Method for determining current-dependent and/or rotational angle position-dependent characteristic variables of an electrical machine, and frequency converter
A method for determining current-dependent and/or rotational angle position-dependent characteristic variables of an electrical machine by setting a rotational angle position of blocking a rotor, forming a series current desired value using a series current desired value alternating signal which changes periodically and/or forming a parallel current desired value using a parallel current desired value alternating signal which changes periodically, regulating a series current using the series current desired value and/or a parallel current using the parallel current desired value, measuring phase currents of the electrical machine and determining an established series current and/or an established parallel current, producing series setting voltage coefficients and series current coefficients and/or parallel setting voltage coefficients and parallel current coefficients using a discrete Fourier transform algorithm, and calculating characteristic variables on the basis of series setting voltage coefficients and series current coefficients and/or parallel setting voltage coefficients and parallel current coefficients.
1. A method for determining current-dependent and/or rotational-angle-position-dependent characteristic variables of an electric machine using a control unit of a frequency converter, the method comprising the steps of:
a) setting a rotational angle position of a rotor of the electric machine and subsequently locking the rotor;
b) forming, using the control unit, a direct-axis-current setpoint value by adding a direct-axis-current setpoint-value operating point (I d,O k ) and a direct-axis-current setpoint-value AC signal (I d,RF k ), wherein the direct-axis-current setpoint-value AC signal (I d,RF k ) changes periodically at a direct-axis-current setpoint-value frequency, and/or forming a quadrature-axis-current setpoint value by adding a quadrature-axis-current setpoint-value operating point (I q,O k ) and a quadrature-axis-current setpoint-value AC signal (I q,RF k ), wherein the quadrature-axis-current setpoint-value AC signal (I q,RF k ) changes periodically at a quadrature-axis-current setpoint-value frequency;
c) regulating, using the control unit, a direct-axis current (i d ) of the electric machine to the direct-axis-current setpoint value and/or regulating a quadrature-axis current (i q ) of the electric machine to the quadrature-axis-current setpoint value, wherein, for the purpose of the regulation, manipulated variables in the form of a direct-axis manipulated voltage (u d k ) and/or a quadrature-axis manipulated voltage (u q k ) are generated and impressed into motor phases of the electric machine;
d) measuring, using the control unit, phase currents (i u,act , i v,act , i w,act ) of the electric machine and determining an ensuing direct-axis current (i d,act ) and/or an ensuing quadrature-axis current (i q,act ) from the measured phase currents (i u,act , i v,act , i w,act );
e) applying, using the control unit, a discrete Fourier transform (DFT) algorithm or a Goertzel algorithm to the direct-axis manipulated voltage (u d k ) and to the determined direct-axis current (i d,act ) to generate direct-axis manipulated-voltage coefficients and direct-axis-current coefficients and/or applying the DFT algorithm or the Goertzel algorithm to the quadrature-axis manipulated voltage (u q k ) and to the determined quadrature-axis current (i q,act ) to generate quadrature-axis manipulated-voltage coefficients and quadrature-axis-current coefficients; and
f) calculating, using the control unit, the characteristic variables depending on the direct-axis manipulated-voltage coefficients and the direct-axis-current coefficients and/or on the quadrature-axis manipulated-voltage coefficients and the quadrature-axis-current coefficients, wherein the characteristic variables are calculated depending signal propagation times of filters that serve to measure the phase currents;
g) regulating, using the control unit, the electric machine using the characteristic values in a manner which improves electric machine operating efficiency, improves electric machine power regulation, checks electric machine properties, improves feed-forward control of the direct-axis current setpoint-value, improves feed-forward control of the quadrature-axis current setpoint-value, or a combination of two or more of the foregoing uses of the characteristic values,
wherein the direct-axis current (i d ) is regulated to the direct-axis-current setpoint value and/or the quadrature-axis current (i q ) is regulated to the quadrature-axis-current setpoint value based on regulation parameters of a PI or a PI-P resonant regulator, which are dependent on the direct-axis-current setpoint-value operating point and/or the quadrature-axis-current setpoint-value operating point.
2. The method as claimed in claim 1 , wherein
in step b), the direct-axis-current setpoint-value operating point is changed and/or the quadrature-axis-current setpoint-value operating point is changed, wherein steps c) to f) are repeated in the case of a changed direct-axis-current setpoint-value operating point and/or in the case of a changed quadrature-axis-current setpoint-value operating point.
3. The method as claimed in claim 2 , wherein
the direct-axis-current setpoint-value operating point and/or the quadrature-axis-current setpoint-value operating point is/are continuously changed in such a way that a change in the direct-axis current and/or in the quadrature-axis current does not exceed a threshold value.
4. The method as claimed in claim 2 , wherein
the direct-axis current (i d ) is regulated to the direct-axis-current setpoint value and/or the quadrature-axis current (i q ) is regulated to the quadrature-axis-current setpoint value based on regulation parameters, which are dependent on the direct-axis-current setpoint-value operating point and/or the quadrature-axis-current setpoint-value operating point.
5. The method as claimed in claim 4 , wherein
the direct-axis-current setpoint-value operating point and/or the quadrature-axis-current setpoint-value operating point is/are continuously changed in such a way that a change in the direct-axis current and/or in the quadrature-axis current does not exceed a threshold value.
6. The method as claimed in claim 1 , wherein
in step a), the rotational angle position is changed and the rotor is subsequently locked in the case of a changed rotational angle position, wherein steps b) to f) are repeated in the case of a changed rotational angle position.
7. The method as claimed in claim 1 , wherein
the current-dependent and/or the rotational-angle-position-dependent characteristic variables are selected from a group of characteristic variables comprising:
differential direct-axis inductances,
differential quadrature-axis inductances,
cross-saturation,
resistances and
impedances.
8. The method as claimed in claim 7 , further comprising the step of:
calculating current-dependent and/or location-dependent flux linkages in the direct-axis direction and in the quadrature-axis direction from the calculated differential direct-axis inductances and quadrature-axis inductances and from the calculated cross-saturation, in permanent-magnet synchronous machines, taking into account the flux linkage in the direct-axis direction effected by the permanent magnets thereof.
9. The method as claimed in claim 8 , further comprising the step of:
determining current-dependent and/or location-dependent absolute inductances in the direct-axis direction and the quadrature-axis direction from the flux linkages in the direct-axis direction and the quadrature-axis direction and from the associated direct-axis current (i d ) and quadrature-axis current (i q ).
10. The method as claimed in claim 1 , wherein
the direct-axis current (i d ) and quadrature-axis current (i q ) obtained from the measurement of the phase currents are filtered.
11. The method as claimed in claim 1 , wherein
the electric machine is a synchronous machine, a reluctance machine or an induction machine.
12. The method as claimed in claim 1 , wherein
the direct-axis-current setpoint-value operating point and/or the quadrature-axis-current setpoint-value operating point is/are continuously changed in such a way that a change in the direct-axis current and/or in the quadrature-axis current does not exceed a threshold value.
13. A frequency converter of an electric machine, comprising:
a control unit, which is configured to execute a method comprising the steps of:
a) setting a rotational angle position of a rotor of the electric machine and subsequently locking the rotor;
b) forming a direct-axis-current setpoint value by adding a direct-axis-current setpoint-value operating point (I d,O k ) and a direct-axis-current setpoint-value AC signal (I d,RF k ), wherein the direct-axis-current setpoint-value AC signal (I d,RF k ) changes periodically at a direct-axis-current setpoint-value frequency, and/or forming a quadrature-axis-current setpoint value by adding a quadrature-axis-current setpoint-value operating point (I q,O k ) and a quadrature-axis-current setpoint-value AC signal (I q,RF k ), wherein the quadrature-axis-current setpoint-value AC signal (I q,RF k ) changes periodically at a quadrature-axis-current setpoint-value frequency;
c) regulating a direct-axis current (i d ) of the electric machine to the direct-axis-current setpoint value and/or regulating a quadrature-axis current (i q ) of the electric machine to the quadrature-axis-current setpoint value, wherein, for the purpose of the regulation, manipulated variables in the form of a direct-axis manipulated voltage (u d k ) and/or a quadrature-axis manipulated voltage (u q k ) are generated and impressed into motor phases of the electric machine;
d) measuring phase currents (i u,act , i v,act , i w,act ) of the electric machine and determining an ensuing direct-axis current (i d,act ) and/or an ensuing quadrature-axis current (i q,act ) from the measured phase currents (i u,act , i v,act , i w,act );
e) applying a discrete Fourier transform (DFT) algorithm or a Goertzel algorithm to the direct-axis manipulated voltage (u d k ) and to the determined direct-axis current (i d,act ) to generate direct-axis manipulated-voltage coefficients and direct-axis-current coefficients and/or applying the DFT algorithm or the Goertzel algorithm to the quadrature-axis manipulated voltage (u q k ) and to the determined quadrature-axis current (i q,act ) to generate quadrature-axis manipulated-voltage coefficients and quadrature-axis-current coefficients; and
f) calculating the characteristic variables depending on the direct-axis manipulated-voltage coefficients and the direct-axis-current coefficients and/or on the quadrature-axis manipulated-voltage coefficients and the quadrature-axis-current coefficients, wherein the characteristic variables are calculated depending on signal propagation times of filters that serve to measure the phase currents;
g) regulating, using the control unit, the electric machine using the characteristic values in a manner which improves electric machine operating efficiency, improves electric machine power regulation, checks electric machine properties, improves feed-forward control of the direct-axis current setpoint-value, improves feed-forward control of the quadrature-axis current setpoint-value, or a combination of two or more of the foregoing uses of the characteristic values,
wherein the direct-axis current (i d ) is regulated to the direct-axis-current setpoint value and/or the quadrature-axis current (i q ) is regulated to the quadrature-axis-current setpoint value based on regulation parameters of a PI or a PI-P resonant regulator, which are dependent on the direct-axis-current setpoint-value operating point and/or the quadrature-axis-current setpoint-value operating point.