviation detection unit RA or its adjustment deviation signal is based on the actual current of the motor (in the form of a space vector representation) and the difference between the target input variables I_d and I_q, and the target input variables I_d and I_q are input to the deviation detection unit RA as target values ​​under the space vector representation REF_RZ.

[0101] The basic control loop has a manipulated variable guide RS, in which the variables are processed and forwarded in a space vector transformation. This space vector transformation can also be called a manipulated variable segment. At the end of this segment there is an inverse space vector transformation IRT, which inputs the pulse width modulated voltage control signal PWM_U-PWM_W as a pulse width signal to the inverter input I_IN. This section between the inverse space vector transformation IRT and the control input I_IN of the inverter is a part of the entire manipulated variable guide of the basic control loop. In this section, the signal is guided in the form of a time domain representation.

[0102] An alternative embodiment provides that the counter-signal GS can also be fed as a time-domain signal at a position marked EGS', which is located after the inverse space vector transformation IRT (i.e., at a position in the entire manipulated variable section of the basic control loop that follows the manipulated variable section RS of the shown pilot space vector). This requires a less computationally intensive transformation of the space vector representation of the counter-signal GS into a time-domain signal. In this case, for example, a unit that performs pulse width modulation (e.g., IRT) can have an input for inputting the counter-signal in the time domain, so that when generating the pulse width signal PS, modulation is performed not only according to the manipulated variable, but also according to the counter-signal. If necessary, there are two modulation parts there, one of which performs pulse width modulation for adjusting the manipulated variable and the other reproduces the counter-signal in the form of pulse width modulation. The two modulated signals are then combined and forwarded to the control input I_IN of the inverter INV.

[0103] In summary, it can be seen that the counter-signal generation unit GS_RZ uses the representation of the harmonic components in the space vector transformation, which results in a simplified calculation. This is particularly due to the fact that the space vector transformation already assumes a rotating system and the relevant components can therefore be reproduced with non-rotating parameters. Therefore, the compensation of the harmonic components is greatly simplified by feeding the counter-signal in the space vector transformation, and only the variable basic operating parameters of the motor, such as the speed, need to be tracked, instead of using the rotation angle of the rotor rotating at the base angle frequency. This applies to synchronous motors; in the case of asynchronous motors, the rotation involves the rotation of the stator field, where in addition to the current, the speed of the asynchronous machine can also be provided as a manipulated variable. The adaptation of the space vector representation of the counter-signal is performed by modulation with the harmonic angular frequency ω_O, and the adaptation is based on the rotation of the space vector representation at the harmonic angular frequency ω_O, so that in the case of a space vector representation based on the base angle frequency, for a signal based on the base angle frequency, the counter-signal rotates at the harmonic angular frequency.

[0104] List of reference numerals:

[0105] GS: Counter signal

[0106] GSS: signal strength of the counter signal

[0107] R: Feedback Department

[0108] FB_O: Anti-signal feedback part

[0109] EG: Input variable, target value input terminal

[0110] RA: Adjustment deviation unit, deviation detection unit

[0111] RS: manipulated variable guide

[0112] REG: Linear Regulator

[0113] GSE: feedback signal feed-in section

[0114] EG_T: Transform input variables into space vector representation

[0115] Suffix _RZ: space vector representation

[0116] PS: Pulse width signal

[0117] MA: Modulation output

[0118] RZG: Space vector variable (noise-removed)

[0119] IRT: Inverse Space Vector Transform

[0120] RT_O: Harmonic space vector transformation / harmonic detection

[0121] INV: Inverter

[0122] I_IN: Inverter control input

[0123] I_OUT: inverter control output

[0124] I_EM: Output signal of the inverter

[0125] SN: Sensor

[0126] θ: rotor angle, θ(t): time signal of rotor angle

[0127] ω_G: fundamental frequency

[0128] ω_O: Harmonic angular frequency

[0129] OM: Harmonic Modulator

[0130] TP: Low Pass

[0131] I_d(O), I_q(O): complex d and q components of harmonics

[0132] I_O_RZ: Complex space vector representation of harmonics

[0133] EGS: Feeding section for the negative signal (GS)

[0134] Lim: Limiter

[0135] GS_RZ: Inverse signal calculation in space vector representation

[0136] MOD, MOD': Modulator

[0137] RT: Transform to space vector representation

[0138] SM: Current measuring device (used to detect the operating current of EM)

[0139] VE: Power input terminal of the inverter (voltage power input terminal)

[0140] P_HV: Harmonic power at the power input terminal VE

[0141] I_HV, U_HV: current and voltage at the power input terminal VE

[0142] The functional components referred to here are preferably designed as device elements.

Claims

1. A control device for controlling an electric drive having an inverter and a multi-phase electric machine, wherein the control device has a basic control loop having: Target value input terminal (EG), The subsequent deviation detection unit (RA), a manipulated variable guide section (RS) connected downstream of the deviation detection section (RA), the manipulated variable guide section having a modulation output terminal (MA) connected to the inverter (INV) in a controlled manner, and Feedback segment (FB_G), where The basic control loop is designed as a vector control with manipulated variables (U_d, U_q) in a space vector representation (RZG) which is related to the base angle frequency (ω_G), wherein the control device also An inverter control output terminal (I_OUT) of the inverter (INV) is connected to a feeding part (EGS) of an inverting signal (GS) via the inverting signal feedback part (FB_O), wherein the inverting signal feedback part (FB_O) It has a counter-signal generating unit (GS_RZ, RT_O), which is connected downstream of the inverter control output terminal (I_OUT), the inverter control input terminal (I_IN) and / or the power input terminal (VE) of the inverter (INV), and at least one power signal (I_U, I_V, I_W; I_HV; U_d, U_q) of the driver in the time domain is applied to the power input terminal, and wherein the counter-signal generating unit (GS_RZ, RT_O) is configured to calculate and output a space vector representation (GS_ω_O) of the counter-signal related to the harmonic angular frequency (ω_O).

2. The adjustment device according to claim 1, wherein: The feed-in (EGS) is connected downstream of the counter-signal generator (GS_RZ, RT_O), is provided in a section of the manipulated variable guide (RS) of the basic control loop, in which the manipulated variable is transmitted as a space vector representation (RZG), and is configured to combine the space vector representation of the counter-signal (GS, GS_ω_G) with the space vector representation (RZG) of the manipulated variable and to forward the combined space vector representation as a manipulated variable (U_d, U_q) in the manipulated variable guide, wherein the counter-signal (GS, GS_ω_G) is reduced by a harmonic component (RZO; (I_d(O), I_q(O)) with a harmonic angular frequency (ω_O), or wherein, The feed-in section (EGS) is connected downstream of the counter-signal generating section (GS_RZ, RT_O) and is provided in a section of the manipulated variable guiding section (RS) of the basic control loop, in which the manipulated variable is transmitted as a pulse width modulated time domain signal (PS; PMW_U-PMW_W), and the feed-in section is configured to combine the time domain representation of the counter-signal (GS, GS_ω_G) with the pulse width modulated time domain signal (PS; PMW_U-PMW_W) and forward the combined pulse width modulated time domain signal as the manipulated variable (PS) in the manipulated variable guiding section, wherein the harmonic component (RZO; (I_d(O), I_q(O)) having the harmonic angular frequency (ω_O) in the combined pulse width modulated time domain signal reduces the counter-signal (GS, GS_ω_G).

3. The adjusting device according to claim 1 or 2, wherein: A modulator (GG) is connected between the anti-signal generating unit (GS_RZ, RT_O) and the feeding unit (EGS), and the modulator is configured to modulate the space vector representation or time domain representation of the anti-signal calculated by the anti-signal generating unit (GS_RZ, RT_O) using a harmonic angular frequency (ω_O) so as to output the space vector representation or time domain representation of the anti-signal (GS, GS_ω_G) modulated in this way to the feeding unit (EGS).

4. The adjustment device according to claim 1, 2 or 3, wherein: The counter signal generating unit (GS_RZ, RT_O) has a harmonic detection unit (RT_O) with an input terminal, wherein the input terminal connected to an inverter control output (I_OUT), at which at least one power signal (I_U, I_V, I_W; U_d, U_q) of the electric machine (EM) in the time domain or in a space vector representation is applied, wherein the harmonic detection unit (RT_O) is arranged to detect harmonic components (I_d(O), I_q(O)) in the at least one power signal (I_U, I_V, I_W; U_d, U_q) and has an output at which the harmonic components are output in the form of a harmonic space vector representation (RZO); - connected to the manipulated variable guide (RS) and / or the feedback section (FB_G), the manipulated variable (U_d, U_q) of the manipulated variable guide (RS) or the adjusted variable (I_G_RZ, I_dq(G)) of the feedback section (FB_G) being present in the form of a space vector representation at the manipulated variable guide (RS) and / or the feedback section (FB_G), wherein the counter-signal generating section (GS_RZ, RT_O) is configured to determine the harmonic component as a function of the manipulated variable (U_d, U_q) and / or as a function of the adjusted variable (I_G_RZ, I_dq(G)); and / or - connected to a power input terminal (VE) of the inverter (INV), at which a power signal (I_HV) in the time domain of the inverter (INV) or an alternating component of the power signal is present, wherein the harmonic detection unit (RT_O) is arranged to detect harmonic components (I_d(O), I_q(O)) in at least one power signal (I_U, I_V, I_W; U_d, U_q) of the inverter (INV) and has an output terminal at which the harmonic components are output in the form of a harmonic space vector representation (RZO).

5. The adjustment device according to claim 4, wherein: The at least one power signal exists in the time domain, and the harmonic detection unit is constructed as a harmonic space vector transformation unit (RT_O), which transforms the power signal (I_U, I_V, I_W; I_HV) into a space vector representation (RZG) relative to the manipulated variable (U_d, U_q) rotated at a harmonic angular frequency (ω_O); or is constructed as a high-pass filter or a band-pass filter, which blocks the fundamental angular frequency (ω_G) and allows the harmonic angular frequency (ω_O) to pass through, or is constructed as a spectrum analysis device, which extracts the components of the harmonic angular frequency (ω_O) together with the phase of the components as a spectrum.

6. Adjustment device according to one of the preceding claims, wherein: The counter-signal generator (GS_RZ, RT_O) has a counter-signal calculator (GS_RZ) with an input, which is configured to receive harmonic components (I_d(O), I_q(O)) present in the power signal (I_EM; I_HV) in the form of a space vector representation (RZO), and in particular to receive a manipulated variable (I_G_RZ) fed into the feedback stage (FB_G) starting from an inverter control output (I_OUT) of the inverter (INV) in the form of a space vector representation (RZO). ), and the input end is further arranged to map the space vector representation (RZO) of the harmonic component based on a reduction condition (RBF), in particular in combination with the control variable (I_G_RZ) to the space vector representation (GS_ω_0) of the inverse signal, preferably taking into account the angular relationship (I_dq(G)||U_dq(G)) between the manipulated variable (U_d, U_q) and the representation (I_U, I_V, I_W; I_d, I_q) of the power signal (I_EM; I_HV) of the drive.

7. The adjustment device according to claim 6, wherein: The spatial vector representation (GS_ω_O) of the inverse signal is reproduced using values ​​on two rotating axes that are at a fixed angle to each other, and the inverse signal calculation unit is configured to map the value of one of the axes by the inverse signal calculation unit (GS_RZ) according to the reduction condition (RBF), and at the same time provide a value source (LT), such as a lookup table, which predetermines the belonging value of the other axis, and the inverse signal calculation unit has an input terminal (QE), to which the value source is connected in the form of an output signal, and the inverse signal calculation unit (GS_RZ) is configured to map the spatial vector representation (RZO) of the harmonic component to the spatial vector representation (GS_ω_O) of the inverse signal while taking into account the belonging value (U_q(O)).

8. Adjustment device according to one of the preceding claims, wherein: A subtraction element (SUB) is provided in the feedback section (FB_G) of the basic control loop, which is arranged to subtract a harmonic component (RZO; (I_d(O), I_q(O)) from a control variable (I_G_RZ) fed into the feedback section (FB_G) starting from the inverter control output (I_OUT) of the inverter (INV) and forward the resulting signal to the feedback section (FB_G).

9. The adjustment device according to claim 8, wherein: The subtraction element (SUB) is provided in a part of the feedback section (FB_G) of the basic control loop, in which part the signal is forwarded in the form of a space vector representation and the harmonic components in the space vector representation based on the harmonic angular frequency (ω_O) are subtracted in the subtraction element (SUB).

10. The adjusting device according to claim 1, wherein: The counter signal generating part (GS_RZ, RT_O) has a counter signal calculating part (GS_RZ) with an input terminal, and the input terminal is set as: - receiving a manipulated variable (I_G_RZ, I_dq(G)) provided in space vector representation, said manipulated variable being output by said inverter control output (I_OUT), and - receiving manipulated variables (U_d, U_q; U_dq(G)) provided in space vector representation (RZG) by the manipulated variable controller (RS), The space vector representation of the adjustment variable and the manipulated variable relates to the base angle frequency (ω_G).

11. Adjustment device according to one of the preceding claims, wherein: A two-part linear regulator (REG) is provided between the deviation detection part (RA) and the subsequent feed-in part (EGS) of the counter-signal (GS), wherein the linear regulator has a first and a second regulator part (REG', REG"), wherein the first regulator part (REG') relates to the first axis of the space vector representation (RZG) and the second regulator part (REG') relates to the second axis of the space vector representation (RZG).

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