Device, arrangement and method for determining an angle between a rotor and a stator

Abstract

A device for determining a first angle between a rotor and a stator, having inputs for reading amplitudes of electrical signals detected via a sensor system and representing a first angle, wherein the device has an angle estimator for estimating a second angle, the device determines amplitudes representing the second, estimated angle, the device has at least one controller with which at least one difference between the first angle and the second, estimated angle can be minimized, and the second, estimated angle can be provided via an output.

Claims

1. A device to determine a first angle between a rotor and a stator, the device comprising: at least one input for reading an amplitude of an electrical signal detected via a sensor system and representing a first angle; an angle estimator to estimate a second angle; an ascertainer to ascertain an amplitude representing the second, estimated angle; at least one controller via which at least one difference between amplitudes representing the first angle and amplitudes representing the second, estimated angle is minimized; and an output to provide the second, estimated angle.

2. The device according to claim 1, wherein the device has a calculator to calculate the at least one difference.

3. The device according to claim 1, wherein the device ascertains the amplitudes representing the second, estimated angle via at least two channels.

4. The device according to claim 1, wherein via the angle estimator, the second, estimated angle is varied until the amount of the at least one difference between the amplitudes representing the first angle and of the amplitudes representing the second, estimated angle is less than a specified value.

5. The device according to claim 1, wherein the device has a corrector to error correct the sensor system, wherein the error correction is performed by changing the amplitudes, phases and/or offsets of the read-in amplitudes representing the first angle.

6. The device according to claim 1, wherein the device has an error corrector for error correction of the sensor system, wherein the error correction is performed by changing the amplitudes, phases and/or offsets of the ascertained amplitudes representing the second, estimated angle.

7. The device according to claim 1, wherein the device has an error corrector for error correction of the sensor system, wherein the error correction is performed by changing the second, estimated angle.

8. An arrangement for determining a first angle between a rotor and a stator, the arrangement comprising: the device according to claim 1.

9. The arrangement according to claim 8, wherein the sensor system has at least two channels.

10. The arrangement according to claim 8, wherein the sensor system is designed inductively, capacitively, magnetically or according to another measuring principle.

11. The arrangement according to claim 8, wherein the arrangement has an error corrector for error correction of the sensor system, wherein the error correction is performed by changing the amplitudes, phases and/or offsets of the detected electrical signals.

12. A method of operating the device according to claim 1, the method comprising: detecting the amplitudes of electrical signals via the sensor system representing the first angle; estimating, via the angle estimator, the second angle; ascertaining the amplitudes representing the second, estimated angle; calculating the at least one difference between the amplitudes representing the first angle and the amplitudes representing the second, estimated angle; providing the at least one difference to the angle estimator; estimating, via the angle estimator, a new second angle while taking into account the at least one difference; repeating until an amount of the at least one difference is less than a specified value; and providing, by the angle estimator, the new second, estimated angle via the output.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus, are not limitive of the present invention, and wherein:

(2) FIG. 1 is a block diagram of an arrangement according to the invention for determining an angle between a rotor and a stator

(3) FIG. 2 is a block diagram of an arrangement according to the invention with a first corrector for error correction of the electrical signals or amplitudes detected via a sensor system and representing the first angle (representation of only one channel without loss of generality)

(4) FIG. 3 is a block diagram of an arrangement according to the invention with a second corrector for error correction of the amplitudes representing the second, estimated angle (representation of only one channel without loss of generality)

(5) FIG. 4 is a block diagram of an arrangement according to the invention with a third corrector for error correction by changing the second, estimated angle (representation of only one channel without loss of generality)

DETAILED DESCRIPTION

(6) FIG. 1 shows a block diagram of a first arrangement 2 according to the invention for determining an angle _est between rotor and stator.

(7) The block diagram shows an arrangement 2 with two channels, which, however, can be applied without restriction to arrangements of a different number of channels.

(8) The electrical signals 15, 16 detected by a sensor system are delivered to the arrangement 2. The sensor system is not shown in more detail in the present block diagram, since it is generally known in the prior art. The embodiment shown is based on a two-channel inductive sensor. Sensor systems with more or fewer channels and with other measuring principles, such as magnetic and/or capacitive measuring principles, are certainly conceivable here.

(9) In principle, the sensor system in the case presented consists of an excitation coil to which an AC voltage is applied that has a frequency between 1 MHz and 10 MHz, preferably 3.5 MHz, and has amplitudes in the range of a few volts.

(10) The excitation coil is preferably connected as a frequency-determining element in an LC resonant circuit and is preferably designed essentially in a spiral shape on a printed circuit board. Inside or outside the excitation coil there are two receiving coils which have an essentially identical geometry but are rotated at an angle to each other.

(11) For two-phase systems, the following relationship applies:

(12) $=\frac{360}{4*\mathrm{\_meas}},$

(13) wherein _meas represents the measuring range (uniqueness range) of the sensor, which is preferably an integer divisor of 360. Via a rotatably mounted, electrically conductive element, which is placed at a distance from the coils, the electrical signals (voltages) induced in the receiving coils are influenced as a result of the electromagnetic alternating field of the excitation coil, as a function of the angle of rotation.

(14) Since only the amplitudes 3, 4 of the electrical signals 15, 16 carry the required angular information, the arrangement 2 comprises an ascertainor for ascertaining the amplitude values 11, 12, 13, 14 of electrical signals 15, 16 detected via a sensor system.

(15) In FIG. 1, the amplitudes are ascertained by synchronous demodulation with the carrier 17 (excitation signal). This is done by the multiplication of multipliers 13, 14 with the excitation voltage. This is followed by low-pass filtering 11, 12. These filters preferably have cutoff frequencies in the range of a few tens to a few hundred kHz.

(16) Of course, other methods for ascertaining the amplitudes 3, 4 are also possible, such as digitizing the ascertained electrical signals and applying an algorithm for determining the maxima.

(17) From the amplitudes 3, 4, the first angle can be ascertained according to known methods. The amplitudes 3, 4 are therefore representative for the first angle .

(18) At the inputs, the ascertained amplitudes 3, 4 are delivered to the device.

(19) Instead of calculating an angle from the amplitudes 3, 4, the present embodiment uses an angle estimator 6 that estimates a second angle _est.

(20) There are several approaches for estimating the second angle _est. It is conceivable that the last angle at which the electrical machine was switched off is used first. However, this would mean the use of a memory. Likewise, the second angle _est can be guessed first. For this purpose, a random number generator can be used, for example. Furthermore, it is possible to take the value 0 as the starting value for the angle estimation in each case. Certainly, other methods for estimating the second, estimated angle _est can also be considered.

(21) The representative amplitudes 7, 8 are ascertained for this second, estimated angle _est.

(22) The determination of the representative amplitudes 7, 8 can be done, for example, via a look-up table in which the amplitudes to the angles are stored. Other approaches are also conceivable here, such as possibly calculating the amplitudes.

(23) The delivered amplitudes 3, 4 as well as the ascertained amplitudes 7, 8 are fed to at least one calculator for calculating a difference 9, 10, which constitutes the differences between the amplitudes 3, 4 representing the first angle and the amplitudes 7, 8 representing the second, estimated angle _est.

(24) These differences 9, 10 are fed to the angle estimator 6 so that the angle estimator 6 can estimate a new second angle _est taking into account the fed differences 9, 10. The process is continued until the amount of the difference 9, 10 is less than a specified value.

(25) By the described method of recursion in the manner of a closed-loop control, the angle is determined from the representative amplitudes 3, 4 without time-consuming calculation, instead using recursive approximation to a desired value.

(26) Since real systems are generally not ideal, it may be useful to make error corrections. In the inductive sensor system underlying the arrangement 2 according to the invention shown in FIG. 1, the errors may result, among other things, from tolerances (for example, eccentricity between rotor and stator), from temperature and/or aging effects, and from the design itself.

(27) FIG. 2 shows a block diagram of an arrangement 2 according to the invention with a first error corrector for error correction 18, 19, 20, 21 of the electrical signals 15, 16 or amplitudes 3, 4 detected via a sensor system and representing the first angle .

(28) Only one channel is shown for reasons of clarity. Of course, all error correction options also apply to each additional channel.

(29) FIG. 2 shows the upper channel of FIG. 1. The amplitudes 3, 4 of the detected electrical signals 15, 16 for a first angle are delivered to the device 1 via the inputs. The angle estimator 6 estimates a second angle _est and the corresponding amplitude 8 is ascertained. The at least one difference 9 of the amplitude 8 is returned to the angle estimator 6.

(30) The block diagram is extended by various options for error correction 18, 19, 20 of the electrical signals 15 or amplitudes 8 detected via a sensor system and representing the first angle .

(31) Error correction may be done before and/or after demodulation 13 of the detected electrical signals 15, wherein only one of these error corrections 18, 19, 20, or multiple error corrections 18, 19, 20, may be provided.

(32) Via the error corrections 18, 19, 20 presented, it is possible to add or subtract DC or AC signals (such as higher harmonics) in order to change amplitudes, phases, and offsets of the read-in amplitudes 15 of the first angle .

(33) The error corrections 18, 19, 20, 21 can be implemented in the analog and/or digital part of an electronic evaluation system. It is also possible to take other influencing variables into account during error correction.

(34) The error correction 21 to be performed may alternatively or additionally act on the carrier signal 17 and dynamically adjust it in amplitude, phase, offset or frequency.

(35) FIG. 3 shows another option with a second error corrector for error correction 22 of the amplitudes 8 representing the second, estimated angle _est.

(36) At this point, error correction 22 is performed subsequent to ascertaining the amplitude values 8 of the second, estimated angle _est.

(37) The corrections made and the dependence on other influencing variables correspond to the explanations for FIG. 2.

(38) FIG. 4 shows error correction with a third error corrector 23 by changing the second, estimated angle _est. At the end of the control, the output angle _est is corrected and a new output angle _est is generated.

(39) For example, the error correction 23 for the estimated angle _est may include a look-up table (LUT) and assign a new output angle _est to each estimated angle _est. The stored LUT can be generated by different methods and optionally adjusted cyclically.

(40) Among other things, calibration or known methods in the field of machine learning are conceivable here.

(41) The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are to be included within the scope of the following claims.