SYSTEM FOR SEAMLESS ESTIMATION OF SPEED AND/OR POSITION, INCLUDING STANDSTILL OF A PERMANENT MAGNET ROTOR OF AN ELECTRIC MOTOR

摘要

Procedure for determining the electrical drive speed (.omega.ef) and/orposition (.phi.e) in apermanent magnet rotor of a brushless electrical linear or rotation machinefrom ameasurement of a multi-phase stator current (i1,i2) especially for anelectrical driveregulation circuit,a) whereby the speed is seamlessly determined over the entire speedrange, including standstill of the rotor,b) while using a mathematical rotor model (9) suitable for higherspeeds, whereby from the influence of a rotor back EMF that affects thestator current (i1,i2) conclusions are made about the rotor speed (.omega.ef)and/or position (.phi.e) and an appropriate model speed value (13,19,23) isgenerated,c) and while using an injection procedure (32) suitable for lower speedsup to and including standstill, whereby a current-carrying stator winding iscoupled with a test signal source (36, 37) and the resulting stator currents(i1,i2) are assessed and/or filtered for position-sensitive anisotropies inthemagnetic structure of the electrical rotor, from which conclusions can bemade on the rotor speed (.omega.ef) and/or position (.phi.e) and anappropriateinjection speed value (45,49) is generated,d) and with a fusion of the model and injection speed values (23, 49)occurring in a combination element (50, 51) that supplement each other forthe estimated drive speed (.omega.e,.omega.ef),e) whereby corresponding with the increase in estimated drive speed(.omega.e,.omega.ef) the influence or the contributions of the injection speedvalues(45,49) relative to those of the model speed values (13,19,23) is weakened,wherebyf) for weakening, the injection speed values (45,49) are weighted withcoefficientst (F) whose values decline with increasing speed,g) and the weighted injection speed values are fused with the model speedvalues (13,19,23) in the combination element (50,51),h) and the combined result from the combination element is used as theestimated drive speed (.omega.e,.omega.ef).