Method and apparatus for estimating angles in a synchronous machine

• US 9,225,274 B2
• Filed: 04/05/2012
• Issued: 12/29/2015
• Est. Priority Date: 05/30/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lingenfelser, Christian, Mayer-John, Eckart, Goetting, Gunther
• Primary Examiner(s): Glass, Erick
• Application Number:
  US14/122,479
• Publication Number:
  US 20140184120A1
• Time in Patent Office: 1,363 Days
• Field of Search: 318/400.33
• US Class Current: 1/1
• CPC Class Codes: H02P 21/18 Estimation of position or speed
• CPC Class Codes: H02P 23/12 Observer control, e.g. using Luenberger observers or Kalman filters
• CPC Class Codes: H02P 23/14 Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
• CPC Class Codes: H02P 25/03 with brushless excitation
• CPC Class Codes: H02P 6/16 Circuit arrangements for detecting position
• CPC Class Codes: H02P 6/183 using an injected high frequency signal

Abstract

The invention relates to an apparatus for estimating angles in a synchronous machine (11), having an angle sensor device (15) which is designed to determine event-discrete measured values for a rotor angle (φ) of a rotor of the synchronous machine (11) and to output a measurement signal dependent on the determined measured values, an estimation device (16) which is designed to record current and/or voltage signals from the synchronous machine (11), to calculate a deviation (Δφ) of the rotor angle (φ) of the rotor of the synchronous machine (11) from an expected rotor angle on the basis of the recorded current and/or voltage signals and to output a deviation signal dependent on the calculated deviation (Δφ), and a combining device (17) which is designed to receive the measurement signal and the deviation signal and to calculate an estimated value ({circumflex over (φ)}) for the rotor angle (φ) of the rotor of the synchronous machine (11) from a combination of the measurement signal and the deviation signal.

Claims

1. An apparatus for estimating angles in a synchronous machine, the apparatus comprising:

an angle sensor device which is designed to determine event-discrete measured values for a rotor angle of a rotor of the synchronous machine and to output a measurement signal dependent on the determined measured values;

an estimation device which is designed to record current and/or voltage signals from the synchronous machine, to calculate a deviation of the rotor angle of the rotor of the synchronous machine from an expected rotor angle on the basis of the recorded current and/or voltage signals and to output a deviation signal dependent on the calculated deviation; and

a combining device which is designed to receive the measurement signal and the deviation signal and to calculate an estimated value for the rotor angle of the rotor of the synchronous machine from a combination of the measurement signal and the deviation signal

wherein the combining device includes a Kalman filter or an observer structure which has a prediction device, which is designed to calculate a prediction value for the state vector of a dynamic model of the rotor, and a correction device which is designed to calculate a correction signal on the basis of the prediction value.

2. The apparatus according to claim 1, the Kalman filter or the observer structure also having a determination device which is designed to determine, after the prediction value has been calculated by the prediction device, whether the measurement signal has an up-to-date measured value, the correction device being designed to calculate the correction signal on the basis of the measurement signal if the determination device determines that there is an up-to-date measured value, and the correction device being designed to calculate the correction signal on the basis of the deviation signal if the determination device determines that there is no up-to-date measured value.

3. The apparatus according to claim 1, the estimation device being designed to calculate the deviation of the rotor angle on the basis of current signals from the synchronous machine which are induced by test voltage signals injected into a supply voltage of the synchronous machine.

4. The apparatus according to claim 1, the estimation device being designed to calculate the deviation of the rotor angle on the basis of reverse voltage signals from the synchronous machine.

5. The apparatus according to claim 1, the angle sensor device comprising a digital absolute sensor, an incremental angle sensor with recognition of the direction of rotation or an incremental angle sensor without recognition of the direction of rotation.

6. A method for estimating angles in a synchronous machine, of the method comprising:

determining event-discrete measured values for a rotor angle of a rotor of the synchronous machine with the aid of an angle sensor;

recording current and/or voltage signals from the synchronous machine and calculating a deviation of the rotor angle of the rotor of the synchronous machine from an expected rotor angle;

calculating an estimated value for the rotor angle of the rotor of the synchronous machine by combining the determined measured values and the calculated deviation, wherein calculating the estimated value is carried out in a Kalman filter or an observer device;

calculating a prediction value for the state vector of a dynamic model of the rotor;

determining whether there is an up-to-date measured value;

calculating a correction signal for the prediction value on the basis of the up-to-date measured value if there is an up-to-date measured value; and

calculating a correction signal for the prediction value on the basis of the calculated deviation if there is no up-to-date measured value.

7. The method according to claim 6, further comprising:

injecting test voltage signals into a supply voltage of the synchronous machine; and

calculating the deviation of the rotor angle on the basis of current signals from the synchronous machine which are induced by the test voltage signals.

8. The method according to claim 7, the amplitude and/or frequency of the test voltage signals being adapted to the operating state of the synchronous machine.

9. The method according to claim 6, the deviation of the rotor angle being calculated on the basis of reverse voltage signals from the synchronous machine.