# US 12,184,213 B2 · Motor driving apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,184,213 B2 - Document ID: US12184213B2 - Status: Granted - Kind: B2 - Application number: 17/840,009 - Filed: 2022-06-14 - Published: 2023-02-16 - Granted: 2024-12-31 - Earliest claimed: 2021-08-10 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Yong Jae Lee; Jung Mo Yu; Jang Yoon Jeong - Web page: https://patentgrep.com/patent/US12184213B2 ## CPC - H02P 25/22: Multiple windings; Windings for more than three phases - H02P 27/08: with pulse width modulation - H02K 3/28: Layout of windings or of connections between windings (windings for pole-changing H02K17/06, H02K17/14, H02K19/12, H02K19/32) - H02K 11/33: Drive circuits, e.g. power electronics (H02K11/38 takes precedence) - H02K 2213/03: Machines characterised by numerical values, ranges, mathematical expressions or similar information - Y02T 10/72: Electric energy management in electromobility - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A motor driving apparatus of driving a motor including a plurality of windings respectively corresponding to a plurality of phases is disclosed. The motor driving apparatus includes a first inverter including a plurality of first switching elements and connected to a first end of each of the windings, a second inverter including a plurality of second switching elements and connected to a second end of each of the windings, and a controller electrically connected to the first switching elements and the second switching elements and configured to generate limited pole voltage commands for space vector pulse width modulation based on preset voltage commands of the motor and to distribute the limited pole voltage commands to generate first pole voltage commands for switching of the first switching elements and second pole voltage commands for switching of the second switching elements. ## Claims ### Claim 1 A motor driving apparatus of driving a motor including a plurality of windings respectively corresponding to a plurality of phases, the motor driving apparatus comprising: a first inverter including a plurality of first switching elements and connected to a first end of each of the windings; a second inverter including a plurality of second switching elements and connected to a second end of each of the windings; and a controller electrically connected to the first switching elements and the second switching elements and configured to generate limited pole voltage commands by integrated space vector pulse width modulation for both the first inverter and the second inverter based on preset voltage commands of the motor and to distribute the limited pole voltage commands to generate first pole voltage commands for switching of the first switching elements and second pole voltage commands for switching of the second switching elements. ### Claim 2 (depends on 1) The motor driving apparatus of claim 1, wherein the controller is configured to perform inverse Clarke/Park transformation on the voltage commands of the motor so that the voltage commands precede or lag behind a rotation angle of the motor by 30 degrees to generate phase voltage commands for the respective phases to generate the limited pole voltage commands. ### Claim 3 (depends on 2) The motor driving apparatus of claim 2, wherein the controller is configured to generate an offset voltage corresponding to an average of a maximum value and a minimum value among the phase voltage commands and to subtract the offset voltage from the phase voltage commands to generate the limited extreme voltage commands. ### Claim 4 (depends on 3) The motor driving apparatus of claim 3, wherein an upper limit of the limited pole voltage commands is (√{square root over (3)}/2)*Vdc-amp(Vn*) and a lower limit of the limited pole voltage commands is −{(√{square root over (3)}/2)*Vdc-amp (Vn*)}, wherein Vdc is a DC link voltage of the first inverter and the second inverter, wherein Vn* is a zero-phase component of the voltage commands of the motor, and wherein amp is an operator indicating magnitude. ### Claim 5 (depends on 3) The motor driving apparatus of claim 3, wherein the controller is configured to multiply the limited pole voltage commands by 1/√{square root over (3)} and to add P1 times the zero-phase component of the voltage commands of the motor to the limited pole voltage commands multiplied by 1/√{square root over (3)} to generate the first pole voltage commands, and to subtract P2 times the zero-phase component of the voltage commands of the motor from the limited pole voltage commands multiplied by 1/√{square root over (3)} to generate the second pole voltage commands, wherein summation of the P1 and the P2 is equal to 1. ### Claim 6 (depends on 5) The motor driving apparatus of claim 5, wherein P1 and P2 have different values. ### Claim 7 (depends on 5) The motor driving apparatus of claim 5, wherein, when the controller has performed inverse Clarke/Park transformation for preceding the rotation angle of the motor by 30 degrees, the controller is configured to determine a-phase, b-phase and c-phase components of the first pole voltage commands so that the a-phase, b-phase and c-phase components of the first pole voltage commands respectively correspond to a-phase, b-phase and c-phase components of the limited pole voltage commands, and to determine a-phase, b-phase and c-phase components of the second pole voltage commands so that the a-phase, b-phase and c-phase components of the second pole voltage commands respectively correspond to the b-phase, c-phase and a-phase components of the limited pole voltage commands. ### Claim 8 (depends on 5) The motor driving apparatus of claim 5, wherein, when the controller has performed inverse Clarke/Park transformation for preceding the rotation angle of the motor by 30 degrees, the controller is configured to add P1 times the zero-phase component of the voltage commands of the motor to values obtained by multiplying the a-phase, b-phase and c-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the first pole voltage commands, and configured to subtract P2 times the zero-phase component of the voltage commands of the motor from values obtained by multiplying the b-phase, c-phase and a-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the second pole voltage commands. ### Claim 9 (depends on 5) The motor driving apparatus of claim 5, wherein, when the controller has performed inverse Clarke/Park transformation for lagging behind the rotation angle of the motor by 30 degrees, the a-phase, b-phase and c-phase components of the first pole voltage commands respectively correspond to a-phase, b-phase and c-phase components of the limited pole voltage commands, and the a-phase, b-phase and c-phase components of the second pole voltage commands respectively correspond to the c-phase, a-phase and b-phase components of the limited pole voltage commands. ### Claim 10 (depends on 5) The motor driving apparatus of claim 5, wherein, when the controller has performed inverse Clarke/Park transformation for lagging behind the rotation angle of the motor by 30 degrees, the controller is configured to add P1 times the zero-phase component of the voltage commands of the motor to values obtained by multiplying the a-phase, b-phase and c-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the first pole voltage commands, and configured to subtract P2 times the zero-phase component of the voltage commands of the motor from values obtained by multiplying the c-phase, a-phase and b-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the second pole voltage commands. ### Claim 11 (depends on 1) The motor driving apparatus of claim 1, wherein an upper limit of the limited pole voltage commands is (√{square root over (3)}/2)*Vdc and a lower limit of the limited pole voltage commands is −(√{square root over (3)}/2)*Vdc, wherein Vdc is a DC link voltage of the first inverter and the second inverter. ### Claim 12 A method of controlling a motor driving apparatus of driving a motor including a plurality of windings respectively corresponding to a plurality of phases, a first inverter including a plurality of first switching elements and connected to a first end of each of the windings, and a second inverter including a plurality of second switching elements and connected to a second end of each of the windings, the method comprising: generating, by a controller electrically connected to the first switching elements and the second switching elements, limited pole voltage commands by integrated space vector pulse width modulation for both the first inverter and the second inverter based on preset voltage commands of the motor; and distributing the limited pole voltage commands to generate first pole voltage commands for switching of the first switching elements and second pole voltage commands for switching of the second switching elements. ### Claim 13 (depends on 12) The method of claim 12, wherein the controller is configured to perform inverse Clarke/Park transformation on the voltage commands of the motor so that the voltage commands precede or lag behind a rotation angle of the motor by 30 degrees to generate phase voltage commands for the respective phases to generate the limited pole voltage commands, and wherein the controller is configured to generate an offset voltage corresponding to an average of a maximum value and a minimum value among the phase voltage commands and to subtract the offset voltage from the phase voltage commands to generate the limited extreme voltage commands. ### Claim 14 (depends on 13) The method of claim 13, wherein an upper limit of the limited pole voltage commands is (√{square root over (3)}/2)*Vdc-amp (Vn*) and a lower limit of the limited pole voltage commands is −{(√{square root over (3)}/2)*Vdc-amp(Vn*)}, wherein Vdc is a DC link voltage of the first inverter and the second inverter, wherein Vn* is a zero-phase component of the voltage commands of the motor, and wherein amp is an operator indicating magnitude. ### Claim 15 (depends on 13) The method of claim 13, wherein the controller is configured to multiply the limited pole voltage commands by 1/√{square root over (3)} and to add P1 times the zero-phase component of the voltage commands of the motor to the limited pole voltage commands multiplied by 1/√{square root over (3)} to generate the first pole voltage commands, and to subtract P2 times the zero-phase component of the voltage commands of the motor from the limited pole voltage commands multiplied by 1/√{square root over (3)} to generate the second pole voltage commands, wherein summation of the P1 and the P2 is equal to 1, wherein P1 and P2 have different values. ### Claim 16 (depends on 15) The method of claim 15, wherein, when the controller has performed inverse Clarke/Park transformation for preceding the rotation angle of the motor by 30 degrees, the controller is configured to determine a-phase, b-phase and c-phase components of the first pole voltage commands so that the a-phase, b-phase and c-phase components of the first pole voltage commands respectively correspond to a-phase, b-phase and c-phase components of the limited pole voltage commands, and to determine a-phase, b-phase and c-phase components of the second pole voltage commands so that the a-phase, b-phase and c-phase components of the second pole voltage commands respectively correspond to the b-phase, c-phase and a-phase components of the limited pole voltage commands. ### Claim 17 (depends on 15) The method of claim 15, wherein, when the controller has performed inverse Clarke/Park transformation for preceding the rotation angle of the motor by 30 degrees, the controller is configured to add P1 times the zero-phase component of the voltage commands of the motor to values obtained by multiplying the a-phase, b-phase and c-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the first pole voltage commands, and configured to subtract P2 times the zero-phase component of the voltage commands of the motor from values obtained by multiplying the b-phase, c-phase and a-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the second pole voltage commands. ### Claim 18 (depends on 15) The method of claim 15, wherein, when the controller has performed inverse Clarke/Park transformation for lagging behind the rotation angle of the motor by 30 degrees, the a-phase, b-phase and c-phase components of the first pole voltage commands respectively correspond to a-phase, b-phase and c-phase components of the limited pole voltage commands, and the a-phase, b-phase and c-phase components of the second pole voltage commands respectively correspond to the c-phase, a-phase and b-phase components of the limited pole voltage commands. ### Claim 19 (depends on 15) The method of claim 15, wherein, when the controller has performed inverse Clarke/Park transformation for lagging behind the rotation angle of the motor by 30 degrees, the controller is configured to add P1 times the zero-phase component of the voltage commands of the motor to values obtained by multiplying the a-phase, b-phase and c-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the first pole voltage commands, and configured to subtract P2 times the zero-phase component of the voltage commands of the motor from values obtained by multiplying the c-phase, a-phase and b-phase components of the limited pole voltage commands by 1/√{square root over (3)} to generate the a-phase, b-phase and c-phase components of the second pole voltage commands. ### Claim 20 (depends on 12) The method of claim 12, wherein an upper limit of the limited pole voltage commands is (√{square root over (3)}/2)*Vdc and a lower limit of the limited pole voltage commands is −(√{square root over (3)}/2)*Vdc, wherein Vdc is a DC link voltage of the first inverter and the second inverter.