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    • 专利摘要:
    "MSAP COMMAND DEVICE". The invention relates to a control device for a synchronous machine with permanent "MSAP" magnets, comprising: - a sensor for making an Om measurement of the rotor position, control means for controlling an MSAP operating point according to the position of the rotor and conventional parameters, estimation means to determine an estimate O ^ of the rotor position in an estimation Park marking & -Y connected to the rotor, these estimation means 23 having adjustment means (61) to place this position of the rotor O ^ estimated in continuation with respect to that measured rotor position Om, a break detector to detect a breakdown of that pickup, and a switch configured to connect the control means to the pickup, so that the control means receive the measured position Om of the rotor when the failure detector does not signal any failure of that pickup, and if not to connect the control means to the estimation means, so that the control means receive the position estimated O ^ of the rotor, when the failure detector signals a failure of that pickup.
    公开号:BR112012013747B1
    申请号:R112012013747-6
    申请日:2010-12-10
    公开日:2020-06-30
    发明作者:Guilhem Lejeune
    申请人:Labinal Power Systems；
    IPC主号:
    专利说明:

    [0001] [0001] The present invention relates to the control domain of synchronous machines with permanent magnets (MSAP). PREVIOUS TECHNICAL STATUS
    [0002] [0002] A synchronous machine with permanent magnets (MSAP) comprises a stator and a rotor. In general, the stator contains windings connected in a star and the rotor contains permanent magnets.
    [0003] [0003] Usually, an MSAP is powered by an inverter that allows to reduce the rate of undulation of the currents and torque of the machine.
    [0004] [0004] An MSAP has high torque and very low inertia. In addition, it has relatively low inductances, which results in rapid responses from currents and therefore torque.
    [0005] [0005] Thus, it is very advantageous to use MSAP in the motorization of high-power and high-performance actuators, notably in the embedded systems of an aircraft.
    [0006] [0006] Figure 5 schematically represents a system comprising a control device 101, an inverter 111 and an MSAP 103.
    [0007] [0007] The corrugator 111 supplies the MSAP 103 with a continuous voltage. It allows to impose on the terminals of the MSAP 103 the amplitude and frequency voltages adjustable by the control device 101.
    [0008] [0008] The control device 101 is configured to vectorally control the voltages of the inverter 111 according to the electrical data 106 of return and above all to a precise data in the position θ of the rotor. This information usually comes from a position or speed sensor placed on the machine shaft.
    [0009] [0009] However, there are also MSAP control devices without a pickup (see, for example, the publication by Babak Nahid-Mobarakeh et al., Entitled "Analysis of convergence of MSAP control laws without pickup based on the fem estimate" , International Journal of Electrical Engineering, Article volume 6 / 5-6-2003 pages 547 - 577 -doi: 10.3166 / rige. 6.545 - 577).
    [0010] [00010] It will be noted that the description of the control device without a pickup essentially comes from the publication by Babak Nahid-Mobarakeh et al, above.
    [0011] [00011] In general, the electrical equations of an MSAP in a fixed rotating reference connected to the stator are described by:
    [0012] [00012] MSAP can thus be modeled in a very simple way on a rotating rotating reference connected to the rotor.
    [0013] [00013] Figure 6 illustrates a rotating rotary reference dq connected to the rotor (called Park rotating reference), comprising a direct axis Od and a quadrature axis Oq. The direct axis Od forms an angle θ in relation to a fixed axis Oα connected to the stator. More precisely, the angle θ designates the rotor position marked by its excitation axis Od .
    [0014] [00014] Applying the Concordia T32 transformation and the Park transformation to the system of equations above, the electrical equations can be expressed in the Park dq rotating reference , as follows:
    [0015] [00015] Considering the position of the rotor θ and the angular velocity Ω are not measured, the rotating reference dq cannot be located and the components of the electrical quantities in that rotating reference are known.
    [0016] [00016] Usually, to solve this problem, a rotating reference is defined, a rotating reference reference is estimated δ-y, whose position ϑ and speed Ω c are known. The Oδ axis of the rotating estimate reference δ- y forms an angle ϑ with respect to the fixed axis Oα and an angle φ with respect to the axis Od. The angle φ indicates the lag between the axes, the Oδ and Od axes.
    [0017] [00017] The problem with the vector command without a pickup is then to determine the angular velocity Ω c so that the position deviation φ between ϑ and θ is canceled out.
    [0018] [00018] The electrical equations of the MSAP in the δ-y spin reference can then be entered as follows:
    [0019] [00019] Generally, to control the MSAP without a pickup, the eδ, y and fem components are estimated in the δ-Y estimation spinning reference. If it coincides with the rotating reference dq connected to the rotor, the direct component of the emf in the estimating rotating reference becomes null. This gives a criterion that allows to correct the position ϑ and the speed Ωc of the estimating spinning reference δ-Y so that it is synchronized with the spinning reference dq connected to the rotor. Then, the position and speed of the rotor are deduced directly from the position and the speed of the estimate spinning reference δ- y,
    [0020] [00020] The problem of vector control without a pickup is then to determine a command law at angular velocity Ωc and the components of the statistical voltages V δ , V y in the rotating reference δ-Y that guarantees the regulation of cp at zero, and the components of currents i δ , i y with their references i δref , i yref , determined by the reference torque Γ ref .
    [0021] [00021] Figure 7 schematically illustrates a control device without a pickup.
    [0022] [00022] This control device comprises a binary - current converter 137, vector control means 119 and a modeling of the corrugator assembly 114 - MSAP in the rotating reference δ-Y.
    [0023] [00023] Converter 137 transforms the torque into current, transforming the value of the reference torque (or convention torque) Γ ref into the current of references i δref , i yref corresponding to the rotating reference δ-Y.
    [0024] [00024] The vector control means 119 determines a command law to control the corrugator assembly - MSAP 114, guaranteeing the regulation of φ to zero (φ ref = 0). This command law defines the angular velocity Ωc and the components of statical stresses V δ , V y in the rotating reference V δ , V y as a function of the components of the currents i δ , i y obtained from the measurements of the return currents, and the reference currents i δref, i yref .
    [0025] [00025] A control device without a pickup is particularly robust, as it comprises at least one detection element. Thus, a control device without a pickup is simpler to make and can have a longer life span than a control device with a pickup.
    [0026] [00026] However, a position pickup is, in general, very accurate and therefore a control device using a position pickup can regulate the inverter voltages that supply the MSAP more accurately than a control device without a pickup.
    [0027] [00027] The object of the present invention is therefore to propose a control device of an MSAP that presents an optimum reliability and a very high safety that are major concerns in aeronautics. EXPOSURE OF THE INVENTION
    [0028] - um captador para fazer uma medida θm da posição do rotor; - meios de controle para controlar um ponto de funcionamento da MSAP em função da posição do rotor e dos parâmetros de convenção; - meios de estimativa para determinar uma estimativa θ da posição do rotor em uma referência girante de Park de estimativa δ-Y ligado ao rotor, esses meios de estimativa comportando meios de ajuste para colocar essa posição do rotor θ estimada no prosseguimento em relação a essa posição do rotor θm medida; - um detector de pane para detectar uma pane desse captador; e - um comutador configurado para conectar os meios de controle ao captador, a fim de que os meios de controle recebam a posição medida θm do rotor tanto que o detector de pane não assinale nenhuma pane desse captador, e senão para conectar os meios de controle aos meios de estimativa, a fim de que os meios de controle recebam a posição estimada θ^ do rotor quando o detector de pane assinala uma pane desse captador. [00028] The present invention relates to a control device of a synchronous machine with permanent magnets "MSAP" comprising a stator and a rotor and powered by an inverter the control device comprising: - a pickup to make a measurement θ m of the rotor position; - control means to control an MSAP operating point depending on the position of the rotor and the convention parameters; - estimation means to determine an estimate θ of the rotor position in a rotating reference of Park estimate δ-Y connected to the rotor, these estimation means having adjustment means to place that estimated position of the rotor θ in the continuation in relation to that rotor position θ m measured; - a failure detector to detect a failure of that pickup; and - a switch configured to connect the control means to the pickup, so that the control means receive the measured position θ m of the rotor so that the break detector does not signal any failure of that pickup, but only to connect the control means to the estimation means, so that the control means receive the estimated position θ ^ of the rotor when the failure detector signals a failure of that pickup.
    [0029] [00029] This makes it possible to increase the availability of MSAP in a degraded mode, ensuring the smooth operation of the machine in the event of a pickup failure. It will be noted that this device favors the MSAP command with the measurement made by the pickup and only goes to the command without the pickup, when a pickup anomaly has been detected, allowing to avoid having a major deviation between the two positions at the moment when the pickup control oscillates to a pickup control.
    [0030] - um estimador de força eletromotriz para estimar as componentes êδ, êy da força eletromotriz "fem" na referência girante de Park de estimativa δ-Y em função das grandezas definidas nessa referência girante de Park compreendendo componentes das correntes iδ, iy obtidas a partir das medidas das correntes estatóricas, das componentes das tensões estatóricas Vδ, Vy correspondentes às tensões convencionais do ondulador, e de uma velocidade de rotação Ωc do rotor; - um estimador de velocidade utilizando essas componentes estimadas b êδ, êy da fem provenientes do estimador de força eletromotriz, e utilizando um corretor não linear para determinar a velocidade de rotação Ωc segundo uma lei de comando que apresenta um domínio de convergência global, compreendendo um único ponto de equilíbrio assintoticamente estável correspondente ao ponto de funcionamento consignado pela MSAP; e - um integrador que utiliza a velocidade de rotação Ωc proveniente do estimador de velocidade para calcular essa estimativa θ^ da posição do rotor. [00030] Advantageously, the means of estimation include: - an electromotive force estimator to estimate the ê δ , ê y components of the "fem" electromotive force in the Park spinning reference δ-Y as a function of the quantities defined in that Park spinning reference comprising components of the currents i δ , i y obtained from the measurements of the stator currents, the components of the stator voltages V δ , V y corresponding to the conventional voltages of the inverter, and a rotational speed Ω c of the rotor; - a velocity estimator using these estimated components b ê δ , ê y da fem from the electromotive force estimator, and using a non-linear corrector to determine the rotation speed Ω c according to a command law that presents a global convergence domain , comprising a single asymptotically stable equilibrium point corresponding to the operating point assigned by MSAP; and - an integrator that uses the rotation speed Ω c from the speed estimator to calculate this estimate θ ^ rotor position.
    [0031] [00031] The control device, according to the invention, thus allows the MSAP to be controlled in the event of a pickup failure according to a command law that has a global convergence domain that limits convergence to a single desired operating point, regardless rotor position in relation to the stator.
    [0032] [00032] According to an embodiment of the invention, this speed estimator comprises a first estimator configured to determine a previous estimate Ω of the rotation speed as a function of the estimated component êy of the fem associated with the Y axis and a predetermined physical parameter Kʃ depending on the characteristics of the permanent rotor magnets, according to the following formula:
    [0033] [00033] Thus, the non-linear corrector allows to tend towards a real rotating reference of the rotor, regulating the electromotive force eδ associated with the δ axis to zero, making any unwanted operating point unstable. This imposes a quick convergence to the desired operating point, allowing an inversion of the rotation speed.
    [0034] [00034] These adjustment means are configured to perform a PI between the measured rotor position θ m and the estimated rotor position θ ^. The adjustment means can advantageously comprise an inhibiting means to inhibit the adjustment means when a failure of that pickup is detected.
    [0035] [00035] If a fault is detected, the correction provided by the adjustment means is advantageously inhibited, since the measured rotor position θ m is truly false.
    [0036] [00036] Advantageously, these estimation means include initialization means to reinitialize the estimate of the position of the rotor θ ^ with a last estimate θ ^ 0 of the position of the rotor before detecting a failure of the pickup.
    [0037] [00037] This makes it possible to avoid transition oscillations and keep the torque value constant when the control with the pickup is switched to the control without the pickup.
    [0038] [00038] The invention also aims at a synchronous machine with permanent magnet MSAP that includes a control device, according to the above characteristics. The invention also aims at a driver in an aircraft that has an MSAP according to the characteristics above.
    [0039] - medir por meio de um captador uma posição θm do rotor; e - controlar um ponto de funcionamento da MSAP em função da posição do rotor e parâmetros de convenção; - determinar uma estimativa θ^ da posição do rotor em uma referência girante de Park de estimativa δ-Y ligada ao rotor; - colocar essa posição do rotor θ^ estimada em prosseguimento em relação a essa posição do rotor θm medida ; - detectar uma pane desse captador, e - controlar o ponto de funcionamento da MSAP em função da posição medida θm do rotor quando o captador não está em pane, e senão controlar o ponto de funcionamento da MSAP em função da posição estimada θ^ do rotor, quando o captador está em pane. [00039] The invention also relates to a control process for a synchronous machine with permanent magnets "MSAP" comprising a stator and a rotor and powered by an inverter, the control process comprising the following steps: - measure a position θ m of the rotor using a pickup; and - control an MSAP operating point depending on the rotor position and convention parameters; - determine an estimate θ ^ of the rotor position in a Park reference spinning estimate δ-Y connected to the rotor; - place that estimated rotor position θ ^ in continuation in relation to that measured rotor position θ m ; - detect a failure of that pickup, and - control the operating point of the MSAP as a function of the measured position θ m of the rotor when the pickup is not panicked, and if not, control the operating point of the MSAP as a function of the estimated position θ ^ of the rotor, when the pickup is panned .
    [0040] - estimar componentes êδ, êy da força eletromotriz "fem" na referência girante de Park de estimativa δ-Y em função das grandezas definidas nessa referência girante de Park, compreendendo compo- nentes das correntes iδ, iy obtidas a partir das medidas das correntes estatóricas, componentes das tensões estatóricas Vδ, Vy correspondentes às tensões de convenção do ondulador, e de uma velocidade de rotação Ωc do rotor; - estimar a velocidade de rotação Ωc em função dessas componentes estimadas êδ, êy da fem e utilizando um corretor não linear, segundo uma lei de comando que apresenta um domínio e convergência global, compreendendo um único ponto de equilíbrio assin- toticamente estável correspondente ao ponto de funcionamento convencional da MSAP; - calcular essa estimativa θ^ da posição do rotor em função da velocidade de rotação Ωc. [00040] The command process also includes the following steps: - estimate components êδ, êy of the electromotive force "fem" in the spinning reference of Park of estimation δ-Y as a function of the quantities defined in that spinning reference of Park, comprising components of the currents iδ, iy obtained from the measurements of the statist currents , components of the static voltages V δ , V y corresponding to the convention voltages of the inverter, and a rotational speed Ω c of the rotor; - estimate the rotation speed Ω c as a function of these estimated components ê δ , ê y da fem and using a non-linear corrector, according to a command law that presents a global domain and convergence, comprising a single asymmetrically stable equilibrium point corresponding to the conventional MSAP operating point; - calculate this estimate θ ^ of the rotor position as a function of the rotation speed Ω c .
    [0041] [00041] The command process also includes the following steps: - determine a prior estimate Ω of the speed of rotation as a function of the estimated component êy of the fem associated with the y axis and a predetermined physical parameter Kj depending on the characteristics of the permanent magnets of the rotor, according to the following formula:
    [0042] [00042] The invention also aims at a computer program containing instructions for the application of the above command process. BRIEF DESCRIPTION OF THE DRAWINGS
    [0043] - a figura 1 representa esquematicamente um dispositivo de comando de uma máquina síncrona com ímãs permanentes "MSAP", de acordo com a invenção; - a figura 2 representa esquematicamente um modo de realização do dispositivo de comando da figura 1; - a figura 3 representa esquematicamente um modo de realização do estimador de velocidade ilustrada na figura 2; - as figuras 4A e 4B representam esquematicamente modos de realização particulares dos meios de ajuste ilustrados nas figuras 1 e 2; - a figura 5 representa esquematicamente um dispositivo de comando de uma MSAP, segundo a técnica anterior; - a figura 6 representa uma referência girante de Park ligada ao rotor de uma MSAP; e - a figura 7 representa esquematicamente um dispositivo de comando de uma MSAP sem captador, segundo a técnica anterior. [00043] Other characteristics and advantages of the invention will appear with the reading of preferred embodiments of the invention made with reference to the attached figures, among which: figure 1 schematically represents a control device for a synchronous machine with permanent "MSAP" magnets, according to the invention; figure 2 schematically represents an embodiment of the control device of figure 1; figure 3 schematically represents an embodiment of the speed estimator illustrated in figure 2; figures 4A and 4B schematically represent particular embodiments of the adjustment means shown in figures 1 and 2; figure 5 schematically represents an MSAP control device, according to the prior art; figure 6 represents a rotating Park reference connected to the rotor of an MSAP; and - figure 7 schematically represents a control device for an MSAP without a pickup, according to the prior art.
    [0044] [00044] Figure 1 represents, schematically, a control device 1 of a synchronous machine with permanent magnets "MSAP" 3, according to the invention.
    [0045] [00045] The MSAP 3 machine normally comprises stator windings 5 connected in star with isolated neutral and a rotor 7 with permanent magnets 9 of symmetrically constituted with p pairs of poles (of which a single pair was represented here p = 1 ).
    [0046] [00046] The MSAP 3 is powered by a computer 11 that imposes voltages v a , V b , v c on the terminals of the statistical windings 5. The corrugator set - MSAP, according to a three-phase model, is diagrammed by block 13.
    [0047] [00047] The control device 1 comprises a position sensor 15, electrical measuring means 17, and control means 19.
    [0048] [00048] The position pickup 15 is a resolver (for example, a Hall effect pickup or any other type of resolver) mounted on the MSAP 3 to perform, in a practical way, the measurement θ m of the rotor 7 position. Of course, the position can also be determined indirectly by measuring the speed of rotation of the rotor at the location of its position. In that case, the position pickup may comprise means for measuring the speed of rotation and an integrator for determining the position.
    [0049] [00049] The electrical measurement means 17 are configured to measure electrical return data and more particularly to measure the static currents i a , i b , i c of MSAP 3.
    [0050] [00050] The control means 19 receive signals about the rotor position, signals about the dc currents i a , i b , i c measured by the electrical measurement means 17 and data about the reference torque Γ ref and / or the rotation reference Ω ref .
    [0051] [00051] The control means 19 comprise a transformation interface 21 between the three-phase model of the MSAP-inverter set 13 and a two-phase model in a rotating Park reference. This transformation makes it possible to transform the physical quantities of a three-phase model to a two-phase model and vice versa, depending on the position of the rotor 7.
    [0052] [00052] Thus, the control means 19 can control or control the operating point of MSAP 3 (that is, the desired operating point or assigned by the reference torque Γ ref and / or the reference rotation Ω ref ) depending on of the rotor 9 position, the convention parameters (Γ ref and / or Ω ref ), as well as the electrical return data.
    [0053] [00053] According to the invention, the control device 1 further comprises estimating means 23, a break detector 25 and a transition switch 27.
    [0054] [00054] The estimation means 23 are configured to determine an estimate θ ^ of the position of the rotor 7 in the Park reference spinning estimate δ-Y. As will be seen in more detail below with reference to figure 2, this estimate can be performed by correcting the position θ of the estimate rotating spin reference δ-Y so that it is synchronized with the rotating reference dq connected to the rotor (see also figure 6).
    [0055] [00055] The breakdown detector 25 is configured to detect a possible breakdown of the captor 15. In particular, the breakdown detector 25 can, for example, consist of a breakdown signal that is generated or released by the pickup 15 itself, when it it crashes.
    [0056] [00056] The switch 27 is configured to connect the control means 19 either to the control means 19 or to the estimation means 23, or to the position pickup 15 according to the fact that the panic signal S indicates whether the pickup 15 is in crash or not.
    [0057] [00057] More particularly, when the failure detector does not signal any failure of the position pickup 15, the switch 27 maintains the connection between the control means 19 and the position pickup 15, in order for the control means 19 to receive the measured position θ m of the rotor 7. Conversely, when the failure detector indicates that the position pickup 15 is in failure, the switch 27 then connects the control means 19 to the estimation means 23, so that the control 19 receive the estimated position θ ^ of rotor 7.
    [0058] [00058] Thus, since the pickup 27 falls into a panic, the switch 27 allows a transition from a command with a pickup to a command without a pickup from MSAP 3. This allows to increase the availability of MSAP 3 in degraded mode. Naturally, since the position 15 pickup is repaired, the MSAP 3 control can be done again with the position 15 pickup.
    [0059] [00059] It will be noted that figure 1 as well as figures 2-4B are also illustrations of the main stages of the control process, according to the invention.
    [0060] [00060] Figure 2 illustrates an embodiment of the control device of figure 1.
    [0061] [00061] This scheme shows that the estimation means 23 comprise an electromotive force estimator 31, a speed estimator 33, is an integrator 35. In addition, the control means 19 comprise a binary-current converter 37 and a voltage regulator current 39, in addition to the transformation interface 21.
    [0062] [00062] The binary-current converter 37 transforms the reference torque value Γ ref into corresponding reference currents i δref , i yref in the rotating reference Park estimate δ-Y.
    [0063] [00063] On the other hand, the transformation interface 21 transforms the statics i a , i b , i c measured by electrical measurement means 17 into components of the currents i δ , i y in the rotating reference δ-Y of Park.
    [0064] [00064] In addition, the current regulator 39 receives the reference currents i δref , i yref from the binary-current converter 37 and the components of the currents i δ , i y in the rotating reference δ-Y from the interface of transformation 21 to determine the components of the statistical voltages V δ , v y in the rotating reference δ-Y corresponding to the convention voltages of the inverter 11. The transformation interface 21 receives these components of the statistical voltages Vδ, vy according to the biphasic model and transforms them at convention voltages v ' a , v ' b , v ' c of the inverter 11 according to the three-phase model.
    [0065] [00065] The vector command without pickup consists of estimating the angular velocity Ω c so that the deviation of position cp between Ω c and θ is canceled (see figure 6). In other words, it is necessary that the angular velocity Ω c is obtained from a command law guaranteeing the setting of the position error cp to zero (module 2 π).
    [0066] [00066] However, knowing that the eδ component of the fem on the δ axis tends to zero when φ tends to zero eδ = pψʃsencp), then the regulation of the position deviation φ at zero can be replaced by the regulation of eδ at zero.
    [0067] [00067] This estimate consists of solving the following electrical equations in the δ-Y estimation reference:
    [0068] [00068] Therefore, the electromotive force estimator 31 receives the components of the currents i δ , i y from the transformation interface 21, the components of the statistical voltages V δ , v y from the current regulator 39, and the speed of rotation Ω c of the rotor from the speed estimator 33 to estimate the ê δ , ê y of fem in the rotating estimation reference δ-Y as a function of these quantities.
    [0069] [00069] The rotation speed Ω c of the rotor is estimated in circuit by the speed estimator 33 in function of the estimates ê δ , ê y of the fem determined by the electromotive force estimator 31 and regulating the component ê δ to zero. Naturally, the speed of rotation Ω c of the rotor is initialized by a predetermined initial value Ω c0.
    [0070] [00070] Advantageously, the speed estimator 31 uses a non-linear corrector to determine the rotation speed Ω δ according to a command law presenting a global convergence domain comprising a single asymptotically stable equilibrium point in the Lyapounov direction. This equilibrium point corresponds to the consigned operating point of MSAP 3.
    [0071] [00071] Figure 3 illustrates an embodiment of the speed estimator 33.
    [0072] [00072] According to this example, the functional scheme of the speed estimator 33 comprises a first speed estimator 43, a comparator 45, a first and a second signal indicators 47 and 49, an adder 51 and a non-linear corrector 53.
    [0073] [00073] Comparator 45 is intended to compare the component ê δ to its reference component and δref = 0. The first speed estimator 43 is intended to determine a previous estimate Ω of the rotation speed as a function of the estimated component êy. The first signal indicator 47 is intended to indicate the sign of the previous estimate Ω of the rotation speed, assuming that sign (Ω) = sign (Ω ref ), in which Ω ref in which Ω ref is the assigned rotation speed . The second signal indicator 49 is intended to indicate êδ. The non-linear broker 53 is intended to introduce non-linear terms in order to make any unwanted convergence points of the command law unstable or to avoid convergence to any unwanted solution. Finally, the adder 51 is intended to add the nonlinear terms to the previous estimate Ω to determine the speed of rotation Ω c .
    [0074] [00074] The first speed estimator 43 calculates the quotient between the fem êδ component associated with the y axis and a predetermined physical parameter Kʃ depending on the characteristics of the permanent magnets of the rotor, according to the following formula:
    [0075] [00075] According to a particular embodiment, the non - linear corrector 53 introduces a term broker function of the sign signal (Ω) of the previous estimate Ω of the speed of rotation of a predetermined operating parameter b of Kʃ physical parameter, the êδ component of the fem associated with the δ axis, and finally a non-linear factor that depends on the sign of the êδ component and a predetermined coefficient ƹ, according to the following formula:
    [0076] [00076] Adder 51 then adds the corrector term above to the previous estimate Ω to determine the rotation speed Ω c , according to the following formula:
    [0077] [00077] It will be noted that, analyzing the stability of the command law expressed by the rotation speed Ω c according to the above formula (see the publication by Babak Nahid-Mobarakeh et cl., "Analysis of convergence of the laws of command without MSAP pickup based on the fem estimate), it is found that all trajectories in the Ω-Ω phase space converge to the desired equilibrium point (φ = 0, Ω = Ω ref ) for the following conditions:
    [0078] [00078] The operating parameter b is advantageously between 0 and 3 (0 <b≤3) and, preferably, close to 1.
    [0079] [00079] The command law above makes it possible to prevent any trajectory in the phase space from converging to any unwanted equilibrium point, making certain equilibrium points unstable and distancing other points sufficiently in the phase space to avoid them. This allows, in particular, to circumvent the problem of non-observability inherent in electrical equations at a rotation speed close to zero.
    [0080] [00080] In addition, the dependence of the term corrector on the sign of the rotation speed sign (Ω) allows the trajectories in the phase space φ - Ω to converge to the desired point, regardless of the sign of the assigned rotation speed Ω ref , the that allows the inversion of speed, without any problem.
    [0081] [00081] Thus, with the above conditions, regardless of the initial coordinate point (- п ≤ φ ≤ п, Ω = Ω 0 ), all trajectories in the espaço - Ω phase space converge to the desired equilibrium point.
    [0082] [00082] In other words, even if the start position error is on the order of п, the trajectory converges quickly to the operating point, according to the assigned torque and rotation speed values.
    [0083] [00083] In addition, even if the drive starts from a point with a sign rotation speed opposite to the assigned speed, the position error quickly converges to zero, allowing MSAP to quickly install itself in a steady state, according to assigned torque and rotation speed values.
    [0084] [00084] Once the speed of rotation determined by the speed estimator 33, integrator 35 integrates the speed of rotation Ω c from the speed estimator 33 to determine the estimate θ ^ of the rotor position.
    [0085] [00085] On the other hand, in order to allow a uniform and precise transition between the control with the pickup and the control without pickup, the estimation means 23 can comprise means to permanently adjust the position of the estimated rotor θ ^.
    [0086] [00086] Figure 4A shows adjustment means 61 which can be comprised in estimation means 23. These adjustment means 61 are configured to perform a PI on the difference between the measured rotor position θ m and the rotor position θ ^ estimated, in order to put the latter in continuation in relation to the measured rotor position θ m .
    [0087] [00087] Thus, the adjustment means 61 may include a position comparator 63 to permanently compare the position of the rotor θm measured by the position pickup 15 with the estimated position of the rotor θ coming from integrator 35, a PI filter or multiplier gain 65 to perform a counter reaction, so that the integration does not diverge and an additional integrator 67 to synchronize the estimated rotor position θ ^ with the measured rotor position θ m and a second comparator 69 between the supplementary switch output 67 and the estimated rotor position to correct θ ^ the rotor position.
    [0088] [00088] It will be noted that the comparison and counter-reaction is done permanently to prevent the estimated value θ ^ of the rotor position from diverging, because when using the position 15 pickup, the estimated value θ ^ would be in open circuit . When a failure of the position pickup 15 is detected, the last estimated speed value rotação c from the speed estimator 33 at that moment is injected into integrator 35 at the moment of the command oscillation.
    [0089] [00089] Therefore, in the event of a possible oscillation between the control with the pickup and the control without the pickup, the deviation between the last measured values θ m estimated θ ^ is advantageously very reduced.
    [0090] [00090] Once the transition is made, the counter reaction no longer occurs, since the value of the position 15 pickup is erroneous.
    [0091] [00091] In effect, figure 4A shows that the adjustment means 61 comprise an inhibiting means 71 to inhibit the adjustment means 61 when the break detector 25 indicates a failure of the position pickup 15. That inhibition means 71 can simply include a multiplier that makes the product between the S-failure signal and the rotor position correction released by the supplementary integrator 67. Thus, when a failure is detected, the failure signal is equal to zero (S = 0) and, therefore, the output of the inhibition medium is set to zero, which allows inhibiting or not considering the last measured value θ m of the rotor position. Conversely, when the failure signal does not indicate any anomaly of the pickup (S = 1), the adjustment means consider measured values θm of the rotor position.
    [0092] [00092] Figure 4B shows that the estimation means 23 can, in addition, comprise initialization means 73 to reset the estimate of the rotor position θ ^ with the last estimate θ ^ 0 before detecting a position pickup failure. 15.
    [0093] [00093] The initialization means 73 comprise a memory for storing the last value of the rotor position (estimated θ ^ or corrected θ ^ c) still good.
    [0094] [00094] In effect, when a fault is detected, the S fault signal generates a trigger, on, for example, a downward signal that causes the integration to be reset by the last estimate θ ^ 0 of the rotor position.
    [0095] [00095] Thus, at the moment of switching between the command with that pickup and the command without pickup, the torque, when the transient state between the two commands does not show oscillations.
    [0096] [00096] It will be noted that the different elements of the control device may include means of treatment or calculation that have one or more computer programs, comprising code instructions for the application of the control process, according to the invention, when the computer program (s) is (are) executed by these different elements.
    [0097] [00097] Consequently, the invention also aims at a computer program product, capable of being used in the different elements of the control device, that program comprising code instructions adapted to the application of a process, according to the invention, as described above.
    [0098] [00098] The system that comprises the MSAP and its control, according to the invention, can be advantageously used in the motorization of actuators in the embedded systems of an aircraft. As an example, it can be used in the compressor, the ventilation system, the impulse inverters, the doors, as well as in many other aircraft equipment.
    权利要求:
    Claims (11)
    [0001]
    Control device (1) of a synchronous machine with permanent "MSAP" magnets (3) comprising a stator and a rotor (7) and powered by an inverter (11), the control device comprising a pickup (15) to perform a measure θ m of the rotor position (7) and control means (19) to control an MSAP operating point (3) according to the rotor position and convention parameters, characterized by the fact that it also includes: - estimation means (23) to determine an estimate θ ^ of the rotor position in a rotating Park reference reference δ-y connected to the rotor, these estimation means (23) comprising adjustment means (61) to place this position the rotor θ ^ estimated in the continuation in relation to that measured rotor position θ m ; - a failure detector (25) for detecting a failure of said pickup (15); and - a switch (27) configured to connect the control means (19) to the pickup (15), so that the control means (19) receive the measured position θ m of the rotor while the failure detector (25) does not indicates no failure of that pickup, but to connect the control means (19) to the estimation means (23), so that the control means (19) receive the estimated position θ ^ of the rotor when the failure detector ( 25) indicates a failure of that pickup.
    [0002]
    Control device according to claim 1, characterized by the fact that the estimation means (23) include: - an electromotive force estimator (31) to estimate the components êδ, êy of the electromotive force "fem" in the spinning reference of Park of estimation δ-Y as a function of the quantities defined in this spinning reference of Park comprising components of the currents iδ, iy obtained from the measurements of the stator currents, the components of the stator voltages V δ , v y corresponding to the conventional voltages of the inverter, and a rotational speed Ω c of the rotor; - a speed estimator (33) using these estimated components b êδ, êy da fem from the electromotive force estimator (31), and using a non-linear corrector to determine the rotation speed Ω c according to a command law that presents a global convergence domain, comprising a single asymptotically stable equilibrium point corresponding to the operating point assigned by MSAP; and - an integrator (35) that uses the rotation speed Ω c from the speed estimator (33) to calculate this estimate θ ^ of the rotor position.
    [0003]
    Control device, according to claim 2, characterized in that this speed estimator (33) includes a first estimator (43) configured to determine a previous estimate Ω of the rotation speed as a function of the estimated component êy of the fem associated with the y axis and a predetermined physical parameter Kʃ depending on the characteristics of the permanent magnets of the rotor, according to the following formula:
    [0004]
    Control device according to any one of the preceding claims, characterized in that these adjustment means (61) are configured to perform a PI between the measured rotor position θ m and the estimated rotor position θ ^.
    [0005]
    Control device according to any one of the preceding claims, characterized in that the adjustment means (61) comprise an inhibiting means (71) to inhibit the adjustment means when a failure of that sensor is detected.
    [0006]
    Control device according to any one of the preceding claims, characterized in that these estimation means (23) comprise initialization means to reset the estimate of the rotor position θ ^ with a final estimate θ ^ o of the rotor position before detecting a failure of the pickup (15).
    [0007]
    Synchronous permanent magnet machine MSAP, characterized in that it comprises a control device (1), as defined in any one of claims 1 to 6.
    [0008]
    Activation in an aircraft characterized by comprising an MSAP, as defined in claim 7.
    [0009]
    Control process of a synchronous machine with permanent "MSAP" magnets (3) comprising a stator and a rotor (7) and powered by an inverter (11), the control process comprising the following steps: - measure by means of a sensor (15) a position θ m of the rotor; and - control an MSAP operating point depending on the rotor position and convention parameters; characterized by the fact that the process also includes the following steps: - determine an estimate θ ^ of the rotor position in a Park reference spinning estimate δ-Y connected to the rotor; - place that estimated rotor position θ ^ in continuation in relation to that measured rotor position θ m ; - detect a failure of that pickup, and - control the operating point of the MSAP as a function of the measured position θ m of the rotor when the pickup is not panicked, and if not, control the operating point of the MSAP as a function of the estimated position θ ^ of the rotor, when the pickup is panned .
    [0010]
    Command process, according to claim 9, characterized by the fact that it comprises the following steps: - estimate components êδ, êy of the electromotive force "fem" in the spinning reference of Park of estimation δ-Y as a function of the quantities defined in that spinning reference of Park, comprising components of the currents i δ , i y obtained from the measurements of the statist currents , components of the static voltages V δ , Vy corresponding to the convention voltages of the inverter, and a rotational speed Ω c of the rotor; - estimate the rotation speed Ω c as a function of these estimated components ê δ , ê y da fem and using a non-linear corrector, according to a command law that presents a global domain and convergence, comprising a single asymmetrically stable equilibrium point corresponding to the conventional MSAP operating point; and - calculate this estimate θ ^ of the rotor position as a function of the rotation speed Ω c .
    [0011]
    Command process, according to claim 10, characterized by the fact that it comprises the following steps: - determine a prior estimate Ω of the rotation speed as a function of the estimated component êy of the fem associated with the y axis and a predetermined physical parameter Kʃ depending on the characteristics of the permanent magnets of the rotor, according to the following formula:- adjust the rotation speed, introducing a correction term to that estimated value Ω of the rotation speed according to the following formula:where b is a predetermined operating parameter, where b is a predetermined operating parameter, sign (Ω) is the sign of that estimated value Ω of the rotation speed, êδ is the fem associated with the δ axis, and where K is a non-linear factor that depends on the fem êδ sign associated with the δ axis and a predetermined coefficient ƹ according to the formula and the following conditions:
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    同族专利:
    公开号 | 公开日
    FR2954020A1|2011-06-17|
    WO2011070165A3|2011-08-25|
    CN102783012B|2015-09-30|
    US20120280641A1|2012-11-08|
    WO2011070165A2|2011-06-16|
    BR112012013747A2|2018-04-03|
    EP2510612A2|2012-10-17|
    EP2510612B1|2019-11-13|
    JP2013514049A|2013-04-22|
    RU2561879C2|2015-09-10|
    JP5782449B2|2015-09-24|
    CA2782558C|2018-08-07|
    CN102783012A|2012-11-14|
    RU2012129165A|2014-01-20|
    CA2782558A1|2011-06-16|
    US8648556B2|2014-02-11|
    FR2954020B1|2012-02-24|
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    法律状态:
    2018-05-15| B25A| Requested transfer of rights approved|Owner name: LABINAL POWER SYSTEMS (FR) |
    2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-05-07| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|
    2019-12-17| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2020-04-07| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-06-30| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 10/12/2010, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    FR0958879A|FR2954020B1|2009-12-11|2009-12-11|DEVICE FOR CONTROLLING A MSAP|
    FR0958879|2009-12-11|
    PCT/EP2010/069406|WO2011070165A2|2009-12-11|2010-12-10|Device for controlling a permanent-magnet synchronous machine|
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