Electric machine

Abstract

An electric machine, in particular an electric motor and/or generator, has a stator and a rotor which is designed to be permanently magnetic or to be energized in particular. The machine has at least two sub-machines. Each of the sub-machines has the same number of phases. The machine has a power output stage for each sub-machine, and the machine also has at least one control unit which is connected to the power output stages. The control unit is designed to generate a pulse width-modulated signal for actuating the power output stages. The control unit is designed to generate the PWM signal for the sub-machines such that an ascending or descending side of a PWM pulse for one sub-machine, said side representing a switching time in each case, and a pulse center of a PWM pulse for another sub-machine of the sub-machines are delayed relative to each other.

Claims

1. An electric machine comprising: a stator; a rotor; at least two sub-machines, each of the at least two sub-machines having a same number of phases, wherein each of the at least two sub-machines comprises a part of stator coils of the start and are configured to generate a magnetic field for rotating the rotor; at least two power output stages, each of the at least two power output stages corresponding to a respective one of the at least two sub-machines; at least one control unit connected to the at least two power output stages and configured to generate at least one PWM signal to drive the at least two power output stages, the at least one control unit being configured to generate the at least one PWM signal such that one of falling edges and a rising edges, representing in each case switching time points, of first PWM pulses of the at least one PWM signal for a first sub-machine of the at least two sub-machines and pulse middles of second PWM pulses of the at least one PWM signal for a second sub-machine of the at least two sub-machines are offset in time with respect to one another; and at least one current sensor connected to the at least one control unit and configured to acquire a phase current of at least one phase of the at least two sub-machines, wherein the at least one control unit is configured to acquire the phase current of the at least one phase of the second sub-machine during respective pulse middles of the second PWM pulses, and wherein, in event of a rising or falling edge of one of the first PWM pulses being timed to occur during a pulse middle of one of the second PWM pulses, the switching time point for the rising or falling edge is offset from the pulse middle of the one of the second PWM pulses.

2. The electric machine as claimed in claim 1, wherein the at least one control unit is configured to modify a duty ratio between a PWM pulse duration and a pulse pause duration of a PWM period for all phases of the at least two sub-machines equally, and thus to generate a time offset between the one of the falling edges and rising edges of the first PWM pulses for the first sub-machine and the pulse middles of the second PWM pulses for the second sub-machine.

3. The electric machine as claimed in claim 1, wherein the at least one control unit is configured to modify a pulse duration of a high-side pulse and of a low-side pulse in alternation with one another.

4. The electric machine as claimed in claim 1, wherein the at least one control unit is configured to modify a duty ratio for one phase to an upper limit of a lower drive range.

5. The electric machine as claimed in claim 1, wherein the at least one control unit is configured to generate a current acquisition interval, acquire a current during the current acquisition interval, and modify a duty ratio such that the one of the rising edges and falling edges of the first PWM pulses one of (i) coincide with one of a beginning time point and an end time point of the current acquisition interval and (ii) lie outside the current acquisition interval.

6. The electric machine as claimed in claim 1, wherein the at least one control unit includes a pulse-width modulator configured to modify duty ratio for at least one PWM period.

7. A method for driving an electric machine including at least two sub-machines, each having an equal number of stator coils, the method comprising: generating pulse-width modulated pulse patterns to drive the stator coils of the at least two sub-machines, acquiring a current flowing through at least one of the stator coils of the at least two sub-machines in a time range of a pulse middle; and in event of at least one of a pulse beginning and a pulse end of a PWM pulse of a first sub-machine of the at least two sub-machines being timed to occur during a pulse middle of a PWM pulse of a second sub-machine of the at least two sub-machines, modifying a duty ratio of a PWM period for the first sub-machine of the at least two sub-machines such that the at least one of the pulse beginning and the pulse end being timed to occur during the pulse middle of the PWM pulse of the second sub-machine takes place offset in time from the pulse middle.

8. The method as claimed in claim 7, the acquiring the current further comprising: acquiring the current within a current acquisition interval that includes a time point of the pulse middle.

9. The method as claimed in claim 7, wherein a duty ratio of a second sub-machine of the at least two sub-machines amounts to half of a full drive of the electric machine.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The disclosure will now be described below with reference to figures and further exemplary embodiments. Further advantageous variant embodiments result from the features described in the figures.

(2) FIG. 1 shows an exemplary embodiment of an electric machine that is designed to modify a pulse duration of a PWM pulse depending on a current acquisition of a drive current of a further sub-machine in such a way that the current acquisition cannot be disturbed by a switching edge of the PWM pulse;

(3) FIG. 2 shows a diagram in which control pulses for driving two sub-machines that are different from one another are illustrated;

(4) FIG. 3 shows a diagram in which an offset shift of a voltage curve at a stator coil resulting from a lengthening of a pulse duration is illustrated;

(5) FIG. 4 shows voltage curves at three stator coils of a sub-machine in which an in particular middle drive range in the curve shapes is skipped;

(6) FIG. 5 shows voltage curves at three stator coils of a sub-machine, in which two drive ranges in the curve shapes are skipped.

DETAILED DESCRIPTION

(7) FIG. 1 shows—schematically—an exemplary embodiment of an electric machine 1. The electric machine 1 comprises a stator 2. The stator 2 comprises, in this exemplary embodiment, two sub-machines, each of which is of three-phase design, and has three stator coils for this purpose. In this exemplary embodiment one sub-machine 3 comprises the stator coils 8, 9 and 10. A further sub-machine 4 of the sub-machines comprises the stator coils 5, 6 and 7. The machine 1 also comprises a rotor 11 that is, for example, designed as a permanent magnet. The machine 1 also comprises an output stage 12 which, in this exemplary embodiment, is formed of two partial output stages 13 and 14. Each of the partial output stages 13 and 14 comprises a B6-bridge or three H-bridges. One H-bridge comprises two semiconductor half-bridges, whose output terminals can each be connected to a terminal of a stator coil. The partial output stage 13 is connected on the output side to the sub-machine 3 via an electrical connection 23. The partial output stage 14 is connected on the output side to the sub-machine 4 via an electrical connection 24. The partial output stage 13 is designed to energize the stator coils 8, 9 and 10 to generate a rotary magnetic field for the rotary movement of the rotor 11. The sub-machine 14 is designed to energize the stator coils 5, 6 and 7 to generate a rotary magnetic field for the rotary movement of the rotor 11. The partial output stages 13 and 14, together with the respective sub-machines 3 or 4, can independently excite the rotor 11 into rotary motion. In this way, the machine 1 comprises two mutually independent sub-machines which can, in normal operation, jointly move the rotor 11 or, in the event of a defect of one sub-machine the sub-machine that still remains can continue to move the rotor 11.

(8) The machine 1 also comprises a control unit 17. The control unit 17 is connected on the output side via a connecting line 27 to the output stage 12, and is connected there with the partial output stage 13, and is designed to operate the sub-machine 3 via the connecting line 27 and to generate a control signal, in particular a pulse pattern for this purpose, and to send this to the partial output stage 13. The control unit 17 is connected on the output side via a connecting line 28 to the partial output stage 14, and is designed to drive the partial output stage 14, in particular control terminals of the partial output stage 14, to energize the sub-machine 4. The machine 1 also comprises a current sensor 16 for the acquisition of a current of the partial output stage 13, and a current sensor 15 for the acquisition of a current of the partial output stage 14. The current sensors 15 and 16 are, for example, formed by a shunt resistor. The partial output stages 13 and 14 can—other than as illustrated in FIG. 1—also be connected by means of a common current sensor. For this purpose a ground line of the partial output stages 13 and 14 can each be brought together, and the combined ground line brought via the common shunt resistor to a ground terminal of the machine 1.

(9) In this exemplary embodiment, the control unit 17 is designed to drive the sub-machines 3 and 4 with a mutual phase offset. In this way an intermediate circuit capacitor 29 used jointly by the partial output stages 13 and 14 can be discharged. The current sensor 16 is connected on the output side via a connecting line 25 to the control unit 17. The current sensor 15 is connected on the output side via a connecting line 26 to the control unit 17. The current sensors 16 and 15 are each designed to acquire a current flowing in the respective partial output stage 13 or 14, and to generate a current signal representing the current and to send it on the output side to the control unit 17.

(10) The control unit 17 comprises a pulse pattern generator 18. The pulse pattern generator 18 is designed to generate pulse-width modulated control signals for driving the power output stage 12, in particular control terminals of the power output stage 12, and to output these on the output side. The pulse pattern generator 18 comprises a pulse-width modulator 19 for this purpose. The pulse-width modulator 19 comprises an input 22 and is designed to generate a duty ratio between a pulse duration and a pulse pause duration depending on a control signal received at the input 22, in particular an amplitude signal, and to generate the control pulses for switching the semiconductor switches of the power output stage 12 on and off in accordance with the duty ratio.

(11) The pulse-width modulator 19, also referred to below as the PWM modulator, is connected on the input side to a drive pattern generator 20. The drive pattern generator in this exemplary embodiment is designed to generate a drive signal for each phase, and thus for each stator coil of the sub-machines corresponding to each of the phases. The drive signal represents, for example, a sinusoidal waveform or, in addition, a harmonic, preferably the third harmonic, corresponding to the sinusoidal waveform as the fundamental oscillation.

(12) The control unit 17 is designed to acquire the current signal generated by the current sensors 15 and 16 at least at one current acquisition time point, or within a current acquisition interval that lies in the temporal range or at the time point of one half of the control pulse duration of a control pulse. The control unit 17 can thus acquire the current flowing in the power output stage, in particular in the partial output stages 13 and 14 at the time point of a pulse middle of the control pulse generated by the PWM modulator 19. The PWM modulator 19 is, for example, designed to generate the control pulses centered at the middle within a pulse period. The current acquisition takes place for example centered at the middle with respect to the control pulse generation. The control unit 17, in particular the PWM modulator 19, is designed to drive the sub-machines 3 and 4 with a phase offset with respect to one another. A phase offset between the pulse patterns for the sub-machines 3 and 4 amounts, for example, to 25 percent of a pulse period duration. The control unit 17 is designed to modify, in particular to lengthen or to shorten, the control pulse duration of the control pulses for the sub-machine at least for the duration of the current acquisition of the drive current at least for one period clock or a plurality of period clocks in the event of a switching edge of a control pulse for a sub-machine wherein the switching time point of the switching edge falls within a current acquisition interval of a current acquisition of the further or the same sub-machine.

(13) The control unit 17, in this exemplary embodiment the pulse pattern generator 18, comprises an adding unit 21 for this purpose which is designed, depending on a coincidence of a switching edge within the current acquisition interval, to lengthen the control pulse duration of the control pulses for the sub-machine and to generate for this purpose a lengthened control pulse in such a way that the switching edge lies outside the current acquisition interval. The pulse pattern generator 18 is connected on the input side to a timer 41 and is designed to receive a clock signal representing a clock generated by the timer 41 and to generate the PWM signal depending on the clock signal. The timer 41 is, for example, formed by a quartz oscillator.

(14) FIG. 2 shows a diagram in which two pulse pattern signals, different from one another for two stator coils different from one another of sub-machines different from one another are illustrated schematically. The diagram comprises a time axis 30 and an amplitude axis 31. The curve 33 represents a pulse-width modulated control signal for driving the partial output stage 13 which, for example, brings about an energization of the stator coil 8 of the sub-machine 3.

(15) The pulse pattern signal, represented by the curve 33, comprises a control pulse 61 which starts at a time point 32 and ends at a later time point 36. The control pulse 61 has a control pulse duration 65 that extends between the time point 32 of the beginning and a time point of the end 36. A pulse pause with a pulse pause duration 66 follows the control pulse 61. A period duration, two, three of a PWM period of the control pulse 61 thus comprises the control pulse duration 65 and the pulse pause duration 66. The ratio between the control pulse duration 65 and the pulse pause duration 66 determines the duty ratio of the PWM modulation.

(16) At its end, the control pulse 61 comprises a falling edge 35. FIG. 2 also shows a pulse-width modulated control signal, represented by a curve 34, which comprises a control pulse 62. The control pulse 62 has its pulse middle at the time point 36. The partial output stage 14 is driven by means of the control pulse 62, and thus by means of the pulse-width modulated control signal represented by the curve 34, and a stator coil of the further sub-machine 4, for example the stator coil 5 in FIG. 1, is thus energized. FIG. 2 also shows a current acquisition interval 40 which includes the time point 36, so that the pulse middle of the control pulse 62 lies within the current acquisition interval 40. In this exemplary embodiment, as a result of the phase shift of the control signals of the sub-machines 3 and 4 illustrated in FIG. 1, the switching edge 35 of the control signal described previously, represented by the curve 33, lies in the current acquisition interval 40, and can disturb the current acquisition by the current sensor 15, and in particular the current signal generated by the current sensor 15 during the current acquisition. FIG. 2 also shows a control pulse 61′ lengthened in time, which has a falling edge 35′ whose time point 37 lies outside the current acquisition interval 40—being later in this exemplary embodiment. The control pulse 61′, which has been lengthened in time, has the lengthened control pulse duration 65′. The current acquisition interval 40 has a lower limit 38 and an upper limit 39. A drive range of the pulse-width modulation for the control pulse 61 which should be avoided at least at the time point of a current acquisition of a current of the further sub-machine during the control pulse generation of the control pulse 61—for example by the pulse-width modulator 19 illustrated in FIG. 1—thus lies between the lower limit 38 and the upper limit 39.

(17) The duty ratios lying within the current acquisition interval 40, and thus the voltage values corresponding to the duty ratios, which develop at the energization of the corresponding stator coil, are barred for the corresponding stator coil by the adding unit 21, which is designed to generate a duty ratio for generating the control pulse 61 in such a way that a rising or a falling edge 35 lies outside the current acquisition interval 40.

(18) FIG. 3 shows—schematically—a diagram with an abscissa 42 that represents the passage of time and an ordinate 43 that represents a signal amplitude. FIG. 3 shows an exemplary voltage curve at a stator coil, respectively averaged, in particular momentarily, over one PWM period, which is generated by the pulse-width modulated signal, represented by the curve 33. The voltage curve, represented by the curve 44, lies within a drive interval 53 which has an upper limit 55, a lower limit 54, and a mean value 56. All the control pulses necessary for the generation of the voltage curve 44, like the control pulse 61 illustrated in FIG. 2, thus fall with the respective falling edge, like the falling edge 35 illustrated in FIG. 2, in the current acquisition interval 40 which corresponds in FIG. 3 to the drive interval 53. In doing so, the drive interval 53 determines a drive range to be avoided in a drive of the machine.

(19) The lengthened control pulse 35′ illustrated in FIG. 2 now brings about an offset shift 46 of an offset of the voltage curve, represented by the curve 44. FIG. 3 also shows a curve 44′ which represents the curve 44 shifted out of the amplitude range 53 by the offset shift 46, and thus a voltage curve shifted out of the drive range 53. The control pulses for driving the semiconductor switches for a sub-machine, in particular for all the stator coils of the sub-machine, are lengthened or shortened at the same time corresponding to the offset shift 46.

(20) FIG. 4 shows—schematically—a diagram in which a curve 50, a curve 51 and a curve 52 are illustrated. The diagram has a time axis 48 and an amplitude axis 49. The curves 50, 51 and 52 each represent a voltage curve at stator coils of a sub-machine that are different from one another, for example the three stator coils 8, 9 and 10 of the sub-machine 3 in FIG. 1, which curve can be generated when the stator coils 8, 9 and 10 are energized by the partial output stage 13.

(21) The curve 50 corresponds here, for example, to the voltage curve at the stator coil 8, the curve 51 to the voltage curve at the stator coil 9 and the curve 52 to the voltage curve at the stator coil 10 in FIG. 1. FIG. 4 also shows the drive range 53, the mean value 56, the lower limit 54 and the upper limit 55 of the drive range 53.

(22) FIG. 4 also shows a measurement time point 57 at which a current of a further sub-machine, for example the sub-machine 4 in FIG. 1, is acquired. The pulse-width modulator 18 in FIG. 1 is, for example, designed to shorten the control pulses that bring about an energization of the stator coil 9 and which generates the voltage curve at the stator coil 9 represented by the curve 51, in the voltage range of the drive range 53 in an interval between the mean value 56 and the lower limit 54 in such a way that the control pulse duration of the control pulse passes outside the current acquisition interval and thus a voltage generated at the stator coil 9 reaches at most the lower limit 54 of the drive range 53—as far as the time point 57. The time point 57 here corresponds to the mean value 56 of an unmodified voltage curve in the drive range 53. The control pulses which correspond to the drive range between the mean value 56 and the upper limit 55, can be appropriately lengthened by the pulse-width modulator 18 so that the falling edges, like the falling edge 35′ in FIG. 2, lie outside the current acquisition interval 40. The drive values that lie between the mean value 56 and the upper limit 55 are thus shifted at least to the upper limit 55 in the current acquisition interval 40. FIG. 4 also shows the simultaneous modification of the control pulse duration for the three stator coils 8, 9 and 10 of the same sub-machine 3.

(23) The voltage curve at the stator coil 9, represented by the curve 50, has an amplitude curve 60 at the time point 57 corresponding to the shortening or lengthening of the control pulse duration. The curve 52, which represents the voltage curve at the stator coil 10, has a corresponding amplitude curve 59 in the range of the time point 57, which is caused by the modification of the control pulse duration. The voltage curve at the stator coil 9, represented by the curve 51, has a stepped form 58 in the range of the current acquisition time point 57.

(24) FIG. 5 shows—schematically—a diagram in which curves 73, 74 and 75 each corresponding to a voltage curve are illustrated. The diagram has a time axis 71 and an amplitude axis 72. The curves 73, 74 and 75 represent, in this exemplary embodiment, a full drive of the sub-machine 3 illustrated in FIG. 1. The diagram in FIG. 5 also shows a further drive range 70 which extends between a smallest possible drive value, in this exemplary embodiment a zero value of the drive range, and a drive value that is smaller than a maximum drive value 76, wherein the maximum drive value 76 corresponds to the full drive of the sub-machine. The smallest value explained previously here corresponds to an upper limit 77 of the previously mentioned drive range 70. The drive range 70 in this exemplary embodiment is caused by very short control pulses for energizing the sub-machine 3 itself.

(25) The pulse-width modulator 18 is designed in this exemplary embodiment to lengthen the control pulse duration of control pulses that fall in the drive range 70, also referred to below as the lower drive range, in such a way that the lengthened control pulses have a control pulse duration that corresponds to the upper limit 77 of the drive range 70. A measuring time point 57 for the current acquisition of a current at the same sub-machine 3 in FIG. 1 can take place through the lengthening of the control pulses for the sub-machine 3 thus also at a time point corresponding to the upper limit 77 at which time point the voltage curves, represented by the curves 73 and 74, would each enter the lower range 70. The voltage curves mentioned above, which lie in the lower range 70 or in the previously mentioned drive range 53 are specified by the drive pattern generated by the drive pattern generator 20. The voltage curves represented by the curves 73, 74 and 75 thus deviate from the signal form specified by the drive pattern generator as a result of the shortened or lengthened control pulses. The deviation caused in this way is, however, advantageously very small, since advantageously a pulse modulation frequency that determines a pulse period duration of the pulse-width modulation is selected to be large enough that the modification to the control pulse duration can be done in suitably small steps. Furthermore, the drive range 53, or additionally the lower drive range 70, is advantageously in each case less than one tenth of the full drive of the machine, represented by the maximum drive value 76.