Control device for a three-phase synchronous rotating machine with permanent magnets

Abstract

three-phase synchronous rotating permanent magnet machine (40), provided with a control device comprising a computer (100) for controlling an inverter (30) for driving the phases of said machine, for which said computer comprises a speed and angular position estimator module (10) of the rotor of said machine provided at its input with an input selector module (1), receiving digital voltage data, said input selector module being controlled by a control (SEL) of the operating mode of said machine, said input selector module being configured to select: - data inputs representing the three-phase control voltages Va_cmd, Vb_cmd, Vc_cmd of phases A, B, C of the inverter (30), in powered operating mode of said machine;- data inputs representing measured voltages Va_mes, Vb_mes, Vc_mes of three-phase phases A, B, C of said machine, in free rotation mode, - data inputs of voltages forced to zero, in short-circuit mode of the phases of said machine; as input data for the speed and angular position estimator module of said machine. Figure 1;

Description

Title of the invention: Control device for a three-phase synchronous rotating machine with permanent magnets. Technical field

[0001] The invention relates to the field of control systems for three-phase synchronous rotating machines with permanent magnets such as brushless motors, in particular permanent magnet synchronous motors controlled by a control with at least three phases such as known by the Anglo-Saxon acronym PMSM and relates more particularly to a method and a device for controlling such a motor without position or speed sensors. Previous technique

[0002] Sensorless control methods and devices for rotating machines or electric motors are known for relatively high-speed control applications with low resistive load at start-up.

[0003] Sensorless controls are particularly effective in steady state, but have weaknesses in certain operating modes: a. - In the free rotation phase, also called freewheeling, a sensorless control cannot ensure the estimation of the angular position of the rotor because there is no voltage applied to the synchronous machine by the inverter, b. - In low speed or start-up phases, sensorless algorithms have weaknesses with a risk of instability and erroneous information.

[0004] Therefore, a second position estimation or measurement system is needed for these modes:

[0005] For free rotation, such a second system is most often based on a PLL circuit allowing to recalculate speed and angle from the measurements of electromotive force (emf) voltages from the motor.

[0006] For low speed, another solution is to combine a control based on the measurement of the electromotive force with a sensorless method using the saliency of the machine (position extracted from Ld different from Lq by frequency injection), or to use a position sensor, or even to use an open-loop control. Technical problem

[0007] State-of-the-art solutions thus require separate systems to regain control of position estimation or measurement during changes in motor-controlled mode / free-rotating motor / low speed, and necessitate control of the transitions between these modes. These transitions involve significant control recovery times and transients induced by the need for convergence of each system. systems with changing modes.

[0008] This phenomenon is visible at the level of the controlled system (latency in responding to a pilot command, overshoot). However, in the case of motor systems used for electric propulsion, during certain phases of flight, particularly descent and cruise, the motor control must respond to frequent mode changes, specifically between controlled motor mode and free-rotating motor mode, and known solutions do not allow for the continuous management of these mode changes. Similarly, in the case of a short-circuit braking mode for the phases of the synchronous machine, the measurement can no longer take into account the control or measured voltages.

[0009] The field of application relates in particular to rotating machines or motors from several tens of kW to hundreds of kW with several pole pairs for controlling their rotation. An additional problem is that in the case of a motor with ten electrical sectors on the 360° of the motor shaft, the ten sectors are themselves subdivided into 360° electrically, which requires an angular precision much greater than the mechanical precision of an optical or other sensor. Description of the invention

[0010] In view of the prior art, the present disclosure relates to a device for controlling the rotation of a permanent magnet synchronous rotating machine, or brushless motor, and a method for estimating the angular position of the rotor of such a machine, providing position information for this rotor across all operating modes of the machine and the inverter driving this machine, without loss of information during transitions between modes. The control device according to the present invention thus behaves as a device equipped with a virtual position sensor.

[0011] To this end, the present disclosure proposes more specifically a three-phase synchronous rotating permanent magnet machine, equipped with a control device comprising a control computer for a phase control inverter of said machine, for which said computer comprises a speed and angular position estimator module of the rotor of said machine provided at its input with an input selector module, receiving digital voltage data, said input selector module being controlled by a control (SEL) of the operating mode of said machine, said input selector module being configured to select: a. - data inputs representing the three-phase control voltages Va_cmd, Vb_cmd, Vc_cmd of phases A, B, C of the inverter, in powered operating mode of said machine; b. - representative data inputs of measured voltages Va_mes, Vb_mes, Vc_mes three-phases of phases A, B, C of said machine, in free rotation mode c. - data inputs of voltages forced to zero, in short-circuit mode of the phases of said machine; as input data for the speed and angular position estimator module of said machine.

[0012] This input selector device makes it possible to keep the same electrical position estimation algorithm during the 3 operating modes and thus avoid the activation and convergence of a new estimator during transitions between modes.

[0013] The features described in the following paragraphs correspond to embodiments that can be implemented independently of each other or in combination with each other:

[0014] The representative data of measured voltages are advantageously two-phase voltage data Val and V[31 of a two-phase model in a stator frame calculated by means of a second Clarke transform from the measured voltages Va_mes, Vb_mes, Vc_mes.

[0015] The use of a two-phase reference frame simplifies the calculations.

[0016] The velocity and angular position estimator module may include a phase-locked loop function to achieve convergence of calculations.

[0017] This module may further include: a. an inverse Park matrix submodule P(-0) receiving as input, in addition to the voltage data from the selector module, current data la and I[3 calculated from the currents la, Ib, le of the phases of said machine by means of a third Clarke transform, said inverse Park matrix submodule providing voltages Vô, Vy and currents Iô, Iy in a rotating rotor frame of estimation ô, y, b. a sub-module estimating the back electromotive force (EMF) EMF EST, giving back electromotive force values ​​Eô, Ey in said rotating estimation frame, c. a speed estimator submodule SP EST having an estimated speed as its output data, looped back to the back electromotive force estimator submodule FEM EST, and an angle estimator submodule ANGLE EST, said speed and angle estimator module having an estimated speed SE and an estimated angle AE of the rotor of said machine as its output data.

[0018] The estimated angle AE is distributed in a first mathematical calculation function module

[0019] on the one hand, a correction current lylfb from the currents la, Ib, le measured in output of the inverter, said current ly 1 being received on a second input of a first comparator receiving on its first input a calculated setpoint current Iylc, said first comparator being arranged at the input of a first current control module ly whose output is found at the input of a second module mathematical function for calculating the control voltages Va_cmd, Vb_cmd, Vc_cmd of the inverter and,

[0020] on the other hand of a correction current lôlfb from the currents la, Ib, le measured at the output of the inverter, said current lôlfb being received on a second input of a third comparator receiving on its first input a calculated setpoint current Iôlc, said third comparator being disposed at the input of a second current control module whose output is found at the input of the second module mathematical function for calculating the control voltages Va_cmd, Vb_cmd, Vc_cmd of the inverter.

[0021] The estimated speed SE can be transmitted to a second input of a second comparator, to the input of a speed controller module, said second comparator having as its first input a setpoint speed SC and said speed controller module being connected to an operating point calculation module providing said setpoint currents Iylc and Iôlc.

[0022] The voltage data Va2 and V[32 are preferably taken from the second mathematical function module.

[0023] Said representative control voltage data are advantageously two-phase voltage data Va2 and V[32 of a two-phase model in a stator frame corresponding to a first Clarke transform of the three-phase control voltages Va_cmd, Vb_cmd, Vc_cmd.

[0024] Here too, the two-phase reference frame makes it possible to simplify the calculations.

[0025] This disclosure further proposes a method for estimating the electrical position of a three-phase synchronous rotating permanent magnet machine, controlled by a control device described above, which includes a selection of input voltage data depending on the operating mode of said machine between: a. the control voltages of said machine as applied by a control inverter of said machine in motor operation; b. the phase-to-phase voltages of the stator measured at the output of the inverter in freewheeling mode of the inverter, said voltages being representative of the back electromotive force of said machine; c. zero voltages in operating mode of short-circuiting the machine phases by the inverter in machine braking mode; said selection providing voltage data for an algorithm to calculate the estimated angle AE and estimated speed SE of said machine at the level of said module speed and angular position estimator of said machine.

[0026] The method makes it possible in particular to estimate the electrical position (Pos_elec_est) of the three-phase permanent magnet motor or rotating machine (PMSM) from its Back Electromotive Force (FCEM), in free rotation mode, with a method of extracting the electrical position from the FCEM (BEMF based position estimator in English).

[0027] Said calculation algorithm is advantageously a phase-locked loop type algorithm.

[0028] Said estimated angle AE and said estimated speed SE are advantageously used as correction data for calculations of rotational speed of the synchronous machine and for calculations of currents and voltages for piloting said inverter for piloting the phases of said machine at the level of said control device.

[0029] The motor control can be achieved by speed or torque.

[0030] According to another aspect, a computer program is proposed comprising ins instructions for the implementation of all or part of a process as defined herein when that program is executed by a processor.

[0031] According to another aspect of the invention, a non-transient, computer-readable recording medium is proposed on which such a program is recorded. Brief description of the drawings

[0032] Other features, details and advantages of the invention will become apparent from the following detailed description of non-limiting embodiments and from the analysis of the accompanying drawings, in which:

[0033] [Fig.1] shows a schematic view of an example of a speed control system for a brushless synchronous motor according to the present disclosure;

[0034] [Fig.2] shows an example of an embodiment of a selection module and a velocity and angular position estimator applicable to the invention;

[0035] [Fig.3] shows a schematic view of an example of a control system for a brushless synchronous torque motor according to the present disclosure. Description of the implementation methods

[0036] The drawings and description below contain elements that can not only serve to better understand the present invention, but also contribute to its definition, if necessary.

[0037] This disclosure relates to a control device for a permanent magnet synchronous machine with at least three phases, also called a permanent magnet brushless synchronous electric motor driven by a control with at least three phases, hereinafter referred to as the "motor," and a method for estimating the position of a rotor of the synchronous machine as shown in [Fig. 1], the device being adapted for To perform a selection of measurement channels in order to create a virtual position sensor. The device and method are integrated into an electronic control chain of an inverter 30 supplying the machine. The method is advantageously implemented in a computer 100 of the inverter's control electronics.

[0038] The machines concerned are electrical machines ranging from several tens of kW to several hundred kW, comprising several pairs of poles which require, for their control, knowledge of the electrical angle over 360°. For example, for 10 sectors that make up 360° electrically, the required precision is much greater than the precision of the mechanical rotation angle of the machine.

[0039] The system according to [Fig.1] corresponds to a speed control of the motor and consists primarily of a set of physical components: a. A permanent magnet synchronous machine 40; b. A 30-volt inverter generating three-phase voltages for machine control; c. A control electronics unit 100 hosting inverter control software to generate the machine's driving voltages and currents; d. A set of current sensors la, Ib, le and voltage sensors Va_mes, Vb_mes, Vc_mes on the phases a, b, c connecting the inverter to the machine.

[0040] The system includes input data from, for example, a flight computer which provides as data a set speed SC and a selection command SEL of a selection module as will be seen below.

[0041] The system further includes, in the machine control software, an algorithm for determining the position of the rotor according to the method of this disclosure to generate the machine control voltages at the inverter level in the machine operating modes, including a high impedance mode in which the inverter does not impose voltage on said phases and a short-circuit mode in which the inverter short-circuits at least some of the machine phases.

[0042] In the case of a three-phase synchronous rotating machine with permanent magnets for aircraft propulsion, the method for determining the position of the rotor of the machine 40 is used in all phases of flight. Among these phases, we can mention, without being exhaustive: a. Takeoff, b. Cruise, c. Descent, d. Free rotation, also known as "wind milling" in English.

[0043] The method for determining the position of a rotor of a synchronous machine described in this disclosure requires, as input data, depending on the operating modes operation of the synchronous machine, the acquisition of the currents la, Ib, le transiting between the inverter and the machine, the voltages at the inverter output Va_mes, Vb_mes, Vc_mes as well as the acquisition of the inverter control voltages Va_cmd, Vb_cmd, Vc_cmd and provides at the output an electrical angular position information AE and speed SE of the rotor for the classic machine control algorithms such as control of the supply current or control of the rotational speed.

[0044] The [Fig. 1] proposes a control device for the inverter 30 for controlling the speed of the synchronous machine 40, which includes a computer 100 for controlling the phases of the inverter supplying the synchronous machine.

[0045] More specifically, the control electronics comprise, according to [Fig.1], several function blocks implemented in a control computer, these function blocks comprising a speed controller SP CONT 102, a first current controller ly CONT 104, a second current control module lô CONT 107, the output of these current controllers being connected to a first mathematical transformation module 105 of type T32+rotation allowing the generation of the control voltages Va_cmd, Vb_cmd and Vc_cmd which the inverter must apply to the motor and transforming these control voltages Va_cmd, Vb_cmd and Vc_cmd into control voltages Va2 and V[32 in a two-phase rotating stator frame, a speed and angle estimation block SP & ANGLE EST 10 which will give the speed estimates SE and angle estimates AE used in the feedback loops of said speed and current controllers.

[0046] The algorithm corresponding to the speed estimation block includes a machine emf estimation loop capable of operating both: a. on the basis of the three-phase voltages applied by the inverter in active switching in sensorless regulation operation (so-called sensorless mode in English) in motor or generator mode; b. based on measurements of the phase-neutral voltages Va_mes, Vb_mes and Vc_mes of the stator in free rotation mode with the inverter in open circuit mode; c. based on fixed zero voltages Va, Vb, Vc in case of active short-circuiting by the inverter; d. based on the voltages applied by the inverter in regulation operation with a position sensor not sufficient for the drive but sufficient in motor or generator mode to manage the start-up phases); e. based on the voltages applied by the inverter Va_cmd, Vb_cmd, Vc_cmd in open-loop regulation operation on the position information (acceleration ramp start).

[0047] The generator mode corresponds to a compatible braking control for which one has a negative torque with a positive velocity.

[0048] The process comprises two major blocks:

[0049] A selection block 1 of the voltage information of the motor phases received via different channels: voltages Va2 and V[32 from the control voltages Va_cmd, Vb_cmd and Vc_cmd, voltages Val and V[31 from a measurement of voltage Va_mes, Vb_mes and Vc_mes or even voltages Va0=V[30 forced to 0 and this according to the operating modes.

[0050] This selection block is controlled by the SEL command from the flight computer not shown, this command being representative of the operating mode of the inverter controlled in turn by an SEL' command.

[0051] The SP&ANGLE EST 10 motor speed and angular position estimator uses the "current / voltage" information with the voltages selected at the selection module and the current values ​​on the phases when the inverter drives the phases, the voltages measured on the motor phases in freewheeling mode or the phase currents only in phase short-circuit mode.

[0052] For the "current / voltage" information processing part, the sensorless process requires continuous knowledge of the voltages applied to the motor and the currents injected into the motor.

[0053] As seen above, in the case of control by the inverter, the voltages are advantageously the control voltages of the inverter Va_cmd, Vb_cmd, Vc_cmd so that the measurement is not affected by the voltage cutting created by the inverter.

[0054] Indeed, in the case of active control of the inverter, the measurement of the motor phase voltages is difficult to achieve because the applied voltage is modulated at high frequency by the switching of the inverter.

[0055] In the case of free rotation where the inverter control is high impedance, the solution is to use the measured voltages Va_mes, Vb_mes & Vc_mes. In this operating mode, the pulse-width modulation control of the motor no longer operates, the control voltages are no longer available, and therefore the machine EMF voltages are directly available.

[0056] In the case of the short circuit, when the inverter applies a short circuit to the motor, the voltages considered for the estimator are not measured, but forced to Va=Vb=Vc=0V.

[0057] In this operating mode, the PWM control of the motor no longer operates either, only the currents in the phases are measured.

[0058] The solution of this disclosure is thus to select the voltage inputs at the level of the software or physical selection module 1 according to the operating mode of the inverter defined with the following logic:

[0059] {

[0060] If motor short-circuited (SC_cmd=l), then the input voltages are zero (0V).

[0061] Otherwise,

[0062] If motor in open circuit (OC_cmd=l ),

[0063] then the measured voltages are used (Va_mes, Vb_mes & Vc_m.es).

[0064] Otherwise, the control voltages are used (Va_cmd, Vb_cmd & Vc_cmd).

[0065] }

[0066] In the embodiment shown more particularly in [Fig. 2], preprocessing is performed on the three-phase voltages to transform them into two-phase voltages using Clarke transform software modules, also known as Concordia transforms, T32, transform 3 to transform the voltages Va_mes, Vb_mes, and Vc_mes into two-phase voltages Val, V

[31] in a stator-linked frame, and transform 2 for the voltages Va_cmd, Vb_cmd, Vc_cmd to give voltages Va2, V

[32] in said stator-linked frame. These two-phase voltages are then used at the level of the selection module 1 to provide the speed and angular position estimator module 10 with voltages Va, V[3] allowing the calculation of the estimated speed and estimated angle of the motor.

[0067] The currents la, Ib, le are treated in the same way by a Clarke transform T32 4 in order to have currents la, I[3 and voltages Va, V[3 are in the same frame.

[0068] The speed and angular position estimator module 10 includes firstly an inverse Park matrix module 5 symbolized P(-0) which transforms the voltages Va, V[3 and currents la, I[3 of the stator frame into voltages Vô, Ny and currents lô, ly in a frame linked to the rotor.

[0069] These voltages and currents are used as input data for an electromotive force (or back electromotive force depending on the chosen reference frame seen from the machine side or seen from the inverter side) estimation module of the machine in a phase-locked loop (PLL) type loop comprising an estimated speed calculation module SE whose output is reintroduced into the electromotive force estimation module.

[0070] The advantage of the device is that it provides rotor position information for the three main operating modes of the three-phase inverter: pulse-width modulation (PWM), open-circuit (freewheeling), and short-circuit, as seen from the aircraft according to the command given by the flight computer at the SEL' control level. This solution allows the same electrical position estimation algorithm to be used during these three operating modes.

[0071] The computer 100 includes a speed and angular position estimator module 10 of the synchronous machine, provided at its input with an input selector module 1, receiving digital voltage data. Said input selector module is controlled by the SEL engine operating mode selection command, for example from an aircraft propulsion engine management computer or other.

[0072] The input selector module 1 receives: a. data inputs of voltages Va2 and V[32 of a two-phase model in a stator frame corresponding to a first Clarke transform 2 of the calculated control voltages Va_cmd, Vb_cmd, Vc_cmd three-phase of the phases A, B, C of the inverter 30, in powered operating mode of said machine; b. data inputs of voltages Val and V[31 of the two-phase model in the stator frame calculated by means of a second Clarke transform 3 from the measured voltages Va_mes, Vb_mes, Vc_mes three-phase of phases A, B, C of said machine, in free rotation mode of the motor, c. data inputs of voltages VaO and V[30 of the two-phase model forced to zero, in short-circuit mode of the phases of said machine; The data corresponding to the operating mode of the motor are transmitted as input data to the speed and angular position estimator module 10.

[0073] In [Fig.1], the data Va2 and V[32 of the two-phase model in the stator frame and corresponding to the calculated control voltages are from the mathematical transformation module 105 which also provides the voltages Va_cmd, Vb_cmd, Vc_cmd.

[0074] Returning to [Fig.2], the velocity and angular position estimator module 10 includes a phase-locked loop function called PLL.

[0075] This estimator module includes an inverse Park matrix submodule P(-0) 5 which receives as input, in addition to voltage data from the selector module, current data la and I[3 calculated from the currents la, Ib, le of the phases of said machine by means of a third Clarke transform 4. This inverse Park matrix submodule provides voltages Vô, Vy and currents lô, ly in a rotating estimation frame ô - y linked to the rotor of the synchronous machine.

[0076] The estimator module 10 includes an electromotive force estimator submodule FCEM EST 6 which calculates back electromotive force values ​​Eô, Ey in said rotating estimation frame.

[0077] The estimator module 10 then includes a speed estimator sub-module SP EST 7 having an estimated speed SE as its output data.

[0078] To implement the phase-locked loop, the estimated speed SE is reintroduced as correction data in the electromotive force estimator sub-module EMF EST 6.

[0079] Finally, the estimator module 10 includes an angle estimator sub-module ANGLE EST 8.

[0080] The output data of the speed and angle estimator module 10 are an estimated speed SE and an estimated angle AE of the rotor of said machine.

[0081] Returning to [Fig. 1], the estimated angle AE is used to calculate a correction current lô 1 from the currents la, Ib, le measured at the output of the inverter and to calculate the currents la and I[3 in a first mathematical function module T32 + rotational transform Math Trans 106. This correction current lôlfb and a setpoint current Iylc are compared at the level of a first comparator 103. The result of the comparison is transmitted to the input of a first current control module ly CONT 104. The output of the latter and the output of the second current control module lô 1 CONT 107 are used as the input of a mathematical transformation module 105 of type T32 + rotational transform also having the estimated angle AE as input and which will generate the three-phase control voltages Va_cmd, Vb_cmd, Vc_cmd and their two-phase transforms Va2 and V[32.

[0082] In this example the two-phase voltages Va2 and V[32 are transmitted to the selection module 1.

[0083] The estimated speed SE from the speed and angular position estimator module 10 is transmitted to a second input of a second comparator 101, which is itself the input of a speed controller module 102. This input is then transmitted to an operating point calculation (OPF) module 109, which also receives the DC voltage measurement HDVC_M from the inverter's power supply line. This module provides the setpoint currents Ilc and Iylc. The calculated setpoint current Iylc is transmitted to a first input of the first comparator 103, as previously described, and the calculated current Ilc is transmitted to a third comparator 108.

[0084] From the estimated angle AE and the phase currents, the Math trans transform module 106 also provides the correction current 101^ of the rotor two-phase reference frame which will be compared with the setpoint current Iôlc at the level of a third comparator 108 whose output is transmitted to the input of the second current control module lô CONT. 107.

[0085] Apart from analog / digital conversions on the voltage and current signals measured on the phases between the inverter and the synchronous machine, the calculations and transformations are preferably carried out by software in the computer 100 for example of microcontroller type which traditionally includes for this purpose analog and digital inputs and outputs, analog / digital and possibly digital / analog converters, one or more digital outputs for example for the control signals of the converter 30, program memory, read-only or reprogrammable memory, data memory including random access memory, a clock and the various components necessary for its operation.

[0086] This disclosure also relates to a method for estimating the position electrical of a three-phase synchronous rotating permanent magnet machine 40 implemented in the computer 100 and which includes a selection of input voltage data depending on the operating mode of said machine between: a. The control voltages of said machine as applied by the inverter 30 for controlling said machine in motor operation; b. The phase-neutral voltages of the stator measured at the output of the inverter 30 in freewheeling mode of the inverter, said voltages being representative of the back electromotive force of said machine; c. Zero voltages in short-circuiting operating mode of the machine phases 40 by the inverter 30 in braking mode of the machine; said selection providing voltage data for an algorithm for calculating estimated angle AE and estimated speed SE of said machine.

[0087] This process is implemented in the computer 100 which, together with its process implementation program, constitutes the device of this disclosure.

[0088] The algorithm for calculating the estimated angle AE and the estimated velocity SE can in particular be a phase-locked loop type algorithm known as a PLL.

[0089] In the example, said estimated angle AE and said estimated speed SE are used as correction data for calculations of rotational speed of the synchronous machine and for calculations of currents and voltages for driving a power inverter of said machine.

[0090] The process of this disclosure makes it possible, in particular, to estimate the electrical position (Pos_elec_est) of a three-phase permanent magnet motor or rotating machine (PMSM) from its back electromotive force (EMF), in free-rotating mode, using a method for extracting the electrical position from the EMF (BEMF-based position estimator). Such a method is known, for example, in the document N. Matsui and Shigyo, "Brushless DC motor without position and speed sensors," IEEE Trans. on Ind. Applications, vol. 28, no. 1, pp. 120-127, January / February 1992. The use of the EMF is possible for synchronous machines that rotate at high speeds and therefore provide a high EMF.

[0091] Fig. 3 corresponds to a variant in which the motor is torque controlled and in this case the device includes a torque / current transformation module 110 at the input of the operating point calculation module 109 which also receives the DC voltage measurement from the inverter supply line to calculate the setpoint currents. Industrial application

[0092] The invention may be applicable in particular to synchronous machine systems used in traction or propulsion for land and marine vehicles. or electrically propelled aerial vehicles or for static synchronous machine systems such as drive motors for industrial devices.

[0093] The invention is not limited to the examples described above, which are only by way of example, but encompasses all the variants that a person skilled in the art may consider within the framework of the protection sought, the computer being able, for example, to be made in several separate parts, each equipped with a dedicated microcontroller, or to be integrated into the inverter.

Claims

Demands

1. A three-phase synchronous rotating permanent magnet machine (40), equipped with a control device comprising a computer (100) for controlling an inverter (30) for driving the phases of said machine, characterized in that said computer comprises a speed and angular position estimator module (10) of the rotor of said machine, equipped at its input with an input selector module (1) receiving digital voltage data, said input selector module being controlled by an operating mode control (SEL) of said machine, said input selector module being configured to select: a. representative data inputs of the three-phase control voltages Va_cmd, Vb_cmd, Vc_cmd of phases A, B, C of the inverter (30), in powered operating mode of said machine, b. representative data inputs of measured three-phase voltages Va_mes, Vb_mes, Vc_mes of phases A, B, C of said machine, in free rotation mode, c. data inputs of voltages forced to zero, in short-circuit mode of the phases of said machine,

2.

3. as input data for the speed and angular position estimator module of said machine. three-phase synchronous rotating permanent magnet machine according to claim 1 wherein said representative measured voltage data are two-phase voltage data Val and V[31 of a two-phase model in a stator frame calculated by means of a second Clarke transform (3) from the measured voltages Va_mes, Vb_mes, Vc_mes. Three-phase synchronous rotating machine with permanent magnets according to claim 1 or 2, wherein the speed and angular position estimator module (10) comprises a phase-locked loop function and includes: a. an inverse Park matrix submodule P(-0) (5) receiving as input, in addition to the voltage data from the selector module, current data la and I[3 calculated from the currents la, Ib, le of the phases of said machine by means of of a third Clarke transform (4), said inverse Park matrix submodule providing voltages Vô, Vy and currents Iô, Iy in a rotating estimation frame ô, y , b. a back electromotive force estimator submodule (6) giving back electromotive force values ​​Eô, Ey in said rotating estimation frame, c. a speed estimator submodule (7) having as output an estimated speed, fed back to the back electromotive force estimator submodule (6), and an angle estimator submodule (8), said speed and angle estimator module having as output an estimated speed SE and an estimated angle AE of the rotor of said machine.

4. Three-phase synchronous rotating machine with permanent magnets according to claim 3, for which the estimated angle AE is distributed in a first mathematical function module (106) for calculating, on the one hand, a correction current lylfb from the currents la, Ib, le measured at the output of the inverter, said current lylfb being received on a second input of a first comparator (103) receiving on its first input a calculated setpoint current Iylc, said first comparator (103) being disposed at the input of a first current control module (104) whose output is found at the input of a second mathematical function module (105) for calculating the control voltages Va_cmd, Vb_cmd, Vc_cmd of the inverter (30) and, on the other hand, a correction current lôlfb from the currents la, Ib, le measured at the output of the inverter,said current lôlfb being received on a second input of a third comparator (108) receiving on its first input a calculated setpoint current Iôlc, said third comparator (108) being disposed at the input of a second current control module (107) whose output is found at the input of the second mathematical function module (105) for calculating the control voltages Va_cmd, Vb_cmd, Vc_cmd of the inverter (30).

5. A three-phase synchronous permanent magnet rotating machine according to claim 4, wherein the machine is speed-controlled and wherein the estimated speed SE is transmitted to a second input of a second comparator (101), to the input of a speed control module (102), said second comparator having as its first input a setpoint speed SC and said speed controller module (102) being connected to an operating point calculation module (109) providing said setpoint currents Iylc and Iôlc.

6. Three-phase synchronous rotating permanent magnet machine according to claim 4, wherein the machine is torque controlled, and wherein the device comprises a torque / current transformation module (110) at the input of an operating point calculation module (109) providing said setpoint currents Iylc and Iôlc.

7. Three-phase synchronous rotating permanent magnet machine according to claim 5 or 6, wherein the voltage data Va2 and V[32 are derived from the second mathematical function module (105).

8. Three-phase synchronous rotating permanent magnet machine according to any one of claims 1 to 6 wherein said representative control voltage data are two-phase voltage data Va2 and V[32 of a two-phase model in a stator frame corresponding to a first Clarke transform (2) of the three-phase control voltages Va_cmd, Vb_cmd, Vc_cmd.

9. A method for estimating the electrical position of a three-phase synchronous rotating permanent magnet machine (40), controlled by a control device according to any one of the preceding claims, characterized in that it comprises a selection of input voltage data depending on the operating mode of said machine between: a. the control voltages of said machine as applied by an inverter (30) for driving said machine in motor operation, b. the phase-to-phase stator voltages measured at the output of the inverter (30) in freewheeling mode of the inverter, said voltages being representative of the back electromotive force of said machine, c.zero voltages in short-circuiting mode of machine phases (40) by the inverter (30) in machine braking mode, said selection providing voltage data for an algorithm for calculating estimated angle AE and estimated speed SE of said machine at said angular speed and position estimator module. said machine.

10. Estimation method according to claim 9, wherein said calculation algorithm is a phase-locked loop type algorithm.

11. Estimation method according to claim 9 or 10, wherein said estimated angle AE and said estimated speed SE are used as correction data for calculations of rotational speed of the synchronous machine and for calculations of currents and voltages for driving said inverter (30) for driving the phases of said machine at the level of said control device.

12. Estimation method according to any one of claims 9 to 11 wherein the motor control is carried out in speed or torque.

13. Computer program comprising instructions for carrying out the method of any one of claims 9 to 12 when this program is executed by a processor.

14. Non-transient, computer-readable recording medium on which the program of claim 13 is recorded.