Control unit for operating an electrical machine, electrical machine, and method

Abstract

A control unit for operating an electrical machine which includes a rotor, a stator, and power electronics. The power electronics have a plurality of switching elements, by which the phases of the stator winding are connected/connectible electrically to an electrical energy store. The control unit includes first and second processing units and is configured to determine control signals for controlling the switching elements, using the processing units. The first processing unit is configured to determine a magnitude of a setpoint voltage vector for the phases based on a setpoint rotational speed of the rotor and an actual rotational speed of the rotor. The second processing unit is connected to the first processing unit so as to be able to communicate with it, and being configured to determine the control signals as a function of the magnitude of the setpoint voltage vector and an actual angle of rotation of the rotor.

Claims

1. A control unit for operating an electrical machine, the machine including a rotor, a stator, and power electronics, the rotor is mounted in a rotatably fixed manner on a shaft rotationally mounted in a housing, the stator is attached to the housing and includes a stator winding having at least three phases, the power electronics have a plurality of switching elements, by which the phases are connectible electrically to an electrical energy store, the control unit comprising: a first processing unit and a second processing unit, the control unit being configured to determine control signals for controlling the switching elements, with the aid of the first processing unit and the second processing units; wherein the first processing unit is configured to determine a magnitude of a setpoint voltage vector for the phases as a function of a setpoint rotational speed of the rotor and an actual rotational speed of the rotor, the second processing unit being connected to the first processing unit so as to be able to communicate with the first processing unit, and is configured to determine the control signals as a function of the magnitude of the setpoint voltage vector and an actual angle of rotation of the rotor.

2. The control unit as recited in claim 1, wherein the control unit is a microcontroller.

3. The control unit as recited in claim 2, wherein the first processing unit is a main processing unit of the microcontroller.

4. The control unit as recited in claim 2, wherein the second processing unit is a secondary processing unit of the microcontroller, the second processing unit being a timer of the microcontroller.

5. The control unit as recited in claim 1, wherein the first processing unit has a first cycle time, and the second processing unit has a second cycle time, the second cycle time being shorter than the first cycle time.

6. The control unit as recited in claim 1, wherein the control unit is connectable to an angle-of-rotation sensor of the electrical machine so as to be able to communicate with the angle-of-rotation sensor, wherein, with the aid of the angle-of-rotation sensor, the second processing unit being configured to ascertain the actual angle of rotation as a function of data received from the angle-of-rotation sensor.

7. The control unit as recited in claim 1, wherein the first processing unit is configured to determine at least one permissible, maximum phase current and to specify the determined, maximum phase current to the second processing unit, and the second processing unit is configured to determine the control signals as a function of the determined maximum phase current.

8. The control unit as recited in claim 1, wherein the first processing unit is configured to determine at least one setpoint commutation angle and to specify the determined setpoint commutation angle to the second processing unit, and the second processing unit is configured to determine the control signals as a function of the setpoint commutation angle.

9. An electrical machine, comprising: a rotor; a stator; power electronics, wherein the rotor is mounted in a rotatably fixed manner on a shaft rotationally mounted in a housing, the stator being attached to the housing and including a stator winding having at least three phases, and the power electronics having a plurality of switching elements, by which the phases are connectible electrically to an electrical energy store; and a control unit including: a first processing unit and a second processing unit, the control unit being configured to determine control signals for controlling the switching elements, with the aid of the first processing unit and the second processing units; wherein the first processing unit is configured to determine a magnitude of a setpoint voltage vector for the phases as a function of a setpoint rotational speed of the rotor and an actual rotational speed of the rotor, the second processing unit being connected to the first processing unit so as to be able to communicate with the first processing unit, and is configured to determine the control signals as a function of the magnitude of the setpoint voltage vector and an actual angle of rotation of the rotor.

10. The electrical machine as recited in claim 9, further comprising: an angle-of-rotation sensor configured to monitor the actual angle of rotation of the rotor.

11. A method for operating an electrical machine, which includes a rotor, a stator, power electronics, and a control unit, the rotor being mounted in a rotatably fixed manner on a shaft rotationally mounted in a housing, the stator being attached to the housing and including a stator winding having at least three phases, the power electronics including a plurality of switching elements, the method comprising the following steps: determining, by the control unit, control signals for controlling the switching elements, the switching elements being controlled as a function of the control signals in such a manner, that the phases are alternatively connected electrically to an electrical energy store or disconnected electrically from the electrical energy store by the switching elements; wherein the determining of the control signals includes determining, by a first processing unit of the control unit, a magnitude of a setpoint voltage vector for the phases as a function of a setpoint rotational speed of the rotor and an actual rotational speed of the rotor, and as a function of the magnitude of the setpoint voltage vector and an actual angle of rotation of the rotor, determining, by a second processing unit of the control unit connected to the first processing unit, the control signals, wherein the second processing unit is connected to the first processing unit so as to be able to communicate with the first processing unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows an electrical machine having a control unit, in accordance with an example embodiment of the present invention.

(2) FIG. 2 shows a schematic, detailed view of the control unit, in accordance with an example embodiment of the present invention.

(3) FIG. 3 shows a method for operating an electrical machine, in accordance with an example embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

(4) FIG. 1 shows a schematic representation of an electrical machine 1. The machine 1 at hand is an electrically commutated machine 1. Machine 1 includes a rotor 2, which is presently a permanent magnet. Rotor 2 is mounted on a rotor shaft 3, which is rotationally mounted in an unshown housing of machine 1. Machine 1 also includes a stator 4 having a stator winding 5. According to the exemplary embodiment shown in FIG. 1, stator winding 5 includes three phases U, V, and W. Phases U, V, and W are positioned so as to be distributed about rotor 2 in such a manner, that rotor 2 may be driven and/or rotated by supplying power to phases U, V, and W in a suitable manner.

(5) Machine 1 is assigned an electrical energy store 6. Energy store 6 is connected/connectible to phases U, V, W electrically with the aid of power electronics 7 of machine 1. To this end, power electronics 7 includes, for example, a number of half-bridges corresponding to the number of phases U, V and W; each of the half-bridges having two semiconductor switches, and each of phases U, V and W being connected/connectible to energy store 6 by, in each instance, a different half-bridge.

(6) Machine 1 also includes an angle-of-rotation sensor 9 for monitoring an actual angle of rotation φ.sub.Actual of rotor 2. Angle-of-rotation sensor 9 includes, for example, a magnetic field generator as a measured-value transmitter and a magnetic-field-sensitive element as a receiver.

(7) Electrical machine 1 also includes a current-measuring device 17, which is configured to measure actual electrical phase currents I.sub.Sum flowing through phases U, V and W. Current-measuring device 17 is presently connected to power electronics 7 electrically and configured to measure actual phase currents I.sub.Sum in the region of power electronics 7.

(8) Machine 1 further includes a control unit 8, which is configured to determine control signals for controlling the switching elements of power electronics 7, and to control power electronics 7 as a function of the control signals. Control unit 8 is connected to angle-of-rotation sensor 9 so as to be able to communicate with it, which means that data acquired by angle-of-rotation sensor 9 may be made available to control unit 8 for determining the control signals. Control unit 8 is also connected to current-measuring device 17 so as to be able to communicate with it, which means that measured, actual phase currents I.sub.Sum may also be made available to control unit 8.

(9) FIG. 2 shows a schematic, detailed view of control unit 8. Control unit 8 is a microcontroller 8. Microcontroller 8 includes a first processing unit 10, which is a main processing unit 10 of microcontroller 8, as well as a second processing unit 11, which is a secondary processing unit 11, that is, a timer 11, of microcontroller 8. In this instance, processing units 10 and 11 differ with regard to their cycle times. First processing unit 10 has a first cycle time, which is longer than a second cycle time of second processing unit 11.

(10) In this context, first processing unit 10 is configured to determine a magnitude |U| of a setpoint voltage vector for phases U, V, and W as a function of a setpoint rotational speed RPM.sub.Setpoint of rotor 2 and an actual rotational speed of rotor 2. Second processing unit 11 is connected to first processing unit 10 so as to be able to communicate with it, and is configured to determine the control signals as a function of determined magnitude |U| of the setpoint voltage vector and actual angle of rotation φ.sub.Actual of rotor 2.

(11) To this end, first processing unit 10 includes a magnitude determination unit 12, a commutation angle specification unit 13, and a maximum current specification unit 14. Second processing unit 11 includes a control signal determination unit 15 and a device 16, which is a rotor angle determination unit 16.

(12) With the aid of rotor angle determination unit 16, control unit 8 is connected to angle-of-rotation sensor 9 so as to be able to communicate with it. Rotor angle determination unit 16 is configured to ascertain actual angle of rotation φ.sub.Actual of rotor 2 as a function of data acquired by angle-of-rotation sensor 9. Rotor angle determination unit 16 is also connected to control signal determination unit 15 and magnitude determination unit 12 so as to be able to communicate with them, in order to supply ascertained, actual angle of rotation φ.sub.Actual to these units 15 and 12.

(13) Control unit 8 is connected to current-measuring device 17 with the aid of control signal determination unit 15 so as to be able to communicate with it, which means that the actual phase currents I.sub.Sum measured by current-measuring device 17 may be provided to control signal determination unit 15.

(14) Magnitude determination unit 12 is configured to ascertain the actual rotational speed of rotor 2 as a function of actual angle of rotation φ.sub.Actual, that is, as a function of a characteristic of actual angle of rotation φ.sub.Actual. In addition, magnitude determination unit 12 is configured to receive setpoint rotational speed RPM.sub.Setpoint of rotor 2. To this end, magnitude determination unit 12 is connected to a further control unit not shown, so as to be able to communicate with it. Magnitude determination unit 12 is configured to determine magnitude |U| of the setpoint voltage vector as a function of setpoint rotational speed RPM.sub.Setpoint and the actual rotational speed. Magnitude determination unit 12 is connected to commutation angle specification unit 13, maximum current specification unit 14, and control signal determination unit 15 on the output side so as to be able to communicate with them, in order to make determined magnitude |U| available to these units 13, 14 and 15.

(15) Commutation angle specification unit 13 is connected to control signal determination unit 15 so as to be able to communicate with it, so that actual phase currents I.sub.Sum may be provided to commutation angle specification unit 13 by control signal determination unit 15. Commutation angle specification unit 13 is configured to ascertain a setpoint commutation angle φ.sub.Offset as a function of received magnitude |U| and received, actual phase currents I.sub.Sum, and to supply setpoint commutation angle φ.sub.Offset to control signal determination unit 15.

(16) Maximum current specification unit 14 is configured to determine a permissible, maximum electrical phase current I.sub.Max as a function of received magnitude |U| and to make permissible, maximum phase current I.sub.Max available to control signal determination unit 15.

(17) Finally, control signal determination unit 15 is configured to determine the control signals for the switching elements of power electronics 7 as a function of magnitude |U|, setpoint commutation angle φ.sub.Offset, permissible maximum phase current I.sub.Max, actual angle of rotation φ.sub.Actual, and actual phase current I.sub.Sum.

(18) In the following, with reference to FIG. 3, an advantageous method for operating electrical machine 1 with the aid of control unit 8 is described in light of a flow chart.

(19) In a first step S1, angle-of-rotation sensor 9 monitors actual angle of rotation φ.sub.Actual of rotor 2.

(20) In a second step S2, second processing unit 11 ascertains actual angle of rotation φ.sub.Actual of rotor 2 as a function of the data acquired by angle-of-rotation sensor 9. In step S2, ascertained actual angle of rotation φ.sub.Actual is also made available to first processing unit 10.

(21) In a third step S3, first processing unit 10 ascertains the actual rotational speed of rotor 2 as a function of actual angle of rotation φ.sub.Actual. As an alternative to that, step S3 is preferably omitted. In this case, the actual rotational speed is preferably already ascertained by second processing unit 11 in step S2, and the actual rotational speed ascertained by second processing unit 11 is supplied to first processing unit 10.

(22) In a step S4, first processing unit 10 determines magnitude |U| of the setpoint voltage vector as a function of setpoint rotational speed RPM.sub.Setpoint of rotor 2 and the actual rotational speed of rotor 2. In step S4, determined magnitude |U| is made available to second processing unit 11, as well.

(23) In a step S5, second processing unit 11 determines the control signals for controlling the switching elements of power electronics 7, as a function of magnitude |U| and actual angle of rotation φ.sub.Actual.

(24) Finally, in a step S6, the switching elements of power electronics 7 are activated as a function of the determined control signals, so that phases U, V and W are connected electrically to electrical energy store 6 or disconnected electrically from electrical energy store 6 by the switching elements.

(25) Steps S1 through S6 are preferably executed consecutively. This produces advantageous control of the supply of power to phases U, V and W by control unit 8. Since first processing unit 10 has the longer cycle time in comparison with second processing unit 11, a time interval between magnitudes |U| of the setpoint voltage vector determined temporally directly consecutively is greater than a time interval between control signals for power electronics 7 determined temporally directly consecutively.