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 (ωef) and/or position (φe) in a permanent magnet rotor of a brushless electrical linear or rotation machine from a measurement of a multi-phase stator current (i1i2) especially for an electrical drive regulation circuit, a) whereby the speed is seamlessly determined over the entire speed range, including idling of the rotor, b) while using a mathematical rotor model (9) suitable for higher speeds, whereby from the influence of a rotor reverse EMK that affects the stator current (i1,12) conclusions are made about the rotor speed (ωef) and/or position ((φe) and an appropriate model speed value (13,19,23) is generated, c) and while using an injection procedure (32) suitable for lower speeds up to and including idling, whereby a current-carrying stator conduit is coupled with a test signal source (36, 37) and the resulting stator currents (i1,i2) are assessed and/or filtered for position-sensitive anisotropies in the magnetic structure of the electrical rotor, from which conclusions can be made on the rotor speed (ωef) and/or position (φe) and an appropriate , injection 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 for the estimated drive speed (ωe,ωef), e) whereby corresponding with the increase in estimated drive speed (ωe,ωef) the influence or the contributions of the injection speed values (45,49) relative to those of the model speed values (13,19,23) is weakened, whereby f) for weakening, the injection speed values (45,49) are weighted with factors (F) whose values decline with increasing speed, g) and the weighted injection speed values are fused with the model speed values (13,19,23) in the combination element (50,51), h) and the combined result from the combination element is used as the estimated drive speed (ωe,ωef) •