Controller for decoupling a control signal for an electric machine and process

Abstract

Controller (100) for outputting a multiphase decoupled control signal for controlling an electric machine (110), wherein the controller comprises a first control element and a decoupler (130), wherein the multiphase control signal has at least a first current-phase-dependent control voltage component and a second current-phase-dependent control voltage component, wherein current-phase-dependent control voltage components in the electrical machine cause current-phase-dependent actual currents which are mutually mutually interdependent, wherein the first control element, based on a current-phase-dependent setpoint / actual current difference (IDIFF) between an input-side current-phase-dependent setpoint current (112) of the controller and an output-side current-phase-dependent actual current (114) of the electrical machine, provides a respective current-phase-dependent control voltage (122) to compensate for the respective current-phase-dependent setpoint / actual current difference, wherein the controller (100) is characterized in that the decoupler is designed in such a way that it preemptively corrects the respective current-phase-dependent control voltage component provided by the first control element with a respective current-phase-dependent compensation voltage component in such a way that a mutual influence of the actual currents in the electrical machine caused by the current-phase-dependent control voltage components is compensated, wherein a respective current-phase-dependent compensation voltage component can be determined based on cross-coupling parameters, wherein the cross-coupling parameters describe a mutual influence of components of the actual currents of the different current phases by the control voltage components of the respective other current phases.

Description

FIELD OF THE INVENTION

[0001] The invention relates to a controller for decoupling the current phases of an electrical machine and a method as well as an electrically driven vehicle with a controller. TECHNICAL BACKGROUND

[0002] A controller for an electrical machine, which has at least a rotor and a stator, outputs a multi-phase control signal with multiple control signal components to the electrical machine. The multiple phases of the control signal correspond to the individual current phases within the electrical machine. Current-phase-dependent target currents of the electrical machine and instantaneous values ​​of the current-phase-dependent actual currents of the electrical machine are provided to the controller. Based on the difference between the target current and the actual current, a control voltage component is output to the electrical machine for each current phase for readjustment in order to adapt the actual current to the respective target current for each current phase. However, it is known that the respective current-phase-dependent readjustment of the actual current of a current phase under consideration also affects the actual currents of the other current phases.This generally leads to a mutual influence of the individual current phases due to the readjustment, resulting in insufficient readjustment. As a result, the respective current-phase-dependent actual current does not correspond to the respective target current, which is the actual goal of the control.

[0003] State-of-the-art controllers therefore include conversion tables with the respective instantaneous values ​​of the current-phase-dependent actual current components and assigned current-phase-dependent compensation voltage components, taking into account the respective machine parameters. In other words, based on the respective actual current component of a current phase, a compensation voltage component is determined using the conversion table, which is then used to further adjust the respective current-phase-dependent control voltage component. Thus, according to the state-of-the-art, the compensation voltage is based directly on the respective instantaneous value of the actual current of a current phase. Cross-coupling, i.e., the dynamic interactions between the current phases caused by the readjustment to compensate for the target current / actual current difference, are therefore not directly taken into account by state-of-the-art controllers.This adversely affects the control mechanism, causing the actual current generated by the remaining current phases to exhibit disturbances relative to the target current, and thus all current-phase-dependent actual currents exhibit disturbances. This type of control also adversely affects the controller's settling time.

[0004] US 5 661 380 A, US 4 453 116 A and JP S60- 32 590 A disclose generic controllers for operating electrical machines. SUMMARY

[0005] It is an object of the invention to eliminate or at least reduce the disadvantages of known controllers or known methods for decoupling a control signal (e.g. a multi-phase control voltage).

[0006] The object is achieved according to the invention by the subject matter of the independent patent claims.

[0007] Among other things, a controller according to the subject matter of patent claim 1 is provided. The controller is configured to output a multi-phase control signal (e.g., a multi-phase control voltage with various components) for controlling an electrical machine. The controller comprises a first control element (e.g., a diagonal controller) and a decoupler. The multi-phase control signal comprises at least a first current-phase-dependent control voltage component and a second current-phase-dependent control voltage component. The multi-phase control signal is a multi-phase control voltage embodied as a vector signal with multiple components. Current-phase-dependent control voltage components produce current-phase-dependent actual current components in the electrical machine, which can be mutually influenced. The actual current is a vector signal with multiple components.A target current / actual current difference comprising a current-phase-dependent component exists between a current-phase-dependent target current (which can also be a vector signal with multiple components) of the controller on the input side and a current-phase-dependent actual current of the electrical machine on the output side. The first control element provides a respective current-phase-dependent control voltage with a plurality of individual components (which can also be a vector signal with multiple components). This allows the respective current-phase-dependent component of the target current / actual current difference to be compensated for the corresponding current phase. The decoupler is designed to preemptively compensate for any mutual influence of the actual current components in the electrical machine caused by the current-phase-dependent control voltage components.The decoupler is configured to pre-correct the respective current-phase-dependent control voltage component provided by the first control element with a respective current-phase-dependent compensation voltage component. The correction is such that any mutual influence of the actual current components in the electrical machine caused by the current-phase-dependent control voltage components is compensated. The controller configured in this way can advantageously pre-emptively prevent or at least reduce the mutual influence of the individual current phases. The controller can therefore operate in the forward branch of the control system.In this respect, the controller can compensate not only for the static components of the coupling between the individual current phases (setpoint / actual current deviations for individual current phases), but also for the dynamic components (setpoint / actual current deviations resulting from the mutual interactions of the individual components). This advantageously reduces the deviations of the current-phase-dependent actual current from the current-phase-dependent setpoint current for each current phase and shortens the controller's settling time.

[0008] The first control element can be a diagonal controller. The first control element can provide current-phase-dependent control voltage components for each current phase based on the respective target current / actual current difference for the respective current phase in order to compensate for the respective current-phase-dependent component of the target current / actual current difference. If the control voltage component output by the first control element were output to the electrical machine as the respective control voltage component, the respective control voltage component would cause changes in the magnetic flux not only for the respective current phase but also for the other current phases. Correspondingly, the current-phase-dependent control voltage components of the other current phases, if output to the electrical machine as the respective control voltage components, would cause changes in the magnetic flux for the current phase in question.Thus, cross-coupling exists between the different current phases due to the mutual influence of the current-phase-dependent magnetic flux components. This cross-coupling means that, despite the provision of current-phase-dependent control voltage components, the respective actual current component of a current phase does not correspond to the target current component of the current phase. The control voltage components output by the first control element cannot therefore compensate for the cross-coupling.

[0009] However, the decoupler can be configured to predict the influences of the current-phase-dependent control voltage component of a first current phase on the components of the remaining current phases and their actual currents. In this respect, the decoupler can be configured to predetermine the expected deviation of the respective actual current component from the respective target current component for a given current phase for the subsequent clock cycle, based on the control voltage components of the remaining current phases. The decoupler can be configured to determine, based on the predicted deviation of an actual current component, a compensation voltage component for each current phase, which is used to compensate for the predicted deviation of the actual current component.

[0010] The current phase-dependent compensation voltage component of a respective current phase can compensate the influence of the current phase-dependent control voltage components of the other current phases on the current phase-dependent actual current component of a respective current phase in the electrical machine.

[0011] The decoupler can therefore be designed in such a way that the electrical machine is brought into its diagonal form. In the diagonal form, the mutual interactions between the individual current phases are compensated in such a way that the previously performed control of the first control element acts as if the first control element were only compensating the target current / actual current difference, depending on the current phase, for a single current phase. Due to the operation of the decoupler, the first control element acts as if no further conditions (influences of other current phases) need to be taken into account. In other words, due to the operation of the decoupler, the controller can act as if the cross-coupling between the current phases did not exist. In this respect, it can compensate for the cross-coupling between the current phases.

[0012] The control voltage component of a current phase may be based on the respective control voltage component output by the first control element and the respective compensation voltage component output by the decoupler for the current phase in question.

[0013] Since the decoupler determines the predicted deviations of the actual current component from the target current component for a current phase based on the respective control voltage components of the other current phases, this determination advantageously has no direct relationship to the measured actual current component of the respective current phase for the respective clock cycle. The measured actual current components of the current phases are not directly included in the determination of the respective compensation voltage components.Predicting the deviations of the current-phase-dependent actual current components from the respective target current components based on the inclusion of the respective current-phase-dependent control voltage components and the associated determination of the respective current-phase-dependent compensation voltage components advantageously leads to a reduction in the deviation of the current-phase-dependent actual current components from the target current components for the subsequent clock cycle of the controller. Since the deviations of the actual current from the target current are consequently reduced, the controller's settling time is also advantageously shortened.

[0014] The respective current-phase-dependent compensation voltage component can be determined based on cross-coupling parameters. The cross-coupling parameters can be determined based on machine parameters and the electrical angular velocity of the electrical machine. The electrical angular velocity can be determined based on the mechanical angular velocity of the electrical machine. The cross-coupling parameters describe the mutual influence of the actual current components of the various current phases on the control voltage components of the respective other current phases. The decoupler is therefore configured to consider the cross-coupling parameters to determine the current-phase-dependent compensation voltage components. This allows the influences of the cross-coupling parameters to be advantageously compensated.

[0015] The controller can include a conversion table with respective values ​​for the control voltage components and associated compensation voltage components depending on the machine parameters (inductances, electrical angular velocity, and resistances). The compensation voltage components can also be determined based on physical formulas from the control voltage components depending on the machine parameters (inductances, electrical angular velocity, and resistances). The current-phase-dependent compensation voltage component of a respective current phase can be determined based on the conversion table depending on the respective current-phase-dependent control voltage components of the remaining current phases and / or the electrical angular velocity of the electrical machine.The conversion table can therefore consider the cross-coupling parameters and include appropriate information to compensate for the cross-coupling between the current phases. The conversion table can also consider the control behavior of the first control element. The conversion table can be based on empirically obtained data. This means that the conversion table can be based on test measurements of the electrical machine, in which the effects of a control voltage component of a first current phase on the actual current components of the remaining current phases are evaluated. The controller configured in this way advantageously provides an efficient mechanism for determining the compensation voltage components.

[0016] The first control element can comprise at least one PI controller (proportional-integral controller). The first control element can also comprise a plurality of PI controllers. Of the plurality of PI controllers, one PI controller can be assigned to each current phase. A PI controller is a very robust and effective controller and can compensate for the determined target current / actual current difference for a given current phase by readjusting the corresponding current-phase-dependent control voltage component.

[0017] The first control element can also be another controlling component, e.g. a P controller (proportional controller), a PD controller (proportional-derivative controller) or a PID controller (proportional-integral-derivative controller).

[0018] The current phase-dependent control voltage component output by the first control element can be based on an optimum magnitude.

[0019] The decoupler may comprise a plurality of decouplers. Each of the plurality of decouplers may be assigned to a respective current phase.

[0020] The individual current-phase-dependent components of the control signal can place different demands on the first control element and the decoupler. Therefore, different control elements and / or decouplers can be provided for the respective current phases. This allows the respective requirements to be met in the best possible way and the accuracy of the controller to be improved.

[0021] The electric machine can comprise at least one rotor and at least one stator. The electric machine can be supplied with the multi-phase control signal according to a rotor-fixed d / q coordinate system. The current-phase-dependent control voltage components can then comprise at least one d control voltage component and one q control voltage component. The d control voltage component can then correspond to the field-generating component of the current of the electric machine. The q control voltage component can then correspond to the torque-generating component of the current of the electric machine. An f control voltage component can correspond to the flux-generating component. The f control voltage component can be parallel to the d control voltage component. By supplying the electric machine with the combination of the three control voltages, a torque for driving the electric machine can be generated.

[0022] The controller can be integrated into a data processing unit. The data processing unit can, in particular, be a processor. The controller can also be embodied as a computer program product. The computer program product can be stored on a storage medium.

[0023] The controller may have a first input and receive signals based on the current-phase-dependent target current components at the first input. The controller may have a second input and receive signals based on the current-phase-dependent actual current components at the second input. The controller may also include a plurality of inputs for receiving different components of the target current or actual current, corresponding to multi-phase signals.

[0024] The current phase-dependent actual current components can be determined by suitable measuring sensors on the electrical machine and output to the controller. The controller can also incorporate corresponding measuring sensors itself.

[0025] The controller may have a first output and output signals to the electric machine based on the current-phase-dependent control voltage components at the first output. The controller may also include a plurality of outputs for outputting different components of the control voltage, corresponding to multiphase signals.

[0026] Power converters can be provided on the input side and / or output side of the controller in order to generate DC voltage signals from AC voltage signals and / or to generate AC voltage signals from DC voltage signals.

[0027] The electric machine may be coupled to a power converter to provide voltage pulses for the phases of the electric machine based on the current phase-dependent control voltage components according to a pulse width modulation method.

[0028] The electrical machine can be a synchronous machine or an asynchronous machine.

[0029] The controller may be configured to determine the current phase-dependent compensation voltage components for each current phase in advance of the subsequent clock cycle of the controller to compensate for the mutual influence of the actual current components caused by the current phase-dependent control voltage components.

[0030] The controller can be configured to have a clock frequency, wherein the clock frequency can be between 100 Hz and 10 MHz, in particular wherein the clock frequency can be between 1 kHz and 100 kHz, in particular wherein the clock frequency can be substantially 10 kHz.

[0031] The controller's compensation and balancing mechanisms may be imperfect. For the purposes of this application, compensation or balancing is understood to mean that the respective adverse deviation is largely compensated for, but may not be perfectly compensated for. The deviations can result, for example, from contact resistance, mechanical, electronic, and magnetic interference.

[0032] A method according to the subject matter of claim 9 is also provided. The method is suitable for decoupling a control signal with multiple current-phase-dependent control voltage components for an electrical machine by means of a controller. The method comprises determining a respective current-phase-dependent target current / actual current difference between an input-side current-phase-dependent target current component of the controller and an output-side current-phase-dependent actual current component of the electrical machine by means of a first control element. The method also comprises compensating for the respective current-phase-dependent target current / actual current difference by providing a current-phase-dependent control voltage component from the first control element.The method further comprises compensating for a mutual influence of the actual current components in the electrical machine caused by the current phase-dependent control voltage components by anticipatory correction of the respective current phase-dependent control voltage components provided by the first control element with a respective current phase-dependent compensation voltage component by means of a decoupler.

[0033] The method further includes determining the respective current-phase-dependent compensation voltage components based on cross-coupling parameters. The cross-coupling parameters can be determined based on machine parameters and the electrical angular velocity of the electric machine.

[0034] The method may further comprise determining the current-phase-dependent compensation voltage components of a respective current phase based on a conversion table as a function of the respective current-phase-dependent control voltage components of the remaining current phases. The compensation voltage components may also be determinable from the control voltage components based on physical formulas. The conversion table may comprise respective control voltage components and associated compensation voltage components. The conversion table may also take into account the control behavior of the first control element.

[0035] The method may comprise applying the multi-phase control signal to the electric machine according to a rotor-fixed d / q coordinate system.

[0036] An electrically driven vehicle with a controller of the aforementioned type or with a control signal that is decoupled according to a method of the aforementioned type is also provided. For the purposes of the present invention, electrically driven vehicles can include, in particular, land vehicles, namely, among others, off-road and road vehicles such as passenger cars, buses, trucks, and other commercial vehicles, rail vehicles (trains), but also watercraft (boats), and aircraft such as helicopters, multicopters, propeller aircraft, and jet aircraft, which have at least one electric motor used to propel the vehicle. Vehicles can be manned or unmanned. In addition to pure electric vehicles (BEVs), hybrid electric vehicles (HEVs), plug-in hybrids (PHEVs), and fuel cell vehicles (FCHVs) can also be included. BRIEF DESCRIPTION OF THE DRAWINGS - Fig. 1 shows a simplified schematic representation of the controller with an electrical machine, - Fig. 2 shows a further simplified schematic representation of the controller with an electrical machine, - Fig. 3 shows a simplified schematic representation of a method for decoupling a multiphase control signal for an electrical machine. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] Fig. Figure 1 shows a simplified schematic representation of the controller 100 with an electric machine 110. The electric machine 110 includes a power converter (not shown). The controller 100 includes several PI controllers 120 (shown here as a singular) and a multidimensional decoupler 130. The controller 100 is indicated in the figure by a dotted rectangle. The controller 100 can also include other components. The controller 100 can be implemented as a computer program and run on a data processing unit, in particular a PC.

[0038] The controller 100 comprises at least a first input 102 and a second input 104. Both inputs are multidimensional, in that the number of respective inputs corresponds to the number of phases to be controlled. The inputs 102, 104 can receive scalar signals. The first input 102 and the second input 104 can also be implemented as a single input. The controller 100 receives a first signal based on a target current 112 at the first input 102. The target current 112 is a multi-component vector signal, wherein the number of components corresponds to the number of current phases in the electric machine 110. According to this embodiment, the target current 112 comprises three current-phase-dependent components. In general, the target current 112 can also comprise more or fewer current phases, but at least two. The controller 100 receives a second signal based on an actual current 114 at the second input 104.The actual current 114 is the current present in the electric machine 110. The actual current 114 is a multi-component vector signal and includes all measured actual current components necessary for torque control of the electric machine 110, wherein the number of components corresponds to the number of current phases in the electric machine 110. According to this embodiment, the actual current 114 in the target current 112 correspondingly includes three current phase-dependent components. In general, the actual current 114 can also include more or fewer current phases, but at least two. The number of phases of the target current 112 and the actual current 114 is the same.

[0039] The actual current 114 can be received from the electric machine 110 via the second input 104 of the controller 100. However, the actual current 114 can also be detected by a multidimensional measuring sensor or a plurality of individual measuring sensors. The actual current 114 can also be determined using models based on the control voltage 132 and / or the electrical angular velocity. The measuring sensor can, in particular, be configured to determine the individual phase-dependent components of the actual current 114. The measuring sensor can then be configured to output the second signal to the controller 100 based on the components of the actual current 114 of the electric machine 110. The measuring sensor can also be part of the controller 100.

[0040] Based on the received signals of the setpoint current 112 and the actual current 114, the controller 100 determines a current difference IDIFF between these currents for each current phase individually. The current difference IDIFF thus has three current phase-dependent components. The current difference IDIFF is fed to three PI controllers (proportional-integral controllers) 120, which are Fig. 1 are shown as a unit. The current difference IDIFF can also be determined using the PI controller 120. Based on the current difference IDIFF, the PI controller 120 determines current-phase-dependent control voltage components of the control voltage 122 for each current phase. The control voltage 122 is a multi-component vector signal, with the number of components corresponding to the number of current phases in the electrical machine 110. The control voltage components are such that the respective current-phase-dependent current differences are essentially compensated.

[0041] However, the current-phase-dependent control voltage components of the control voltage 122 not only influence the actual current component of the actual current 114 of the respective current phase in question. Rather, the various current-phase-dependent control voltage components mutually influence the individual current phases of the actual current 114 in the electrical machine 110, i.e., the different components of the actual current 114. This is based on the generation of current-phase-dependent components of the magnetic flux, which also influence the actual current components of the actual current 114 of the remaining current phases. This means that the control voltage component of a first current phase determined by the PI controllers 120 influences the actual current components of the remaining current phases. Similarly, the actual current component of the first current phase is influenced by the control voltage components determined by the PI controllers 120 for the remaining current phases.

[0042] Therefore, the control voltage 122 is fed to a multi-dimensional decoupler 130. The multi-dimensional decoupler 130 includes conversion tables with control voltage components of the control voltage 122 and associated compensation voltage components depending on the machine parameters (inductances, electrical angular velocity, and resistances). The compensation voltage components can also be determined based on physical formulas depending on the machine parameters (inductances, electrical angular velocity, and resistances). The decoupler 130 uses the conversion tables to determine a compensation voltage component of the compensation voltage for each current phase based on the control voltage components or physical formulas. The compensation voltage component for a first current phase is determined based on the control voltage components of the remaining current phases.The conversion tables can also take into account the control behavior of the PI controller 120. The compensation voltage component of the first current phase is then such that the influence of the control voltage components of the remaining current phases on the actual current component of the first current phase is compensated. The compensation voltage component is determined by the multidimensional decoupler 130, i.e., in the forward branch of the control of the controller 100. The individual compensation voltage components of the compensation voltage are obtained in an analogous manner. The compensation voltage is a multi-component vector signal, with the number of components corresponding to the number of current phases in the electrical machine 110.

[0043] The multidimensional decoupler 130 modifies the control voltage component of the control voltage 122 for each current phase by the respective compensation voltage component, thereby determining the respective current-phase-dependent control voltage component of the control voltage 132. The control voltage 132 is a multi-component vector signal, with the number of components corresponding to the number of current phases in the electrical machine 110. The control voltage 132 thus comprises three (but generally any number, as long as there are more than two) current-phase-dependent components. The multi-dimensional control voltage 132 is output by the multi-dimensional decoupler 130 or the controller 100 to the electrical machine 110. The electrical machine 110 is operated based on the current-phase-dependent control voltage 132.

[0044] The control voltage 132 can be a DC voltage signal. A power converter can be provided, based on which the control voltage 132 can be converted from a DC voltage signal into an AC voltage signal for supplying the electrical machine 110. A power converter can also be provided to provide the signal of the actual current 112 as a DC voltage signal from the alternating currents present in the electrical machine 110.

[0045] The PI controllers 120 may also be another control element that provides a control signal based on the current difference IDIFF to compensate for the difference.

[0046] Fig. 2 shows a simplified schematic representation of the controller 100 with the PI controllers 120, the multidimensional decoupler 130 and the electrical machine 110, which includes a power converter.

[0047] For clarity, the controller 100 and the electric machine 110 are illustrated as a two-input, two-output system. A first current phase of the desired current is denoted by R1, and a second current phase of the desired current is denoted by R2. The first current phase of the actual current is denoted by C1, and the second current phase of the actual current is denoted by C2.

[0048] Controller 100 and electric machine 110 are symbolically represented by transfer functions Gi, which represent the interactions between the individual current phases, so that the derivation of the decoupling mechanism is kept general. In this respect, transfer functions Gp11, Gp12, Gp21, and Gp22 represent the interactions of the current phases within electric machine 110. Gp12 and Gp21 denote the mutually influencing interactions of the current phases within electric machine 110. In this respect, the paths of the individual current phases are coupled via these transfer functions.

[0049] The multidimensional decoupler 130 therefore includes two decoupling controllers, named after the respective transfer functions Dc12 and Dc21, which counteract the interactions (Gp12 and Gp21) actually present within the electric machine 110. For example, the decoupling controller Dc21 is provided to counteract the control loop interactions of C2 and U1, which are determined by the transfer functions Gp21 at Gc22.

[0050] The decoupler can therefore be designed such that the electrical machine 100 is brought into its diagonal configuration. In the diagonal configuration, the mutual interactions between the individual current phases are compensated such that the previously performed control of the PI controllers 120 acts as if the PI controllers 120 were merely compensating the target current / actual current differences for a single current phase, depending on the current phase, without having to consider further conditions (influences of other current phases). The control of the PI controllers 120 is based on determining the optimum magnitude.

[0051] In general, the current signal will have more than two current phases. Therefore, in the general case, more complex relationships arise with a large number of decoupling controllers Dci to be taken into account. Since the corresponding diagram becomes confusing if each connection and transfer function is drawn separately, a matrix representation is generally used to represent the PI controller 120 and the multi-dimensional decoupler 130. The PI controller 120 and the multi-dimensional decoupler 130 can then be represented using matrices. Since the PI controller 120 only ever acts on a single current phase, a diagonal matrix Pdiag results for the PI controller, which has non-zero entries only on the diagonal of the matrix. The multi-dimensional decoupler 130, on the other hand, has a large number of non-zero entries, in particular on the off-diagonal entries of the precompensation matrix Pdyn of the multi-dimensional decoupler 130.The diagonal matrix Pdiag must be multiplied from the right by the precompensation matrix Pdyn. The term "precompensation matrix" means that this matrix pre-compensates for the interactions of the actual current components in the electrical machine 110 before the PI controllers 120 act on the manipulated variable. The word "before" here refers to the mathematical notation, i.e., multiplication from the right.

[0052] Fig. 3 shows a simplified schematic representation of a method 300 for decoupling a multiphase control signal 132 for an electrical machine 110 comprising a power converter.

[0053] The method comprises steps 310, 320, 330, 340, 350, 360 and 370. Steps 310, 320 and 330 are optional, so that the method comprises at least steps 340, 350, 360 and 370, which is indicated in the figure by a dotted rectangle.

[0054] In step 310, the multi-component actual current 114 present in the electrical machine 110 is determined. The actual current 114 comprises several current phases, i.e., individual components. In the first step 310, the current-phase-dependent components of the actual current 114 are determined. The first step 310 can be carried out, for example, with the aid of a multi-dimensional measuring sensor that measures the components of the actual current 114 in the electrical machine 110. The multi-dimensional measuring sensor can also be part of a controller 100. Alternatively, the multi-dimensional measuring sensor can be configured to output a measurement signal based on the determined components of the actual current 114 of the electrical machine 110 to the controller 100. Optionally, a power converter can be provided to provide a signal based on the multi-component actual current 114 as a DC voltage signal.

[0055] In step 320, a multi-component target current 112 and the multi-component actual current 114 determined in step 310 are provided to the controller 100. The controller 100 includes the appropriate inputs to receive the signals of the components based on the target current 112 and actual current 114.

[0056] In step 330, current phase-dependent current differences IDIFF are determined by the controller 100 based on the signals received for the target current 112 and the actual current 114.

[0057] In step 340, a control voltage component of control voltage 122 is determined for each current phase, based on which the current phase-dependent current differences IDIFF can be compensated. Step 340 can be executed, in particular, by multiple PI controllers, which can be part of controller 100.

[0058] In step 350, a compensation voltage component is determined for each current phase, which compensates for the influence of the control voltage components of the control voltage 122 of the remaining current phases on the actual current component of the actual current 114 of the respective current phase. The determination of the compensation voltage components can be performed, in particular, by a multidimensional decoupler 130, which can be part of the controller 100.

[0059] In step 360, the control voltage component of a current phase is modified by the respective compensation voltage component, so that a current-phase-dependent control voltage component of the control voltage 132 is determined. Step 360 can be performed by the multidimensional decoupler 130.

[0060] In step 370, the current-phase-dependent multidimensional control voltage 132 is output to the electric machine 110. A power converter is provided to convert the control voltage 132 from a DC voltage signal to an AC voltage signal.

Claims

[1] Controller (100) for outputting a multi-phase decoupled control signal for controlling an electrical machine (110), wherein the controller comprises a first control element and a decoupler (130), wherein the multi-phase control signal has at least a first current-phase-dependent control voltage component and a second current-phase-dependent control voltage component, wherein current-phase-dependent control voltage components in the electrical machine cause current-phase-dependent actual currents which can be mutually influenced, wherein the first control element provides a respective current-phase-dependent control voltage (122) based on a current-phase-dependent target current / actual current difference (IDIFF) between an input-side current-phase-dependent target current (112) of the controller and an output-side current-phase-dependent actual current (114) of the electric machine in order to compensate for the respective current-phase-dependent target current / actual current difference, where the controller (100) characterized by is that the decoupler is designed such that it pre-corrects the respective current-phase-dependent control voltage component provided by the first control element with a respective current-phase-dependent compensation voltage component such that a mutual influence of the actual currents in the electrical machine caused by the current-phase-dependent control voltage components is compensated, wherein a respective current phase-dependent compensation voltage component can be determined based on cross-coupling parameters, wherein the cross-coupling parameters describe a mutual influence of components of the actual currents of the different current phases by the control voltage components of the respective other current phases. [2] Controller (100) according to claim 1, wherein the current phase-dependent compensation voltage components of a respective current phase compensate for the influence of the current phase-dependent control voltage components of the remaining current phases on the current phase-dependent actual current (114) of the one respective current phase in the electrical machine (110). [3] Controller (100) according to one of the preceding claims, wherein the cross-coupling parameters are determinable based on machine parameters and the electrical angular velocity of the electrical machine (110). [4] Controller (100) according to one of the preceding claims, wherein the controller comprises a conversion table with respective control voltage components and associated compensation voltage components, and wherein the current phase-dependent compensation voltage components of a respective current phase can be determined based on the conversion table as a function of the respective current phase-dependent control voltage components of the remaining current phases. [5] Controller (100) according to one of the preceding claims, wherein the first control element comprises a plurality of PI controllers (120) corresponding to the number of current phases. [6] Controller (100) according to claim 5, wherein the current phase-dependent control voltage component output by the PI controllers (120) respectively effects the control of the actual current (114) of a current phase. [7] Controller (100) according to one of the preceding claims, wherein the decoupler (130) comprises a plurality of decouplers, wherein one of the plurality of decouplers is assigned to a respective current phase. [8] Controller (100) according to one of the preceding claims, wherein the electric machine (110) comprises at least one rotor and one stator, and wherein the electric machine is supplied with the multi-phase control signal according to a rotor-fixed d / q coordinate system. [9] A method for providing a decoupled control signal with a plurality of current-phase-dependent control voltage components for an electrical machine (110) by means of a controller (100), the method comprising: a) Determining a respective current phase-dependent target current / actual current difference (IDIFF) between an input-side current phase-dependent target current component of the controller and an output-side current phase-dependent actual current component of the electrical machine by means of a first control element, b) Compensating the respective current phase-dependent target current / actual current difference by providing a current phase-dependent control voltage component from the first control element, whereby the procedure characterized by is that it also includes: c) compensating for a mutual influence of the actual currents (114) in the electrical machine caused by the current-phase-dependent control voltage components by means of anticipatory correction of the respective current-phase-dependent control voltage component provided by the first control element with a respective current-phase-dependent compensation voltage component by means of a decoupler (130), wherein a respective current phase-dependent compensation voltage component is determined based on cross-coupling parameters, wherein the cross-coupling parameters describe a mutual influence of components of the actual currents of the different current phases by the control voltage components of the respective other current phases. [10] Method according to claim 9, wherein the current phase-dependent compensation voltage component of a respective current phase compensates for the influence of the current phase-dependent control voltage components of the remaining current phases on the current phase-dependent actual current (114) of the one respective current phase in the electrical machine (110). [11] Method according to one of claims 9 or 10, wherein the cross-coupling parameters are determined based on machine parameters and the electrical angular velocity of the electrical machine (110). [12] A method according to any one of claims 9 to 11, wherein the method further comprises: a) Determining the current phase-dependent compensation voltage component of a respective current phase based on a conversion table depending on the respective current phase-dependent control voltage components of the remaining current phases, wherein the conversion table comprises respective control voltage components and associated compensation voltage components. [13] A method according to any one of claims 9 to 12, wherein the method further comprises: f) applying the multi-phase control signal to the electrical machine (110) in accordance with a rotor-fixed d / q coordinate system. [14] Electrically driven vehicle with a controller (100) according to one of claims 1 to 8, or with a control signal which is decoupled according to a method according to one of claims 9 to 13.

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