Device for determining the angular position of a rotor of a rotating electric machine
A device for determining the angular position of a rotor of a rotary electric machine on the basis of signals delivered by a plurality of position sensors. The device includes a circuit that applies a control loop to estimate the position of the rotor, and that delivers as output a signal representative of the position of the rotor. Also included is at least one circuit for performing dynamic processing of an odd-order harmonic of a signal resulting from the signals delivered by the position sensors.
1 . A device for determining an angular position of a rotor of a rotary electric machine based on signals delivered by a plurality of position sensors, the device comprising:
a circuit for estimating a position of the rotor via application of a control loop, the circuit for estimating the position of the rotor delivering as output a signal representative of the position of the rotor, and
at least one circuit for performing dynamic processing of an odd-order harmonic of a signal resulting from the signals delivered by the plurality of position sensors, the circuit for performing dynamic processing receiving as input:
the signal resulting from the signals delivered by the position sensors, and
the signal representative of the position of the rotor,
the circuit for performing dynamic processing being placed upstream of the circuit for estimating the position of the rotor, and the circuit for performing dynamic processing being configured to:
generate at least two signals representative of a phase and of an amplitude of an odd-order harmonic for which it is desired to compensate, via:
synchronous demodulation of the signal resulting from the signals delivered by the position sensors by a reference signal at said harmonic and in phase with the signal representative of the position of the rotor, said reference signal being generated based on the signal representative of the position of the rotor, and
low-pass filtering,
reconstruct a signal at said harmonic on the basis of the reference signal at said harmonic in phase with the signal representative of the position of the rotor and using the signals representative of phase and amplitude thus generated via synchronous modulation, and
compensate for said harmonic by subtracting from the signal resulting from the signals delivered by the position sensors the signal at said harmonic thus reconstructed.
2 . The device as claimed in claim 1 , wherein the circuit for performing dynamic processing processes said harmonic only above a threshold speed of the rotor of the electric machine.
3 . The device as claimed in claim 2 , wherein the circuit for performing dynamic processing has two operating ranges: a first operating range corresponding to speeds below the threshold speed and being characterized by non-compensation for said harmonic, and a second operating range corresponding to speeds above the threshold value, a transition being implemented on passage from the first to the second operating mode.
4 . The device as claimed in claim 1 , wherein the signal resulting from the signals delivered by the position sensors has a cosine component and a sine component, and wherein the synchronous demodulation consists in performing the following four demodulations:
the cosine component by the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor,
the cosine component by the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor,
the sine component by the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor, and
the sine component by the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor.
5 . The device as claimed in claim 4 , wherein the signals representative of the phase and of the amplitude of the harmonic for which it is desired to compensate are generated by applying a first low-pass filter to a linear combination of two results of the four aforementioned demodulations and by applying a second low-pass filter to a linear combination of the other two results of the four aforementioned demodulations, the first and second low-pass filters being identical.
6 . The device as claimed in claim 4 , wherein reconstructing a signal at said harmonic comprises the step of performing the following four modulations:
the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the first signal representative of the phase and of the amplitude of the harmonic for which it is desired to compensate,
the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the first signal representative of the phase and of the amplitude of the harmonic for which it is desired to compensate,
the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the second representative of the phase and of the amplitude of the harmonic for which it is desired to compensate, and
the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the second signal representative of the phase and of the amplitude of the harmonic for which it is desired to compensate.
7 . The device as claimed in claim 6 , wherein reconstructing the signal at said harmonic comprises the step of obtaining a first linear combination of the result of two of the four aforementioned modulations and a second linear combination of the result of the other two of the four aforementioned modulations.
8 . The device as claimed in claim 7 , wherein said harmonic is compensated for by subtracting from the cosine component of the signal resulting from the signals delivered by the position sensors one of the first and second linear combinations and by subtracting from the sine component of the signal resulting from the signals delivered by the position sensors the other of the first and second linear combinations.
9 . The device as claimed in claim 1 , wherein the circuit for performing dynamic processing of the odd-order harmonic comprises a storage unit for storing values of the signals representative of the phase and of the amplitude of the odd-order harmonic for which it is desired to compensate and, when the speed of the rotor of the electric machine passes into a predefined range of values, the signal at said harmonic is reconstructed using the values of these representative signals stored in the storage unit before the speed of the rotor passes into said range of values.
10 . An assembly comprising:
a rotary electric machine for driving a hybrid or electric vehicle, and
a device for controlling this electric machine, comprising a determining device as claimed in claim 1 .
11 . A method comprising:
determining an angular position of a rotor of a rotary electric machine based on signals delivered by a plurality of position sensors using a determining device as claimed in claim 1 .
12 . The device as claimed in claim 2 , wherein the signal resulting from the signals delivered by the position sensors has a cosine component and a sine component, and wherein the synchronous demodulation consists in performing the following four demodulations:
the cosine component by the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor,
the cosine component by the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor,
the sine component by the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor, and
the sine component by the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor.
13 . The device as claimed in claim 5 , wherein reconstructing a signal at said harmonic comprises the step of performing the following four modulations:
the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the first signal representative of the phase and of the amplitude of the harmonic for which it is desired to compensate,
the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the first signal representative of the phase and of the amplitude of the harmonic for which it is desired to compensate,
the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the second representative of the phase and of the amplitude of the harmonic for which it is desired to compensate, and
the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor by the second signal representative of the phase and of the amplitude of the harmonic for which it is desired to compensate.
14 . The device as claimed in claim 2 , wherein the circuit for performing dynamic processing of the odd-order harmonic comprises a storage unit for storing values of the signals representative of the phase and of the amplitude of the odd-order harmonic for which it is desired to compensate and, when the speed of the rotor of the electric machine passes into a predefined range of values, the signal at said harmonic is reconstructed using the values of these representative signals stored in the storage unit before the speed of the rotor passes into said range of values.
15 . An assembly comprising:
a rotary electric machine for driving a hybrid or electric vehicle, and
a device for controlling this electric machine, comprising a determining device as claimed in claim 2 .
16 . A method for comprising:
determining an angular position of a rotor of a rotary electric machine based on signals delivered by a plurality of position sensors using a determining device as claimed in claim 2 .
17 . The device as claimed in claim 3 , wherein the signal resulting from the signals delivered by the position sensors has a cosine component and a sine component, and wherein the synchronous demodulation consists in performing the following four demodulations:
the cosine component by the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor,
the cosine component by the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor,
the sine component by the sine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor, and
the sine component by the cosine component of the reference signal at said harmonic and in phase with the signal representative of the position of the rotor.
18 . The device as claimed in claim 3 , wherein the circuit for performing dynamic processing of the odd-order harmonic comprises a storage unit for storing values of the signals representative of the phase and of the amplitude of the odd-order harmonic for which it is desired to compensate and, when the speed of the rotor of the electric machine passes into a predefined range of values, the signal at said harmonic is reconstructed using the values of these representative signals stored in the storage unit before the speed of the rotor passes into said range of values.
19 . An assembly comprising:
a rotary electric machine for driving a hybrid or electric vehicle, and
a device for controlling this electric machine, comprising a determining device as claimed in claim 3 .
20 . A method comprising:
determining an angular position of a rotor of a rotary electric machine based on signals delivered by a plurality of position sensors using a determining device as claimed in claim 3 .