METHOD FOR ADAPTING THE CONTROL PARAMETERS OF AN ELECTRIC TRACTION MACHINE BEING A PERMANENT MAGNETIC SYNCHRONOUS MOTOR

Abstract

A method for adapting the control parameters of an electric traction machine being a permanent magnetic synchronous motor, PMSM, the method comprising providing the flux linkage of the permanent magnets, PM flux, in the PMSM; performing a stand still characterisation of the PMSM to estimate linked magnetic flux as a function of current; adding the PM flux to the estimated linked magnetic flux to provide a flux characteristic of the PMSM; adapting the control parameters of the PMSM based on the flux characteristic.

Claims

1. A method for adapting the control parameters of an electric traction machine being a permanent magnetic synchronous motor, PMSM, the method comprising: providing the flux linkage of the permanent magnets, PM flux, in the PMSM; performing a stand still characterisation of the PMSM to estimate linked magnetic flux as a function of current; adding the PM flux to the estimated linked magnetic flux to provide a flux characteristic of the PMSM; adapting the control parameters of the PMSM based on the flux characteristic.

2. The method according to claim 1, wherein the adapted control parameters comprise current control.

3. The method according to claim 1, wherein the adapted control parameters are adapted to increase the efficiency of the PMSM.

4. The method according to claim 1, wherein for the stand still characterisation of the PMSM, the PMSM is locked to prevent rotation of a rotating shaft of the PMSM.

5. The method according to claim 1, wherein the linked magnetic flux is estimated based on differential inductances and the current for various operating points.

6. The method according to claim 1, comprising: comparing the flux characteristic of the PMSM with reference data of known flux characteristic of a population of PMSMs, wherein the adaptation of the control parameters of the PMSM is based on the compared flux characteristic.

7. The method according to claim 1, the PMSM being coupled to a drive shaft, wherein providing the PM flux in the PMSM comprises: decoupling the PMSM from drive shaft; performing a first retardation test to measure the flux linkage of the permanent magnets, PM flux, in the PMSM.

8. The method according to claim 7, the PMSM being powered by a battery via an inverter, the method comprising: performing a second retardation test in which the inverter is disconnected, to measure the no-load power losses of the PMSM.

9. The method according to claim 7, comprising: correlating the PM flux with the no-load power losses in a health parameter of the PMSM, and comparing the health parameter with reference data of known health parameters of a population of PMSMs; categorizing the performance of the PMSM based on the compared health parameter.

10. The method according to claim 9, wherein the adaptation of the control parameters of the PMSM is based on the categorization of the performance of the PMSM.

11. The method according to claim 7, comprising prior to the first retardation test, determining a steady state temperature for the permanent magnets in the PMSM.

12. The method according to claim 11, comprising: measuring the temperature inside of the PMSM, e.g. in the stator windings of the PMSM, and the temperature outside of the PMSM, e.g. in the drive shaft or gearbox; comparing the measured temperatures inside and outside of the PMSM by a compared temperature parameter, determine a steady state temperature of the PMSM and the permanent magnets in the PMSM in response of determining that the compared temperature parameter is below a threshold temperature difference.

13. The method according to claim 9, comprising: determining whether or not the compared health parameter achieves a pre-set criteria, and categorizing the performance of the PMSM if the health parameter achieves the pre-set criteria, wherein the categorization is related to a reduced performance of the PMSM.

14. The method according to claim 1, wherein the PMSM is installed in a vehicle and the method is performed off-line, when the vehicle is at a standstill.

15. A computer program comprising program code means for performing the method of claim 1, when the program is run on a computer.

16. A controlling apparatus for controlling the operation of an electric traction machine being a permanent magnetic synchronous motor, PMSM, the controlling apparatus being configured to: provide the flux linkage of the permanent magnets, PM flux, in the PMSM; perform a stand still characterisation of the PMSM to estimate linked magnetic flux as a function of current; add the PM flux to the estimated linked magnetic flux to provide a flux characteristic of the PMSM; adapt the control parameters of the PMSM based on the flux characteristic.

17. The controlling apparatus according to claim 16, the PMSM being coupled to a drive shaft, and powered by a battery via an inverter, the controlling apparatus being further configured to: decouple the PMSM from drive shaft; perform a first retardation test to measure the flux linkage of the permanent magnets, PM flux, in the PMSM; perform a second retardation test in which the inverter is disconnected, to measure the no-load power losses of the PMSM; correlate the PM flux with the no-load power losses in a health parameter of the PMSM, and comparing the health parameter with reference data of known health parameters of a population of PMSMs; categorize the performance of the PMSM based on the compared health parameter.

18. An arrangement comprising: an electric traction machine being a permanent magnetic synchronous motor, PMSM, the PMSM being connectable to a drive shaft of a vehicle, and configured to be powered by a battery via an inverter, and a controlling apparatus according to claim 16.

19. A vehicle comprising an arrangement according to claim 18.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0108] With reference to the appended drawings, below follows a more detailed description of embodiments of the invention cited as examples.

[0109] In the drawings:

[0110] FIG. 1 is a side schematic view of a vehicle in accordance with an example embodiment of the invention;

[0111] FIG. 2A is a schematic view of a PMSM arrangement comprising a PMSM and a controlling apparatus in accordance with an example embodiment of the invention;

[0112] FIG. 2B is an enlarged view of a cross section of the PMSM in FIG. 2A; and

[0113] FIG. 3 is a flowchart illustrating the steps of a method in accordance with example embodiments of the invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS OF THE INVENTION

[0114] With reference to FIG. 1, a vehicle 1, here embodied as a heavy duty truck 1, is disclosed for which a method, a permanent magnetic synchronous motor, PMSM, 20, and/or a PMSM arrangement 10 of a kind disclosed in the present invention is advantageous. However, the method, PMSM 20 or PMSM arrangement 10 may as well be implemented in other types of vehicles, such as in busses, light-weight trucks, passenger cars, marine applications etc. The vehicle 1 is an electric vehicle, such as a full electric vehicle or a hybrid, comprising at least one electric machine 20 being a PMSM, an energy storage system 30 comprising energy storage or energy transformation devices, typically batteries or fuel cells, the energy storage system 30 being arranged and configured to power the PMSM 20, typically via a DC-AC converter (inverter). The vehicle 1 typically further comprises other parts of the powertrain such as transmission, drive shafts and wheels (not shown in detail in FIG. 1). As seen in FIG. 1, the PMSM 20 is controlled by a controlling apparatus 3, e.g. being comprised in an ECU of the vehicle 1.

[0115] FIG. 2A is a schematic view of a PMSM arrangement 110 comprising an electric traction machine 120 being a permanent magnetic synchronous motor, PMSM, 120. The PMSM arrangement 110 and the PMSM 120 may for example correspond to the PMSM arrangement 10 and PMSM 20 of vehicle 1 in FIG. 1. The PMSM 120 is connected to a drive shaft 140 of the vehicle, and in FIG. 2A to an optional gear box 150. The drive shaft 140 is typically configured to transfer motion from the PMSM 120 to the wheels or other propulsion means of the vehicle, via the gear box 150. Hereby, the PMSM 120 is configured to propel the vehicle. Moreover, the PMSM 120 is powered by at least one battery 160 or other energy storage or energy transformation device, via an inverter 170, such as a DC-AC converter. The operation of the PMSM 120 is controlled by a controlling apparatus 103, corresponding e.g. to the controlling apparatus 3 of FIG. 1. The controlling apparatus 103 typically comprises a current controller configured to control the current supplied by the battery 160 via the inverter 170 to the PMSM 120.

[0116] In FIG. 2B, a cross section of the PMSM 120 is shown. Here, the permanent magnets 122 of the rotating shaft 124 is shown, as well as the stator 126 and stator windings 128. The controlling apparatus 103 is configured to control at least the current fed to the stator winding 128, via the inverter 170, in a manner known to the skilled person. The illustration of the PMSM 120 in FIG. 2B is schematic, and other types of configurations of the PMSM is within the scope of the invention.

[0117] A method for adapting the control parameters of a PMSM, such as the PMSM 20, 120 of FIGS. 1, 2A, and 2B will now be described in detail with reference to the flow chart of FIG. 3. The PMSM is assumed to be coupled to a drive shaft, such as drive shaft 140 of FIG. 2A, and powered by a battery via an inverter, such as battery 160 and inverter 170 of FIG. 2A. Thus, the method is performed for the PMSM installed in a vehicle and is performed off-line, when the vehicle is at a standstill.

[0118] In an optional step S1, e.g. being a first step S1, a steady state temperature for the permanent magnets in the PMSM is determined. The optional first step S1 may e.g. be performed by the following sub-steps:

[0119] In a first sub-step S3, the temperature inside of the PMSM, e.g. in the stator windings of the PMSM, and the temperature outside of the PMSM, e.g. in the drive shaft or gearbox, are determined (e.g. measured). The temperature outside of the PMSM is measured at least somewhere along the power train, downstream of the PMSM, but typically upstream of the propulsion means such as the wheels, e.g. along the transmission.

[0120] In a second sub-step S5, the measured temperatures inside and outside of the PMSM are compared by a compared temperature parameter. The compared temperature parameter may simply be represented by any difference between the measured temperatures inside and outside of the PMSM.

[0121] In a third sub-step S7, a steady state temperature of the PMSM and the permanent magnets in the PMSM is determined in response of determining that the compared temperature parameter is below a threshold temperature difference. That is, if the difference between the measured temperatures inside and outside of the PMSM is lower than a set threshold value, e.g. by 2° C., a steady state temperature of the PMSM and the permanent magnets is assumed to be achieved.

[0122] In a step S10, being e.g. a second step S10, the flux linkage of the permanent magnets, PM flux, in the PMSM is provided. The second step S10 may e.g. be performed by the following sub-steps:

[0123] In a fourth sub-step S12, the PMSM is decoupled from the drive shaft. This may e.g. be carried out by a decoupling in the gear box.

[0124] In a fifth sub-step S14, a first retardation test is performed to measure the flux linkage of the permanent magnets, PM flux, in the PMSM. The permanent magnets are e.g. shown in FIG. 2B. The first retardation test is typically performed by accelerating the PMSM to a base speed, e.g. 4000-5000 rpm, by a current controller (the current controller typically being comprised in a controlling apparatus configured to control the operation of the PMSM and the powering thereof by the battery, such as the controlling apparatus 3, 103 of FIGS. 1-2), whereupon a current reference of the current controller is set to zero. As the current reference is set to zero, the PMSM will decelerate, eventually to a standstill. The flux linkage is measured as described earlier in the text.

[0125] In a step S20, being e.g. a third step S20, a stand still characterisation of the PMSM is performed to estimate linked magnetic flux ψd, ψq as a function of current. The linked magnetic flux may be determined as earlier described in the text, and may be estimated based on differential inductances and the current for various operating points. During the stand still characterisation of the PMSM, the PMSM may be locked to prevent rotation of a rotating shaft of the PMSM. For example, the locking may be performed by the gear box.

[0126] In a step S30, being e.g. a fourth step S30, which may be performed subsequent to step S10 and step S20, the PM flux is added to the estimated linked magnetic flux to provide a flux characteristic of the PMSM. The PM flux, being a single value, is added to at the least the d-axis of the linked magnetic flux.

[0127] In a step S40, being e.g. a fifth step S40, which is performed subsequent to step S30, the control parameters of the PMSM is adapted based on the flux characteristic. Hereby, an effective way of determining the flux characteristic, and adapting the control parameters of the PMSM is provided. In other words, the operation of the PMSM may be improved based on the flux characteristic, by adapting control parameters of the PMSM. This may e.g. be achieved by the controlling apparatus 3, 103 and the current controller thereof, i.e. the adapted control parameters may comprise current control. The adapted control parameters may e.g. be adapted to increase the efficiency of the PMSM.

[0128] According to one example embodiment, the step S40 comprises a sub-step S45, e.g. being a sixth sub-step S45, in which the flux characteristic of the PMSM is compared with reference data of known flux characteristic of a population of PMSMs. Thus, for such embodiment, the step S40 and adaptation of the control parameters of the PMSM, is based on the compared flux characteristic.

[0129] In a step S50, being e.g. a sixth step S50 which is typically performed subsequent to step S10 and at least sub-step S14, but which may be performed prior to the steps S20, S30 and S40, a second retardation test is performed in which the inverter is disconnected, to measure the no-load power losses of the PMSM. Correspondingly to the first retardation test, the second retardation test is typically performed by accelerating the PMSM to a base speed, e.g. 4000-5000 rpm, by a current controller powering the PMSM by the battery, whereupon a current reference of the current controller is set to zero and the inverter is disconnected and/or by simply disconnecting the inverter whereby the current to the PMSM automatically will drop to zero. The inverter may be disconnected from the PMSM by a switching arrangement known in the art. As the current the PMSM is zero, the PMSM will decelerate, eventually to a standstill. The no-load power losses of the PMSM is performed as described earlier in the text, and is only briefly summarized here. The PM flux may be determined by a ratio of a voltage reference of the current controller and the electrical angular velocity. The latter may e.g. be determined by a position sensor in the rotating shaft of the PMSM. Moreover, the no-load power losses may be determined by multiplying a braking torque of the PMSM with the mechanical angular velocity, wherein the braking torque is estimated by multiplying the magnitude of acceleration and the moment of inertia of the rotating shaft of the PMSM, the moment of inertia may be known or estimated as described earlier in the text.

[0130] In a step S60, being e.g. a seventh step S60, the PM flux is correlated with the no-load power losses in a health parameter of the PMSM. This step is preferably carried out by the controlling apparatus, and the health parameters saved in a memory linked to the controlling apparatus. The health parameter may e.g. be multi-valued parameter comprising at least the PM flux and the no-load power losses as separate values, possibly together with and ID reference of the PMSM and the temperature present when performing the first and/or second retardation test. As the magnitude of acceleration is dependent on the PM flux, the correlation of the PM flux with the no-load power losses in the health parameter of the PMSM includes the dependence of the PM flux and the no-load power losses.

[0131] In a step S70, being e.g. an eight step S70, the health parameter is compared with reference data of known health parameters of a population of PMSMs. The population of PMSM preferably comprises health parameters of corresponding PMSMs, e.g. at least 10, 20 or 50 PMSMs. The known health parameters preferably correspond to the health parameter of the PMSM in the sense that they are set up in a corresponding manner, and comprises at least the PM flux and no-load power losses, possibly together with temperature data.

[0132] In a step S80, being e.g. a ninth step S80, the performance of the PMSM is categorized based on the compared health parameter. That is, by comparing the health parameter of the PMSM with the known health parameters of corresponding PMSMs, the corresponding PMSMs being categorized based at least its health parameter (for example categorized as “normal performance” for PMSMs with a health parameter indicating normal performance, and categorized as “reduced performance” for PMSMs with a health parameter indicating reduced performance. Hereby, the PMSM may at least be categorised based on if it operates according to normal performance or reduced performance. Moreover, the categorization of the performance of the PMSM may be used in the step S40 of adapting the control parameters. According to one example embodiment, the flux characteristics may be included in the categorization of the performance of the PMSM, and e.g. in the health parameter of the PMSM. Thus, as the flux characteristics may be included in the categorization of the performance of the PMSM, the categorization of the performance of the PMSM may be used for adapting the control parameters the PMSM.

[0133] In a step S90, being e.g. a tenth step S90, it is determined whether or not the compared health parameter achieves a pre-set criteria. The pre-set criteria may e.g. be based on whether or not the compared health parameter is smaller or larger than a certain pre-set threshold value.

[0134] In a step S100, being e.g. an eleventh step S100, the performance of the PMSM is categorized based on if the health parameter achieves the pre-set criteria or not. For example, the categorization may relate to a reduced performance of the PMSM as earlier descried.

[0135] The order of the steps in the method of FIG. 3 described in the foregoing embodiments is merely an example, and is not necessarily limited to the order described. The order of steps may be switched, and parts of some steps may be omitted as well.

[0136] Turning back to FIGS. 2A and 2B, the controlling apparatus 103 may be configured to perform the method, or any of the steps, described with reference to FIG. 3. Thus, the controlling apparatus 103 may be configured to at least: [0137] provide the flux linkage of the permanent magnets 122, PM flux, in the PMSM 120, as described with reference to step S10 of FIG. 3; [0138] perform a stand still characterisation of the PMSM 120 to estimate linked magnetic flux ψd, ψq as a function of current, as described with reference to step S20 of FIG. 3; [0139] add the PM flux to the estimated linked magnetic flux to provide a flux characteristic of the PMSM 120, as described with reference to step S30 of FIG. 3; [0140] adapt the control parameters of the PMSM 120 based on the flux characteristic, as described with reference to step S40 of FIG. 3.

[0141] The controlling apparatus 103 may be further configured to: [0142] decouple the PMSM 120 from drive shaft 150, as described with reference to sub-step S12 of FIG. 3; [0143] perform a first retardation test to measure the flux linkage of the permanent magnets 122, PM flux, in the PMSM 120, as described with reference to sub-step S14 of FIG. 3; [0144] perform a second retardation test in which the inverter 170 is disconnected, to measure the no-load power losses of the PMSM 120, as described with reference to step S50 of FIG. 3; [0145] correlate the PM flux with the no-load power losses in a health parameter of the PMSM 120, and comparing the health parameter with reference data of known health parameters of a population of PMSMs, as described with reference to step S60 and S70 of FIG. 3 [0146] categorize the performance of the PMSM based on the compared health parameter, as described with reference to step S80 of FIG. 3.

[0147] It is to be understood that the present invention is not limited to the embodiments described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

[0148] Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed inventive concept, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0149] It should be understood that the controlling apparatus 3, 103 may not need to be one single unit, but its functionality may be divided into different, separate, control units or controlling apparatus, and some functionality may naturally be performed as calculations in a remote server or by cloud computing. Those skilled in the art will also appreciate that the controlling apparatus 3, 103 may refer to a combination of analog and digital circuits, and/or one or more processors configured with program software and/or firmware, e.g. stored in a memory, that when executed by the one or more processors perform the one or more of the steps described in conjunction with FIG. 3. One or more of these processors, as well as the other digital hardware, may be included in a single ASIC (Application-Specific Integrated Circuitry), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a SoC (System-on-a-Chip).