Method for damping electromechanical oscillations in an electromechanical system and oscillation damping system for employing such method
A method is provided for damping electromechanical oscillations in an electromechanical system including at least one electric machine operable with an angular speed and a phase of the angular speed being coupled to at least one torque load and producing an electromotive force. The method includes deriving actual values of the electromotive force and adjusting the phase of the angular speed, based on the derived actual values of the electromotive force, in a direction in which an oscillatory behavior of the electric machine is reduced.
1. A method for damping electromechanical oscillations in an electromechanical system comprising at least one electric machine being coupled to at least one torque load and producing an electromotive force, comprising the steps of:
deriving actual values of the electromotive force to provide an electromotive force signal;
filtering the electromotive force signal in a filter to provide a feed-forward electromotive force signal, the filter providing a phase shift in a frequency region corresponding to a resonance frequency of the electromechanical system; and
using the feed-forward electromotive force signal in an open-loop control of the electric machine to damp electromechanical oscillations in the electromechanical system,
wherein the step of deriving the actual values of the electromotive force comprises at least one of
(i) deriving the values from a calculated magnetic flux of the electric machine,
(ii) deriving the values from a calculated electrical angular speed of the electric machine, and
(iii) deriving the values from an estimation made by an observer of the state of the electric machine, and
wherein the electrical angular speed is calculated from values of a mechanical angular speed of the electric machine and a pole pair number of the electric machine.
2. The method according to claim 1 , wherein the step of deriving actual values of the electromotive force is conducted in parallel to and independent from at least one of the further steps (i) of controlling a torque of the electric machine and (ii) of controlling any torque request.
3. The method according to claim 1 , (i) wherein parameters of the filter are set according to a simulation of the behavior of the electric machine and/or the electromechanical system or (ii) wherein parameters of the filter are varied adaptively during operation of the electric machine or (iii) where one or more parameters of the filter belonging to a first group of parameters are set according to a simulation of the behavior of the electric machine and where one or more of parameters of the filter belonging to a second group are varied adaptively during operation of the electric machine.
4. The method according to claim 1 , wherein the step of using the feed-forward electromotive force signal in an open-loop control of the electric machine comprises providing the feed forward signal as input to a current control segment in addition to at least one of a requested current derived from a corresponding torque request an electrical angular speed of the at least one electric machine, an actual current of the at least one electric machine.
5. The method according to claim 1 , further comprising the step of forwarding control signals to an inverter coupled to the at least one electric machine.
6. An oscillation damping torque control system for an electric machine coupled to at least one torque load and producing an electromotive force, comprising
a current controller connected to received feedback from the electric machine and configured to apply current control of the electric machine, and
a filter connected to receive an electromotive force signal derived from actual values of the electromotive force and to provide a feed forward electromotive force signal to the controller, the filter providing a phase shift of the electromotive force signal in a frequency region corresponding to a resonance frequency of the electromechanical system,
wherein the current controller is further configured to apply the feed forward electromotive force signal in an open loop control of the electric machine to damp electromechanical oscillations in the electric machine,
wherein the actual values of the electromotive force are derived from at least one of:
(i) a calculated magnetic flux of the electric machine,
(ii) a calculated electrical angular speed of the electric machine, and
(iii) an estimation made by an observer of the state of the electric machine, and
wherein the electrical angular speed is calculated from values of a mechanical angular speed of the electric machine and a pole pair number of the electric machine.
7. The system according to claim 6 , further comprising a torque control segment configured to receive a requested torque and to transform it into a requested current, and to provide the requested current to the current controller.
8. The system according to claim 6 , wherein the electric machine is coupled to one or more torque loads characterized by a mechanical angular speed via a spring-damper system.
9. A computer comprising a computer program stored on a non-transitory computer readable medium adapted to perform a method or for use in a method according to claim 1 .
10. The computer according to claim 9 connected to the internet and arranged to download the program to a control unit or one of its components.
11. Computer program product stored on a non-transitory computer readable medium, comprising a program code for use in a method according to claim 1 .