# US 11,305,784 B2 · Method for online direct estimation and compensation of flux and torque errors in electric drives

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- Number: US 11,305,784 B2
- Document ID: US11305784B2
- Status: Granted
- Kind: B2
- Application number: 16/730,218
- Filed: 2019-12-30
- Published: 2021-07-01
- Granted: 2022-04-19
- Earliest claimed: 2019-12-30
- Assignees: Karma Automotive LLC
- Applicants: Karma Automotive LLC
- Inventors: Parisa Mohammadalizadeh Shabestari; Younes Sangsefidi; Geng Niu
- Web page: https://patentgrep.com/patent/US11305784B2

## CPC

- B60W 50/029: Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 50/0205: {Diagnosing or detecting failures; Failure detection models}
- H02P 21/06: Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P 21/13: Observer control, e.g. using Luenberger observers or Kalman filters
- H02P 21/14: Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P 21/141: {Flux estimation}
- H02P 23/14: Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
- H02P 27/06: using DC to AC converters or inverters (H02P27/05 takes precedence)
- B60W 2050/0026: {Lookup tables or parameter maps}
- B60W 2050/0056: {Low-pass filters}
- B60W 2510/087: Temperature
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS

## Abstract

An online method of detecting and compensating for errors in flux estimation in operation of a motor system. The method includes determining a voltage compensation term by comparing an expected voltage and an actual voltage. The method also includes determining a flux compensation term by passing the voltage compensation term through a low-pass filter, and determining a corrected flux component value by comparing the flux compensation term with a flux value obtained from a look-up table, wherein the low-pass filter receives operating parameters based on data regarding an operating environment of the motor system. The method then further determines a corrected torque value based on the corrected flux component value.

## Claims

### Claim 1

A method of detecting and compensating for errors in flux estimation during operation of a motor system having a motor and an inverter, wherein the method uses a microprocessor of an inverter control board, wherein the method comprises the steps of:
determining a voltage compensation term by comparing an expected voltage and an actual voltage;
determining a flux compensation term by passing the voltage compensation term through a low-pass filter; and
determining a corrected flux component value by comparing the flux compensation term with a look-up table flux value;
wherein the low-pass filter receives operating parameters based on data regarding an operating environment of the motor system;
determining a corrected torque value based on the corrected flux component value; and wherein the inverter control board sends commands to the inverter so that the at least one electric motor outputs the corrected torque value.

### Claim 2 (depends on 1)

The method of claim 1, wherein the received operating parameters include at least one of a cutoff frequency and a period length.

### Claim 3 (depends on 1)

The method of claim 1, wherein data regarding the operating environment of the vehicle includes data regarding at least one of heat, aging, and saturation of at least one component of the motor system.

### Claim 4

A system for detecting and compensating for errors in flux during operation of a motor system having a motor and an inverter, wherein the system comprises:
a sensor system, wherein the sensor system is configured to receive data regarding an operating environment of the motor system from at least one sensor; and
a controller, wherein the controller is configured to receive operating data based on data regarding the operating environment of the motor system, and wherein the controller is configured to detect and compensate for errors in flux estimation in operation of the motor system, and wherein the controller is configured to:
determine a voltage compensation term by comparing an expected voltage and an actual voltage;
determine a flux compensation term by passing the voltage compensation term through a low-pass filter; and
determine a corrected flux component value by comparing the flux compensation term with a flux value stored in a look-up table; wherein the low-pass filter receives operating parameters based on data regarding the operating environment of the motor system;
determine a corrected torque value based on the corrected flux component value; and
wherein the controller is configured to send commands to the inverter so that the electric motor outputs the corrected torque value.

### Claim 5 (depends on 4)

The system of claim 4, wherein the received operating parameters include at least one of a cutoff frequency and a period length.

### Claim 6 (depends on 4)

The system of claim 4, wherein data regarding the operating environment of the vehicle includes data regarding at least one of heat, aging, and saturation of at least one component of the motor system.

### Claim 7

A motor drive system for an electric vehicle configured to detect and compensate for errors in flux during the operation of the motor drive system:
an inverter control board including a microprocessor;
an inverter configured to send power to an electric motor, wherein the electric motor is configured to rotate a wheel of the electric vehicle;
wherein the inverter control board is configured to send signals to the inverter;
wherein the microprocessor is configured to determine a voltage compensation term by comparing an expected voltage and an actual voltage;
wherein the voltage compensation term is passed through a low pass filter to determine a flux compensation term;
wherein the low-pass filter receives operating parameters based on data regarding the operating environment of the motor drive system;
a plurality of current components calculated by referencing a first look up table corresponding to a torque command value;
wherein said microprocessor is configured to determine a corrected flux component value by comparing the flux compensation term with a flux value stored in a look-up table corresponding to the plurality of current components;
wherein the microprocessor is further configured to determine a corrected torque value based on the corrected flux component value and to send commands to the inverter such that the electric motor outputs the corrected torque value.

### Claim 8 (depends on 7)

The system of claim 7, wherein the received operating parameters include at least one of a cutoff frequency and a period length.

### Claim 9 (depends on 7)

The system of claim 7, wherein data regarding the operating environment of the vehicle includes data regarding at least one of heat, aging, and saturation of at least one component of the motor drive system.