Electromechanical power transmission chain, and an electric system, a method and a computer program for controlling the same to stabilize dc input voltage of a converter driving an electric machine and determining a torque reference of the electric machine

Abstract

An electric system of an electromechanical power transmission chain is provided that includes a first capacitive circuit, converter equipment between the first capacitive circuit and an electric machine, a second capacitive circuit, and a direct voltage converter between the first and second capacitive circuits. The electromechanical power transmission chain is a parallel transmission chain where the electric machine is mechanically connected to a combustion engine and to one or more actuators. The electric system includes a control system for controlling the direct voltage converter in response to changes in a first direct voltage of the first capacitive circuit and for controlling the converter equipment in response to changes in a second direct voltage of the second capacitive circuit. The first direct voltage is kept on a predetermined voltage range whereas the second direct voltage is allowed to fluctuate in order to respond to peak power needs.

Claims

1. An electric system comprising: a first capacitive circuit comprising at least one first capacitor; converter equipment configured to transfer electric energy between the first capacitive circuit and an electric machine, the converter equipment being configured to convert a first direct voltage of the first capacitive circuit into an output voltage and to output the output voltage to the electric machine, the converter equipment comprising a converter stage configured to transfer electric energy from the electric machine to the first capacitive circuit when the electric machine operates as a generator and configured to transfer electric energy from the first capacitive circuit to the electric machine when the electric machine operates as an electric motor; a second capacitive circuit comprising at least one second capacitor; a direct voltage converter configured to transfer electric energy between the first and the second capacitive circuits; and a control system configured to determine a torque reference used to drive the electric machine, with the converter equipment, as either the electric motor or the generator, the torque reference being determined at least partly based on: a second direct voltage of the second capacitive circuit, a power control signal of a combustion engine mechanically connected to the electric machine, the power control signal being used to determine a fuel and air supply of the combustion engine, and a rotational speed of the electric machine, wherein the torque reference is equal to a motor power for the electric machine divided by the rotational speed when the electric machine operates as the electric motor or is equal to a generator power for the electric machine divided by the rotational speed when the electric machine operates as the generator, control the direct voltage converter to transfer the electric energy between the first and the second capacitive circuits, in response to changes of the first direct voltage with respect to a first direct voltage reference value to drive the first direct voltage to the first direct voltage reference value, control the converter equipment to change the transfer of the electric energy from the electric machine to the first capacitive circuit when the electric machine operates as the generator and to change the transfer of the electric energy from the first capacitive circuit to the electric machine when the electric machine operates as the electric motor, in response to changes of the second direct voltage of the second capacitive circuit with respect to a second direct voltage reference value, to drive the second direct voltage to the second direct voltage reference value, and keep the changes of the first direct voltage, with respect to the first direct voltage reference value, smaller than the changes of the second direct voltage with respect to the second direct voltage reference value, wherein the control system is further configured to: drive the electric machine as the electric motor in response to an increase in the power control signal of the combustion engine, drive the electric machine as the generator in response to a decrease in the power control signal of the combustion engine.

2. The electric system according to claim 1, wherein the control system is configured to control the converter equipment to reduce the transfer of the electric energy from the electric machine to the first capacitive circuit in response to a situation in which the first direct voltage exceeds a predetermined over-voltage limit.

3. The electric system according to claim 1, wherein the control system is configured to control the converter equipment to reduce the transfer of the electric energy from the first capacitive circuit to the electric machine in response to a situation in which the first direct voltage falls below a predetermined under-voltage limit.

4. The electric system according to claim 1, wherein capacitance of the second capacitive circuit is greater than capacitance of the first capacitive circuit.

5. The electric system according to claim 1, wherein the second capacitive circuit comprises at least one electric double-layer capacitor.

6. The electric system according to claim 1, wherein the motor power is zero when the second direct voltage is less than or equal to a motor limit voltage of the electric machine operating as the motor, the motor limit voltage being an upper allowable limit voltage for the electric machine when operating as the motor, and the motor power is an increasing function of the second direct voltage when the second direct voltage is greater than the motor limit voltage, wherein the generator power is zero when the second direct voltage is greater than or equal to a generator limit voltage of the electric machine operating as the generator, the generator limit voltage being an upper allowable limit voltage for the electric machine when operating as the generator, and the generator power is an increasing function of the second direct voltage when the second direct voltage is less than the generator limit voltage, and the generator limit voltage is greater than the motor limit voltage.

7. An electromechanical power transmission chain comprising: an electric machine configured to receive mechanical power from a combustion engine and to supply mechanical power to one or more actuators; and an electric system configured to supply electrical power to the electric machine when the electric machine operates as an electric motor and to receive electrical power from the electric machine when the electric machine operates as a generator, the electric system comprising: a first capacitive circuit comprising at least one first capacitor, converter equipment configured to transfer electric energy between the first capacitive circuit and the electric machine, the converter equipment being configured to convert a first direct voltage of the first capacitive circuit into an output voltage and to output the output voltage to the electric machine, a second capacitive circuit comprising at least one second capacitor, a direct voltage converter configured to transfer electric energy between the first and the second capacitive circuits, and a control system configured to determine a torque reference used to drive the electric machine, with the converter equipment, as either the electric motor or the generator, the torque reference being determined at least partly based on: a second direct voltage of the second capacitive circuit, a power control signal of a combustion engine mechanically connected to the electric machine, the power control signal being used to determine a fuel and air supply of the combustion engine, and a rotational speed of the electric machine, wherein the torque reference is equal to a motor power for the electric machine divided by the rotational speed when the electric machine operates as the electric motor or is equal to a generator power for the electric machine divided by the rotational speed when the electric machine operates as the generator, control the direct voltage converter to transfer the electric energy between the first and the second capacitive circuits, in response to changes of the first direct voltage with respect to a first direct voltage reference value, to drive the first direct voltage to the first direct voltage reference value, control the converter equipment to change a transfer of the electric energy from the electric machine to the first capacitive circuit when the electric machine operates as the generator and to change a transfer of the electric energy from the first capacitive circuit to the electric machine when the electric machine operates as the electric motor, in response to changes of the second direct voltage of the second capacitive circuit with respect to a second direct voltage reference value, to drive the second direct voltage to the second direct voltage reference value, keep the changes of the first direct voltage, with respect to the first direct voltage reference value, smaller than the changes of the second direct voltage with respect to the second direct voltage reference value, wherein the converter equipment comprises a converter stage configured to transfer the electric energy from the electric machine to the first capacitive circuit when the electric machine operates as the generator, and configured to transfer the electric energy from the first capacitive circuit to the electric machine when the electric machine operates as the electric motor, and wherein the control system is further configured to: drive the electric machine as the electric motor in response to an increase in the power control signal of the combustion engine, and drive the electric machine as the generator in response to a decrease in the power control signal of the combustion engine.

8. The electromechanical power transmission chain according to claim 7, wherein the motor power is zero when the second direct voltage is less than or equal to a motor limit voltage of the electric machine operating as the motor, the motor limit voltage being an upper allowable limit voltage for the electric machine when operating as the motor, and the motor power is an increasing function of the second direct voltage when the second direct voltage is greater than the motor limit voltage, wherein the generator power is zero when the second direct voltage is greater than or equal to a generator limit voltage of the electric machine operating as the generator, the generator limit voltage being an upper allowable limit voltage for the electric machine when operating as the generator, and the generator power is an increasing function of the second direct voltage when the second direct voltage is less than the generator limit voltage, and the generator limit voltage is greater than the motor limit voltage.

9. A method for controlling an electromechanical power transmission chain that includes: a first capacitive circuit including at least one first capacitor, an electric machine, converter equipment configured to transfer electric energy between the first capacitive circuit and the electric machine, a second capacitive circuit including at least one second capacitor, and a direct voltage converter, the electromechanical power transmission chain being a parallel transmission chain in which the electric machine is mechanically connected to a combustion engine and to one or more actuators, the converter equipment including a converter stage configured to transfer electric energy from the electric machine to the first capacitive circuit when the electric machine operates as a generator, and configured to transfer electric energy from the first capacitive circuit to the electric machine when the electric machine operates as an electric motor, the converter equipment converting a first direct voltage of the first capacitive circuit into an output voltage and outputting the output voltage to the electric machine, the method comprising: determining a torque reference used to drive the electric machine, with the converter equipment, as either the electric motor or the generator, the torque reference being determined at least partly based on: a second direct voltage of the second capacitive circuit, a power control signal of a combustion engine mechanically connected to the electric machine, the power control signal being used to determine a fuel and air supply of the combustion engine, and a rotational speed of the electric machine, wherein the torque reference is equal to a motor power for the electric machine divided by the rotational speed when the electric machine operates as the electric motor or is equal to a generator power for the electric machine divided by the rotational speed when the electric machine operates as the generator; controlling the direct voltage converter to transfer electric energy between the first capacitive circuit and the second capacitive circuit, in response to changes of the first direct voltage with respect to a first direct voltage reference value, to drive the first direct voltage to the first direct voltage reference value; controlling the converter equipment to change the transfer of the electric energy from the electric machine to the first capacitive circuit when the electric machine operates as the generator and to change the transfer of the electric energy from the first capacitive circuit to the electric machine when the electric machine operates as the electric motor, in response to changes of the second direct voltage of the second capacitive circuit with respect to a second direct voltage reference value, to drive the second direct voltage to the second direct voltage reference value; driving the electric machine to operate as the electric motor in response to an increase in the power control signal of the combustion engine; and driving the electric machine to operate as the generator in response to a decrease in the power control signal of the combustion engine, wherein the controlling the direct voltage converter and the controlling the converter equipment comprises controlling the changes of the first direct voltage, with respect to the first direct voltage reference value, to be smaller than the changes of the second direct voltage with respect to the second direct voltage reference value.

10. The method according to claim 9, wherein the motor power is zero when the second direct voltage is less than or equal to a motor limit voltage of the electric machine operating as the motor, the motor limit voltage being an upper allowable limit voltage for the electric machine when operating as the motor, and the motor power is an increasing function of the second direct voltage when the second direct voltage is greater than the motor limit voltage, wherein the generator power is zero when the second direct voltage is greater than or equal to a generator limit voltage of the electric machine operating as the generator, the generator limit voltage being an upper allowable limit voltage for the electric machine when operating as the generator, and the generator power is an increasing function of the second direct voltage when the second direct voltage is less than the generator limit voltage, and the generator limit voltage is greater than the motor limit voltage.

11. A non-transitory computer readable medium encoded with a computer program configured to control an electromechanical power transmission chain, the electromechanical power transmission chain including: a first capacitive circuit including at least one first capacitor, an electric machine, converter equipment configured to transfer electric energy between the first capacitive circuit and the electric machine, a second capacitive circuit including at least one second capacitor, and a direct voltage converter, the electromechanical power transmission chain being a parallel transmission chain in which the electric machine is mechanically connected to a combustion engine and to one or more actuators, the converter equipment including a converter stage configured to transfer electric energy from the electric machine to the first capacitive circuit when the electric machine operates as a generator, and configured to transfer electric energy from the first capacitive circuit to the electric machine when the electric machine operates as an electric motor, the converter equipment converting a first direct voltage of the first capacitive circuit into an output voltage and outputting the output voltage to the electric machine, the computer program comprising computer executable instructions for controlling a programmable processor to: determine a torque reference used to drive the electric machine, with the converter equipment, as either the electric motor or the generator, the torque reference being determined at least partly based on: a second direct voltage of the second capacitive circuit, a power control signal of a combustion engine mechanically connected to the electric machine, the power control signal being used to determine a fuel and air supply of the combustion engine, and a rotational speed of the electric machine, wherein the torque reference is equal to a motor power for the electric machine divided by the rotational speed when the electric machine operates as the electric motor or is equal to a generator power for the electric machine divided by the rotational speed when the electric machine operates as the generator; control the direct voltage converter to transfer electric energy between the first capacitive circuit and the second capacitive circuit, in response to changes of the first direct voltage with respect to a first direct voltage reference value, to drive the first direct voltage to the first direct voltage reference value; control the converter equipment to change the transfer of the electric energy from the electric machine to the first capacitive circuit when the electric machine operates as the generator and to change the transfer of the electric energy from the first capacitive circuit to the electric machine when the electric machine operates as the electric motor, in response to changes of the second direct voltage of the second capacitive circuit with respect to a second direct voltage reference value, to drive the second direct voltage to the second direct voltage reference value; drive the electric machine to operate as the electric motor in response to an increase in the power control signal of the combustion engine; and drive the electric machine to operate as the generator in response to a decrease in the power control signal of the combustion engine, wherein the computer executable instructions are further configured to control the programmable processor to control the changes of the first direct voltage, with respect to the first direct voltage reference value, to be smaller than the changes of the second direct voltage with respect to the second direct voltage reference value.

12. The non-transitory computer readable medium according to claim 11, wherein the motor power is zero when the second direct voltage is less than or equal to a motor limit voltage of the electric machine operating as the motor, the motor limit voltage being an upper allowable limit voltage for the electric machine when operating as the motor, and the motor power is an increasing function of the second direct voltage when the second direct voltage is greater than the motor limit voltage, wherein the generator power is zero when the second direct voltage is greater than or equal to a generator limit voltage of the electric machine operating as the generator, the generator limit voltage being an upper allowable limit voltage for the electric machine when operating as the generator, and the generator power is an increasing function of the second direct voltage when the second direct voltage is less than the generator limit voltage, and the generator limit voltage is greater than the motor limit voltage.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) Exemplifying and non-limiting embodiments of the invention and their advantages are explained in greater detail below in the sense of examples and with reference to the accompanying drawings, in which:

(2) FIG. 1 shows a schematic illustration of an electromechanical power transmission chain that comprises an electric system according to an exemplifying and non-limiting embodiment of the invention,

(3) FIG. 2 shows a schematic illustration of an electromechanical power transmission chain that is a serial transmission chain,

(4) FIG. 3 shows a flowchart of a method according to an exemplifying and non-limiting embodiment of the invention for controlling an electromechanical power transmission chain, and FIG. 4 shows exemplifying time trends direct voltages of an electromechanical power transmission chain according to an exemplifying and non-limiting embodiment of the invention.

DESCRIPTION OF THE EXEMPLIFYING EMBODIMENTS

(5) The specific examples provided in the description given below should not be construed as limiting the scope and/or the applicability of the appended claims. Lists and groups of examples provided in the description given below are not exhaustive unless otherwise explicitly stated.

(6) FIG. 1 shows a schematic illustration of an electromechanical power transmission chain that comprises an electric machine 108 and an electric system 100 according to an exemplifying and non-limiting embodiment of the invention. The electromechanical power transmission chain is a parallel transmission chain where the electric machine 108 and a combustion engine 110 are mechanically connected to each other and both the electric machine 108 and the combustion engine 110 are arranged to supply mechanical power to an actuator 111. The electric machine 108 operates sometimes as a generator which produces electric energy, and sometimes as an electric motor that consumes electric energy and assists the combustion engine 110 when high mechanical output power is needed.

(7) The electric system 100 comprises a first capacitive circuit 101 and converter equipment 102 for transferring electric energy between the first capacitive circuit 101 and the electric machine 108. The converter equipment 102 is configured to convert the direct voltage U.sub.DC1 of the capacitive circuit 101 into voltages suitable for the electric machine 108. The electric system 100 comprises a second capacitive circuit 103 and a direct voltage converter 104 for transferring electric energy between the capacitive circuits 101 and 103. The electric machine 108 can be for example an electrically excited synchronous machine, a permanent magnet synchronous machine, an asynchronous machine, or a reluctance machine. The electric machine 108 can be an asynchronous machine or a reluctance machine in cases where the converter equipment 102 is capable of supplying reactive power to the electric machine 108, or there are other means for supplying reactive power to the electric machine 108. The electric system 100 may further comprise a battery element 118 and a direct voltage converter 117 for charging and discharging the battery element 118.

(8) The electric system 100 comprises a control system 105 that comprises a first controller 112 for controlling the direct voltage converter 104 in response to changes in direct voltage U.sub.DC1 of the capacitive circuit 101. The control system 105 further comprises a second controller 113 for controlling the converter equipment 102 in response to changes in direct voltage U.sub.DC2 of the capacitive circuit 103. The controllers 112 and 113 are configured so that the controller 112 reacts faster to changes of the direct voltage U.sub.DC1 than the controller 113 reacts to changes of the direct voltage U.sub.DC2 so as to keep the direct voltage U.sub.DC1 on a predetermined voltage range, i.e. near to a reference value U.sub.DC1 REF, and to simultaneously allow the direct voltage U.sub.DC2 to fluctuate in response to fluctuation of electric power transferred between the capacitive circuit 101 and the electric machine 108. When the direct voltage converter 104 is controlled to keep the direct voltage U.sub.DC1 substantially constant, the capacitive circuit 103 is used as an energy buffer for responding to peak power needs of the actuator 111. The substantially constant direct voltage U.sub.DC1 facilitates the control of the electric machine 108. Furthermore, as substantial decreases in the direct voltage U.sub.DC1 can be avoided, the corresponding decreases in the operating efficiency and in the maximum torque of the electric machine 108 can be avoided too. In FIG. 1, the electric power transfer between the capacitive circuit 101 and the electric machine 108 is denoted with P.sub.1 that is positive when electric energy flows towards the converter equipment 102. The electric power transfer from the capacitive circuit 103 and/or from the battery element 118 to the capacitive circuit 101 is denoted with P.sub.2 that is positive when electric energy flows to the capacitive circuit 101. The direct voltage U.sub.DC1 of the capacitive circuit 101 remains substantially constant when P.sub.2 is substantially P.sub.1.

(9) FIG. 4 shows time trends of the above-mentioned direct voltages U.sub.DC1 and U.sub.DC2 in an exemplifying situation. At the time instant T.sub.1, the actuator 111 starts to need more mechanical power and the combustion engine 110 has not yet reacted to the increased power need. Thus, the lacking mechanical power must be generated by the electric machine 108. As a corollary, the converter equipment 102 increases a transfer rate of electric energy from the capacitive circuit 101 to the electric machine 108 and therefore the direct voltages Ucc starts to drop. This is noticed by the controller 112 that increases the transfer rate of electric energy from the capacitive circuit 103 to the capacitive circuit 101 in order to keep the direct voltage U.sub.DC1 near its reference value U.sub.DC1 REF. The direct voltage U.sub.DC2 deviates more from its reference value U.sub.DC2 REF because the needed electric energy is mainly taken from the capacitive circuit 103. As presented later in this document with more details, the controller 113 can be configured to determine a torque reference Ref_Torq of the electric machine 108 at least partly based on the direct voltage U.sub.DC2, the power control signal of the combustion engine 110, and the rotational speed ω of the electric machine 108. Thus, the controller 113 can utilize the electric energy ˜U.sub.DC2.sup.2 stored in the capacitive circuit 103 for setting the speed-torque operating point of the combustion engine 110 in order optimize the efficiency of the combustion engine 110. At the time instant T.sub.2, the peak power situation is over and the combustion engine 110 has had time to react to the peak power situation but has not had time to react to the end of the peak power situation. Thus, the combustion engine 110 produces a surplus of mechanical power and therefore the electric machine 108 acts as a generator in order to avoid a situation where the rotation speed ω increases uncontrollably. As a corollary, the converter equipment 102 transfers electric energy from the electric machine 108 to the capacitive circuit 101 and therefore the direct voltages U.sub.DC1 starts to rise. This is noticed by the controller 112 that increases the transfer rate of electric energy from the capacitive circuit 101 to the capacitive circuit 103 in order to prevent the direct voltage U.sub.DC1 from exceeding its reference value U.sub.DC1 REF too much. Thus, the slowness of the combustion engine 110 to react to peak power situations can be handled so that the direct voltage U.sub.DC1 does not significantly change, i.e. ΔU.sub.DC1 is small, but the temporary power needs are satisfied by the electric energy stored in the capacitive circuit 103 by allowing the direct voltage U.sub.DC2 to change, i.e. ΔU.sub.DC2>ΔU.sub.DC1. Thus, the input voltage of the converter equipment 102 i.e. U.sub.DC1 can be substantially stable, which facilitates the operation of the converter equipment 102. Furthermore, the electric energy stored in the capacitive circuit 103 can be used for temporarily optimizing the efficiency of the combustion engine 110.

(10) The capacitance of the capacitive circuit 103 that can be used as an energy buffer is advantageously greater than the capacitance of the capacitive circuit 101 whose voltage U.sub.DC1 is preferably kept substantially constant. The capacitive circuit 103 may comprise for example one or more electric double-layer capacitors “EDLC”. In many contexts, an electric double-layer capacitor is called a “super capacitor”. The direct voltage converter 104 is a bidirectional converter capable of transferring electric energy to and from the capacitive circuit 103. In cases where the direct voltage U.sub.DC1 is higher than the direct voltage U.sub.DC2, the direct voltage converter 104 can be implemented for example with one or more inverter branches of an inverter bridge and with one or more inductor coils so that the direct voltage poles of each inverter branch are connected to the capacitive circuit 101, the alternating voltage pole of each inverter branch is connected via an inductor coil to the positive pole of the capacitive circuit 103, and the negative pole of the capacitive circuit 103 is connected to the negative direct voltage pole of each inverter branch. It is to be however noted that the direct voltage converter 104 can be implemented in many different ways.

(11) In the exemplifying electromechanical power transmission chain illustrated in FIG. 1, the converter equipment 102 comprises a converter stage 106 for transferring electric energy from the electric machine 108 to the capacitive circuit 101 when the electric machine acts as a generator, and for transferring electric energy from the capacitive circuit 101 to the electric machine 108 when the electric machine acts an electric motor. The converter stage 106 can be for example a pulse width modulation “PWM” converter stage.

(12) In the exemplifying case shown in FIG. 1, the combustion engine 110 is controlled by an externally given power control signal. The power control signal can determine for example the fuel and air supply of the combustion engine 110.

(13) The controller 113 can be configured to determine a torque reference Ref_Torq for the electric machine 108 at least partly on the basis of the direct voltage U.sub.DC2, the power control signal of the combustion engine 110, and the prevailing or estimated rotational speed of the electric machine 108. In the exemplifying case shown in FIG. 1, the prevailing rotational speed ω is measured with a rotational speed sensor 115. The reference torque Ref_Torq can be determined for example in the following exemplifying way:

(14) Motor power MP and generator power GP for the electric machine 108 can be determined as functions of the direct voltage U.sub.DC2 so that: the motor power MP(U.sub.DC2) is zero when U.sub.DC2≤motor limit voltage U.sub.M, the motor power MP(U.sub.DC2) is an increasing function of the U.sub.DC2 when U.sub.DC2>U.sub.M, the generator power GP(U.sub.DC2) is zero when U.sub.DC2≥generator limit voltage U.sub.G, and the generator power GP(U.sub.DC2) is a decreasing function of the U.sub.DC2 when U.sub.DC2<U.sub.G,

(15) where U.sub.G>U.sub.M i.e. the voltage area of allowed motor operation of the electric machine 108 and the voltage area of allowed generator operation of the electric machine 108 are partially overlapping.

(16) After an increase in the above-mentioned power control signal of the combustion engine 110, the electric machine 108 is run as an electric motor in the torque control mode so that the Ref_Torq is substantially the motor power MP(U.sub.DC2) divided by the prevailing rotational speed ω. Thus, in cases where the U.sub.DC2 is above the motor limit voltage U.sub.M, an increase in the power control signal is responded not only by the combustion engine 110 but also by the electric machine 108 depending on the direct voltage U.sub.DC2. After a decrease in the above-mentioned power control signal, the electric machine 108 is run as a generator in the torque control mode so that the Ref_Torq is substantially the generator power GP(U.sub.DC2) divided by the prevailing rotational speed ω. Thus, in cases where the U.sub.DC2 is below the generator limit voltage U.sub.G, a decrease in the power control signal is responded not only by the combustion engine 110 but also by the electric machine 108 depending on the direct voltage U.sub.DC2.

(17) In an electric system according to an exemplifying and non-limiting embodiment of the invention, the controller 113 of the control system 105 is configured to react to changes of the direct voltage U.sub.DC2 slower when the direct voltage U.sub.DC2 is on a predetermined voltage range than when the direct voltage U.sub.DC2 is outside the predetermined voltage range. As the controller 113 is configured to be slower when the direct voltage U.sub.DC2 is on the predetermined voltage range, the electric energy ½C.sub.2U.sub.DC2.sup.2 stored by the capacitive circuit 103 responds effectively to peak power needs of the actuator 111 when the direct voltage U.sub.DC2 is on the predetermined voltage range. On the other hand, the direct voltage U.sub.DC2 can be kept sufficiently well in the predetermined voltage range because the controller 113 responds faster when the direct voltage U.sub.DC2 tends to exit the predetermined voltage range. The controller 113 can be configured to be slower when the direct voltage U.sub.DC2 is on the predetermined voltage range for example so that the control gain of the controller 113 is smaller when the direct voltage U.sub.DC2 is on the predetermined voltage range than when the direct voltage U.sub.DC2 is outside the predetermined voltage range.

(18) In an electric system according to an exemplifying and non-limiting embodiment of the invention, the controller 113 of the control system 105 is configured to control the converter equipment 102 at least partly based on the deviation of the direct voltage U.sub.DC2 from its reference U.sub.DC2 REF, i.e. U.sub.DC2−U.sub.DC2 REF. The controller 113 can be configured to weight the deviation U.sub.DC2−U.sub.DC2 REF with a first gain coefficient G.sub.1 when the deviation is positive and with a second gain coefficient G.sub.2 different from the first gain coefficient when the deviation is negative. The first gain coefficient G.sub.1 has a value different from that of the second gain coefficient G.sub.2 because the reference U.sub.DC2 REF is typically not in the middle of the allowed range of variation of the direct voltage U.sub.DC2. The situation where the reference U.sub.DC2 REF is not in the middle of the allowed range of variation of the direct voltage U.sub.DC2 is present when the reference level of the energy ½C.sub.2U.sub.DC2 REF.sup.2 is in the middle of the allowed range of variation of the energy. In many cases, it is advantageous that the energy has similar safety margins below and above the reference level of the energy, i.e. the reference level of the energy is in the middle of the allowed range of variation of the energy. In these cases, the safety margin of the direct voltage U.sub.DC2 above the reference U.sub.DC2 REF is narrower than the safety margin of the direct voltage U.sub.DC2 below the reference U.sub.DC2 REF. This is a corollary of the fact that the energy is not directly proportional to the direct voltage U.sub.DC2 but, instead, directly proportional to the square of the direct voltage U.sub.DC2. The first gain coefficient G.sub.1 that is used on the narrower safety margin of the U.sub.DC2, i.e. when the deviation U.sub.DC2−U.sub.DC2 REF is positive, has preferably a bigger value than the second gain coefficient G.sub.2 that is used on the wider safety margin of the U.sub.DC2, i.e. when the deviation U.sub.DC2−U.sub.DC2 REF is negative. Therefore, in this exemplifying case, the controller 113 is faster to react to changes in the U.sub.DC2 when the U.sub.DC2 is above the U.sub.DC2 REF and thereby the changes in the U.sub.DC2 correspond to stronger changes in the energy ½C.sub.2U.sub.DC2.sup.2 than when the U.sub.DC2 is below the U.sub.DC2 REF and the changes in U.sub.DC2 correspond to smaller changes in the energy ½C.sub.2U.sub.DC2.sup.2.

(19) In an electric system according to an exemplifying and non-limiting embodiment of the invention, the controller 112 of the control system 105 is configured to provide over-voltage protection. The controller 112 is configured to control the converter equipment 102 to reduce electric power transfer to the capacitive circuit 101 in response to a situation in which the direct voltage U.sub.DC1 exceeds a predetermined over-voltage limit. Using the notations shown in FIG. 1, the electric power transfer to the first capacitive circuit 101 is P.sub.2−P.sub.1. Thus, the electric power transfer to the first capacitive circuit 101 can be reduced by controlling the converter equipment 102 to increase the electric power transfer P.sub.1. The electric power transfer P.sub.1 increases when the electric power taken from the electric machine 108 when acting as a generator is decreased or the electric power supplied to the electric machine 108 when acting as an electric motor is increased. The electric power taken from the electric machine 108 when acting as a generator can be decreased by decreasing the torque reference of the electric machine 108.

(20) In an electric system according to an exemplifying and non-limiting embodiment of the invention, the controller 112 of the control system 105 is configured to provide under-voltage protection. The controller 112 is configured to control the converter equipment 102 to reduce the electric power transfer from the capacitive circuit 101 in response to a situation in which the direct voltage U.sub.DC1 falls below a predetermined under-voltage limit. Using the notations shown in FIG. 1, the electric power transfer from the first capacitive circuit 101 is P.sub.1−P.sub.2. Thus, the electric power transfer from the first capacitive circuit 101 can be reduced by controlling the converter equipment 102 to decrease the electric power transfer P.sub.1. The electric power transfer P.sub.1 decreases when the electric power taken from the electric machine 108 when acting as a generator is increased or the electric power supplied to the electric machine 108 when acting as an electric motor is decreased. The electric power taken from the electric machine 108 when acting as a generator can be increased by increasing the torque reference of the electric machine 108.

(21) FIG. 2 shows a schematic illustration of an electromechanical power transmission chain that comprises electric machines 208 and 209 and an electric system 200. In this exemplifying case, the electromechanical power transmission chain is a series transmission chain where the electric machine 208 acts as a generator that is driven with a combustion engine 210 and the electric machine 208 acts mainly as an electric motor that drives an actuator 211. The actuator 211 can be for example a wheel or a chain track of e.g. a vehicle or a mobile working machine, a hydraulic pump, or some other device to be driven with mechanical power. The electric machine 209 may temporarily act as a generator during braking actions. The electric system 200 comprises a first capacitive circuit 101 and converter equipment 202 for transferring electric energy between the first capacitive circuit 201 and the electric machines 208 and 209. The converter equipment 202 is configured to convert the direct voltage U.sub.DC1 of the capacitive circuit 201 into voltages suitable for the electric machines 208 and 209. The electric machine 208 can be for example an electrically excited synchronous machine, a permanent magnet synchronous machine, an asynchronous machine, or a reluctance machine. The electric machine 208 can be an asynchronous machine or a reluctance machine in cases where the converter equipment 202 is capable of supplying reactive power to the electric machine 208, or there are other means for supplying reactive power to the electric machine 208. The electric machine 209 can be for example an electrically excited synchronous machine, a permanent magnet synchronous machine, an asynchronous machine, or a reluctance machine. It is also possible that an electromechanical power transmission chain comprises one or more direct current “DC” machines.

(22) The electric system 200 comprises a second capacitive circuit 203, and a direct voltage converter 204 for transferring electric energy between the capacitive circuits 201 and 203. The electric system 200 comprises a control system 205 that comprises a first controller 212 for controlling the direct voltage converter 204 in response to changes in the direct voltage U.sub.DC1 of the capacitive circuit 201. The control system 105 further comprises a second controller 213 for controlling the converter equipment 202 in response to changes in the direct voltage U.sub.DC2 of the capacitive circuit 203. The controller 212 may comprise for example a proportional and integrative “PI” controller which receives a measured value of the direct voltage U.sub.DC1 and which tries to keep the direct voltage U.sub.DC1 at its reference value U.sub.DC1 REF by controlling the operation of the direct voltage converter 204. Correspondingly, the controller 213 may comprise for example a proportional and integrative “PI” controller which receives a measured value of the direct voltage U.sub.DC2 and which tries to keep the direct voltage U.sub.DC2 at its reference value U.sub.DC2 REF by controlling the operation of the converter equipment 202. The controllers 212 and 213 are configured so that the controller 212 reacts faster to changes in the direct voltage U.sub.DC1 than the controller 213 reacts to changes in the direct voltage U.sub.DC2 so as to keep the direct voltage U.sub.DC1 on a predetermined voltage range, i.e. near to the reference value U.sub.DC1 REF, and to simultaneously allow the direct voltage U.sub.DC2 to fluctuate in response to fluctuation of electric power transferred between the first capacitive circuit 201 and the electric machines 208 and 209.

(23) In FIG. 2, the electric power transfer between the capacitive circuit 201 and the electric machines 208 and 209 is denoted with P.sub.1 that is positive when electric energy flows towards the converter equipment 202. The electric power transfer between the capacitive circuits 201 and 203 is denoted with P.sub.2 that is positive when electric energy flows away from the capacitive circuit 203. The direct voltage U.sub.DC1 of the capacitive circuit 201 remains substantially constant when P.sub.2 is substantially P.sub.1, i.e. d(½C.sub.2U.sub.DC2.sup.2)/dt=C.sub.2U.sub.DC2 dU.sub.DC2/dt=P.sub.1, where ½C.sub.2U.sub.DC2.sup.2 is the electric energy stored by the capacitive circuit 203 and C.sub.2 is the capacitance of the capacitive circuit 203. When the direct voltage converter 204 is controlled to keep the direct voltage U.sub.DC1 substantially constant, P.sub.2 i.e. d(½C.sub.2U.sub.DC2.sup.2)/dt is substantially P.sub.1 and thus the capacitive circuit 203 is used as an energy buffer for responding to peak power needs of the actuator 211. The substantially constant direct voltage U.sub.DC1 facilitates the control of the electric machines 208 and 209. Furthermore, as substantial decreases in the direct voltage U.sub.DC1 can be avoided, the corresponding decreases in the operating efficiencies and in the maximum torques of the electric machines 208 and 209 can be avoided too.

(24) The capacitance C.sub.2 of the capacitive circuit 203 that can be used as an energy buffer is advantageously greater than the capacitance of the capacitive circuit 201 whose voltage U.sub.DC1 is preferably kept substantially constant. The capacitive circuit 203 may comprise for example one or more electric double-layer capacitors “EDLC”. In many contexts, an electric double-layer capacitor is called a “super capacitor”. The direct voltage converter 204 is a bidirectional converter capable of transferring electric energy to and from the capacitive circuit 203. In cases where the direct voltage U.sub.DC1 is higher than the direct voltage U.sub.DC2, the direct voltage converter 204 can be implemented for example with one or more inverter branches of an inverter bridge and with one or more inductor coils so that the direct voltage poles of each inverter branch are connected to the capacitive circuit 201, the alternating voltage pole of each inverter branch is connected via an inductor coil to the positive pole of the capacitive circuit 203, and the negative pole of the capacitive circuit 203 is connected to the negative direct voltage pole of each inverter branch. It is to be however noted that the direct voltage converter 204 can be implemented in many different ways.

(25) The controller 213 of the control system 205 can be configured to react to changes of the direct voltage U.sub.DC2 slower when the direct voltage U.sub.DC2 is on a predetermined voltage range than when the direct voltage U.sub.DC2 is outside the predetermined voltage range. As the controller 213 is configured to be slower when the direct voltage U.sub.DC2 is on the predetermined voltage range, the electric energy ½C.sub.2U.sub.DC2.sup.2 stored by the capacitive circuit 203 responds effectively to peak power needs of the actuator 211 when the direct voltage U.sub.DC2 is on the predetermined voltage range. On the other hand, the direct voltage U.sub.DC2 can be kept sufficiently well in the predetermined voltage range because the controller 213 responds faster when the direct voltage U.sub.DC2 tends to exit the predetermined voltage range. The controller 213 can be configured to be slower when the direct voltage U.sub.DC2 is on the predetermined voltage range for example so that the control gain of the controller 213 is smaller when the direct voltage U.sub.DC2 is on the predetermined voltage range than when the direct voltage U.sub.DC2 is outside the predetermined voltage range.

(26) The controller 213 of the control system 205 can be configured to control the converter equipment 202 at least partly based on the deviation of the direct voltage U.sub.DC2 from the reference U.sub.DC2 REF, i.e. U.sub.DC2−U.sub.DC2 REF. The controller 213 can be configured to weight the deviation U.sub.DC2−U.sub.DC2 REF with a first gain coefficient G.sub.1 when the deviation is positive and with a second gain coefficient G.sub.2 different from the first gain coefficient when the deviation is negative. The first gain coefficient G.sub.1 has a value different from that of the second gain coefficient G.sub.2 because the reference U.sub.DC2 REF is typically not in the middle of the allowed range of variation of the direct voltage U.sub.DC2. The situation where the reference U.sub.DC2 REF is not in the middle of the allowed range of variation of the direct voltage U.sub.DC2 is present when the reference level of the energy ½C.sub.2U.sub.DC2 REF.sup.2 is in the middle of the allowed range of variation of the energy. In many cases, it is advantageous that the energy has similar safety margins below and above the reference level of the energy, i.e. the reference level of the energy is in the middle of the allowed range of variation of the energy. In these cases, the safety margin of the direct voltage U.sub.DC2 above the reference U.sub.DC2 REF is narrower than the safety margin of the direct voltage U.sub.DC2 below the reference U.sub.DC2 REF. This is a corollary of the fact that the energy is not directly proportional to the direct voltage U.sub.DC2 but, instead, directly proportional to the square of the direct voltage U.sub.DC2. The first gain coefficient G.sub.1 that is used on the narrower safety margin of the U.sub.DC2, i.e. when the deviation U.sub.DC2−U.sub.DC2 REF is positive, has preferably a bigger value than the second gain coefficient G.sub.2 that is used on the wider safety margin of the U.sub.DC2, i.e. when the deviation U.sub.DC2−U.sub.DC2 REF is negative. Therefore, in this exemplifying case, the controller 213 is faster to react to changes in the U.sub.DC2 when the U.sub.DC2 is above the U.sub.DC2 REF and thereby the changes in the U.sub.DC2 correspond to stronger changes in the energy ½C.sub.2U.sub.DC2.sup.2 than when the U.sub.DC2 is below the U.sub.DC2 REF and the changes in U.sub.DC2 correspond to smaller changes in the energy ½C.sub.2U.sub.DC2.sup.2.

(27) The controller 212 of the control system 205 can be configured to provide over-voltage protection. The controller 212 can be configured to control the converter equipment 202 to reduce electric power transfer to the capacitive circuit 201 in response to a situation in which the direct voltage U.sub.DC1 exceeds a predetermined over-voltage limit. Using the notations shown in FIG. 2, the electric power transfer to the first capacitive circuit 201 is P.sub.2−P.sub.1. Thus, the electric power transfer to the first capacitive circuit 201 can be reduced by controlling the converter equipment 202 to increase the electric power transfer P.sub.1. The electric power transfer P.sub.1 increases when the electric power taken from the electric machine 208 acting as a generator is decreased and/or the electric power supplied to the electric machine 209 acting as an electric motor is increased. The electric power taken from the electric machine 208 can be decreased by decreasing the torque reference of the electric machine 208.

(28) The controller 212 of the control system 205 can be configured to provide under-voltage protection. The controller 212 can be configured to control the converter equipment 202 to reduce the electric power transfer from the capacitive circuit 201 in response to a situation in which the direct voltage U.sub.DC1 falls below a predetermined under-voltage limit. Using the notations shown in FIG. 2, the electric power transfer from the first capacitive circuit 201 is P.sub.1−P.sub.2. Thus, the electric power transfer from the first capacitive circuit 201 can be reduced by controlling the converter equipment 202 to decrease the electric power transfer P.sub.1. The electric power transfer P.sub.1 decreases when the electric power taken from the electric machine 208 acting as a generator is increased and/or the electric power supplied to the electric machine 209 acting as an electric motor is decreased. The electric power taken from the electric machine 208 can be increased by increasing the torque reference of the electric machine 208.

(29) In the exemplifying electromechanical power transmission chain illustrated in FIG. 2, the converter equipment 202 comprises a first converter stage 206 for transferring electric energy from the electric machine 208 acting as a generator to the capacitive circuit 201 and a second converter stage 207 for transferring electric energy from the capacitive circuit 201 to the electric machine 209 acting as an electric motor. The converter stages 206 and 207 can be for example pulse width modulation “PWM” converter stages. In the exemplifying case shown in FIG. 2, the actuator 211 is assumed to be driven according to an externally given torque reference Ref_Torq_A. The converter stage 207 is configured to control the torque of the electric machine 209 in accordance with the externally given torque reference Ref_Torq_A. Depending on the required control accuracy, the control of the electric machine 209 can be a scalar control with or without a rotational speed and/or position measurement, or a vector control with or without the rotational speed and/or position measurement. In the exemplifying case shown in FIG. 2, the control of the electric machine 209 comprises a rotational speed and/or position measurement implemented with a rotational speed and/or position sensor 216 that produces a rotational speed and/or position signal ω/θ_A. It is also possible that the actuator 211 is driven according to an externally given rotational speed or position reference.

(30) The controller 213 of the control system 205 can be configured to determine a power reference for the electric machine 208 at least partly on the basis of the direct voltage U.sub.DC2 so that the power reference is typically increased when the direct voltage U.sub.DC2 is below its reference U.sub.DC2 REF and the power reference is typically decreased when the direct voltage U.sub.DC2 is above its reference U.sub.DC2 REF. Furthermore, the power reference of the electric machine 208 can be made dependent on the electric power supplied to the electric machine 209. The controller 213 can be further configured to determine torque and rotational speed references Ref_Torq and Ref_Speed for the electric machine 208 on the basis of the above-mentioned power reference and pre-stored data that expresses an advantageous torque-speed operating point for the combustion engine 210 in a situation where the combustion engine 210 produces mechanical power substantially equal to the power reference. The pre-stored data may express for example a torque-speed operating point at which the combustion engine 210 is able to produce the required mechanical power with maximal efficiency, i.e. with minimal losses. For another example, the pre-stored data may express a torque-speed operating point at which the combustion engine 210 is able to produce the required mechanical power with near maximal efficiency, i.e. with near minimal losses, and at which the combustion engine 210 has a sufficient ability to respond changes.

(31) In the exemplifying case shown in FIG. 2, the combustion engine 210 is driven in a rotational speed control mode with the aid of a speed controller 214. The speed controller 214 may control e.g. the fuel and air supply of the combustion engine 210 on the basis of the above-mentioned rotational speed reference Ref_Speed and a rotational speed and/or position signal ω/θ that is produced with a rotational speed and/or position sensor 215. The converter stage 206 is configured to control the torque of the electric machine 208 in accordance with the above-mentioned torque reference Ref_Torq. Depending on the required control accuracy, the control of the electric machine 208 can be a scalar control with or without a rotational speed and/or position measurement, or a vector control with or without the rotational speed and/or position measurement. In the exemplifying case illustrated in FIG. 2, the rotational speed and/or position signal ω/θ is utilized in the control of the electric machine 208. It is also possible that the electric machine 208 is driven in the rotational speed control mode and the combustion engine is driven in the torque control mode.

(32) FIG. 3 shows a flowchart of a method according to an exemplifying and non-limiting embodiment of the invention for controlling an electromechanical power transmission chain that comprises a first capacitive circuit, one or more electric machines, and converter equipment transferring electric energy between the first capacitive circuit and the one or more electric machines, the converter equipment converting first direct voltage of the first capacitive circuit into one or more voltages suitable for the one or more electric machines.

(33) The method comprises the following actions: action 301: controlling a direct voltage converter to transfer electric energy between the first capacitive circuit and a second capacitive circuit in response to changes of the first direct voltage, and action 302: controlling the converter equipment in response to changes of second direct voltage of the second capacitive circuit so that the control of the direct voltage converter is faster to react to the changes of the first direct voltage than the control of the converter equipment is to react to the changes of the second direct voltage so as to keep the first direct voltage on a first predetermined voltage range and to allow the second direct voltage to fluctuate in response to fluctuation of electric power transferred between the first capacitive circuit and the one or more electric machines.

(34) In a method according to an exemplifying and non-limiting embodiment of the invention, the control of the converter equipment reacts slower to changes of the second direct voltage when the second direct voltage is on a second predetermined voltage range than when the second direct voltage is outside the second predetermined voltage range.

(35) In a method according to an exemplifying and non-limiting embodiment of the invention, the control of the converter equipment is at least partly based on a deviation of the second direct voltage from a reference, and the deviation is weighted with a first gain coefficient when the deviation is positive and with a second gain coefficient different from the first gain coefficient when the deviation is negative.

(36) In a method according to an exemplifying and non-limiting embodiment of the invention, the converter equipment is controlled to reduce transfer of electric energy to the first capacitive circuit in response to a situation in which the first direct voltage exceeds a predetermined over-voltage limit.

(37) In a method according to an exemplifying and non-limiting embodiment of the invention, the converter equipment is controlled to reduce transfer of electric energy from the first capacitive circuit in response to a situation in which the first direct voltage falls below a predetermined under-voltage limit.

(38) In a method according to an exemplifying and non-limiting embodiment of the invention, the capacitance of the second capacitive circuit is greater than the capacitance of the first capacitive circuit.

(39) In a method according to an exemplifying and non-limiting embodiment of the invention, the second capacitive circuit comprises at least one electric double-layer capacitor.

(40) In a method according to an exemplifying and non-limiting embodiment of the invention, the electromechanical power transmission chain is a series transmission chain and the converter equipment comprises a first converter stage for transferring electric energy from a first electric machine acting as a generator to the first capacitive circuit and a second converter stage for transferring electric energy from the first capacitive circuit to a second electric machine acting as an electric motor.

(41) In a method according to an exemplifying and non-limiting embodiment of the invention, a power reference is determined for the first electric machine at least partly on the basis of the second direct voltage, and torque and speed references are determined for the first electric machine on the basis of the power reference and pre-stored data expressing a torque-speed operating point for a combustion engine producing mechanical power substantially equal to the power reference.

(42) In a method according to an exemplifying and non-limiting embodiment of the invention, the electromechanical power transmission chain is a parallel transmission chain and the converter equipment comprises a converter stage for transferring electric energy from an electric machine to the first capacitive circuit when the electric machine acts as a generator, and for transferring electric energy from the first capacitive circuit to the electric machine when the electric machine acts an electric motor.

(43) In a method according to an exemplifying and non-limiting embodiment of the invention, a torque reference is determined for the electric machine of the parallel transmission chain at least partly on the basis of the second direct voltage, a power control signal of a combustion engine mechanically connected to the electric machine, and the prevailing rotational speed of the electric machine.

(44) A computer program according to an exemplifying and non-limiting embodiment of the invention for controlling an electromechanical power transmission chain comprises computer executable instructions for controlling a programmable processor to carry out a method according to any of the above-described exemplifying and non-limiting embodiments of the invention.

(45) A computer program according to an exemplifying and non-limiting embodiment of the invention comprises software modules for controlling an electromechanical power transmission chain that comprises a first capacitive circuit, one or more electric machines, and converter equipment for transferring electric energy between the first capacitive circuit and the one or more electric machines, the converter equipment being configured to convert first direct voltage of the first capacitive circuit into one or more voltages suitable for the one or more electric machines.

(46) The software modules comprise computer executable instructions for controlling a programmable processor to: control a direct voltage converter to transfer electric energy between the first capacitive circuit and a second capacitive circuit in response to changes of the first direct voltage, and control the converter equipment in response to changes of second direct voltage of the second capacitive circuit so that the control of the direct voltage converter is faster to react to the changes of the first direct voltage than the control of the converter equipment is to react to the changes of the second direct voltage so as to keep the first direct voltage on a predetermined voltage range and to allow the second direct voltage to fluctuate in response to fluctuation of electric power transferred between the first capacitive circuit and the one or more electric machines.

(47) The software modules can be for example subroutines and/or functions generated with a suitable programming language.

(48) A computer program product according to an exemplifying and non-limiting embodiment of the invention comprises a non-volatile computer readable medium, e.g. a compact disc “CD”, encoded with the above-mentioned software modules.

(49) A signal according to an exemplifying and non-limiting embodiment of the invention is encoded to carry information defining a computer program according to an embodiment of the invention.

(50) The specific examples provided in the description given above should not be construed as limiting the applicability and/or the interpretation of the appended claims. Lists and groups of examples provided in the description given above are not exhaustive unless otherwise explicitly stated.