Device for controlling an electromechanical actuator
First Claim
1. Device for controlling an electromechanical actuator comprising an electric motor and an actuator operated by the electric motor, characterized in that it comprises a digital signal processor (DSP) providing data of reference voltages (Ud—
- fw, Uq—
ffw) on the basis of an decoupled electrical model of the motor, the processor comprising at least one Park transformation module receiving measurement data for the currents of at least two supply phases of the motor (i_mot_2, i_mot_3) and a datum for the estimated angle of the motor (θ
estimated) and transforming them into data regarding the component of current with stator current axis (id) and the component of current in quadrature with the stator current (iq), a module for comparing these data with reference values of current with stator current axis (id—
ref) and of current in quadrature with the stator current (iq—
ref) providing, through integral proportional correctors (IP), data for the voltage variation (del_Ud, del_Uq), the voltage variation data being combined with the reference voltage data (Ud—
ffw, Uq—
ffw) at the input of a vector regulation module operating an inverter for supplying the motor with pulses of modulated width.
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Accused Products
Abstract
A device for controlling an electromechanical actuator includes an electric motor and an actuator operated by the electric motor. It also includes a digital signal processor (DSP) providing data of reference voltages (Ud—ffw, Uq—ffw) on the basis of an decoupled electrical model of the motor. The processor has at least one Park transformation module receiving measurement data for the currents of at least two supply phases of the motor (i_mot—2, i_mot—3) and a datum for the estimated angle of the motor (θestimated) and transforming them into data regarding the component of current with stator current axis (id) and the component of current in quadrature with the stator current (iq).
30 Citations
18 Claims
-
1. Device for controlling an electromechanical actuator comprising an electric motor and an actuator operated by the electric motor, characterized in that it comprises a digital signal processor (DSP) providing data of reference voltages (Ud—
- fw, Uq—
ffw) on the basis of an decoupled electrical model of the motor, the processor comprising at least one Park transformation module receiving measurement data for the currents of at least two supply phases of the motor (i_mot_2, i_mot_3) and a datum for the estimated angle of the motor (θ
estimated) and transforming them into data regarding the component of current with stator current axis (id) and the component of current in quadrature with the stator current (iq), a module for comparing these data with reference values of current with stator current axis (id—
ref) and of current in quadrature with the stator current (iq—
ref) providing, through integral proportional correctors (IP), data for the voltage variation (del_Ud, del_Uq), the voltage variation data being combined with the reference voltage data (Ud—
ffw, Uq—
ffw) at the input of a vector regulation module operating an inverter for supplying the motor with pulses of modulated width. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
- fw, Uq—
-
11. Device for controlling an electromechanical actuator comprising an electric motor and an actuator operated by the electric motor, wherein it comprises a digital signal processor (DSP) providing data of reference voltages (Ud—
- ffw, Uq—
ffw) on the basis of a decoupled electrical model of the motor, the processor comprising at least one Park transformation module receiving measurement data for the currents of at least two supply phases of the motor (i_mot_2, i_mot_3) and a datum for the estimated angle of the motor (θ
estimated) and transforming them into data regarding the component of current with stator current axis (id) and the component of current in quadrature with the stator current (iq), a module for comparing these data with reference values of current with stator current (id—
ref) providing, through integral proportional correctors (IP), data for the voltage variation (del_Ud, del_Uq), the voltage variation data being combined with the reference voltage data Ud—
ffw, Uq—
ffw) at the input of a vector regulation module operating an inverter for supplying the motor with pulses of modulated width, wherein the reference current value (id_ref) with stator current axis is generated, through a regulator module of integral proportional type part of the DSP, on the basis of modulation data of the inverter (mod—
amp, m—
a—
max), and wherein the regulator is adapted for delivering a value of current with reference stator current axis (id—
ref) constituting a control for reducing the flux of the motor for a motor supply voltage US greater than or equal to the nominal voltage of the motor USMAX and a zero value for a supply voltage below the nominal voltage. - View Dependent Claims (12, 13)
- ffw, Uq—
-
14. Device for controlling an electromechanical actuator comprising an electric motor and an actuator operated by the electric motor, wherein it comprises a digital signal processor (DSP) providing data of reference voltages (ud_ffw, Uq_ffw) on the basis of an decoupled electrical model of the motor, the processor comprising at least one Park transformation module receiving measurement data for the currents of at least two supply phases of the motor (i_mot_2, i_mot_3) and a datum for the estimated angle of the motor (θ
- estimated) and transforming them into data regarding the component of current with stator current axis (id) and the component of current in quadrature with the stator current (iq), a module for comparing these data with reference values of current stator current axis (id_ref) and of current in quadrature with the stator current (iq_ref) providing, through integral proportional correctors (IP), data for the voltage variation (del_Ud, del_Uq), the voltage variation data being combined with the reference voltage data (Ud_ffw, Uq_ffw) at the input of a vector regulation module operating an inverter for supplying the motor with pulses of modulated width, wherein the DSP comprises a module for controlling the electric motor comprising a torque control block and a speed control block that are alternatively selectable and deliver a reference quadrature current value (iqreference) and wherein the torque control block comprises an integral-proportional type corrector 13 receiving data regarding the reference torque and number of poles of the motor and delivering, when it is selected, the reference quadrature current value.
- View Dependent Claims (15, 16)
-
17. Device for controlling an electromechanical actuator comprising an electric motor and an actuator operated by the electric motor, wherein it comprises a digital signal processor (DSP) providing data of reference voltages (Ud—
- ffw, Uq—
ffw) on the basis of a decoupled electrical model of the motor, the processor comprising at least one Park transformation module receiving measurement data for the currents of at least two supply phases of the motor (i_mot_2, i_mot_3) and a datum for the estimated angle of the motor (θ
estimated) and transforming into data regarding the component of current with stator current axis (id) and the component of current in quadrature with the stator current (iq), a module for comparing these data with reference values of current with stator current axis id—
ref and of current quadrature with the stator current (iq—
ref) providing, through integral proportional correctors (IP), data for the voltage variation (del_Ud, del_Uq), the voltage data being combined with the (Ud—
ffw, Uq—
ffw) at the input of a vector regulation module operating an inverter for supplying the motor with pulses of modulated width, further comprising a module for calculating a direct current absorbed by the inverter (IDC), receiving data regarding temperature, supply voltage of the inverter (UDC) and counterelectromotive force of the motor (E0) receiving moreover the data regarding the component of current with stator current axis (Id) and the component of current in quadrature (Iq) with the stator current, and comprising means for calculating, on the basis of these data, power losses due to the control components of the motor (Ploss) and mechanical power restored by the motor (PMEC), this calculation module furthermore comprising means for calculating said current absorbed (IDC) on the basis of the ratio of the sum of said powers and the supply voltage of the inverter (UDC). - View Dependent Claims (18)
- ffw, Uq—
Specification