Method for providing monitoring data of an electric machine during a sensorless operating and control unit

Abstract

A method (100) for providing monitoring data of an electric machine (2) during sensorless operation is disclosed, comprising acquiring provided machine data (110) which includes a value of a magnetic flux of the electric machine (2) during sensorless operation; acquiring provided adaptation data (120); acquiring provided fault threshold data (130); and providing the monitoring data (140) which includes flux factor values ​​calculated on the basis of the machine data and the adaptation data, and fault values ​​determined on the basis of a comparison of the flux factor values ​​with respect to whether the fault threshold data exceed and / or fall below the threshold values.

Description

[0001] The present invention relates to a method for providing monitoring data of an electric machine during sensorless operation. The invention also relates to a control unit configured and programmed to execute the method.

[0002] DE 10 2023 128 086 A1 discloses a method for estimating a rotation angle of a rotor of an electric machine and a control unit.

[0003] In the prior art, it is known to operate electrical machines such as electric motors without the use of rotor position sensors, for example, to reduce the space requirements of the electric motors. The rotor position is determined by means of software functions, for example, of a control unit. Known software functions include iterative methods and methods based on injection signals for determining an angular error between the controlled rotor position and the actual rotor position. These methods depend on current measurements of the electric motor, voltage estimates of the electric motor, and parameters of the electric motor, whereby the parameters are, for example, determined once for a given electric motor.

[0004] The determined angular error can depend on the accuracy of the current measurements, voltage estimates, and / or parameters. In particular, the parameters determined once may deviate from the actual parameters of the electric motor, for example, due to environmental influences and / or aging effects of the electric motor. Therefore, discrepancies can occur between the determined angular error and the actual angular error of the electric motor, which may prevent robust operation of the electric motor.

[0005] The object of the present invention is therefore to provide a technology that is more advanced than the prior art. In particular, it should be possible to operate an electric machine depending on environmental influences and / or aging effects acting on the electric machine.

[0006] This problem is solved by articles with the features according to the independent claims. Advantageous embodiments are the subject of the dependent claims.

[0007] Revealed is a method for providing monitoring data of an electrical machine during sensorless operation.

[0008] Furthermore, the method discloses a capture of provided machine data which includes a value of a magnetic flux of the electric machine during sensorless operation.

[0009] The machine data may include one or more values ​​containing information about the operation of the electric machine. For example, the machine data may include multiple values ​​of the electric machine's magnetic flux. Furthermore, the machine data may include a value for the electric current and / or voltage of the electric machine. Additionally, the value(s) may contain information about the operation of the electric machine's rotor and / or stator. In particular, the machine data may include information about the magnetic flux of the rotor and / or stator.

[0010] Furthermore, the method discloses the acquisition of provided adaptation data. The adaptation data may, for example, comprise one or more adaptation values ​​configured for calculation with the machine data. Furthermore, the machine data may be adapted during the calculation with the adaptation data in such a way that it is prepared and / or configured for processing by a control unit, in particular by an evaluation function of the control unit. Specifically, the machine data may be adapted during the calculation with the adaptation data in such a way that, for example, a factorization of the machine data is calculated using the adaptation data. In addition, the adaptation data may also include a factor reference value for an angular error, a magnetic flux, an electric current, and / or an electric voltage of the electric machine.

[0011] Furthermore, the procedure includes the acquisition of provided error threshold data. This error threshold data can, for example, include an error threshold value that is either positive or negative. This positive or negative value can be used, for instance, for comparison with machine data. The error threshold value can, for example, specify a level for this comparison.

[0012] The machine data, adaptation data, and / or fault threshold data can be provided to the process by, for example, one or more separate computer systems. Furthermore, the separate computer system or systems can provide the data via a communication interface, which can be configured for wired and / or wireless communication or data transmission.

[0013] Furthermore, the method discloses a provision of monitoring data which includes flow factor values ​​calculated on the basis of machine data and adaptation data, and error values ​​determined on the basis of a comparison with regard to exceeding and / or falling below the error threshold data by the flow factor values.

[0014] The monitoring data can, for example, include multiple flux factor values ​​and / or multiple fault values ​​over the course of the electrical machine's operation. A flux factor value and / or a fault value can be calculated and / or determined at a specific point in time within this timeframe.

[0015] The error values ​​can be configured, for example, to be detected and evaluated by a control unit. Based on these values, the control unit can then, for instance, create an error log and / or write the error value to an error memory. Furthermore, the control unit can output an error signal based on the error values, for example, to a user of the electric machine or a user of a system in which the electric machine is used.

[0016] The calculation of the flux factor values ​​can preferably be performed based on the magnetic flux of the electric machine and the matching data. Using the magnetic flux allows, in a preferred manner, environmental influences on the electric machine and / or aging effects of the electric machine to be incorporated into the calculation of the flux factor values. Furthermore, the flux factor values ​​can be calculated based on a reference value of the angular error.

[0017] By factoring the flux factor values, information or an indicator can preferably be provided that can give information for controlling the electric machine. Alternatively or additionally, the factored flux factor values ​​can preferably be used to check whether threshold values ​​have been exceeded or fallen below.

[0018] Furthermore, monitoring data can be provided to a control unit or controller for controlling the electric machine. Particularly preferably, the control unit can, for example, process the flux factor values ​​in such a way that angular error values ​​between the controlled rotor position of the electric machine and the actual rotor position can be evaluated based on these flux factor values. Therefore, the control unit can adjust the control data used to control the electric machine based on the provided monitoring data to ensure robust operation of the electric machine. Robust operation can be understood, for example, as ensuring that the electric machine is not damaged or destroyed during operation. In other words, operating ranges of the electric machine in which it could be damaged can be avoided.

[0019] The control unit can particularly preferably adjust the control data for the electric machine if one of the threshold values ​​is exceeded and / or fallen below.

[0020] Furthermore, the procedure may also include the acquisition of provided warning threshold data, and the monitoring data may also include warning values ​​determined on the basis of a comparison with regard to exceeding and / or falling below the warning threshold data by the flow factor values.

[0021] The warning threshold data can, for example, include a warning threshold value that is either positive or negative. This positive or negative value can be used, for instance, for comparison with machine data. The warning threshold value can, for example, specify a level for this comparison.

[0022] The warning values ​​can be configured, for example, to be detected and evaluated by the control unit. Based on these values, the control unit can then, for instance, create a warning log and / or write the warning value to the fault memory. Furthermore, the control unit can issue a warning signal based on the warning values, for example, to a user of the electric machine or a user of a system in which the electric machine is used.

[0023] Furthermore, the procedure may also include the acquisition of provided limit threshold data, and the monitoring data may also include limit values ​​determined on the basis of a comparison with regard to exceeding and / or falling below the limit threshold data by the flow factor values.

[0024] The limit threshold data can, for example, include a limit threshold value that is either positive or negative. This positive or negative value can be used, for instance, for comparison with machine data. The limit threshold value can, for example, specify a level for this comparison.

[0025] The limit values ​​can be configured, for example, to be detected and evaluated by the control unit. Based on these limit values, the control unit can, for instance, create a limit log and / or write the limit value as a limit warning to the fault memory. Furthermore, the control unit can issue a warning signal based on the limit values, for example, to a user of the electric machine or a user of a system in which the electric machine is used. Finally, the control unit can control the electric machine based on the limit values.Preferably, the control unit can control the electric machine such that the value of the magnetic flux, the value of the electric current, and / or the value of the electric voltage is controlled from a range of exceeding and / or falling below the error values, the warning values, and / or the limit values ​​to a desired value of magnetic flux, electric current, and / or electric voltage. The respective desired value can, for example, be provided to the process.

[0026] The warning threshold data and / or the limit threshold data can, for example, be provided to the process by the separate computer system. Furthermore, the separate computer system can provide the data via a communication interface, which can be configured for wired and / or wireless communication or transmission.

[0027] The monitoring data can, for example, contain multiple warning values ​​and / or multiple limit values ​​over the course of the electrical machine's operation. A warning value and / or a limit value can be calculated and / or determined at a specific point in time within this timeframe.

[0028] Furthermore, the monitoring data may also include threshold duration values ​​that indicate the duration of exceeding and / or falling below the error threshold data, the warning threshold data and / or the limit threshold data by the flow factor values.

[0029] Furthermore, the monitoring data may contain threshold frequency values ​​that indicate the frequency of exceeding and / or falling below the error threshold data, the warning threshold data and / or the limit threshold data by the flow factor values.

[0030] Furthermore, for example, the error log, the warning log and / or the limit log can be created depending on whether a specified duration and / or frequency is exceeded by the threshold duration values.

[0031] Furthermore, the error value, the warning value and / or the limit value can be written as a function of an exceedance of a specified time duration and / or frequency by the threshold duration values.

[0032] The specified duration and / or frequency can, for example, be provided to the procedure by the separate computer system or another separate computer system.

[0033] In other words, a diagnostic module of the electrical machine or system can, for example, filter errors, warnings, and / or limit alerts based on the duration of exceedances and / or falls below a specified threshold. Thus, a violation of one of the thresholds can, for instance, only result in an entry in the diagnostic module if the violation persists for a certain period of time.

[0034] Alternatively or additionally, the separate computer system or another separate computer system to which the monitoring data is provided can filter the monitoring data based on the threshold frequency values.

[0035] Furthermore, the error threshold data, the warning threshold data and / or the limit threshold data may have multiple threshold values ​​that vary in height over a period of time.

[0036] For example, threshold values ​​that vary in height over time can form a curved threshold profile. This curved threshold profile can also be described as an asymmetrical threshold profile. The curved threshold profile can be determined, for example, through a series of experiments. For instance, the distance between the threshold value of the error value, the warning value, and / or the limit value and the reference value of the magnetic flux, electric current, and / or electric voltage can be determined. Alternatively or additionally, the distance between the threshold value of the error value, the warning value, and / or the limit value and the respective other threshold values ​​can be determined.

[0037] In other words, it may be necessary to find a compromise between displaying warnings and errors without a cause and not detecting problems.

[0038] Furthermore, the error threshold data, the warning threshold data and / or the limit threshold data can have a positive threshold and / or a negative threshold.

[0039] Furthermore, the flux factor values ​​can also be calculated based on provided magnetic compensation data.

[0040] The magnetic compensation data can, for example, include one or more magnetic compensation values, which are configured for calculation with the machine data. Furthermore, the machine data can be adjusted during calculation with the magnetic compensation data in such a way that, for example, aging effects, particularly of the magnets, of the electric machine can be compensated.

[0041] The magnetic compensation data can, for example, be provided to the process by the separate computer system or another separate computer system.

[0042] Furthermore, the procedure can be carried out during the start-up of the electric machine.

[0043] Furthermore, the method can also be carried out, for example, during specific operating cycles of the electric machine. The method is particularly advantageous when the electric machine is not operated at or below its operating temperature.

[0044] In other words, the procedure can be tied to time windows of operation of the electric machine in which, for example, temperature influences acting on the electric machine are small, such as at the start of a driving cycle and / or after a longer cooling phase of the electric machine.

[0045] Furthermore, the monitoring data may also contain angular error values, which are determined based on the flux factor values.

[0046] Also disclosed is a control unit that is designed and equipped to execute the disclosed method.

[0047] For example, the control unit can be configured and configured to control or drive the electric machine. Alternatively or additionally, the monitoring data from the control unit can be provided to a separate control unit for controlling the electric machine. Based on the monitoring data, particularly the limit values, the control unit and / or the separate control unit can adjust the control of the electric machine. This adjustment can, for example, lower or raise the current value of the magnetic flux, the current value of the electric current, and / or the voltage so that the respective current value can be brought closer to the specified reference value.

[0048] The present invention is described in detail below with reference to the figures. These show: Fig. 1. A description of the procedure for providing monitoring data of an electrical machine during sensorless operation; Fig. 2. An exemplary construction of a vehicle with an electric machine and a control unit; and Fig. 3 A diagram of an exemplary evaluation of monitoring data in conjunction with threshold data over a time axis.

[0049] The present invention is described below with reference to preferred embodiments and the figures. However, this description of the embodiment should not be considered exhaustive.

[0050] The Fig. Figure 1 shows a sequence of the procedure 100 for providing monitoring data 140 of an electrical machine 2.1 or 2.2, hereinafter referred to as electrical machine 2 for simplification, during sensorless operation.

[0051] Method 100 comprises acquiring provided machine data 110, which includes a value for the magnetic flux of the electric machine 2 during sensorless operation. Method 100 further comprises acquiring provided adaptation data 120. Method 100 also comprises acquiring provided fault threshold data 130. Finally, the method comprises providing monitoring data 140, which includes flux factor values ​​calculated based on the machine data and the adaptation data, and fault values ​​determined by comparing the flux factor values ​​to whether the fault threshold values ​​have been exceeded or fallen below.

[0052] Furthermore, the procedure 100 may also include the recording of provided warning threshold data, and the monitoring data 140 may also include warning values ​​determined on the basis of a comparison with regard to exceeding and / or falling below the warning threshold data by the flow factor values.

[0053] Furthermore, the procedure 100 may include the recording of provided limit threshold data, and the monitoring data 140 may also include limit values ​​determined on the basis of a comparison with regard to exceeding and / or falling below the limit threshold data by the flow factor values.

[0054] Furthermore, the monitoring data can contain 140 threshold duration values, which indicate the duration of exceeding and / or falling below the error threshold data, the warning threshold data and / or the limit threshold data by the flow factor values.

[0055] Furthermore, the error threshold data, the warning threshold data and / or the limit threshold data may have multiple thresholds that vary in height over a period of time.

[0056] Furthermore, the error threshold data, the warning threshold data and / or the limit threshold data can have a positive threshold and / or a negative threshold.

[0057] Furthermore, the flux factor values ​​can also be calculated based on provided magnetic compensation data.

[0058] Furthermore, the procedure 100 can be carried out during the start-up of the electric machine 2.

[0059] The Fig. Figure 2 shows an exemplary configuration of a vehicle 1 with two electric machines 2.1, 2.2 and a control unit 10. The two electric machines 2.1, 2.2 are configured to drive the wheels 4 of the vehicle 1 axle by axle. It is also conceivable that only one of the electric machines 2.1, 2.2 is used for axle-wise driving of two wheels 4, or that four electric machines 2 are used for wheel-wise driving.

[0060] Control unit 10 is set up and trained, procedure 100 according to the Fig. 1 to execute and provide monitoring data 140 of the two electric machines 2.1, 2.2. The machine data of the control unit 10 are continuously provided by the vehicle 1. Furthermore, the adaptation data and the fault threshold data of the control unit 10 were provided at least once by a separate computer system 20.

[0061] Furthermore, the control unit 10 is designed and configured to execute the method 100 and to control the two electrical machines 2.1, 2.2. The control unit can preferably adjust the control of the two electrical machines 2.1, 2.2 based on limit values ​​determined by the method 100. Particularly preferably, the control unit 10 can automatically adjust the control. Furthermore, damage to the two electrical machines 2.1, 2.2 can be avoided by such an adjustment, especially an automatic one.

[0062] The Fig. Figure 3 shows a diagram 30 of an exemplary evaluation 31 of monitoring data 140 in conjunction with threshold data 33, 34, 35 over a time axis.

[0063] The monitoring data comprises 140 flow factor values ​​31. Diagram 30 also shows a reference value for the flow factor values ​​32. Furthermore, diagram 30 includes fault threshold data 33, which exhibits a positive fault threshold value 33.1 and a negative fault threshold value 33.2. Furthermore, diagram 30 includes warning threshold data 34, which exhibits a positive warning threshold value 34.1 and a negative warning threshold value 34.2. Furthermore, diagram 30 includes limit threshold data 35, which exhibits a positive limit threshold value 35.1 and a negative limit threshold value 35.2.

[0064] Furthermore, the flux factor values ​​31, which are based in particular on an adaptive flux factor of the electrical machine 2 from Fig. The flow factor values ​​2 are calculated, starting at the reference value of 32 and decreasing over time, then rising above the reference value of 32, before falling below it again. In this example, the flow factor values ​​31 do not reach any of the respective threshold values.

[0065] If the flow factor values ​​31, for example, reach and / or exceed / fall below one of the error threshold values ​​33.1, 33.2, then procedure 100 should be used according to the Fig. 1. An error value is determined. If, for example, the flow factor values ​​31 reach and / or exceed / fall below one of the warning threshold values ​​34.1, 34.2, then procedure 100 should be discontinued according to the Fig. 1. A warning value is determined. If the flow factor values ​​31, for example, reach and / or exceed / fall below one of the limit threshold values ​​35.1, 35.2, then procedure 100 should be deactivated according to the Fig. 1. A limit warning value will be determined.

[0066] The limit warning value can be preferentially taken from a control unit 10 in the Fig. 2 can be used to control the electric machine 2 in order to limit, and in particular reduce, the adaptive flux factor of the electric machine 2. Reference symbol list 1 vehicle 2, 2.1, 2.2 electric machine 4 wheels 10 Control unit 20 separate computer systems 30 Diagram 31 flow factor values 32 Reference value of the flow factor values 33 Error Threshold Data 33.1 positive error threshold value 33.2 negative error threshold value 34 Warning threshold data 34.1 positive warning threshold value 34.2 negative warning threshold value 35 Limit threshold data 35.1 positive limit threshold value 35.2 negative limit threshold value 100 methods for providing monitoring data 110 Recording of provided machine data 120 Capturing provided customization data 130 Capturing provided error threshold data 140 monitoring data points

Claims

Method (100) for providing monitoring data (140) of an electric machine (2) during sensorless operation, comprising: acquiring provided machine data (110) which includes a value of a magnetic flux of the electric machine (2) during sensorless operation; acquiring provided adaptation data (120); acquiring provided fault threshold data (130); and providing the monitoring data (140) which includes flux factor values ​​calculated on the basis of the machine data and the adaptation data, and fault values ​​determined on the basis of a comparison of the flux factor values ​​with respect to whether the fault threshold data exceed and / or fall below the threshold values. Method (100) according to claim 1, wherein the method (100) further comprises acquiring provided warning threshold data, and the monitoring data (140) further comprise warning values ​​determined on the basis of a comparison with respect to exceeding and / or falling below the warning threshold data by the flow factor values. Method (100) according to claim 1 or 2, wherein the method (100) further comprises acquiring provided limit threshold data, and the monitoring data (140) further comprise limit values ​​determined on the basis of a comparison with respect to exceeding and / or falling below the limit threshold data by the flow factor values. Method (100) according to one of claims 1 to 3, wherein the monitoring data (140) further comprises threshold duration values ​​that indicate a time period of exceeding and / or falling below the fault threshold data, the warning threshold data and / or the limit threshold data by the flow factor values. Method (100) according to any one of claims 1 to 4, wherein the fault threshold data, the warning threshold data and / or the limit threshold data have several thresholds that vary in height over a period of time. Method (100) according to any one of claims 1 to 5, wherein the fault threshold data, the warning threshold data and / or the limit threshold data have a positive threshold and / or a negative threshold. Method (100) according to any one of claims 1 to 6, wherein the flux factor values ​​are further calculated on the basis of provided magnetic compensation data. Method (100) according to any one of claims 1 to 7, wherein the method (100) is carried out during the start-up of the electric machine (2). Method (100) according to any one of claims 1 to 8, wherein the monitoring data (140) further include angular error values ​​determined on the basis of the flux factor values. Control unit (10) which is designed and configured to carry out the method (100) according to any one of claims 1 to 9.

Images