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EP1530534A1 - Oscillating torque compensation of an electric tractive vehicle - Google Patents

Oscillating torque compensation of an electric tractive vehicle

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Publication number
EP1530534A1
EP1530534A1 EP03792128A EP03792128A EP1530534A1 EP 1530534 A1 EP1530534 A1 EP 1530534A1 EP 03792128 A EP03792128 A EP 03792128A EP 03792128 A EP03792128 A EP 03792128A EP 1530534 A1 EP1530534 A1 EP 1530534A1
Authority
EP
European Patent Office
Prior art keywords
subsystem
traction
coil groups
electric
electric traction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP03792128A
Other languages
German (de)
French (fr)
Inventor
Hagen Kramer
Gerald Amler
Ekkehard Pittius
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP1530534A1 publication Critical patent/EP1530534A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C9/00—Locomotives or motor railcars characterised by the type of transmission system used; Transmission systems specially adapted for locomotives or motor railcars
    • B61C9/38—Transmission systems in or for locomotives or motor railcars with electric motor propulsion
    • B61C9/48—Transmission systems in or for locomotives or motor railcars with electric motor propulsion with motors supported on vehicle frames and driving axles, e.g. axle or nose suspension
    • B61C9/50—Transmission systems in or for locomotives or motor railcars with electric motor propulsion with motors supported on vehicle frames and driving axles, e.g. axle or nose suspension in bogies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/50—Structural details of electrical machines
    • B60L2220/54—Windings for different functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/50—Structural details of electrical machines
    • B60L2220/58—Structural details of electrical machines with more than three phases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/145—Structure borne vibrations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to a method for compensating the pendulum moments on an electric locomotive.
  • Electric traction vehicles are usually driven by traction motors located on bogies or a carrier, which in turn are fed via converters. Because of the non-sinusoidal supply voltage of their converters, these traction motors generate high pendulum torques in addition to additional losses and radial force waves. The reaction forces of these pendulum torques often lead to deformations of the bogie or the support of the traction motors with sometimes considerable airborne noise emissions.
  • valves of the machine power converters are controlled in such a way that each of the two intermediate circuit currents in the positive and negative direction is alternately switched for each sine half cycle via only two of the three phase connections by windings of the two stator winding systems, the electrical effect of which is orthogonal to one another.
  • EPE ⁇ 99 Lausanne entitled “ASM double star system instability in de line ⁇ ” to use the double star motors, which are known per se, for the purpose of reducing network feedback.
  • the object of the invention is to create a method for electric traction vehicles and a corresponding traction vehicle with which the air switching emissions, which can be considerable in some cases, are avoided during operation.
  • the object is achieved by a method according to claim 1 and an electric traction vehicle according to claim 3 or 4.
  • one component of the resulting pendulum torque can be reduced to zero.
  • the partial winding systems are preferably formed from the odd-numbered 1,3, 5, .. and even-numbered coil groups 2,4,6, .. or from the coil groups 1 to n and n + 1 to 2n, where n are integers. Further combinations of subsystems are also conceivable.
  • Another advantage of this invention is that the compensation of the disturbing pendulum torques already takes place in the air gap of the respective driving motor.
  • This method can be used for all drive types, i.e. can be used with traction motors positioned crosswise or lengthways with respect to the direction of travel.
  • Optimizing and adapting the pulse pattern is possible at any time, in particular through software exchange.
  • other parasitic effects of the converter supply such as radial force waves and additional losses in the rotor, are sometimes considerably reduced depending on the operating mode.
  • the axes of the subsystems are spatially offset by 180 ° / p and generate the air gap field which is normal per se in the respective traction motor when feeding in phase. This applies regardless of the winding design, i.e. for example of tendon, number of uses per pole and strand.
  • Both partial winding systems of a traction motor are each fed from their own converter.
  • Each converter preferably feeds the partial winding systems of several motors connected in parallel.
  • the control of the at least two converters takes place via on / off signals with the same basic frequency and identical or different pulse patterns, whereby identical pulse patterns are to be used in those areas in which oscillation torque compensation is not required and different, specially optimized pulse patterns in those areas in which oscillation torque compensation takes place should. It is important that there is no phase shift of the fundamental oscillation with respect to one another when the partial winding systems are electrically supplied. Ideally, it is only those harmonics that lead to a pendulum moment in phase oppositions.
  • the switching times are determined from the intersection points of a predetermined scanning curve, for example a triangular sawtooth curve, with a reference curve, for example a sine curve.
  • a predetermined scanning curve for example a triangular sawtooth curve
  • a reference curve for example a sine curve.
  • the disturbing pendulum moment component is usually the one that is close to a mechanical natural frequency, e.g. of the bogie and without compensation would lead to noise emission and thus noise emissions from the locomotive. So it is e.g. It is conceivable to take stock of the frequency spectra when powered by the same pulse pattern when commissioning a locomotive, and to specify new pulse patterns optimized for eliminating the interfering frequencies in those areas where pendulum torque compensation is necessary or desirable.
  • the two winding systems of the respective traction motor can be used for further optimizations, e.g. to reduce a radial force component or to reduce additional losses in the rotor windings.
  • FIG. 2 shows a winding arrangement of a traction motor in a four-pole electrical machine.
  • FIG. 1 shows a basic illustration of an electric locomotive, not shown in detail, with two bogies 1 and each with their traction motors Ml, M2 or M3, M4, which drive the associated wheel sets or individual wheels 2.
  • Each traction motor M1-M4 has two partial winding systems. This
  • Part winding systems M1T1-M4T2 form a double star in the stator connection in each traction motor Ml-M4.
  • the partial winding systems M1T1-M4T2 of a traction motor M1-M4 are fed by different converters, in particular pulse-controlled inverters PWR1 and PWR2. It therefore feeds PWR1
  • Part winding system M1T2, M2T2, M3T1 and M4T1 and the pulse inverter PWR2 feeds the part winding systems M1T1, M2T1, M3T2 and M4T2.
  • FIG. 2 shows an embodiment for the winding arrangement of the stator of a four-pole drive motor with 24 slots.
  • the 2xP 4 coil groups of one strand are shown.
  • the coil groups SGI and SG3 form a partial winding.
  • SG2 and SG4 the other partial winding of the strand.
  • the series connection of the coil groups SG1, SG3 and SG2, SG4 is shown.
  • a parallel connection of these coil groups SG1, SG2 and SG2, SG4 is also possible.
  • the natural frequencies are recorded on the locomotives listed, for example, with their bogies 1. This advantageously already takes place during the commissioning phase, so that at this point in time the the required pulse pattern set is stored in the drive control unit. Instead of exchanging or reworking the bogies 1, it is only necessary to adapt the pulse pattern set in the control device 5. Vibration sensors or microphones on the bogie 1 can be used to detect the disturbing natural frequencies and to prove the improvements made.
  • the method according to the invention for pendulum torque compensation can be used in particular in the locomotives described in FIG. 1. However, it is not absolutely necessary to use traction motors with double stars. More than two stars per drive motor Ml to M4 are also conceivable.
  • This procedure can also be used for single-axle chassis or independent wheel suspensions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to a method for compensating the oscillating torques in a pivoted bogie (1) of an electric tractive vehicle. According to said method, the oscillating torques in the driving motors of a tractive vehicle are compensated, said tractive vehicle having a plurality of driving motors (M1-M4) for propelling sets of wheels or individual wheels (2) in the corresponding chassis or wheel suspensions, more particularly in the pivoted bogies (1), wherein each driving motor (M1-M4) is multiphase and is divided into at least two partial systems (M1T1-M4T2). Each partial system (M1T1-M4T2) is comprised of individual coil groups (SG1-SG4) and each partial system (M1T1-M4T2) of a driving motor (M1-M4) is powered by a power converter (PWR1,PWR2) controlling the driving motors (M1-M4) by means of at least one drive control apparatus (5) in such a way that given oscillating torques are prevented, e.g. in the natural frequencies of the respective pivoted bogie, by detecting the corresponding natural frequencies of the pivoted bogie (1) through measurements and by storing the corresponding sets of pulse patterns in the drive control apparatus (5).

Description

Beschreibungdescription

PENDELMOMENT KOMPENSATION EINES ELEKTRISCHEN TRIEBFAHRZEUGESSUSPENSION TORQUE COMPENSATION OF AN ELECTRIC MOTOR VEHICLE

Die Erfindung betrifft ein Verfahren zur Kompensation der Pendelmomente an einem elektrischen Triebfahrzeug.The invention relates to a method for compensating the pendulum moments on an electric locomotive.

Elektrische Triebfahrzeuge werden meist durch an Drehgestellen oder einem Träger befindlichen Fahrmotoren angetrieben, die wiederum über Umrichter gespeist werden. Diese Fahrmotoren erzeugen wegen der nicht sinusförmigen Speisespannung ihrer Umrichter neben Zusatzverlusten und Radialkraftwellen insbesondere hohe Pendelmomente. Die Reaktionskräfte dieser Pendelmomente führen oft zu Verformungen des Drehgestells oder des Trägers der Fahrmotoren mit teilweise erheblichen Luftschallemissionen.Electric traction vehicles are usually driven by traction motors located on bogies or a carrier, which in turn are fed via converters. Because of the non-sinusoidal supply voltage of their converters, these traction motors generate high pendulum torques in addition to additional losses and radial force waves. The reaction forces of these pendulum torques often lead to deformations of the bogie or the support of the traction motors with sometimes considerable airborne noise emissions.

In der DE 35 25 421 AI ist ein Verfahren zur Herabsetzung der Drehmomentwelligkeit eines Stromrichtermotors mit zwei galva- nisch getrennten um 30° gegeneinander versetzten dreiphasigen Ständerwicklungssystemen beschrieben, mit dem versucht wird diese Pendelmomente zu unterdrücken. Bei diesen Ständerwicklungssystemen, die von zwei aus jeweils einem Netzstromrichter einer Zwischenkreisdrossel und einem Maschinenstromrich- ter bestehenden Umrichtern durch Ansteuerung der Ventile des Netzstromrichters und ihrer Amplitude beeinflussbaren Zwi- schenkreisströme gespeist werden, werden die Ventile der Netzstromrichter derart angesteuert, dass die beiden Zwischenkreisströme gegeneinander um 90° versetzt als kontinu- ierlich zeitlich aufeinanderfolgende Sinushalbperioden fließen. Außerdem werden die Ventile der Maschinenstromrichter derart angesteuert, dass jeder der beiden Zwischenkreisströme in positiver und negativer Richtung abwechselnd je Sinushalbperiode über ausschließlich zwei der drei Phasenanschlüsse durch Wicklungen der beiden Ständerwicklungssysteme weitergeschaltet wird, die in ihrer elektrischen Wirkung orthogonal zueinander liegen. Um die Feld- und Stromkurven der Sinusform anzunähern wurde u.a. in einem Fachartikel der EPEλ99 Lausanne mit dem Titel „ASM double star System instability in de lineλ vorgeschlagen, die an sich bekannten Doppelsternmotoren zum Zwecke ei- ner verringerten Netzrückwirkung einzusetzen.DE 35 25 421 AI describes a method for reducing the torque ripple of a converter motor with two galvanically separated three-phase stator winding systems which are offset by 30 ° with one another, with which an attempt is made to suppress these pendulum torques. In these stator winding systems, which are fed by two converters, each consisting of a line converter, an intermediate circuit choke and a machine converter, by controlling the valves of the line converter and their amplitude, the intermediate circuit currents are controlled in such a way that the two intermediate circuit currents are reversed With a 90 ° offset, continuous sine half-periods flow in time. In addition, the valves of the machine power converters are controlled in such a way that each of the two intermediate circuit currents in the positive and negative direction is alternately switched for each sine half cycle via only two of the three phase connections by windings of the two stator winding systems, the electrical effect of which is orthogonal to one another. In order to approximate the field and current curves to the sinusoidal shape, it was suggested in a technical article by EPE λ 99 Lausanne entitled “ASM double star system instability in de line λ ” to use the double star motors, which are known per se, for the purpose of reducing network feedback.

Ausgehend davon, liegt der Erfindung die Aufgabe zugrunde ein Verfahren für elektrische Triebfahrzeuge und eine dementspre- chendes Triebfahrzeug zu schaffen, mit dem die zum Teil er- heblichen Luftschaltemissionen im Betrieb vermieden werden.Proceeding from this, the object of the invention is to create a method for electric traction vehicles and a corresponding traction vehicle with which the air switching emissions, which can be considerable in some cases, are avoided during operation.

Die Lösung der gestellten Aufgabe gelingt durch ein Verfahren nach Anspruch 1 und ein elektrisches Triebfahrzeug nach Anspruch 3 oder 4.The object is achieved by a method according to claim 1 and an electric traction vehicle according to claim 3 or 4.

Durch die Ausführung der Fahrmotoren mit zwei getrennten TeilwicklungsSystemen und durch die erfindungsgemäße Ansteue- rungen der beiden Teilwicklungssysteme eines Fahrmotors, durch vorzugsweise unterschiedliche Pulsmuster, kann jeweils eine Komponente des resultierenden Pendelmoments auf Null reduziert werden.By designing the traction motors with two separate partial winding systems and by controlling the two partial winding systems of a traction motor according to the invention, preferably using different pulse patterns, one component of the resulting pendulum torque can be reduced to zero.

Die Teilwicklungssysteme werden dabei vorzugsweise aus den ungeradzahligen 1,3, 5,..und geradzahligen Spulengruppen 2,4,6,.. oder aus den Spulengruppen 1 bis n und n+1 bis 2n gebildet, wobei n ganze natürliche Zahlen sind. Weitere Zusammenstellungen von Teilsystemen sind ebenso denkbar.The partial winding systems are preferably formed from the odd-numbered 1,3, 5, .. and even-numbered coil groups 2,4,6, .. or from the coil groups 1 to n and n + 1 to 2n, where n are integers. Further combinations of subsystems are also conceivable.

Ein weiterer Vorteil dieser Erfindung ist, dass die Kompensation der störenden Pendelmomente bereits im Luftspalt des jeweiligen Fahrmotors erfolgt. Dieses Verfahren kann bei allen Antriebsformen, d.h. bei quer oder längs bzgl. der Fahrtrichtung positionierten Fahrmotoren eingesetzt werden.Another advantage of this invention is that the compensation of the disturbing pendulum torques already takes place in the air gap of the respective driving motor. This method can be used for all drive types, i.e. can be used with traction motors positioned crosswise or lengthways with respect to the direction of travel.

Ein Optimieren und Anpassen der Pulsmuster ist jederzeit insbesondere durch Softwaretausch möglich. Zusätzlich werden auch andere Parasitäreffekte der Umrichterspeisung, wie z.B. Radialkraftwellen und Zusatzverluste im Läufer je nach Betriebsart zum Teil erheblich verringert.Optimizing and adapting the pulse pattern is possible at any time, in particular through software exchange. In addition other parasitic effects of the converter supply, such as radial force waves and additional losses in the rotor, are sometimes considerably reduced depending on the operating mode.

In einer Ausführungsform der Erfindung sind die Achsen der Teilsysteme räumlich um 180°/p versetzt und erzeugen bei gleichphasiger Speisung das an sich normale Luftspaltfeld im jeweiligen Fahrmotor. Dies gilt unabhängig von der Wicklungsausführung, d.h. beispielsweise von Sehnung, Nutzahl je Pol und Strang.In one embodiment of the invention, the axes of the subsystems are spatially offset by 180 ° / p and generate the air gap field which is normal per se in the respective traction motor when feeding in phase. This applies regardless of the winding design, i.e. for example of tendon, number of uses per pole and strand.

Es sind außerdem auch keinerlei Einschränkungen gegenüber konventionell ausgeführten Fahrmotoren bezüglich der Bemessung des Fahrmotors notwendig, da auch die Zahl der Spulen nicht erhöht wird. Lediglich die Spulenverschaltung und der Klemmenkasten werden geringfügig aufwändiger.There are also no restrictions compared to conventionally designed traction motors with regard to the dimensioning of the traction motor, since the number of coils is also not increased. Only the coil connection and the terminal box are slightly more complex.

Beide Teilwicklungssysteme eines Fahrmotors werden jeweils aus einem eigenen Stromrichter gespeist. Vorzugsweise speist jeder Stromrichter die Teilwicklungssysteme mehrerer parallelgeschalteter Motoren. Die Ansteuerung der zumindest zwei Stromrichter erfolgt über Ein - Ausschaltsignale mit gleicher Grundfrequenz und identischen oder unterschiedlichen Pulsmustern, wobei identische Pulsmuster in denjenigen Bereichen einzusetzen sind in denen keine Pendelmomentkompensation erforderlich ist und unterschiedliche, speziell dafür optimierte Pulsmuster in denjenigen Bereichen, in denen eine Pendelmomentkompensation erfolgen soll. Wichtig ist dabei, dass bei elektrischer Speisung der Teilwicklungssysteme keine Phasen- Verschiebung der Grundschwingung zueinander auftritt. Es sind idealerweise nur diejenigen Oberschwingungen, die zu einem Pendelmoment führen in Phasenoppositionen.Both partial winding systems of a traction motor are each fed from their own converter. Each converter preferably feeds the partial winding systems of several motors connected in parallel. The control of the at least two converters takes place via on / off signals with the same basic frequency and identical or different pulse patterns, whereby identical pulse patterns are to be used in those areas in which oscillation torque compensation is not required and different, specially optimized pulse patterns in those areas in which oscillation torque compensation takes place should. It is important that there is no phase shift of the fundamental oscillation with respect to one another when the partial winding systems are electrically supplied. Ideally, it is only those harmonics that lead to a pendulum moment in phase oppositions.

Bei asynchroner Taktung werden die Schaltzeitpunkte aus den Schnittpunkten einer vorgegebenen Abtastkurve, z.B. einer Dreieck-Sägezahnkurve, mit einer Referenzkurve, z.B. einer Sinuskurve, ermittelt. Die Elimination der dominantesten 0- berschwingung erreicht man hierbei durch eine Phasenverschiebung der Abtastkurve um 90° bei gleichbleibender Referenzkurve.In the case of asynchronous clocking, the switching times are determined from the intersection points of a predetermined scanning curve, for example a triangular sawtooth curve, with a reference curve, for example a sine curve. The elimination of the most dominant 0- Overshoot is achieved by a phase shift of the scanning curve by 90 ° with the reference curve remaining the same.

Bei synchroner Taktung müssen spezielle auf die Phasenopposition der störenden Oberschwingung optimierter Pulsmuster eingesetzt werden. Beispielsweise erzeugen bei Dreifachtaktung und großer Aussteuerung die Schaltwinkel = 87,48° in einem und α = 15,48° im anderen System eine nahezu gleiche Grund- Schwingung und sowohl die fünfte als auch die siebte Oberschwingung sind in nahezu perfekter Phasenopposition. Damit wird das sechsfache Pendelmoment nahezu hundertprozentig kompensiert. Je größer die Pulszahl desto mehr Freiheitsgrade ergeben sich für die Optimierung der Pendelmomente.With synchronous clocking, special pulse patterns optimized for the phase opposition of the disturbing harmonic must be used. For example, with triple clocking and high modulation, the switching angle = 87.48 ° in one and α = 15.48 ° in the other system produce an almost identical fundamental oscillation and both the fifth and the seventh harmonic are in almost perfect phase opposition. This almost completely compensates for the sixfold pendulum moment. The greater the number of pulses, the more degrees of freedom there are for optimizing the pendulum moments.

Die störende Pendelmomentkomponente ist dabei in der Regel diejenige, die in der Nähe einer mechanischen Eigenfrequenz z.B. des Drehgestells liegt und ohne Kompensation zur Ge- räuschabstrahlung und damit Lärmemissionen am Triebfahrzeug führen würde. So ist es z.B. vorstellbar, bei Inbetriebnahme eines Triebfahrzeugs eine Bestandsaufnahme der Frequenzspektren bei Speisung mit gleichen Pulsmustern durchzuführen, und in den Bereichen, in denen eine Pendelmomentkompensation notwendig bzw. wünschenswert ist, neue, auf Elimination der stö- renden Frequenzen optimierte Pulsmuster vorzugeben.The disturbing pendulum moment component is usually the one that is close to a mechanical natural frequency, e.g. of the bogie and without compensation would lead to noise emission and thus noise emissions from the locomotive. So it is e.g. It is conceivable to take stock of the frequency spectra when powered by the same pulse pattern when commissioning a locomotive, and to specify new pulse patterns optimized for eliminating the interfering frequencies in those areas where pendulum torque compensation is necessary or desirable.

Falls man sich nicht in der Nähe einer mechanischen Eigenfrequenz z.B. des Drehgestells befindet, wenn also keine Pen- delmomentenkompensation erforderlich ist, können u.U. die zwei Wicklungssysteme des jeweiligen Fahrmotors für weitere Optimierungen genutzt werden, z.B. zur Reduzierung einer Radialkraftkomponente oder zur Verringerung der Zusatzverluste in den Läuferwicklungen.If you are not close to a mechanical natural frequency e.g. of the bogie, so if no pendulum torque compensation is required, the two winding systems of the respective traction motor can be used for further optimizations, e.g. to reduce a radial force component or to reduce additional losses in the rotor windings.

Die an sich bekannten Rad-Schiene-Schlupfregelungen sind dabei wie bei einer normalen Regelung für parallelgeschaltete Fahrmotoren möglich. Die Erfindung sowie weitere vorteilhafte Ausgestaltungen der Erfindung gemäß Merkmalen der Unteransprüche werden in folgenden anhand schematisch dargestellter Ausführungsbeispiele in der Zeichnung näher erläutert. Darin zeigen:The wheel-rail slip controls known per se are possible as with a normal control for parallel-connected traction motors. The invention and further advantageous embodiments of the invention according to the features of the subclaims are explained in more detail below with reference to schematically illustrated exemplary embodiments in the drawing. In it show:

FIG 1 Zuordnung zweier Pulswechselrichter und vier Fahrmotoren eines Triebfahrzeugs,1 assignment of two pulse inverters and four traction motors of a locomotive,

FIG 2 eine Wicklungsanordnung eines Fahrmotors bei einer vierpoligen elektrischen Maschine.2 shows a winding arrangement of a traction motor in a four-pole electrical machine.

FIG 1 zeigt in prinzipieller Darstellung ein nicht näher dargestelltes elektrisches Triebfahrzeug mit zwei Drehgestellen 1 und jeweils ihren Fahrmotoren Ml, M2 bzw. M3, M4, die die dazugehörigen Radsätze bzw. Einzelräder 2 antreiben. Jeder Fahrmotor M1-M4 weist zwei Teilwicklungssysteme auf. Diese1 shows a basic illustration of an electric locomotive, not shown in detail, with two bogies 1 and each with their traction motors Ml, M2 or M3, M4, which drive the associated wheel sets or individual wheels 2. Each traction motor M1-M4 has two partial winding systems. This

Teilwicklungssysteme M1T1-M4T2 bilden in jedem Fahrmotor Ml- M4 einen Doppelstern in der Ständerverschaltung aus. Die Teilwicklungssysteme M1T1-M4T2 eines Fahrmotors M1-M4 werden von unterschiedlichen Stromrichtern insbesondere Pulswechsel- richtern PWR1 und PWR2 gespeist. Es speist somit PWR1 dasPart winding systems M1T1-M4T2 form a double star in the stator connection in each traction motor Ml-M4. The partial winding systems M1T1-M4T2 of a traction motor M1-M4 are fed by different converters, in particular pulse-controlled inverters PWR1 and PWR2. It therefore feeds PWR1

Teilwicklungssystem M1T2, M2T2, M3T1 und M4T1 und der Pulswechselrichter PWR2 speist die Teilwicklungssysteme M1T1, M2T1, M3T2 und M4T2.Part winding system M1T2, M2T2, M3T1 and M4T1 and the pulse inverter PWR2 feeds the part winding systems M1T1, M2T1, M3T2 and M4T2.

FIG 2 zeigt ein Ausführungsbeispiel für die Wicklungsanordnung des Ständers eines vierpoligen Fahrmotors mit 24 Nuten. Dargestellt sind dabei die 2xP = 4 Spulengruppen eines Stranges. Die Spulengruppen SGI und SG3 bilden eine Teilwicklung. SG2 und SG4 die andere Teilwicklung des Stranges. Es ist da- bei die Reihenschaltung der Spulengruppen SG1,SG3 und SG2,SG4 dargestellt. Eine Parallelschaltung dieser Spulengruppen SG1,SG2 und SG2,SG4 ist ebenso möglich.2 shows an embodiment for the winding arrangement of the stator of a four-pole drive motor with 24 slots. The 2xP = 4 coil groups of one strand are shown. The coil groups SGI and SG3 form a partial winding. SG2 and SG4 the other partial winding of the strand. The series connection of the coil groups SG1, SG3 and SG2, SG4 is shown. A parallel connection of these coil groups SG1, SG2 and SG2, SG4 is also possible.

An den beispielsweise aufgeführten Triebfahrzeugen mit ihren Drehgestellen 1 werden die Eigenfrequenzen aufgenommen. Dies geschieht vorteilhafterweise bereits während der Inbetriebnahmephase sodass zu diesem Zeitpunkt der für die Pendelmo- mentkompensation erforderliche Pulsmustersatz im Antriebsteuergerät hinterlegt wird. Statt eines Tausches oder einer Nachbesserung der Drehgestelle 1 ist lediglich eine Anpassung des Pulsmustersatzes im Ansteuergerät 5 erforderlich. Zum Aufspüren der störenden Eigenfrequenzen und dem Nachweis der vorgenommenen Verbesserungen sind Schwingungssensoren oder Mikrofone am Drehgestell 1 einsetzbar.The natural frequencies are recorded on the locomotives listed, for example, with their bogies 1. This advantageously already takes place during the commissioning phase, so that at this point in time the the required pulse pattern set is stored in the drive control unit. Instead of exchanging or reworking the bogies 1, it is only necessary to adapt the pulse pattern set in the control device 5. Vibration sensors or microphones on the bogie 1 can be used to detect the disturbing natural frequencies and to prove the improvements made.

Das erfindungsgemäße Verfahren zur Pendelmomentkompensation ist insbesondere bei den in FIG 1 beschriebenen Triebfahrzeugen einsetzbar. Es ist aber nicht unbedingt erforderlich Fahrmotoren mit Doppelstern einzusetzen. Denkbar sind auch mehr als zwei Sterne pro Fahrmotor Ml bis M4.The method according to the invention for pendulum torque compensation can be used in particular in the locomotives described in FIG. 1. However, it is not absolutely necessary to use traction motors with double stars. More than two stars per drive motor Ml to M4 are also conceivable.

Dieses Verfahren ist auch bei Einzelachsfahrwerken oder Einzelradaufhängungen einsetzbar. This procedure can also be used for single-axle chassis or independent wheel suspensions.

Claims

Patentansprüche claims 1. Verfahren zur Kompensation der Pendelmomente in Fahrmotoren eines elektrischen Triebfahrzeug mit einer Anzahl von Fahrmotoren (M1-M4) zum Antrieb von Radsätzen oder Einzelrädern (2) an dementsprechenden Fahrwerken oder Aufhängungen, insbesondere in Drehgestellen (1), wobei jeder Fahrmotor (Ml- M4) mehrstrangig ist und jeweils in zumindest zwei Teilsysteme (M1T1-M4T2) aufgeteilt ist, wobei jedes Teilsystem (M1T1- M4T2) aus einzelnen Spulengruppen (SG1-SG4) besteht und jedes Teilsystem (M1T1-M4T2) eines Fahrmotors (M1-M4) über jeweils einen Stromrichter (PWR1,PWR2) gespeist wird, die über zumindest ein Antriebssteuergerät (5) die Fahrmotoren (M1-M4) derart ansteuern, dass bestimmte Pendelmomente, z.B. im Bereich der Eigenfrequenzen des jeweiligen Drehgestells vermieden werden, indem durch Messungen die jeweiligen Eigenfrequenzen des Drehgestells (1) ermittelt und die dementsprechenden Pulsmustersätze im Antriebssteuergerät (5) hinterlegt werden.1. A method for compensating the pendulum torques in traction motors of an electric traction vehicle with a number of traction motors (M1-M4) for driving wheel sets or individual wheels (2) on corresponding undercarriages or suspensions, in particular in bogies (1), each traction motor (Ml- M4) is multi-stranded and is divided into at least two subsystems (M1T1-M4T2), each subsystem (M1T1-M4T2) consisting of individual coil groups (SG1-SG4) and each subsystem (M1T1-M4T2) of a traction motor (M1-M4) Is fed via one converter (PWR1, PWR2), which controls the traction motors (M1-M4) via at least one drive control unit (5) in such a way that certain pendulum torques, e.g. in the range of the natural frequencies of the respective bogie can be avoided by determining the respective natural frequencies of the bogie (1) by measurements and storing the corresponding pulse pattern sets in the drive control unit (5). 2. Verfahren nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Eigenfrequenzen der Drehgestelle (1) , Einzelachsfahrwerken oder Einzelradaufhängungen vorab bei Inbetriebsetzung des Triebfahrzeugs ermittelt werden.2. The method according to claim 1, so that the natural frequencies of the bogies (1), single-axle chassis or independent wheel suspensions are determined in advance when the locomotive is started up. 3. Elektrisches Triebfahrzeug zur Durchführung des Verfahrens nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die ungeradzahligen Spulengruppen (SG1,SG3) eines Stranges ein erstes Teilsystem, die geradzahligen Spulengruppen (SG2,SG4) ein zweites Teilsystem bilden.3. Electric traction vehicle for performing the method according to claim 1, so that the odd-numbered coil groups (SG1, SG3) of a strand form a first subsystem, the even-numbered coil groups (SG2, SG4) form a second subsystem. 4. Elektrisches Triebfahrzeug zur Durchführung des Verfahrens nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die erste Hälfte der Spulengruppen (SG1,SG2) ein erstes Teilsystem, die andere Hälfte der Spulengruppen (SG3,SG4)ein zweites Teilsystem bilden. 4. Electric motor vehicle for performing the method according to claim 1, characterized in that the first half of the coil groups (SG1, SG2) form a first subsystem, the other half of the coil groups (SG3, SG4) form a second subsystem. 5. Elektrisches Triebfahrzeug nach Anspruch 3 oder 4, d a d u r c h g e k e n n z e i c h n e t , dass die Achsen der Teilsysteme räumlich um 180°/p versetzt sind, wobei p die Polpaarzahl eines Fahrmotors (M1-M4) ist.5. Electric traction vehicle according to claim 3 or 4, so that the axes of the subsystems are spatially offset by 180 ° / p, where p is the number of pole pairs of a traction motor (M1-M4). 6. Elektrisches Triebfahrzeug nach einem der Ansprüche 3 bis 5, d a d u r c h g e k e n n z e i c h n e t , dass die jeweiligen Spulengruppen (SG) eines Teilsystems elektrisch in Reihe und/oder parallel schaltbar sind.6. Electric traction vehicle according to one of claims 3 to 5, so that the respective coil groups (SG) of a subsystem can be electrically connected in series and / or in parallel. 7. Elektrisches Triebfahrzeug nach einem der vorhergehenden Ansprüche 3 bis 6, d a d u r c h g e k e n n z e i c h n e t , dass die Fahrmotoren (M1-M4) längs oder quer bezüglich der Fahrtrichtung des elektrischen Triebfahrzeugs einge- baut sind.7. Electric traction vehicle according to one of the preceding claims 3 to 6, so that the traction motors (M1-M4) are installed longitudinally or transversely with respect to the direction of travel of the electric traction vehicle. 8. Elektrisches Triebfahrzeug nach einem der vorhergehenden Ansprüche 3 bis 7, d a d u r c h g e k e n n z e i c h n e t , dass die Stromrichter (PWR1,PWR2) asynchron zur Grundfrequenz oder synchron taktbar sind. 8. Electric traction vehicle according to one of the preceding claims 3 to 7, so that the converters (PWR1, PWR2) can be clocked asynchronously to the basic frequency or synchronously.
EP03792128A 2002-08-19 2003-08-05 Oscillating torque compensation of an electric tractive vehicle Withdrawn EP1530534A1 (en)

Applications Claiming Priority (3)

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DE10237866A DE10237866A1 (en) 2002-08-19 2002-08-19 Electric locomotive
DE10237866 2002-08-19
PCT/DE2003/002630 WO2004018275A1 (en) 2002-08-19 2003-08-05 Oscillating torque compensation of an electric tractive vehicle

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DE102013204232B4 (en) * 2013-03-12 2014-11-20 Siemens Aktiengesellschaft Asymmetric drive of a rail vehicle with longitudinal gear sets
DE102014224148A1 (en) * 2014-11-26 2016-06-02 Siemens Aktiengesellschaft Bogie for a rail vehicle
CN105450099B (en) * 2015-12-28 2017-11-24 浙江兆丰机电股份有限公司 A kind of wheel hub motor electromagnetism damping device of electric automobile
CN112009259B (en) * 2019-05-28 2022-08-09 比亚迪股份有限公司 Vehicle and power distribution method thereof

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DE3525421A1 (en) * 1985-07-12 1987-01-22 Licentia Gmbh Method and circuit arrangement for reducing the torque ripple of a converter motor in the low speed range
EP0266598B1 (en) * 1986-11-04 1994-02-09 Robert Bosch Gmbh Electrical servo-control
JPH04112694A (en) * 1990-08-30 1992-04-14 Zexel Corp Noise occurrence preventive device for blower unit using brushless motor
DE10057069A1 (en) 2000-11-17 2002-05-29 Siemens Ag Bogie of a locomotive

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