DE102014212554A1 - Diagnosis of a drive system and drive system - Google Patents

Abstract

A diagnosis of a drive system (1), in particular a door drive system, comprising an electric motor (2), preferably a synchronous motor, with a stator (3) with phase windings (4, 5, 6) and with a permanent magnetically excited rotor (7) and a Sensor (9) for determining a position of the rotor (7), according to the invention is simple and low effort with the following steps: a) rotating the rotor (7) without powering the phase windings (4, 5, 6) with power, preferably manually rotating the Rotor (7) or rotating the rotor (7) by a coasting after a previous acceleration, b) during rotation simultaneously measuring voltages induced by the rotation in the phase windings (4, 5, 6) and generated by the sensor (9) Signals, c) determining a space vector angle (γab) of the induced voltages during the rotation and determining a rotor attitude angle (γel) from the signals generated during rotation by the sensor (9), d) comparing the determined during rotation space vector angle (γab) with the determined during rotation rotor position angle (γel) and determining a difference in a value, a direction and / or a rotational speed of the two angles for the diagnosis of the drive system (1).

Description

The invention relates to a method for the diagnosis of a drive system, a method for operating a drive system and a drive system, wherein the drive system comprises an electric motor with a stator with phase windings and with a permanent magnetically excited rotor and a sensor for determining the position of the rotor. The drive system is in particular a door drive system.

Electric motors with a stator with phase windings and with a permanent-magnetically excited rotor are used in a variety of drive systems. In a motor design as a synchronous motor, they are often referred to as "PMSM" motors. An example is the use in door drive systems for moving doors, in particular sliding doors, elevator cars, on platforms, in buildings or on machine tools.

There is the requirement for a simple and low-cost diagnostic option of such a drive system in production, during commissioning, during operation, during maintenance or inspection and for troubleshooting in case of malfunction of the drive system.

For example, there is the requirement for a check of the correctness of the cable connections between the motor, a drive control and the sensor for determining the position of the rotor.

Furthermore, magnetic angle sensors are often used to determine the position of the rotor. These generate a clear angle information for a full mechanical revolution of the rotor. Especially in the case of electronically commutated motors (also referred to as "EC motors"), the rotor position is derived from this angle information and from this a drive signal for the motor is generated. Important for an accurate control of the motor is then that the angle information has a fixed and known angle to the stator winding. Depending on the manufacturing process and given tolerances, this angle may vary, or even be completely unknown. In practice, an adjustment value for this angle is therefore determined in production, stored in a data memory and taken into account in the control and / or regulation of the motor. However, the data storage may fail and thus the adjustment value may be lost.

Although it is already known to dispense with an adjustment in which specially shaped magnets that are highly magnetized reproducible exactly and are subject to low tolerances, are used while the sensor position is accurately planned and provided with only minor tolerances. However, this is associated with very great effort.

When using an additional reference signal (for example, a single Hall sender coupled to the magnetic field of the rotor with a defined phase angle), the adjustment can be repeated at any time by evaluating the switching edge of the Hall sensor, but an additional sensor is required.

While using an OTP memory for the trim values, the trim information may not be lost, but the trim may not be repeated if the mechanical conditions change (e.g., when loosening sensor board mounting screws).

From the US 2010/321006 A already a method is known with which all tolerances can be compensated and which can be used repeatedly. For its implementation, however, precisely defined special operating conditions (eg a constant rotational speed of the motor shaft) are necessary.

In the context of a diagnosis of the engine, there is therefore also the requirement for a simple and low-effort determination of the adjustment value.

It is an object of the present invention to provide a method and a drive system, with which the aforementioned requirements can be met.

The solution to this problem is achieved by a diagnostic method according to claim 1, an operating method according to claim 2 and a drive system according to claim 17. Advantageous embodiments are the subject of the dependent claims.

• a) Drehen des Rotors ohne Speisung der Phasenwicklungen mit Strom vorzugsweise manuelles Drehen des Rotors oder Drehen des Rotors durch ein Austrudeln nach einem vorherigen Beschleunigen,
• b) während des Drehens gleichzeitiges Messen von durch die Drehung in den Phasenwicklungen induzierten Spannungen und von dem Sensor erzeugten Signalen,
• c) Ermitteln eines Raumzeigerwinkels der während des Drehens induzierten Spannungen und Ermitteln eines Rotorlagewinkels aus den der während des Drehens von dem Sensor erzeugten Signalen,
• d) Vergleichen des während des Drehens ermittelten Raumzeigerwinkels mit dem während des Drehens ermittelten Rotorlagewinkel und Ermittlung eines Unterschiedes in einem Wert, einer Richtung und/oder einer Drehgeschwindigkeit der beiden Winkel zur Diagnose des Antriebssystems.

The method according to the invention for diagnosing a drive system, in particular a door drive system, which has an electric motor, in particular a synchronous motor, with a stator with phase windings and with a permanent magnetically excited rotor and a sensor for determining the position of the rotor, comprises the following steps:

• a) rotating the rotor without feeding the phase windings with current, preferably rotating the rotor manually or rotating the rotor by coasting after a previous acceleration,
• b) while rotating, measuring simultaneously by the rotation in the phase windings induced voltages and signals generated by the sensor,
• c) determining a space vector angle of the voltages induced during the rotation and determining a rotor position angle from the signals generated during the rotation of the sensor,
• d) comparing the determined during rotation space vector angle with the rotor position angle determined during rotation and determining a difference in a value, a direction and / or a rotational speed of the two angles for the diagnosis of the drive system.

The invention is based on the consideration that rotating the permanent-magnetically excited rotor generates a rotating magnetic field which induces a voltage in the phase windings. The induced voltage has a phase relationship between the terminals defined by the geometric arrangement of the phase winding. Upon rotation of the rotor without feeding the phase windings with current from a power supply, i. a currentless rotation of the motor, this voltage can be measured and used to determine a space vector angle of the induced voltages. When rotating the rotor, signals generated by the rotor position sensor are simultaneously measured and from this a rotor position angle is determined. As has been found, a diagnosis of the drive system in compliance with the requirements explained above can be done very easily by comparing the space vector angle with the rotor position angle and determining a difference in a value, a direction and / or a rotational speed of the two angles. Particularly advantageous diagnostic options are explained in connection with the subclaims.

There are no special requirements for the rotational movement. It is e.g. no defined (e.g., constant) speed of the rotor is necessary. The rotation of the rotor can therefore also be controlled manually by an operator, e.g. a mechanic, done. As a result, the diagnosis can also take place under difficult installation conditions of the engine, as they are often the case, for example, in the case of door drive systems. In this case, manual movement of an engine load coupled to the engine, in the case of a door drive system e.g. a manual movement of the door or the door leaf. However, it may also be caused in another way, a small motor movement and steps a) to d) are used when the motor coasting after separation of the phase windings of a power supply or a shutdown of the power supply. As has been found, an evaluable induced voltage in the phase windings is already given at a few single-digit percent of rated speed. Moreover, if the sensor is a magnetic sensor with a high linearity, fractions of an electrical revolution are sufficient for the diagnosis and, for example, for the determination of an adjustment value.

Since the method according to the invention provides that the phase windings are not supplied with current, it can also be used in production for the diagnosis of the motor, where a power supply is often not yet available. It may also be used to complete the assembly and cabling of the drive system as a test step prior to the actual electrical switch-on to verify the correctness of the cable connections between the motor, a drive control and the sensor to determine the position of the rotor. It is of particular advantage that the diagnosis can be made by a purely passive method without controlling any power elements (for example power output stages) of a power supply. Furthermore, only one voltage measurement is provided on the phase windings. A current measurement on the phase windings, however, is not necessary and not provided. The diagnosis can thus be very flexible, simple and inexpensive.

In a method according to the invention for operating a drive system explained above, the drive system is operated in normal operation for driving the motor and in a diagnostic operation for diagnosing the drive system, wherein in normal operation, the rotor is powered by a supply of the phase windings and wherein in the diagnostic operation the above-described steps a) to d) are performed. In addition to the normal operation, the drive system thus also has a diagnostic operation in which the effects and advantages explained in connection with the above-described steps a) to d) can also be achieved.

Upon fulfillment of predetermined criteria, in particular after a predetermined number of operating hours, a transition from normal operation to diagnostic operation, possibly also automatically back to normal operation, can take place automatically. Preferably, if necessary, it is possible to switch over between these two operating states. The rotation of the rotor in the diagnostic mode in step a) can for example be done manually by a person. Preferably, the rotation of the rotor is automated by accelerating and then tumbling of the rotor. Diagnostic data can then be transmitted to a Condition Monitoring System (Conditon Monitoring System) in diagnostic mode.

For a high accuracy in the diagnosis of the drive system, errors in the space vector angle caused by the measurement of the induced voltages and / or errors in the rotor position angle caused by the measurement of the sensor signals are advantageously compensated or eliminated in step c). Errors caused by the measurement of the induced voltages are often generated by a frequency-dependent behavior of the measuring device. This frequency-dependent behavior manifests itself above all in the case of a movement of the rotor with changing rotational speed, as is the case, for example, when the rotor is rotated manually or when the rotor wobbles. By compensating or calculating out the frequency-dependent behavior, a high accuracy in the diagnosis can also be made possible with changing rotational speeds of the rotor.

Preferably, there is a dead time compensation of the sensor signals and / or a delay compensation or a frequency response correction of the value of the space vector angle. With the deadtime compensation, dead times of the sensor or in the subsequent signal processing, e.g. due to computational cycles. With the delay compensation or frequency response correction, speed-dependent phase rotations of the measured induced voltages, which arise in practice by low-pass filtering, can be compensated. Thus, the determination of the space vector angle can be independent of the speed.

Based on the determined difference in the value, direction and / or rotational speed of the two angles may be due to a break, short circuit, misconnection of a cable connection between a drive control and the motor, a faulty connection of a cable connection between the drive control and the sensor, an error or measurement inaccuracies be closed in the sensor and / or a faulty adjustment of the sensor.

A message can then be output if the determined difference in the value, the direction and / or the rotational speed of the two angles exceeds a predetermined limit.

Upon complete rotation of the rotor and no simultaneous complete revolution of the space vector angle or of the rotor position angle determined by the sensor, an interruption or short circuit of the phase windings or lines to the sensor is advantageously concluded.

From a difference between the values of the two angles, it is possible to infer the same direction of exchange of motor or sensor phases or a faulty adjustment of the sensor.

From a difference in the direction of rotation of the two angles is preferably closed to an opposite permutation of individual engine or sensor phases.

From a difference in the rotational speed of the two angles can in turn be concluded that an error or a measurement inaccuracy of the sensor.

An engine constant can be determined from an amplitude of the space vector associated with the space vector angle and its rotational speed, compared with a predetermined value and, in the event of a deviation, be concluded of a reduced engine power or a damaged engine.

According to a particularly advantageous embodiment, an adjustment value for the rotor position angle determined by the sensor is derived from the difference in the value, the direction and / or the rotational speed of the two angles. This is preferably done in the manufacture of the engine. The adjustment value can then be stored in a drive control and used in the control and / or regulation of the motor for a correction of the rotor position angle determined by the sensor. By way of example, in the laboratory, adjustment values with an accuracy of 2 ° el and better could be derived already from a speed of 2% of the rated speed and at 10 ° electrical angle measuring range. For full revolutions with a speed from 5% of the rated speed, the accuracy increased to 0.5 ° el.

To increase the accuracy, the adjustment value is preferably derived from a mean difference between their angle values determined over one period (i.e., a complete electrical or mechanical rotation of the rotor).

The space vector angle can be calculated particularly simply by a Clarke transformation and subsequent polar transformation of the voltages induced in the phase windings. The Clarke transformation is well known to those skilled in the vector control of three-phase machines and serves to convert three-phase quantities with the axes u, v, w into a simpler two-axis coordinate system with the axes a, b. The polar transformation is likewise well known to the person skilled in the art and is used to convert the Cartesian coordinates obtained by the Clarke transformation into polar coordinates.

• – eine Messeinrichtung, die ausgebildet ist zum gleichzeitigen Messen von durch eine Drehung in den Phasenwicklungen induzierten Spannungen und von dem Sensor erzeugten Signalen,
• – eine Recheneinrichtung, die ausgebildet ist zum Ermitteln eines Raumzeigerwinkels der induzierten Spannungen und eines Rotorlagewinkels aus den von dem Sensor erzeugten Signalen und
• – eine Vergleichseinrichtung zum Vergleichen des Raumzeigerwinkels mit dem Rotorlagewinkel und Ermittlung eines Unterschiedes in einem Wert, einer Richtung und/oder einer Drehgeschwindigkeit der beiden Winkel zur Diagnose des Antriebssystems auf.

An inventive drive system, in particular door drive system, has an electric motor, in particular a synchronous motor, with a stator with phase windings and with a permanent magnetically excited rotor and a sensor for determining a position of the rotor. It also has:

• A measuring device which is designed to simultaneously measure voltages induced by a rotation in the phase windings and signals generated by the sensor,
• A computing device configured to determine a space vector angle of the induced voltages and a rotor attitude angle from the signals generated by the sensor and
• A comparison device for comparing the space vector angle with the rotor position angle and determining a difference in a value, a direction and / or a rotational speed of the two angles for the diagnosis of the drive system.

The advantages mentioned for the method according to the invention apply correspondingly to the drive system according to the invention.

The invention and further advantageous embodiments of the invention according to features of the subclaims are explained in more detail below with reference to exemplary embodiments in the figures; show in it:

1 a schematic diagram of a synchronous motor with a permanent magnetically excited rotor,

2 a schematic diagram of a drive system according to the invention,

3 - 7 exemplary installation situations for door drive systems according to the invention,

8th a flow chart for a method sequence according to the invention,

9 - 11 Examples of a diagnosis of the drive system of 1 and 2 ,

Corresponding parts are provided in all figures with the same reference numerals.

The 1 shows a basic structure of an electric motor 2 in a drive system according to the invention 1 according to 2 is used. The motor 2 is preferably designed as a synchronous motor and has a stator in the embodiment shown 3 with three phase windings offset by 120 ° each 4 . 5 . 6 on. The rotor 7 of the motor 2 has a permanent magnet 8th on. Furthermore, the engine 2 a rotor position sensor 9 , For example, a magnetic sensor, to determine the position of the rotor 7 on. When it comes to the rotor position sensor 9 is a magnetic sensor or a magnetic encoder, then this is typically located directly above the axis of rotation of the rotor 7 , Such a motor 2 is known in principle to the person skilled in the art and can be present in many embodiments. For example, the rotor 7 instead of just a single magnet 8th also have a plurality of magnets or a magnet with multiple poles.

2 shows a schematic diagram of a drive system according to the invention, which - as in 3 - 7 is explained, preferably as a door drive system is used.

The drive system 1 includes an associated with 1 explained engine 2 and a drive control device 10 that has a power supply 11 and an engine control unit 13 includes. The power supply 11 includes an in 2 simplified power converter 12 , Which is possibly connected via a non-illustrated upstream transformer and / or a rectifier to a power supply. The sensor 9 serves to determine the position of the rotor, not shown, of the motor 2 and is preferably formed as a magnetic absolute encoder with high linearity. By means of a separator 14 , for example in the form of a three-phase switch, the phase windings 4 . 5 . 6 from the power supply 11 be separated.

Preferably, the drive system is 1 around a door drive system. The motor 2 then serves to open or close doors or door wings, for example in an elevator, on a platform or on a machine tool.

3 to 7 show exemplary mounting situations for an elevator door drive system.

3 shows an elevator car 21 , at the front 22 a door opening 23 is trained. On the front side 22 are two equal-sized, oppositely movable door leaves 24 . 25 arranged. The opening and closing direction of the door leaves 24 . 25 is with 26 designated. One with 27 designated door drive system is used to move the door 24 . 25 and is on a head carrier 28 attached, in turn, on the front 22 of the elevator car 21 above the door opening 23 is attached. Examples of the door drive system 27 are in the 4 to 7 shown.

An in 4 in a front view and in 5 in a view from below shown first door drive system 27 includes a drive controller 10 , a motor 2 and the engine 2 output side downstream angle gear 29 , The axis of rotation of the engine 2 runs in the opening and closing direction 26 and the output side free end of the Shaft of angular gear 29 runs perpendicular to the opening and closing direction 26 , At the output side free end of the shaft of the angular gear 29 is a drive pinion, drive wheel or pulley 30 or the like attached. Along with one at the opposite end of the headgear 28 attached pulley 31 guides the pulley 30 a tough elastic toothed belt 32 that drives the engine 2 on the door leaves 24 . 25 transfers. Alternatively, instead of the timing belt 32 also a rack or a flat rope are used.

An in 6 in a front view and in 7 in a view from below shown second door drive system 27 includes a drive controller 10 and a motor 2 perpendicular to the direction of movement 26 the door leaf 24 . 25 one behind the other on the head carrier 28 are attached. The axis of rotation of the engine 2 runs perpendicular to the opening and closing direction 26 the door leaf 24 . 25 and is also perpendicular to the front 22 of the elevator car 21 , At the engine 2 on the output side is the pulley 30 attached.

The engine control unit 13 includes according to 2 for the determination of the rotor position angle, a signal detection 40 for the rotor position sensor 9 and an angle determination 41 for determining the rotor position angle γel from the signals of the encoder 9 , Preferably, to increase the accuracy of the angle determination 41 still a dead time compensation 42 to compensate for dead times in the detection of the sensor signals in the signal detection 40 available.

The drive control unit 10 still has voltage taps 44 at the ends of the phase windings 4 . 5 . 6 for detecting the voltages Uu, Uv, Uw of the phase windings 4 . 5 . 6 each with a low pass connected in it 45 on. The low passes 45 are output side with an analog / digital converter 46 the engine control unit 13 connected and lead him to the low-pass filtered voltage signals Utp_u, Utp_v, Utp_w. For further processing of the digitized signals, the engine control unit 13 a component 47 to Clarke transformation on. The voltages Ua, Ub thus determined from the digitized voltage signals Utp_u, Utp_v, Utp_w by the transformation into a two-axis Cartesian coordinate system become a component 48 supplied to the polar transformation and determined by converting the Cartesian coordinates in polar coordinates, an amplitude Uab and an angle γab of a space vector. Preferably, to increase the accuracy of the determination of the amplitude Uab and the space vector angle γab is still a frequency response compensation 49 to compensate for phase rotations and thus speed-dependent different durations of the signals Utp_u, Utp_v, Utp_w due to the low-passes 45 available.

The engine control unit 13 also has a comparison device 50 for comparing the space vector angle γab with the rotor attitude angle γel and for detecting a difference in a value, a direction and / or a rotational speed of the two angles and generating diagnostic information D for the drive system 1 on. Diagnostic data determined here (eg the diagnostic information D) can be sent to a higher-level condition monitoring system (condition monitoring system). 51 be transmitted.

To increase the accuracy can still have a component 52 for determining an average difference between the value and / or the rotational speed of the two angles (eg by integration over a period).

A switching device 53 Used to switch the drive control from a normal operation to drive the motor 2 in a diagnostic mode for diagnosing the drive system 1 and back, wherein in normal operation the rotor 7 by feeding the phase windings 4 . 5 . 6 with power of the power supply 11 is driven and wherein in the diagnostic operation in connection with 8th explained diagnosis is performed. The switching can be done automatically by the switching device 53 when fulfilled in the switching device 53 stored predetermined criteria, in particular after a predetermined number of operating hours of the drive system 1 , respectively. The switching device 53 but also with a control 54 the drive control unit 10 , For example, a button to be connected via the manual by an operator, such as a fitter, a switching command is detected.

The taps 44 , Low passes 45 and the analog to digital converter 46 as well as the signal acquisition 40 thus form a measuring device, which is designed for simultaneous measurement by rotation of the rotor 7 in the phase windings 4 . 5 . 6 induced voltages and from the sensor 9 generated signals.

The angle determination 41 as well as the component 47 to the Clarke transformation and the component 48 for polar transformation form a computing device, which is designed to determine a space vector angle of the induced voltages and a rotor attitude angle from the signals generated by the sensor.

8th schematically shows a flowchart of a method sequence according to the invention 60 for diagnosis of the drive system 1 ,

If the engine 2 with the power supply 11 is connected in a first step 61 the motor 2 by means of the separating device 14 from the power supply 11 separated. If the engine 2 already or still from the power supply 11 is disconnected or, for example in the engine production, no power supply 11 is present, this step may 61 be skipped.

In a second step 62 becomes the rotor 7 without feeding the phase windings 4 . 5 . 6 with power of the power supply 11 turned. Preferably, it is manually rotated by an operator. This can be done, for example, by moving one of the door leaves 24 . 25 in the opening / closing direction 26 take place (see 3 ).

In a third step 63 be while turning the rotor 7 at the same time by its magnet 8th in the phase windings 4 . 5 . 6 induced voltages Uu, Uv, Uw and those of the sensor 9 generated signals S measured.

In a fourth step 64 For example, the space vector angle γab from the induced voltages Uu, Uv, Uw during rotation, and the rotor position angle γel from the sensor during rotation 9 generated sensor signals S determined.

This will be done by the engine control unit 13 by means of the signal acquisition 40 the sensor signals S detected by the dead time compensation 42 compensated for a dead time and in the angle determination 41 the rotor position angle γel determined.

At the same time are from the engine control unit 13 over the voltage taps 44 in the phase windings 4 . 5 . 6 induced voltages Uu, Uv, Uw detected by the low passes 45 filtered and the low-pass filtered voltages Utp_u, Utp_v, Utp_w the analog / digital converter 46 fed where they are digitized. From the digitized voltages are then through the component 47 to the Clarke transformation and the component 48 for the polar transformation, the amplitude Uab and the space vector angle γab determined. Through the frequency response compensation 49 a compensation of phase rotations and thus speed dependent different durations of the signals Utp_u, Utp_v, Utp_w due to the low passes 45 ,

In a fifth step 65 the space vector angle γ ab (or a time average of this space vector angle γ ab) determined during the rotation is compared with the rotor position angle γ el determined at that time and a difference in a value, a direction and / or a rotational speed of the two angles for the diagnosis of drive system 1 determined. For this purpose, the space vector angle γab and the rotor position angle γel of the comparison device 50 supplied and generated from this on the basis of the determined difference diagnostic information D. For illustration are in 9 for example, the space pointer 70 the induced voltage with the associated space vector angle γab and the rotor position 71 represented with the associated rotor position angle γel.

On the basis of the difference determined is an interruption, short circuit, misconnection of a cable connection 57 between the drive control unit 10 and the engine 2 , a faulty connection of a cable connection 56 between the drive control unit 10 and the sensor 9 , an error or measurement inaccuracies in the sensor 9 and / or a faulty adjustment of the sensor 9 closed and generates a corresponding diagnostic information D.

As part of the diagnosis is made by the comparator 50 at a complete rotation of the rotor 7 and no simultaneous complete rotation of the space vector angle γab or that of the sensor 9 determined rotor position angle γel to an interruption or a short circuit of the phase windings 4 . 5 . 6 or the sensor line (s) 56 closed. By further analysis of the motor or sensor signals then a faulty connection can be diagnosed. For example, a connection interruption may be inferred if there is no signal change or on a connection short circuit if there is an in-phase change between two or more signals.

As in 9 is shown, at a greater than a predetermined limit present difference between the value of the two angles γel, γab on a same direction permutation of the motor or sensor phases or a faulty adjustment of the sensor is closed.

As in 10 is shown in the comparison device 50 from a larger than a predetermined limit present difference in the direction of rotation of the two angles γel, γab (symbolized by the direction of rotation arrows 72 and 73 ) to an opposite permutation when connecting individual phase windings 4 . 5 . 6 or individual phases of the sensor line (s) 56 closed.

From a larger than a predetermined limit value present difference in the rotational speed of the two angles γel, γab is in the comparison device 50 to an error or a measurement inaccuracy of the sensor 9 closed.

From the amplitude Uab of the space vector 70 and its rotational speed can also determine an engine constant with a given one Value are compared and closed in a deviation on a reduced engine power or a damaged engine. The motor constant is obtained, for example, from the quotient Uab / ω (U · I = M · ω is followed by U / ω = M / I as the motor constant, where U represents the voltage, I the current, M the torque and ω the angular frequency) ,

As in 11 can be shown, for example, in the engine production of the comparison device 50 from the difference in the value, the direction and / or the rotational speed of the two angles γel, γab an adjustment value Δγ for that of the sensor 9 determined rotor position angle γel be derived. This adjustment value then becomes in normal operation of the engine 2 the drive control unit 10 stored and in the control and / or regulation of the engine 2 for a correction of the sensor 9 determined rotor position angle γel used. The derivation of the adjustment value Δγ takes place with the aid of the component 52 for determining an average difference between a mean difference between their angular values over a period (ie a complete electrical or mechanical rotation of the rotor).

To improve the accuracy of the comparator 50 also the amplitude Uab of the space vector 70 be supplied and to enable the comparison of the angle γel, γab or to enable the determination of the time average in the component 52 serve. This can ensure that there is a minimum value of the phase voltages for this purpose.

The in 8th shown procedure can also in the context of the operation of the drive system 1 be used in a diagnostic mode for the diagnosis of the drive system. By means of the switching device 53 For this purpose, the drive control from a normal operation for driving the motor 2 in which the rotor 7 by feeding the phase windings 4 . 5 . 6 with power of the power supply 11 is driven into a diagnostic operation for diagnosing the drive system 1 , and also switched back. In the diagnostic mode, the in connection with 8th explained diagnosis performed. The switchover is initiated either automatically by the switching device 53 or manually by an operator by means of the operating element 54 ,

At the beginning of the diagnostic operation, an operator, for example on a display unit 58 (eg a display) of the drive control unit, be prompted to manually rotate the rotor.

In diagnostic mode, diagnostic data is then sent to the condition monitoring system 51 and can be analyzed there for further purposes.

The result of the diagnosis can be displayed on the display unit 58 or to the condition monitoring system 51 be transmitted.

The result of the diagnosis, eg a determined adjustment value, can also be found in the drive control unit 10 for operation of the drive system 1 be used.

From the engine control 13 a message is output (eg visually, acoustically or by an information to the condition monitoring system 51 ), if the determined difference in the value, the direction and / or the rotational speed of the two angles exceeds a predetermined limit and thus there is an urgent need for action (fault clearance, maintenance, mounting correction, ect.).

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2010/321006 A [0009]

Claims (17)

Method for diagnosing a drive system ( 1 ), in particular a door drive system, which has an electric motor ( 2 ), preferably a synchronous motor, with a stator ( 3 ) with phase windings ( 4 . 5 . 6 ) and with a permanent magnetically excited rotor ( 7 ) as well as a sensor ( 9 ) for determining a position of the rotor ( 7 ), comprising the following steps: a) rotating the rotor ( 7 ) without feeding the phase windings ( 4 . 5 . 6 ) with electricity, preferably manual rotation of the rotor ( 7 ) or turning the rotor ( 7 b) during spinning, simultaneous measurement of the rotation in the phase windings (FIG. 4 . 5 . 6 ) induced voltages and from the sensor ( 9 c) determining a space vector angle (γab) of the voltages induced during the rotation and determining a rotor position angle (γel) from that during the rotation of the sensor ( 9 d) comparing the detected during rotation space vector angle (γab) with the determined during rotation rotor position angle (γel) and determining a difference in a value, a direction and / or a rotational speed of the two angles for diagnosis of the drive system ( 1 ). Method for operating a drive system ( 1 ), in particular a door drive system, which has an electric motor ( 2 ), preferably a synchronous motor, with a stator ( 3 ) with phase windings ( 4 . 5 . 6 ) and with a permanent magnetically excited rotor ( 7 ) as well as a sensor ( 9 ) for determining a position of the rotor ( 7 ), wherein the drive system ( 1 ) in a normal mode for driving the motor ( 2 ) and in a diagnostic mode for diagnosing the drive system ( 1 ) can be operated, wherein in normal operation, the rotor ( 7 ) by feeding the phase windings ( 4 . 5 . 6 ) with power of a power supply ( 11 ) and wherein in the diagnostic operation, the steps a) to d) are carried out according to claim 1. A method according to claim 2, characterized in that upon fulfillment of predetermined criteria, in particular after a predetermined number of operating hours, a transition from normal operation to diagnostic operation takes place automatically. Method according to Claim 2 or 3, characterized in that diagnostic data are sent to a condition monitoring system in diagnostic mode ( 51 ). Method according to one of the preceding claims, characterized in that in step c) caused by the measurement of the induced voltages speed-dependent errors in the space vector angle (γab) and / or caused by the measurement of the sensor signals speed-dependent errors in the rotor position angle (γel) are compensated. Method according to one of the preceding claims, characterized in that a dead time compensation of the sensor signals (S) and / or a delay compensation or a frequency response correction of the value of the space vector angle (γab) takes place. Method according to one of the preceding claims, characterized in that, based on the difference determined, an interruption, short circuit, incorrect connection of a cable connection ( 57 ) between a drive control ( 10 ) and the engine ( 2 ), a misconnection of a cable connection ( 56 ) between the drive control ( 10 ) and the sensor ( 9 ), an error or measurement inaccuracies in the sensor ( 9 ) and / or a faulty adjustment of the sensor ( 9 ) is closed. A method according to claim 7, characterized in that a message is issued when the determined difference in the value, the direction and / or the rotational speed of the two angles exceeds a predetermined limit. Method according to one of the preceding claims, characterized in that upon complete rotation of the rotor ( 7 ) and no simultaneous complete rotation of the space vector angle (γab) or of the rotor position angle (γel) determined by the sensor to an interruption or a short circuit of the phase windings (FIG. 4 . 5 . 6 ) or lines ( 56 ) to the sensor ( 9 ) is closed. Method according to one of the preceding claims, characterized in that from a difference between the values of the two angles to a same direction permutation of motor or sensor phases or a faulty adjustment of the sensor ( 9 ) is closed. Method according to one of the preceding claims, characterized in that it is concluded from a difference in the direction of rotation of the two angles to an opposite mutual exchange of individual engine or sensor phases. Method according to one of the preceding claims, characterized in that from a difference in the rotational speed of the two angles to an error or a measurement inaccuracy of the sensor ( 9 ) is closed. Method according to one of the preceding claims, characterized in that from an amplitude of the space vector (γab) associated space pointer ( 70 ) and its rotational speed determines an engine constant, compared with a predetermined value and is closed in a deviation on a reduced engine power or a damaged engine. Method according to one of the preceding claims, characterized in that from the difference an adjustment value (Δγ) for the signal from the sensor ( 9 ) is derived rotor position angle (γel). Method according to one of the preceding claims, characterized in that the adjustment value (Δγ) is derived from a mean difference, determined over a period, between its angle values. Method according to one of the preceding claims, characterized in that the space vector angle (γ ab) by a Clarke transformation and subsequent polar transformation of the in the phase windings ( 4 . 5 . 6 ) induced voltages is calculated. Drive system ( 1 ), in particular a door drive system comprising an electric motor ( 2 ), preferably a synchronous motor, with a stator ( 3 ) with phase windings ( 4 . 5 . 6 ) and with a permanent magnetically excited rotor ( 7 ) as well as a sensor ( 9 ) for determining a position of the rotor ( 7 ), characterized by - a measuring device ( 44 . 45 . 46 ; 9 . 40 . 56 ) which is designed for simultaneous measurement by rotation in the phase windings ( 4 . 5 . 6 ) induced voltages and from the sensor ( 9 ) generated signals (S), - a computing device ( 47 . 48 ; 41 ) which is designed to determine a space vector angle (γab) of the induced voltages and a rotor position angle (γel) from those of the sensor ( 9 ) generated signals (S), - a comparison device ( 50 ) for comparing the space vector angle (γab) with the rotor position angle (γel) and determining a difference in a value, a direction and / or a rotational speed of the two angles for diagnosing the drive system ( 1 ).

Images