Methods for regulating and / or controlling an electrical machine

Abstract

Method for regulating and / or controlling an electrical machine by extended synchronous modulation based on space vector modulation, using the following input variables: - a set (α) of switching times (α1, ..., α x ), which appear within a subsequent sampling interval, - a current angular error (α Error,Now ) and a subsequent angular error ( α Error,Next ), - a minimum switching angle (α min ), where an online calculation of switching angles (τ1) and a flow trajectory (ψ) ab ) is done, and where pulse pattern (s uvw (γ el )) depending on a modulation level (m) can be calculated online, characterized by the fact that with different signs of the angular error (α) Error,Now , α Error,Next ) α the smaller angular error in absolute value (α Error,Now , α Error,Next) determines the maximum switching time (Δα) Error,max ) can potentially be redistributed, where by summing all around the minimum switching angle (α min ) reduced switching times from the set (α) that corresponds to a current or subsequent space vector ( u → Now , u → N ext ) are associated with the switching time (Δα) Now,max , Δα Next,max ) is determined to predict the occurrence of the space vector ( u → Now , u → N ext ) can be reduced to a maximum within the sampling interval, - where in the case of a negative current angular error (α) Error,Now ) to shorten the current space vector ( u → Now ) the actual switching time to be redistributed (Δα) from the minimum of the maximum switching time (Δα) Error,max ) and α of the switching time (Δα Now,max) is determined, whereby the switching duration to be redistributed (Δα) is chronologically distributed to the corresponding switching durations (α) Now,i ) divided and then each individual switching duration (α) Now,i ) to determine the corresponding Δα i is reduced, whereby the extension of the switching state ( u → N ext ) to determine the switching duration to be redistributed (Δα) solely by considering the first associated switching duration (α) Next,1 ) is done, - where in the case of a positive angular error (α Error,Now ) to shorten the space vector ( u → N ext ) the actual switching time to be redistributed (Δα) from the minimum of the maximum switching time (Δα) Error,max ) and the switching time ( Δα Next,max ) is determined, whereby the switching duration to be redistributed (Δα) is chronologically distributed to the corresponding switching durations (α) Next,i ) divided and then each individual switching duration (α) Next,i ) around the corresponding (Δα i) is reduced, whereby the extension of the switching state ( u → Now ) to determine the switching duration to be redistributed (Δα) solely by considering the first one for the switching state ( u → Now ) apparent switching time (α) Now,1 ) is carried out, where the modified set (α) of switching durations is output.

Description

[0001] The invention relates to a method for regulating and / or controlling an electric machine according to the preamble of claim 1 and to a vehicle according to claim 9.

[0002] For inverters, control methods such as space-vector pulse-width modulation (SVPWM) or discontinuous pulse-width modulation (DPWM) are known. Both are asynchronous modulation methods in which the clock frequency q = f_sw / f_el can be a rational number, where f_sw is the switching frequency of the inverter and f_el is the electrical frequency.

[0003] These methods are primarily used in the linear modulation range (m<1.15). They can also be used in the overmodulation range (m>1.15). However, from overmodulation range II (m>1.21) and especially with block clocking, these methods are relatively unsuitable because instabilities can occur and current distortion can be very high.

[0004] In addition, there is synchronous modulation, where the clock number q is always a natural number (for example 1,3,5,7,9...).

[0005] For synchronous modulation, the switching angles alpha (i.e., the switching points of the inverter's semiconductors) can be determined to meet various criteria, such as low current distortion in the phase currents. This is referred to as optimized pulse patterns. Synchronous modulation and optimized pulse patterns are very well suited for overmodulation range II. This allows switching losses in the inverter to be reduced with relatively low current distortion due to the low clock rate q, while simultaneously increasing voltage utilization through the higher modulation level.

[0006] Controlling optimized pulse patterns is challenging, and established control methods for spacevector modulation cannot be used with sufficiently high dynamic range. In particular, control via a PI-based current controller is unsuitable, as it tends to compensate for even the smallest deviations, and integration into an OPP (Optical Power Supply) controller is unsatisfactory. Several methods are described in the literature, but they all have numerous drawbacks.

[0007] For controlling optimized pulse patterns, there are control methods that rely on calculating the pulse patterns offline beforehand and then storing them in a table. This can lead to very high memory requirements, depending on the table's resolution across the modulation level. Furthermore, the optimization process itself offers poor access to the respective methods. A direct implementation would be desirable.

[0008] One method that works without a table and can be implemented directly is, for example, Dead-Beat Flux Control (DBFC), which so far has been particularly good at representing block clocking (q=1). Higher clock rates are difficult to represent.

[0009] US 2017 / 0331410A1 describes a control device for an alternating current (AC) motor that uses a control mode selector to compare a modulation rate with a modulation rate threshold and select between a synchronous control mode to perform synchronous control in a range where the modulation rate is equal to or greater than the threshold, and an asynchronous control mode to perform asynchronous control in a range where the modulation rate is less than the threshold. The control mode selector uses a different modulation rate threshold in a low-speed range and a high-speed range, such that the threshold in the low-speed range is higher than the threshold in the high-speed range.A selector chooses between the output of the synchronous pulse signal and the output of the asynchronous pulse signal.

[0010] WO 2014 / 064 141 A1 describes an electrical converter comprising several semiconductor switches, wherein the electrical converter is designed to generate a two-stage or multi-stage output voltage from an input voltage by switching the several semiconductor switches.A method for controlling the electrical transducer comprises the steps of: receiving an electrical reference quantity and an actual electrical quantity; determining a sequence of future electrical quantities of the electrical transducer from the actual electrical quantity; determining a maximum cost value based on the sequence of future electrical quantities; iteratively determining an optimal switching sequence for the electrical transducer, wherein a switching sequence comprises a sequence of future switching states for the semiconductor switches of the electrical transducer; and selecting the first switching state of the optimal switching sequence as the next switching state to be applied to the semiconductor switches of the electrical transducer.The optimal switching sequence is determined iteratively by: extending a switching sequence by appending a possible switching state to the switching sequence; determining a cost value for the extended switching sequence using a cost function based on the sequence of future electrical quantities; and discarding the extended switching sequence if the cost value is higher than the maximum cost value.

[0011] WO 2015 / 078 656 A1 describes a method for controlling an electrical converter, comprising the following steps: - Determining an error value based on a difference between an estimated output value and a reference output value, the estimated output value based on measurements in the electrical transducer; - Comparing the error value with an error band and controlling the electrical transducer by switching to a different control scheme if the error value exceeds the error band. The transducer is controlled using modified pre-calculated switching by: determining a pre-calculated switching sequence for the transducer based on an actual state of the electrical transducer, where the switching sequence comprises a sequence of switching transitions of the transducer; - Modifying the pre-calculated switching sequence by modifying the transition times of switching transitions in the pre-calculated switching sequence, so that the error value is minimized; - and applying at least part of the modified switching sequence to the electrical converter.

[0012] EP 2 469 692 B1 describes an inverter for an electrical system that is controlled in such a way that, in a second step, switching sequences with switching times for the inverter, determined with regard to a specific first optimization goal, are modified. A resulting flux error is determined. The switching times are changed to reduce the flux error.

[0013] From the generic document DE 10 2006 052 042 A1, a control and regulation device for operating an asynchronous machine with a three-phase converter is known. For this purpose, the control and regulation structure comprises a stator flux controller, for example based on a dead-beat control behavior, and a pulse pattern generator for generating average-value-based pulse signals, wherein the pulse signals are generated as a function of a manipulated variable generated by the stator flux controller, in particular the setpoint of the stator flux and the torque.

[0014] The problem is solved according to the invention by a method for regulating and / or controlling an electric machine with the features of claim 1 and by a vehicle with the features of claim 9.

[0015] Advantageous embodiments of the invention are the subject of the dependent claims.

[0016] A method for regulating and / or controlling an electrical machine by extended synchronous modulation based on space vector modulation is proposed, using the following input variables: - a set of switching durations that appear within a subsequent sampling interval, - a current angular error and a subsequent angular error, - a minimum switching angle, whereby an online calculation of switching angles and a flow trajectory is performed, whereby pulse patterns are calculated online depending on a modulation level.

[0017] According to the invention, if the angular error has a different sign, the smaller angular error in absolute value determines the maximum switching time that can potentially be redistributed.

[0018] By summing all switching durations reduced by the minimum switching angle from the set belonging to a current or subsequent space vector, the switching duration is determined by which the occurrence of the space vector within the sampling interval can be reduced to a maximum extent.

[0019] In the case of a negative current angular error, the actual switching time to be redistributed is calculated from the minimum of the maximum switching time and the switching time Δα to shorten the current space vector. Now,max determined, whereby the switching duration to be redistributed is chronologically divided among the corresponding switching durations and then each individual switching duration is increased by the corresponding Δα i is reduced.

[0020] The extension of the subsequent switching state by the switching duration to be redistributed is carried out exclusively taking into account the first associated switching duration.

[0021] In the case of a positive angular error, the switching time to be redistributed is calculated by shortening the subsequent space vector from the minimum of the maximum switching time and the switching time Δα. Next,max determined, whereby the switching duration to be redistributed is chronologically divided among the corresponding switching durations and then each individual switching duration is increased by the corresponding Δα i is reduced.

[0022] The extension of the current switching state by the switching duration to be redistributed is carried out exclusively taking into account the first switching duration that appears for the current switching state.

[0023] The modified set of switching durations is output.

[0024] In one embodiment, the angular errors are determined from a flow error, wherein the flow error is decomposed into two components, with two space vectors used for the decomposition belonging to the two next switching states.

[0025] In one embodiment, if the angular error has the same sign, the quantity is output unchanged.

[0026] In one embodiment, the flow error is determined as the difference between a target flow and an actual flow determined by a flow observer.

[0027] In one embodiment, the flow trajectory is calculated with or without a zero pointer.

[0028] In one embodiment, only the corner points in the first sector of the space vector plane are generated for the flow trajectory, and the entire flow trajectory is derived from these.

[0029] In one embodiment, the method is executed at a clock speed of 3, 5, 7 or 9.

[0030] In one embodiment, the method is carried out in the overmodulation range.

[0031] According to one aspect of the present invention, a vehicle with an electric drive and an inverter with a controller is proposed, wherein the controller is configured to carry out the method described above. The vehicle can be, for example, a passenger car, a commercial vehicle, or a bus.

[0032] The present invention provides a direct implementation of a control system for the overmodulation range, particularly for block switching, 3x, 5x, and 7x switching. Optimization or tables are no longer necessary. According to the invention, the flux trajectory and switching angles are calculated online, and control is achieved using a simple algorithm. This enables simple overmodulation and improved voltage utilization with reduced memory requirements.

[0033] Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

[0034] This shows: Fig. 1 a schematic diagram with space pointers, Fig. 2 a schematic diagram with an exemplary optimized pulse pattern and synchronous modulation in a type A converter, Fig.3 a schematic diagram with an exemplary optimized pulse pattern and synchronous modulation in the converter according to type B, Fig. 4 a schematic diagram with a three-phase pulse pattern of three phases over an electrical angle, Fig. 5 a schematic diagram in which the pulse pattern is represented as a flow trajectory is shown Fig. 6. A schematic diagram illustrating a flow error. Fig. 7 a schematic diagram to illustrate a decomposition of the flow error into two of three fundamental vectors, Fig. 8 a schematic view of a control algorithm, Fig. 9 a schematic diagram in which a pulse pattern is represented as a flow trajectory, Fig. 10 a schematic diagram in which another pulse pattern is shown as a flow trajectory, Fig.11 a schematic diagram in which another pulse pattern is shown as a flow trajectory, Fig. 12 a schematic diagram in which another pulse pattern is shown as a flow trajectory, Fig. 13 schematic diagrams for QWS-3 pulse switching, Fig. 14 schematic diagrams for QWS-5 pulse switching, Fig. 15 schematic diagrams for QWS-7 pulse switching, and Fig. 16 schematic diagrams for QWS-9 pulse switching.

[0035] For space vector pulse-width modulation (SVPWM), for example, the times T0, Ta, and Tb are calculated using a target voltage, where T0 describes the on-time of the zero vectors U7 and U6, respectively, and times Ta and Tb describe the on-time of the two active vectors to U1 and U0, respectively. The target voltage can be provided by a current controller or a flux controller such as dead-beat flux control. Fig.Figure 1 shows an example diagram with a switching time Ts of 100µs: The switched space vectors (space vectors U1 to U7) are always calculated for the first sector SEK1 (from 0 to 60°) in the space vector plane and then rotated further. Space pointer U7 U0 U1 U6 U6 U1 U0 U7 Switching time Ts [µs] T0 / 4(10 µs) Ta(10 µs) Tb(20 µs) T0 / 4(10 µs) T0 / 4(10 µs) Tb(20 µs) Ta(10 µs) T0 / 4(10 µs)

[0036] There are several types of symmetries for pulse patterns. uvw (γ el ), where the quarter-wave and half-wave symmetry (f(γel) = f(π - γel) and f(γel) = -f(π + γel)) is the simplest and most common.

[0037] Furthermore, the following distinction can be made if a typical pulse sequence is assumed: Symmetries with zero pointer Symmetries without zero pointers q=3 Type A q=3 Type B q=5 Type B q=5 Type A q=7 Type A q=7 Type B q=9 Type B q=9 Type A ... ...

[0038] Fig. Figure 2 is a schematic diagram with an example optimized pulse pattern s uvw (γ el ) and synchronous modulation in the inverter according to type A. The type-A pulse shapes start with a rising edge. Fig.Figure 3 is a schematic diagram with an example optimized pulse pattern s uvw (γ el ) and synchronous modulation in the inverter according to type B. The type-B pulse shapes, on the other hand, start with a falling edge.

[0039] The following discussion will focus on symmetries without zero vectors. However, these considerations are also applicable to symmetries with zero vectors.

[0040] It is state of the art that the three-phase pulse patterns s uvw (γ el ) via the electric angle γ el to be integrated and as a flow trajectory ψ ab can be displayed.

[0041] Fig. Figure 4 is a schematic diagram with a three-phase pulse pattern s uvw (γ el ) three phases u, v, w over an electric angle γ el . Fig. Figure 5 is a schematic diagram showing the pulse pattern s uvw (γ el ) as river trajectory ψ abis shown.

[0042] The river trajectory ψ ab can be achieved by integration from the three-phase pulse pattern s uvw (γ el ) can be determined according to the following equation: ψab=ψab,offset+∫02π23[1−1212032−32]suvw(γel)dγel

[0043] That the river trajectory ψ ab Since the origin (0,0) can be located at the origin, an additional offset must be applied, which is determined using ψ. ab, offset is added. This can be calculated mathematically.

[0044] The following presents a method for regulating and / or controlling an electrical machine by extended synchronous modulation based on a space vector modulation for the overmodulation range, which can be implemented directly and works without offline generated tables.

[0045] Instead, the switching angle τ1 and the flow trajectory ψ are calculated online. abMemory was saved with slightly increased computing effort.

[0046] The following example illustrates how the pulse patterns s are formed, using a clock frequency q=3 type-B. uvw (γ el ) depending on the modulation level m can be calculated online.

[0047] The following equations for calculating the switching angles τ1 are only valid for a limited operating range, but cover the overmodulation range II (1.2 <m<4 / pi) ab.

[0048] The online calculation of the river trajectory ψ ab is generally valid for the symmetry type without a zero vector. A flow trajectory ψ can also be calculated using the same procedure. ab can be generated with a zero pointer. For the flow trajectory ψ ab Only the corner points in the first sector SEK1 (in the space vector plane from 0° (alpha axis) to 60°) are generated, since the entire flow trajectory ψ is derived from this. ab can be derived.

[0049] q=3 (Type-B) Switching angle τ1: m=b1=−4π(1+2(−cos(τ1)))(Fourier coefficient of the fundamental oscillation) τ1=sin−1(−mπ4−12)+π2

[0050] q=3 (Type-B) flow trajectory ψ: ψ1'=τ1

[2323] T ψ2'=2(π6−τ1)[−2323]T+ψ1' ψ3'=τ1[−430]T+ψ2' ψ0=[4π9−|ψ1'|0]T@τψ1=0 ψ1=ψ1'+ψ0@τψ1=τ1 ψ2=ψ2'+ψ0@τψ2=π3−τ1 ψ3=ψ3'+ψ0@τψ3=π3 Flow ψ0 ψ1 ψ2 ψ3 Angles, both bordering the river t ψ0 = 0 t ψ1 = τ1 τψ2=π3−τ1 τψ3=π3

[0051] For the first sector SEK1 (and all subsequent sectors), the sequence of the space vectors to be switched is known. In steady-state operation, the switching time t is also established, which in turn can be calculated from the switching angle t1. This is very similar to SVPWM. Space pointer U1 U2 U3 Switching time [µs] t1 = ω el α1α1 = τ ψ1 - t ψ0 = τ1 t2 = ω el a2 α2=τψ2−τψ1=π3−2τ1 t3 = ω el α3α3 = τ ψ3 - t ψ2 = τ1

[0052] Here w el the electric angular velocity, θ u is the angle of tension, q i the current angle, R s the stator resistance, i ab the current pointer and u dcthe intermediate circuit voltage of the capacitor

[0053] To implement a control system that achieves fast transient response and / or can control against disturbances, the respective switching times must be adjusted as with an SVPWM. First, the corresponding flux error ψ must be determined. e be determined.

[0054] The electric angle γ el is determined by measurements. The corresponding target torque can be determined via the flux angle. θψ* be set. The target stator flux ψk+1* has the angle δ=Ts⋅ωel+γel+θψ*. If everything is related to the first sector SEK1, then this angle δ must have a modulo between 0 and 60° (π / 3). The river trajectory shows that the vertices of the river are linearly connected. A linear interpolation between the points depending on the angles α, ψis therefore possible. Thus, a stator flux ψ can be achieved. k+1 depending on the angle δ and the associated voltage vector to be switched (e.g. U1).

[0055] The target flow ψ* can be determined from this by scaling. The scaling depends on the current state of the system: ψk+1*=ψk+11m⋅ωel⋅(mudc2)2−Rs⋅m⋅udc⋅|iαβ|cos(θu−θi)+(Rs|iαβ|)2

[0056] θ u - 0 i is the angle between the current and voltage phasors, m is the modulation index, u dc the intermediate circuit voltage, |i αβ | the amount of electricity and R s the stator resistance, T s the cycle time of the control algorithm.

[0057] The current flow ψ̂ k+1 can be determined via a flow observer. The flow error ψ e is then ψe=ψk+1*−ψ^k+1. This flow error ψ eis now in the αβ coordinate system. A decomposition into the three flow direction vectors (which are assigned to the respective space vectors), used in the first sector SEK1, can be performed. Here, due to the current angle... δ=Ts⋅ωel+γel+θψ* known which vector U now = {U1,U2,U3} to which river (ψ now ) of the three vectors (ψ I , ψ II , ψ III ) is posed and which vector U next = {U1,U2,U3} then to (ψ next ) will be asked.

[0058] The flow error ψ e is then divided into the two components ψ now and ψ next decomposed. For example, ψ next ψ II and ψ now ψ I Then the error is decomposed using the equation above. For other decompositions, the error is decomposed differently. From this, it can now be determined how the switching times must be set accordingly: [α,error,nowαerror,next]=ωeludc[ψnowψnext]

[0059] Fig. Figure 6 is a schematic diagram illustrating a flow error. ψe=ψk+1*−ψ^k+1. Fig. Figure 7 is a schematic diagram to illustrate that the flow error ψ e by two of three fundamental vectors ψ I , ψ II , ψ III can be decomposed: ψ I and ψ II , ψ II and ψ III or ψ I and ψ III . [ψIψII]=[113−113][ψe,αψe,β] [ψIψIII]=[023−113][ψe,αψe,β] [ψIIψIII]=[023−1−13][ψe,αψe,β]

[0060] Fig. Figure 8 is a schematic view of a control algorithm.

[0061] Before the control algorithm begins, the previously determined flow error ψ is first calculated. e divided into two parts. The space vectors used for the division u→Now and u→Next These values ​​correspond to the two next switching states. Zero phasors are neglected. The goal of the control algorithm is to reduce the resulting angular errors α. Error,Now and α Error,Next to eliminate by redistributing those switching durations during which the said switching states are active.

[0062] The following input variables are required to execute the control algorithm: - the set α of switching durations α1, ... , α x , which appear within the next sampling interval, - the angular errors α Error,Now and α Error,Next - the minimum switching angle α min .

[0063] First, in step S1, it is checked whether the angular errors α Error,Now and α Error,Next have different signs: sgn(αError,Now)≠sgn(αError,Next)

[0064] If this condition is not met, there is no way to calculate the flow error ψ. e by modifying the switching times of the space vectors u→Now and u→Next to reduce the quantity α, and the amount α is output unchanged in step S8. Otherwise, in step S2, the smaller angular error in absolute value determines the maximum switching time Δα. Error,max can potentially be redistributed: ΔαError,max=min(|αError,Now|,|αError,Next|).

[0065] Within a sampling interval, in principle all switching states can occur repeatedly. Consequently, by summing all samples around α, min reduced switching times from the set α, which corresponds to the space vector u→Now belonging to the switching time Δα Now,max to determine by which the presence of said switching state within the sampling interval can be reduced to the maximum extent: ΔαNow,max=∑iNNowαNow,i−αmin

[0066] Similarly, the switching time Δα is Next,max determined to predict the occurrence of the space vector u→Next can be reduced to the maximum: ΔαNext,max=∑jNNextαNext,j−αmin

[0067] Then, in step S3, it is checked whether the angular error α Error,Now is negative and consequently the space pointer u→Now the one to be shortened and the space pointer u→Next represents the switching state to be extended. Otherwise, the space pointer represents u→Now the one to be extended and u→Next the switching state to be shortened:

[0068] Is the space pointer u→Now The switching state to be shortened is then determined by the minimum of Δα, which is the actual switching duration to be redistributed in one step S4. Error,max and Δα Now,max determined: Δα=min(ΔαError,max,ΔαNow,max)

[0069] In step S5, the switching duration Δα to be redistributed is chronologically distributed among the individual switching durations α. Now,i divided and then each α Now,i to determine the corresponding Δα i reduced: Δαi=min(Δα,αNow,i−αmin) with Δα=∑iNNowΔαi αNow,i=αNow,i−Δαi

[0070] Extending the switching state u→Next However, the calculation of Δα always takes into account only the first associated switching duration. αNext,1: αNext,1=αNext,1+Δα

[0071] However, if the space pointer represents u→Next The switching state to be shortened is represented, then in one step S6 determines the minimum of Δα Error,max and Δα Next,max the actual switching time to be redistributed Δα: Δα=min(ΔαError,max,ΔαNow,max)

[0072] In this case, Δα is chronologically adjusted to the corresponding switching durations α in step S7. Next,i divided and subtracted from these: Δαj=min(Δα⋅αNext,j−αmin) with Δα=∑jNNextΔαjαNext,j=αNext,j−Δαj

[0073] Extending the switching state u→Now Δα is determined solely by using the first for u→Now apparent switching time α Now,1 completed: αNow,1=αNow,1+Δα Finally, in step S8, the modified set α of switching durations is output.

[0074] The procedure is described below using a pulse pattern as an example. uvw (γ el ) with zero vector and clock number q=3 type A, but will not be considered in more detail further. Fig. Figure 9 is a schematic diagram showing the pulse pattern s uvw (γ el ) as river trajectory ψ ab is shown.

[0075] q=3 (Type-A) Shift angle m=b1=4π(1+2(−cos(α1))) α1=sin−1(mπ4−12)+π2

[0076] q=3 (Type-A) Flow trajectory ψ1'=(π6−(π2−α1))[−2323]T ψ2'=(π3−2(π2−α1))[−2323]T ψ0=[4π90]T⋅mπ4@γel,ψ0=0 ψ1=ψ1'+ψ0@γel,ψ1=(π6−(π2−α1)) ψ2=ψ1=ψ1'+ψ0@γel,2=π6+(π2−α1) ψ3=ψ2'+ψ0@ψel,ψa=π3 Flow ψ0 ψ1 ψ2 ψ3 Angles, both bordering the river c el,ψ0 = 0 γel,ψ1=−π3+α1 γel,ψ2=2π3−α1 γel,3=π3 Space pointer U2 U7 Switching time [µs] t1 = ω el Dg el,1 Δγel,1=γel,ψ1−γel,ψ0=−π3+α1 t2 = ω el Dg el,2 Dg el2 = c el,ψ2 - c eı,ψ1 = π - 2α1 Space pointer U2 Switching time [µs] t3 = ω el Dg el,3 Δγel,3=γel,ψ5−γel,ψ2=−π3+α1

[0077] The following is an example of a pulse pattern uvw (c el ) mit Nullvektor und Taktzahl q=5 Typ A beschrieben. Fig. 10 ist ein schematicisches Diagramm, in dem das Pulsmuster s uvw (c el ) as a river trajectory ψ ab is shown.

[0078] q=5 (Type-A) Shift angle m=b1=4π(1+2(−cos(α1)+cos(α1+d))) α1=sin−1(1−mπ44 sin(d2))−d2 α2=α1+d d=−(12π−π)⋅m+9π2

[0079] q=5 (Type-A) Flow trajectory ψ1'=α1[−2323]T ψ2'=(α2−α1)

[2323] T+ψ1' ψ3'=2(π6−α2)[−2323]T+ψ2' ψ4'=(α2−α1)[−430]T+ψ3' ψ5'=α1[−2323]T+ψ5' ψ0=[4π9−|ψ2'−ψ1'|0]T@γel,ψ0=0 ψ1=ψ1'+ψ0@γel,ψ1=α1 ψ2=ψ2'+ψ0@γel,ψ1=α2 ψ3=ψ3'+ψ0@γel,ψ1=π3−α2 ψ4=ψ4'+ψ0@γel,ψ1=π3−α1 ψ5=ψ5'+ψ0@γel,ψ5=π3 Flow ψ0 ψ1 ψ2 ψ3 Angles, both bordering the river c el,ψ0 = 0 c el,ψ1 = α1 c el,ψ2 = α2 γel,3=π3−α2 Flow ψ4 ψ5 angle at which the river lies γel,4=π3−α1 γel,5=π3 Space pointer U2 U1 Switching time [µs] t1 = ω el Dg el,1 Dg el1 = c el,ψ1 - c el,ψ = α1 t2 = ω el Dg el,2 Dg el,2 = c el,ψ2 - c el,ψ1 , = α2 - α1 Space pointer U2 U3 Switching time [µs] t3 = ω el Dg el,3 Δγel,3=γel,ψ5−γel,ψ2=π3−2α2 t4 = ω el Dg el,4 Dg el,4 = c el,ψ - c el,ψ = α2 - α1 Space pointer U2 Switching time [µs] t5 = ω el Dg el,5 Dg el5 = c el,ψ5 - c el,4 = α1

[0080] The following is an example of a pulse pattern uvw (c el ) mit Nullvektor und Taktzahl q=7 Typ B beschrieben. Fig. 11 ist ein schematicisches Diagramm, in dem das Pulsmuster s uvw (c el ) as a river trajectory ψ ab is shown.

[0081] q=7 (Type-B) Shift angle m=b1=−4π(1+2(−cos(α)+cos(α1+d1)−cos(α1+d2))) m=b1=−4π(1+2(A cos(α1)+5 sin(α1))) m=b1=−4π(1+2(A2+52)sin(α1+tan−1(BA)))) A=−1+cos(d1)−cos(d2) B=−sin(d1)+sin(d2) α1=sin−1(1−mπ42A2+B2)−tan−1(BA) α2=α1+d1 α3=α2+145π d1=−94⋅m+9π d2=d1+145π

[0082] q=7 (Type-B) Flow trajectory ψ1=α1

[2323] T ψ2=(α2−α1)[−2323]T+ψ1' ψ3'=(α3−α2)

[2323] T+ψ2 ψ4=2(π6−α3)[−2323]T+ψ3 ψ5'=(α3−α2)[−430]T+ψ4 ψ6'=(α2−α1)[−2323]T+ψ5 ψ7'=α1[−430]T+ψ6' ψ0=[4π9−|ψ1|−|ψ3−ψ2|0]T ψ1=ψ1+ψ0ψ2=ψ2+ψ0ψ3=ψ3+ψ0 ψ4=ψ4+ψ0ψ5=ψ5+ψ0ψ6=ψ6+ψ0ψ7=ψ7+ψ0 Flow Ψ0 ψ1 ψ2 Ws; Angles, both bordering the river y el,ψ0 = 0 c el,ψ1 = α1 c el,ψ2 = α2 c el,3 = α3 Flow ψ4 ψ5 ψ6 ψ7 Angles, both bordering the river γel,4=π3−α3 γel,5=π3−α2 γel,6=π3−α1 γel,7=π3 Space pointer U1 U2 Switching time [µs] t1 = ω el Dg el,1 Dg el,1 = c el,ψ1 - c el,ψ0 = α1 t2 = ω el Dg el,2 Dg el,2 = c eı,ψ2 - c el,ψ1 = α2 - α1 Space pointer U1 U2 Switching time [µs] t3 = ω el Dg el,3 Dg el 3 = c el,ψ5 - c el,ψ3 = α3 - α2 t4 = ω el Dg el,4 Δγel,4=γel,ψ4−γel,ψ5=π3−2α3 Space pointer U3 U2 Switching time [µs] t5 = ω el Dg el,5 Dg el,5 = c el,ψ5 - c el,4 = α3 - α2 t6 = ω el Dg el,6 Dg el,6 = c el,ψ6 ,- c el,5 = α2 - α1 Space pointer U3 Switching time [µs] t7 = ω el Dg el7 Dg el,7 = c el,ψ7 - c el,6 = α1

[0083] The following is an example of a pulse pattern uvw (c el ) mit Nullvektor und Taktzahl q=9 Typ A beschrieben. Fig. 12 ist ein schematics Diagramm, in dem das Pulsmuster suvw(c el ) as a river trajectory ψ abis shown.

[0084] q=9 (Type-A) Shift angle m=b1=4π(1+2(−cos(α)+cos(α1+d1)−cos(α1+d2)+cos(α1+d2))) m=b1=4π(1+2(A cos(α1)+B sin(α1))) m=b1=4π(1+2(A2+B2sin(α1+tan−1(BA)))) A=−1+cos(d1)−cos(d2)+cos(d2) B=−sin(d2)+sin(d2)−sin(d2) α1=sin−1(1−mπ42A2+B2)+tan−1(BA)−π2 α2=α1+d1 α2=α1+d2 α4=α2+d3 d1=145π d2=−125m+8423 d3=160π

[0085] q=9 (Type-A) Flow trajectory ψ2'=α1[−2323]T ψ1'=(α2−α1)

[2323] T+ψ1' ψ2'=(α3−α2)[−2323]T+ψ2' ψ4'=(α4−α3)

[2323] T+ψ3' ψ5'=2(π6−α4)[−2323]T+ψ4' ψ6'=(α4−α2)[−430]T+ψ5' ψ7'=(α2−α3)[−2323]T+ψ6' ψ8'=(α2−α1)[−430]T+ψ7' ψ9'=α1[−2323]T+ψ8' ψ0=[4π9−|ψ2'−ψ1'|−|ψ4'−ψ2'|0]T ψ1=ψ1'+ψ0ψ2=ψ2'+ψ0ψ2=ψ2'+ψ0 ψ4=ψ4'+ψ0ψ2=ψ3'+ψ0ψ8=ψ8+ψ0 ψ7=ψ7'+ψ0ψ5=ψ5'+ψ0ψ9=ψ9+ψ0 Flow ψ0 ψ1 ψ2 ψ3 Angles, both bordering the river c el,ψ0 = 0 c el,ψ1 = α1 c el,ψ2 = α2 c el,3 = α3 Flow ψ4 ψ5 ψ6 ψ7 Angles, both bordering the river Y el,4 = α4 γel,5=π3−α4 γel,6=π3−α3 γel,7=π3−α2 Flow ψ8 ψ9 angle at which the river lies γel,8=π3−α1 γel,9=π3 Space pointer U2 U1 Switching time [µs] t1 = ω el Dg el,1 Dg el,1 = c el,ψ1 - c el,ψ0 = α1 t2 = ω el Dg el,2 Dg el,2 = c el,ψ2 - c el,ψ1 = α2 - α1 Space pointer U2 U1 Switching time [µs] t3 = ω el Dg el,3 Dg el,3 = c el,ψ3 - c el,ψ2 = α3 - α2 t4 = ω el Dg el,4 Dg el,4 = c el,ψ4 - c el,ψ3 = α4 - α3 Space pointer U2 U3 Switching time [µs] t5 = ω el Dg el,5 Δγel,5=γel,ψ5−γel,4=π3−2α4 t6 = ω el Dg el,6 Dg el, 6 = c el,ψ6 - c el,5 = α4 - α3 Space pointer U2 U3 Switching time [µs] t7 = ω el Dg el,7 Dg el,7 = c el,ψ7 - c el,6 = α3 - α2 t8 = ω el Dg el,8 Dg el,8 = c el,ψ8 - c el,7 = α2 - α1 Space pointer U2 Switching time [µs] t7 = ω el Dg el,9 Dg el,9 = c el,9 - c el,8 = α1

[0086] Fig. Figure 13 shows schematic diagrams for QWS-3 pulse switching (Quarter Wave Symmetry).

[0087] Fig. Figure 14 shows schematic diagrams for QWS-5 pulse switching.

[0088] Fig. Figure 15 shows schematic diagrams for QWS-7 pulse switching.

[0089] Fig. Figure 16 shows schematic diagrams for QWS-9 pulse switching.

[0090] The graph shows the weighted total harmonic distortion (WTHD) as a function of the modulation index m, the switching time α as a function of the modulation index m for type A, and the switching time α as a function of the modulation index m for type B.

[0091] It can be seen that the values ​​calculated online in the range m>1.2 correspond almost to the optimum.

[0092] Especially 7-fold clocking can still be used very effectively up to about m=1.15.

[0093] Block timing, or six-step, is a special case with q=1. Here, there are no degrees of freedom and therefore no switching angles τ1. The flow trajectory has its endpoints fixed at 0° and 60°. Reference symbol list m Modulation level SEK1 first sector S uvw (γ el ) Pulse pattern S1 to S8 step u, v, w phase U0 to U7: Voltage vector, space vector, space pointer U ref Reference vector α Switching time, number of switching times, real part β Imaginary part γ angle δ current angle γ el electric angle τ1 switching angle θ*ψ flux angle Ψ α, scale River trajectory Ψ β, scale River trajectory Ψ α River trajectory Ψβ River trajectory Ψ e Flow error ψ̂ k+1 Current flow Target flux, target stator flux Ψ I , Ψ II , Ψ III fundamental vectors

Claims

[1] Method for regulating and / or controlling an electrical machine by extended synchronous modulation based on space vector modulation, using the following input variables: - a set (α) of switching times (α1, ..., α x ), which appear within a subsequent sampling interval, - a current angular error (α Error,Now ) and a subsequent angular error ( α Error,Next ), - a minimum switching angle (α min ), where an online calculation of switching angles (τ1) and a flow trajectory (ψ) ab ) is done, and where pulse pattern (s uvw (γ el )) can be calculated online depending on a modulation level (m), characterized by , that with different signs of the angular error (α) Error,Now , α Error,Next ) α the smaller angular error in absolute value (α Error,Now , α Error,Next) determines the maximum switching duration (Δα) Error,max ) can potentially be redistributed, where by summing all around the minimum switching angle (α min ) reduced switching times from the set (α) that corresponds to a current or subsequent space vector (u→Now,u→Next) belonging to the switching time (Δα) Now,max , Δα Next,max ) is determined to predict the occurrence of the space vector (u→Now,u→Next) can be reduced to a maximum within the sampling interval, - where in the case of a negative current angular error (α) Error,Now ) to shorten the current space vector (u→Now) the actual switching time to be redistributed (Δα) from the minimum of the maximum switching time (Δα) Error,max ) and α of the switching time (Δα Now,max ) is determined, whereby the switching duration to be redistributed (Δα) is chronologically distributed to the corresponding switching durations (α) Now,i) divided and then each individual switching duration (α) Now,i ) to determine the corresponding Δα i is reduced, whereby the extension of the switching state (u→Next) to determine the switching duration to be redistributed (Δα) solely by considering the first associated switching duration (α) Next,1 ) is done, - where in the case of a positive angular error (α Error,Now ) to shorten the space vector (u→Next) the actual switching time to be redistributed (Δα) from the minimum of the maximum switching time (Δα) Error,max ) and the switching time ( Δα Next,max ) is determined, whereby the switching duration to be redistributed (Δα) is chronologically distributed to the corresponding switching durations (α) Next,i ) divided and then each individual switching duration (α) Next,i ) around the corresponding (Δα i ) is reduced, whereby the extension of the switching state (u→Now) to determine the switching duration to be redistributed (Δα) solely by considering the first one for the switching state (u→Now) apparent switching time (α) Now,1 ) is carried out, where the modified set (α) of switching durations is output. [2] Method according to claim 1, characterized by , that the angular errors (α Error,Now , α Error,Next ) from a flow error (ψ e ) are determined, where the flow error (ψ e ) into two components (ψ now ψ next ) is decomposed, whereby two space vectors are used as the basis for the decomposition (u→Now,u→Next) belonging to the two next switching states. [3] Method according to claim 1 or 2, characterized by , that with the same sign the angular error ( α ) Error,Now , α Error,Next ) the quantity (α) is output unchanged. [4] Method according to one of claims 2 or 3, characterized by, that the flow error (ψ e ) as the difference between a target flow (ψ*) and an actual flow (ψ̂) determined by a flow observer k+1 ) is determined. [5] Method according to any one of the preceding claims, characterized by , that the river trajectory (ψ ab ) is calculated with or without a zero pointer. [6] Method according to one of the preceding claims, wherein for the flow trajectory (ψ ab ) only the corner points in the first sector (SEK1) of the space vector plane are generated, and from this the entire flow trajectory (ψ) ab ) is derived. [7] Method according to any one of the preceding claims, characterized by , that the procedure is executed at a clock frequency (q) of 3, 5, 7 or 9. [8] Method according to any one of the preceding claims, characterized by that the procedure is carried out in the overmodulation range. [9] Vehicle with an electric drive and an inverter with a control system configured to carry out the method according to any of the preceding claims.

Images