• 专利附录
  • 专利说明
  • 权利要求
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  • 优先权
    • 专利摘要:
    The subject of the present invention is a method for detecting a fault in controlling the torque of a three-phase electric motor of a motor vehicle. The method notably comprises a step of: • determining (E4A; E4B, E5) a residual direct sinusoidal voltage and a residual quadrature sinusoidal voltage from the measured direct sinusoidal current, of the estimated direct sinusoidal current, of the sinusoidal current in measured quadrature and estimated sinusoidal current in quadrature, • sensing (E6; E7A; E7B; E8) of a fault when the difference between the value of the direct forward sinusoidal voltage and its moving average is greater than a first threshold and / or when the difference between the value of the sinusoidal voltage in quadrature and its sliding average is greater than a second threshold.
    公开号:FR3039283A1
    申请号:FR1556841
    申请日:2015-07-20
    公开日:2017-01-27
    发明作者:Michel Parette
    申请人:Continental Automotive GmbH；Continental Automotive France SAS；
    IPC主号:
    专利说明:

    The invention relates to the field of controlling an electric motor of a power steering system for a motor vehicle and more particularly relates to a method for detecting a torque control fault of a three-phase electric motor of a motor vehicle. power steering system of a motor vehicle. The invention finds particular application in the detection of current control defects of a synchronous brushless three-phase electric motor ("brushless" in English) for controlling the power steering of a motor vehicle.
    In a motor vehicle, it is known to use a three-phase synchronous "brushless" electric motor to make the guidance of the vehicle easy. This electric motor is connected to the steering column of the vehicle so as to constitute a so-called "power steering" module of the vehicle.
    The torque control of this motor is performed by a computer called electronic control unit ("Electronic Control Unit" or ECU in English). This electronic control module comprises a microcontroller and a direct current / alternating current (DC / AC) inverter, connected on the one hand to said microcontroller and on the other hand to the microcontroller. motor via three connection pins and two resistors. Two analog to digital converters ("Analog to Digital Converter" or ADC) are each electrically connected to the terminals of one of the two resistors.
    Thus, in order to detect a current control fault at the input of the motor, the microcontroller measures the currents at the input of the motor via the analog-digital converters. By doing this, the microcontroller can detect a short-circuit fault on one of the pins, when one of the analog-to-digital converters is saturated, or an open circuit, when one of the analog-to-digital converters is constantly measuring. a constant value over time.
    However, in this configuration, the microcontroller can not detect a gain or an offset on one or more phases or such a gain or such an offset are frequent and generate an incorrect value of the current measured by the microcontroller, which can lead to the generation of a variable torque applied to the motor by the microcontroller in response to the measurement made and thus poor control of the steering wheel by the driver of the vehicle, which presents a significant danger.
    In addition, the existing fault detection methods require the passage of the engine in a so-called "diagnostic" mode which requires the stopping of the power steering system of the vehicle, which has a significant drawback. The aim of the invention is to propose a simple, reliable and effective solution for detecting a torque control fault of a three-phase electric motor of a motor vehicle. To this end, the aim of the invention is a method for detecting a fault in the control of the torque of a three-phase electric motor of a motor vehicle power steering system, said motor comprising a first control connector, a second connector of control, a third control connector, a stator and a rotor, said method comprising the steps of: • generating a first control voltage signal PWM of a first phase of the motor, a second voltage signal PWM of control of a second phase of the motor and a third PWM control signal of a third phase of the motor, • estimation of a direct sinusoidal current and a sinusoidal current in quadrature in a two-phase reference linked to the rotor of the motor from said first voltage signal PWM, said second voltage signal PWM and said third voltage signal PWM, • measuring the first current delivered to the first con control unit of the motor and the second current delivered to the second control connector of the motor; measurement of the third current delivered to the third control connector or estimation of the third current delivered to the third control connector from the first current and the second current; Transforming the first measured current, the second measured current and the third current measured or estimated into a direct current and a quadrature current, determining a residual direct sinusoidal voltage and a residual quadrature sinusoidal voltage from the measured direct sinusoidal current, estimated direct sinusoidal current, measured sinusoidal current in quadrature and estimated sinusoidal current in quadrature, • detection of a fault when the difference between the value of the residual direct sinusoidal voltage and its sliding average is greater than a first threshold and / or when a difference between the value of the residual quadrature sinusoidal voltage and its sliding average is greater than a second threshold.
    Thus, too large variations in the first residual voltage value determined around its mean value and / or too large variations in the second residual voltage value determined around its mean value indicate a fault in the control of the torque current. motor by the electronic control module.
    This defect may as well be a short circuit or an open circuit as a gain or an offset of one or more of the three phases of the three-phase electric motor.
    The present invention has the advantages of: • detecting latent faults that result in an unbalanced inverter or an unbalanced motor in addition to the frank failures (motor short-circuit, arm of a UPS in short circuit ...). In addition, this invention is compatible with the measurement of two or three motor currents; • for the estimation of currents only the motor and inverter parameters given for example at 20 ° C and at zero current are used. There is no need to add a temperature sensor to compensate revolution of motor parameters over time with temperature; • Do not generate current to detect a fault to avoid heating the computer and avoid generating an unwanted torque (in the event of a fault). This fault detection is done in the normal control mode during operation without going into a so-called diagnostic mode; • to detect a non-rotating motor fault (motor phase disconnected, for example); • to detect faults in all operating conditions of the system (over the entire temperature range [-40 ° C, 125 ° C], computer supply voltage [10 V, 24V], electric motor speed [ 4000 rpm, 4000 rpm, for example).
    The third current delivered to the third motor control connector can be measured or estimated. Indeed, this third current can be easily calculated from the first current delivered to the first control connector of the motor and the second current delivered to the second control connector of the motor since the sum of this first current, this second current and of this third current is null.
    According to one aspect of the invention, the method further comprising, the rotor being characterized by its position defined by an angle and its rotational speed in a reference frame connected to said stator, a step of measuring the angle of the rotor position and the speed of rotation of the rotor.
    Advantageously, the estimation step comprises: a step of filtering said first voltage signal PWM, said second voltage signal PWM and said third voltage signal PWM so as to obtain respectively a first sinusoidal voltage, a second voltage sinusoidal and a third sinusoidal voltage expressed in a three-phase reference connected to the stator of the motor, • a step of transformation, from the angle giving the position of the rotor, the first sinusoidal voltage, the second sinusoidal voltage and the third sinusoidal voltage, in a direct sinusoidal voltage and a sinusoidal voltage in quadrature expressed in a two-phase reference linked to the rotor of the motor, • a step of determining an estimated direct sinusoidal current corresponding to the direct sinusoidal voltage and a sinusoidal current in estimated quadrature corresponding to the sinusoidal voltage in quadrature r of the direct sinusoidal voltage, the sinusoidal voltage in quadrature, the rotational speed of the rotor of the motor, the residual direct sinusoidal voltage and the residual quadrature sinusoidal voltage,
    Still advantageously, the step of transforming the first sinusoidal voltage, the second sinusoidal voltage and the third sinusoidal voltage into a direct sinusoidal voltage and a sinusoidal voltage in quadrature expressed in a two-phase reference linked to the motor rotor is performed by the application of a Clarke transform, a Park transform or a dqo ("zero squared") transform in English, or zero direct quadrature.
    According to one characteristic of the invention, the step of transforming the first current and the second current into a direct current and a quadrature current is performed from the position angle of the rotor of the determined motor.
    Preferably, the step of determining a residual direct sinusoidal voltage and a residual quadrature sinusoidal voltage comprises: a step of calculating the difference between the direct sinusoidal current intensity and the direct sinusoidal current intensity estimated, • a step of calculating the difference between the intensity of the sinusoidal current in quadrature and the intensity of the estimated sinusoidal current in quadrature.
    More preferably, the step of detecting a fault comprises: a step of calculating the sliding average of the residual direct sinusoidal voltage and the sliding average of the residual quadrature sinusoidal voltage from the residual forward sinusoidal voltage values; and of residual quadrature sinusoidal voltage received continuously and in particular using the rotational speed of the rotor of the electric motor, • a step of calculating the difference between the value of the residual direct sinusoidal voltage and its sliding average, • a calculation step the difference between the value of the residual quadrature sinusoidal voltage and its sliding mean.
    Advantageously, the method further comprises a step of correcting the gain reduction of the low-pass filtering means from the rotational speed of the motor rotor. The invention also relates to a torque control fault detection device of a three-phase electric motor of a motor vehicle power steering system, said motor comprising a first control connector, a second control connector, a third connector control device, a stator and a rotor, said device comprising: means for generating a first PWM voltage signal for controlling a first phase of the motor, a second PWM voltage signal for controlling a second phase phase of the motor and a third PWM voltage signal for controlling a third phase of the motor; means for estimating a direct sinusoidal current and a sinusoidal current in quadrature in a two-phase reference linked to the rotor of the motor; from said first voltage signal PWM, said second voltage signal PWM and said third voltage signal PWM, • a measurement unit of the first current delivered to the first control connector of the motor and the second current delivered to the second motor control connector and determining the third current delivered to the third control connector of the motor, • a transformation unit of the first current, the second current and the third current in a direct sinusoidal current and in a sinusoidal current in quadrature, • a unit for determining a residual direct sinusoidal voltage and a residual quadrature sinusoidal voltage from the measured direct sinusoidal current, the estimated direct sinusoidal current, the measured quadrature sinewave current and estimated quadrature sinewave current, • a fault detection unit when the difference between the value of the residual forward sinusoidal voltage and its sliding average is greater than a first threshold and / or when the difference between the value of the sinusoidal voltage in quadr residual property and its sliding average is greater than a second threshold. The measurement unit may be configured to measure the third current supplied to the third motor control connector or to determine said third current from the measured values of the first current delivered to the first motor control connector and the second current delivered to the second motor control connector, the sum of these three currents being zero. Finally, the invention relates to a motor vehicle comprising a three-phase electric motor and a device as presented above, said three-phase electric motor comprising a first control connector, a second control connector, a third control connector, a stator and a rotor. Other features and advantages of the invention will become apparent from the description which follows, given with reference to the appended figures given by way of non-limiting examples and in which identical references are given to similar objects. - Figure 1 schematically illustrates an embodiment of the system according to the invention. - Figure 2 schematically illustrates an embodiment of the method according to the invention. The invention will now be described with reference to FIGS. 1 and 2.
    Referring firstly to Figure 1, the device 1 allows the detection of a torque control fault of a three-phase electric motor 10 and is, for this purpose, intended to be mounted in a motor vehicle (not shown ) comprising such a three-phase electric motor.
    Such a three-phase electric motor 10 comprises, in known manner, a stator 10A, a rotor 10B, a first control connector 11, a second control connector 12 and a third control connector 13.
    The position of the rotor 10B is defined by an angle marked 0mot in a fixed reference connected to the stator 10A and the speed of rotation of the rotor 10B relative to the stator 10A is noted at) word
    In a preferred embodiment of the device 1 according to the invention, the three-phase electric motor 10 is a synchronous three-phase brushless electric motor (or "brushless").
    Still with reference to FIG. 1, this motor 10 is controlled by a first PWM voltage signal U'1 for controlling a first phase of the motor 10, a second PWM voltage signal U'2 for controlling a second phase of the motor 10 and a third PWM voltage signal U'3 for controlling a third phase of the motor 10 generated by generation means of the device 1 comprising a microcontroller 110 and an inverter 120.
    The microcontroller 110 is configured to control the generation, via the inverter 120, of a first PWM voltage ("Pulse-Width Modulation" in English, or signal in pulse width modulation, known to those skilled in the art ) U'1, a second voltage PWM U'2 and a third voltage PWM U'3 variable duty cycle (voltages not shown in Figure 1). The inverter 120 is a DC voltage converter in DC / AC type AC voltage. This inverter 120 makes it possible to transform the DC voltage of the supply battery into electrical energy of the vehicle, for example the battery supplying an ECU-type computer ("Electronic Control Unit" in the English language in a manner known to those skilled in the art) in three three-phase alternating voltages, respectively the first PWM voltage U'1, the second PWM voltage U'2 and the third PWM voltage U'3. For this purpose, the inverter may comprise an electronic control voltage amplifier for driving a three-phase power bridge.
    The first PWM voltage signal U'1 generates a first current ΙΊ delivered to the first control connector 11, the second voltage signal PWM U'2 generates a second current Γ2 delivered to the second control connector 12 and the third voltage signal PWM U'3 generates a third current Γ3 delivered to the third control connector 13 in order to control the electric motor 10 in three-phase manner.
    In addition to this microcontroller 110 and this inverter 120, the device 1 comprises a speed and position measuring unit 130, a unit of measurement of the driving currents 140 and a unit for transforming three-phase currents into two-phase currents 142. The unit of measurement The speed and position 130 is configured to measure the angle 0mot of the position of the rotor 10B and the speed of rotation of the rotor 10B in a fixed reference connected to the stator 10A. The motor current measuring unit 140 is configured to measure a first current ΙΊ supplied to the first control connector 11, the second current Γ2 supplied to the second control connector 12 and the third current Γ3 supplied to the third control connector 13. note that only two intensities of these three currents can be measured and that the intensity of the third can be deduced from these two measurements by the measurement unit 140 by calculation, the sum of these three intensities being zero. The unit 132 for transforming three-phase currents into two-phase currents is configured to convert, from the position emot angle of the rotor 10B of the motor 10, the first current ΙΊ, the second current Γ2 and the third current Γ3 measured in a fixed three-phase reference linked to the stator 10A in a direct current Id and a quadrature current Iq expressed in a two-phase reference linked to the rotor 10B of the motor 10.
    The device 1 further comprises means for estimating a direct sinusoidal current ld_est and a sinusoidal current in quadrature lq_est in a two-phase reference linked to the rotor 10B of the motor 10 from said first PWM voltage signal U'1, said second voltage signal PWM U'2 and said third voltage signal PWM U'3.
    These estimation means comprise low-pass filtering means 150, correction means 152, transformation means 154 and a current estimation unit 156.
    The low-pass filtering means 150, for example of the second order, make it possible to transform the first PWM voltage signal U'1, the second PWM voltage signal U'2 and the third PWM voltage signal U'3 into respectively , a first sinusoidal voltage U1, a second sinusoidal voltage U2 and a third sinusoidal voltage U3 defined in a fixed three-phase reference linked to the stator 10A of the motor 10.
    The correction means 152 make it possible to correct the reduction of the gain of the low-pass filtering means 150 from the speed of rotation of the rotor 10B of the motor 10. The reduction of the gain of the low-pass filters is expressed in the form of : Rfilter = i {(omot) with i {(omot) a second-order polynomial for a second-order low-pass filter (a * cùmotA2 + b * cùmot + c)
    The correction factor GcorrFilter of the gain reduction is thus expressed:
    GcorrFilter = (-Rfilter + 1).
    This correction factor applies to all voltages in order to correct them: Ucorrl = U1 x GcorrFilter, Ucorr2 = U2 x GcorrFilter and Ucorr3 = U3 x GcorrFilter.
    The transformation means 154 of the first sinusoidal voltage U1, the second sinusoidal voltage U2 and the third sinusoidal voltage U3, expressed in a fixed three-phase reference linked to the stator 10A of the motor 10, to a direct sinusoidal voltage Ud and a sinusoidal voltage quadrature Uq, expressed in a two-phase movable reference linked to the rotor 10B of the motor 10 from the angle 0mot giving the position of the rotor 10B.
    Preferably, this transformation is carried out by applying the Clarke and / or Park and / or dqo transforms known to those skilled in the art.
    The transforms of Clarke and Park are mathematical tools used especially for the vector control to model a three-phase system thanks to a two-phase model. This is a landmark change.
    The Clarke and Park transforms each model a rotating machine with three windings fed by three-phase currents by two fixed perpendicular windings fed by sinusoidal currents.
    For a synchronous machine, as is the case here, the Clarke or Park mark is attached to the stator 10A. In addition, in the Park marker, the currents of a synchronous machine have the remarkable property of being continuous.
    A current estimation unit 156 configured to determine an estimated forward sinusoidal current ld_est corresponding to the forward sinusoidal voltage Ud and an estimated quadrature sine current lq_est corresponding to the quadrature sinusoidal voltage Uq, from the forward sinusoidal voltage Ud, the quadrature sine-wave voltage Uq, the rotational speed of the rotor 10B of the motor 10, a residual direct sinusoidal voltage Ud_res and a residual quadrature sinusoidal voltage Uq_res are described hereinafter.
    The device further comprises a first differentiator 158 configured to calculate the difference Epsld between the direct sinusoidal current intensity Id and the estimated direct sinusoidal current intensity ld_est, on the one hand, and a second differentiator 159 configured to calculate the difference Epslq between the intensity of the sinusoidal current in quadrature Iq and the intensity of the estimated sinusoidal current in quadrature lq_est, on the other hand.
    The device 1 then comprises a determination unit 160 for a residual direct sinusoidal voltage Ud_res, associated with the direct sinusoidal voltage Ud, and a residual quadrature sinusoidal voltage Uq_res, associated with the sinusoidal voltage in quadrature Uq, from the difference Epsld between the intensity of the direct sinusoidal current Id and the intensity of the estimated direct sinusoidal current ld_est and of the difference Epslq between the intensity of the sinusoidal current in quadrature Iq and the intensity of the sinusoidal current in quadrature estimated lq_is respectively calculated by the first differentiator 158 and the second differentiator 159.
    The residual direct sinusoidal voltage Ud_res and the residual quadrature sinusoidal voltage Uq_res make it possible to compensate the estimated direct sinusoidal current ld_est and the estimated sinusoidal current in quadrature lq_est to make them equal in time, respectively to the direct sinusoidal current Id and to the sinusoidal current. quadrature Iq, by successive iterations through a loop between the current estimation unit 156 and the determination unit 160 as illustrated in FIG. 1.
    In fact, without this, the electric model of the motor does not take into account the variations of the motor parameters as a function of the temperature and the current flowing in the stator. It is therefore necessary to compensate for the difference between the estimated direct sinusoidal current ld_est and the direct sinusoidal current Id, on the one hand, and between the estimated sinusoidal current in quadrature lq_est and the sinusoidal current in quadrature Iq, on the other hand, using the residual direct sinusoidal voltage Ud_res and the residual quadrature sinusoidal voltage Uq_res as will be described hereinafter. For this purpose, the determination unit 160 comprises one or more integrating proportional regulators for determining the residual direct sinusoidal voltage Ud_res and the residual quadrature sinusoidal voltage Uq_res. In order to reduce the difference between the estimated direct current ld_est and the direct current Id, during temperature and / or current variation, a closed servocontrol loop is used with an integral proportional regulator to determine the direct sinusoidal voltage. residual Ud_res.
    The integrative proportional regulator with a proportional component determined by the product between the proportional factor KpUd and the difference between Id and ld_est, parallel to an integral integral determined by the product between the factor KiUd and the difference between Id and ld_est allows to enslave the direct sinusoidal current estimated ld_est on the direct sinusoidal current Id by adding the residual direct sinusoidal voltage Ud_Res to the direct sinusoidal voltage Ud.
    In order to reduce the difference between the estimated quadrature current Iq_est and the quadrature current Iq, during a temperature and / or current variation, a closed servocontrol loop is used with an integrating proportional regulator to determine the voltage. sinusoidal in residual quadrature Uq_res.
    The integrative proportional regulator with a proportional component determined by the product between the proportional factor KpUq and the difference between Iq and lq_est, parallel to an integral component determined by the product between the factor KiUq and the difference between Iq and lq_est allows to enslave the sine current in quadrature estimated lq_est on the sinusoidal current in quadrature Iq by adding the residual quadrature sinusoidal voltage Uq_Res to the sinusoidal voltage in quadrature Uq.
    The device 1 then comprises a sliding averaging unit 170 configured to calculate the sliding average of the residual direct sinusoidal voltage Ud_res and the sliding average of the residual quadrature sinusoidal voltage Uq_res by using in particular the rotational speed of rotation of the rotor of the motor. Electric 10.
    The device 1 further comprises a third differentiator 180 configured to calculate the difference EpsUd_res between the value of the direct forward sinusoidal voltage Ud_res and its sliding average Ud_res_mean and a fourth differentiator 182 configured to calculate the difference EpsUq_res between the value of the direct sinusoidal voltage in quadrature Uq_res and its sliding average Uq_res_mean.
    The device 1 finally comprises a unit 190 for detecting a fault from the difference EpsUd_res calculated by the third differentiator and the difference EpsUq_res calculated by the fourth differentiator 182. The invention will now be described in its implementation in FIG. reference to Figure 2.
    The method according to the invention makes it possible to detect a torque control fault of the three-phase electric motor such as a short-circuit, an open circuit, a gain in voltage amplitude or a phase shift between at least two of the PWM voltage received at the motor input 10.
    The torque control of the three-phase electric motor 10 is carried out in a known manner by using a first voltage signal PWM U'1 for controlling a first phase of the motor 10, a second voltage signal PWM U'2 for controlling a motor. second phase of the motor 10 and a third voltage signal PWM U'3 for controlling a third phase of the motor 10. For this purpose, in a step E1 firstly, the microcontroller 110 controls, on three electrical links connecting it to the inverter 120, the inverter 120 so that it converts, in a step E2, the DC supply voltage, for example provided by a battery of the vehicle, respectively in a first PWM voltage signal U'1 generating a first current ΙΊ delivered to the first control connector 11, in a second PWM voltage signal U'2 generating a second current Γ2 delivered to the second control connector 12 and a third voltage signal PWM U'3 ge denoting a third current Γ3 delivered to the third control connector 13.
    In a step E3A, the speed and position measuring unit 130 measures the angle 0mot of the position of the rotor 10B and the speed of rotation of the rotor 10B.
    In parallel with step E3A, the first PWM voltage signal U'1, the second PWM voltage signal U'2 and the third PWM voltage signal U'3 are then filtered, in a step E3B1, by the means 150. low-pass filtering so as to obtain respectively a first sinusoidal voltage U1, a second sinusoidal voltage U2 and a third sinusoidal voltage U3.
    The correction means 152 then correct, in a step E3B2, the reduction of the gain of the low-pass filtering means 150 from the rotational speed ù) of the rotor 10B of the motor 10 as explained above.
    The transforming means 154 then transform, in a step E3B3, the first sinusoidal voltage U1, the second sinusoidal voltage U2 and the third sinusoidal voltage U3, into a direct sinusoidal voltage Ud and a sinusoidal voltage in quadrature Uq from the angle 0word giving the position of the rotor 10B by application of the transforms of Clarke or Park or dqo. The current estimation unit 156 then determines, in a step E3B4, an estimated direct sinusoidal current ld_est corresponding to the direct sinusoidal voltage Ud and an estimated quadrature sinusoidal current lq_est corresponding to the quadrature sinusoidal voltage Uq, from the direct sinusoidal voltage Ud, the sinusoidal voltage in quadrature Uq, the rotation speed œmot of the rotor 10B of the motor 10 by solving the following equations: Where:
    • R20 represents the total resistance at 20 ° C of a phase composed of a half-arm of the inverter 120 on the one hand and the resistance of a motor phase of the stator 10A of the motor 10 on the other hand. • Lq20 represents the quadrature inductance of the stator 10A of the motor 10 determined at 20 ° C at zero current. • Ld20 represents the direct inductance of the stator 10A of the motor 10 determined at 20 ° C and at zero current. Psi20 represents the flux generated by the magnet of the rotor 10B of the engine 10.
    Still in parallel with step E3A, the measuring unit of the motor currents 140 measures, in a step E3C1, the first current ΙΊ delivered to the first control connector 11 of the motor 10 and the second current Γ2 delivered to the second control connector 12 of the motor 10 and calculates, in a step E3C2, the third current Γ3 delivered to the third control connector 13 of the motor 10 from the first current ΙΊ and the second current Γ2, the sum of these three currents being zero (Γ1 + Γ2 + Γ3 = 0). The unit for transforming three-phase currents into two-phase currents 142 then transforms, in a step E3C3, from the position angle emot of the rotor 10B of the motor 10 determined by the speed and position measuring unit 130. first current ΙΊ, the second current Γ2 and the third current Γ3 in a direct current Id and a quadrature current Iq by applying the Clarke transform, the Park transform or a dqo transform.
    Then, in a step E4A, the first differentiator 158 calculates the difference Epsld between the direct sinusoidal current intensity Id and the estimated direct sinusoidal current intensity ld_est.
    Simultaneously, the second differentiator 159 calculates, in a step E4B, the difference Epslq between the intensity of the sinusoidal current in quadrature Iq and the intensity of the estimated sinusoidal current in quadrature lq_est. The determination unit 160 then determines, in a step E5, the direct forward sinusoidal voltage Ud_res, associated with the direct sinusoidal voltage Ud, and the residual quadrature sinusoidal voltage Uq_res, associated with the sinusoidal voltage in quadrature Uq, from the difference Epsld between the intensity of the direct sinusoidal current Id and the intensity of the estimated direct sinusoidal current ld_est and of the difference Epslq between the intensity of the sinusoidal current in quadrature Iq and the intensity of the sinusoidal current in quadrature estimated lq_is respectively calculated by the first differentiator 158 and the second differentiator 159, according to the following equations:
    • KpUd represents the proportional component of the closed-loop servo loop with a proportional-integrator controller to determine the residual forward sinusoidal voltage Ud_res. • KiUd represents the integral component of the closed-loop servo loop with a proportional-integrator regulator to determine the residual forward sinusoidal voltage Ud_res. • KpUq represents the proportional component of the closed loop servo loop with a proportional-integrator regulator to determine the residual quadrature sinusoidal voltage Uq_res. • KiUq represents the integral component of the closed-loop control loop with a proportional-integrator regulator to determine the residual quadrature sinusoidal voltage Uq_res. The sliding averaging unit 170 then calculates, in a step E6, the running average of the residual direct sinusoidal voltage Ud_res and the running average of the residual quadrature sinusoidal voltage Uq_res from the residual direct sinusoidal voltage values Ud_res and of residual quadrature sinusoidal voltage Uq_res received continuously and in particular using the rotational speed of rotation of the rotor of the electric motor 10.
    The third differentiator 180 then calculates then, in a step E7A, the difference EpsUd_res between the value of the direct forward sinusoidal voltage Ud_res and its sliding average Ud_res_mean.
    Meanwhile, the fourth differentiator 182 calculates, in a step E7B, the difference EpsUq_res between the value of the direct sinusoidal voltage in quadrature Uq_res and its sliding average Uq_res_mean. The detection unit 190 detects a fault, in a step E8, when the difference EpsUd_res between the value of the direct forward sinusoidal voltage Ud_res and its sliding average Ud_res_mean is greater than a first threshold and / or when the difference EpsUq_res between the value of the direct sinusoidal voltage in quadrature Uq_res and its sliding average Uq_res_mean is greater than a second threshold.
    Thus, too large variations in the first residual voltage value Ud_res determined around its average value Ud_res_mean and / or too large variations in the second residual voltage value Uq_res determined around its mean value Uq_res_mean indicate a control fault in current of the motor torque by the electronic control module.
    This defect may as well be a short circuit or an open circuit as a gain or an offset of one or more of the three phases of the three-phase electric motor.
    Finally, it should be noted that the present invention is not limited to the examples described above and is capable of numerous variants accessible to those skilled in the art.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    A method for detecting a torque control fault of a three-phase electric motor (10) of a motor vehicle power steering system, said motor (10) including a first control connector (11), a second power connector control (12), a third control connector (13), a stator (10A) and a rotor (10B), said method comprising the steps of: • generating (E1; E2) a first PWM voltage signal (U 1) for controlling a first phase of the motor (10), a second voltage signal PWM (U'2) for controlling a second phase of the motor (10) and a third voltage signal PWM (U'3) for controlling a third phase of the motor (10), • estimation (E3B1; E3B2; E3B3; E3B4) of a direct sinusoidal current (ld_est) and a sinusoidal current in quadrature (lq_est) in a two-phase reference linked to the rotor (10B) of the motor (10) from said first voltage signal PWM (U'1), said second signal of PWM voltage (U'2) and said third PWM voltage signal (U'3), • measurement (E3C1) of the first current (ΙΊ) delivered to the first control connector (11) of the motor (10) and the second current ( Γ2) delivered to the second control connector (12) of the motor (10) • measurement (E3C2) of the third current (Γ3) delivered to the third control connector (13) or estimation (E3C2) of the third current (Γ3) delivered to the third control connector (13) from the first current (ΙΊ) and the second current (Γ2), • transformation (E3C3) of the first current (ΙΊ) measured, the second current (Γ2) measured and the third current (I3 '). measured or estimated in a direct current (Id) and in a quadrature current (Iq), • determination (E4A; E4B; E5) of a residual direct sinusoidal voltage (Ud_res) and a residual quadrature sinusoidal voltage (Uq_res) from the measured direct sinusoidal current (Id), of the estimated direct sinusoidal current (ld_est), of the sinusoidal current in quadrature ( Iq) measured and estimated sine-wave current (lq_est), • detection (E6; E7A; E7B; E8) of a fault when a difference (EpsUd_res) between the value of the residual sinusoidal voltage (Ud_res) and an average of the residual sinusoidal voltage (Ud_res_mean) is greater than a first threshold and / or when a difference (EpsUq_res) between the value of the residual quadrature sinusoidal voltage (Uq_res) and a sliding average of the residual quadrature sinusoidal voltage ( Uq_res_mean) is greater than a second threshold.
    [2" id="c-fr-0002]
    2. Method according to claim 1, said method further comprising, the rotor (10B) being characterized by its position defined by an angle (0mot) and a rotational speed (cümot) in a reference linked to said stator (10A), a step (E3A) of measuring the angle (0mot) of the position of the rotor (10B) and the rotational speed (cümot) of the rotor (10 B).
    [3" id="c-fr-0003]
    3. The method according to claim 2, wherein the estimation step comprises: a step (E3B1) for filtering said first PWM voltage signal (U'1), said second PWM voltage signal (U'2), and said third voltage signal PWM (U'3) so as to obtain a first sinusoidal voltage (U1), a second sinusoidal voltage (U2) and a third sinusoidal voltage (U3), respectively, expressed in a three-phase reference linked to the stator (10A) of the motor (10), • a step (E3B3) of transformation, from the angle (0mot) giving the position of the rotor (10B), the first sinusoidal voltage (U1), the second sinusoidal voltage (U2) and the third sinusoidal voltage (U3), a direct sinusoidal voltage (Ud) and a sinusoidal quadrature voltage (Uq) expressed in a two-phase reference linked to the rotor (10B) of the motor (10), • a step (E3B4) for determining an estimated direct sinusoidal current (ld_est) corresponds ant to the direct sinusoidal voltage (Ud) and an estimated quadrature sinusoidal current (lq_est) corresponding to the sinusoidal quadrature voltage (Uq), from the direct sinusoidal voltage (Ud), of the sinusoidal voltage in quadrature ( Uq), the rotational speed (œmot) of the rotor (10B) of the motor (10), the residual direct sinusoidal voltage (Ud_res) and the residual quadrature sinusoidal voltage (Uq_res).
    [4" id="c-fr-0004]
    4. Method according to claim 3, wherein the step (E3B3) for transforming the second sinusoidal voltage (U2) and the third sinusoidal voltage (U3) into a direct sinusoidal voltage (Ud) and a sinusoidal voltage in quadrature. (Uq) expressed in a two-phase reference linked to the rotor (10B) of the engine (10) is performed by the application of a Clarke transform, a Park transform or a dqo transform.
    [5" id="c-fr-0005]
    5. Method according to any one of claims 1 to 4, wherein the step of transforming (E3C3) of the first current (ΙΊ) and the second current (Γ2) into a direct current (Id) and a current in quadrature (Iq) is made from the angle (0mot) of the rotor position (10B) of the motor (10) determined.
    [6" id="c-fr-0006]
    The method of any one of claims 1 to 5, wherein the step of determining a residual forward sinusoidal voltage (Ud_res) and a residual quadrature sinusoidal voltage (Uq_res) comprises: • a step (E4A) ) of calculating a difference (Epsld) between the intensity of the direct sinusoidal current (Id) and the estimated direct sinusoidal current intensity (ld_est), • a step (E4B) of calculating a difference (Epslq) between the intensity of the sinusoidal current in quadrature (Iq) and the intensity of the estimated sinusoidal current in quadrature (lq_est).
    [7" id="c-fr-0007]
    The method of any one of claims 1 to 6, wherein the step of detecting a fault comprises: a step (E6) of calculating a sliding average of the residual direct sinusoidal voltage (Ud_res) and a sliding average of the residual quadrature sinusoidal voltage (Uq_res) from the residual forward sinusoidal voltage (Ud_res) and residual quadrature sinusoidal voltage (Uq_res) values received continuously and in particular using the rotation speed (<umot) of the rotor (10B) of the electric motor (10), • a step (E7A) of calculating a difference (EpsUd_res) between the value of the residual direct sinusoidal voltage (Ud_res) and the sliding average of the residual direct sinusoidal voltage ( Ud_res_mean), • a step (E7B) of calculating a difference (EpsUq_res) between the value of the direct sinusoidal voltage in quadrature (Uq_res) and the sliding average of the sinusoidal voltage direc in quadrature (Uq_res_mean).
    [8" id="c-fr-0008]
    The method according to any one of claims 1 to 7, said method further comprising a step (E3B2) of reducing the gain reduction of the low pass filter means (150) from the rotational speed ) of the rotor (10B) of the motor (10).
    [9" id="c-fr-0009]
    A device for detecting a torque control fault of a three-phase electric motor (10) of a motor vehicle power steering system, said motor (10) including a first control connector (11), a second power connector control (12), a third control connector (13), a stator (10A) and a rotor (10B), said device comprising: • means (110, 120) for generating (E1; E2) a first signal PWM voltage regulator (U'1) for controlling a first phase of the motor (10), a second voltage signal PWM (U'2) for controlling a second phase of the motor (10) and a third voltage signal PWM (U'3) for controlling a third phase of the motor (10), • estimation means (150, 152, 154, 156) for a direct sinusoidal current (ld_est) and for a sinusoidal current in quadrature (lq_est) in a two-phase reference linked to the rotor (10B) of the motor (10) from said first voltage signal PWM (U'1), said second voltage signal PWM (U'2) and said third voltage signal PWM (U'3), • a unit (140) measures the first current (ΙΊ) delivered to the first control connector (11) of the motor (10). ) and the second current (Γ2) supplied to the second control connector (12) of the motor (10) and determining the third current (Γ3) delivered to the third control connector (13) of the motor (10), • a unit ( 142) for transforming the first current (ΙΊ) and the second current (Γ2) into a direct current (Id) and a quadrature current (Iq), • a determination unit (160) of a residual direct sinusoidal voltage ( Ud_res) and a residual quadrature sinusoidal voltage (Uq_res) from the measured direct sinusoidal current (Id), the estimated direct sinusoidal current (ld_est), the measured sinusoidal current in quadrature (Iq) and the sinusoidal current in quadrature ( lq_est), • a detection unit (190) of a defect when a difference (EpsUd_res) between the value of the residual direct sinusoidal voltage (Ud_res) and the sliding average of the residual direct sinusoidal voltage (Ud_res_mean) is greater than a first threshold and / or when a difference (EpsUq_res) between the value of the sinusoidal voltage in quadrature (Uq_res) and the sliding average of the sinusoidal voltage in quadrature (Uq_res_mean) is greater than a second threshold.
    [10" id="c-fr-0010]
    A motor vehicle comprising a three-phase electric motor (10) and a device according to claim 9, said three-phase electric motor (10) comprising a first control connector (11), a second control connector (12), a third control connector control (13), a stator (10A) and a rotor (10B).
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    同族专利:
    公开号 | 公开日
    KR20180030888A|2018-03-26|
    KR102068914B1|2020-01-21|
    US10906580B2|2021-02-02|
    FR3039283B1|2017-07-21|
    CN107848563A|2018-03-27|
    CN107848563B|2020-07-10|
    US20180194391A1|2018-07-12|
    WO2017012704A1|2017-01-26|
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    法律状态:
    2016-07-21| PLFP| Fee payment|Year of fee payment: 2 |
    2017-01-27| PLSC| Search report ready|Effective date: 20170127 |
    2017-07-24| PLFP| Fee payment|Year of fee payment: 3 |
    2018-07-25| PLFP| Fee payment|Year of fee payment: 4 |
    2020-07-21| PLFP| Fee payment|Year of fee payment: 6 |
    2021-07-27| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1556841A|FR3039283B1|2015-07-20|2015-07-20|METHOD FOR DETECTING A TORQUE CONTROL FAULT OF AN ELECTRIC MOTOR OF AN ASSISTED STEERING SYSTEM OF A MOTOR VEHICLE|FR1556841A| FR3039283B1|2015-07-20|2015-07-20|METHOD FOR DETECTING A TORQUE CONTROL FAULT OF AN ELECTRIC MOTOR OF AN ASSISTED STEERING SYSTEM OF A MOTOR VEHICLE|
    KR1020187004710A| KR102068914B1|2015-07-20|2016-07-14|How to detect torque control defects in electric motors of a power-assisted steering system of a car|
    CN201680042752.1A| CN107848563B|2015-07-20|2016-07-14|Method for detecting torque control failure of three-phase electric motor|
    US15/743,295| US10906580B2|2015-07-20|2016-07-14|Method for detecting a torque control defect of an electric motor of a power-steering system of a motor vehicle|
    PCT/EP2016/001222| WO2017012704A1|2015-07-20|2016-07-14|Method for detecting a torque control defect of an electric motor of a power-steering system of a motor vehicle|
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