Method and apparatus to regulate loads

A method for use with a controller for controlling a machine wherein a torque reference value is provided, the method comprising the steps of:

• obtaining feedback current values corresponding to the currents provided to the machine;
• mathematically combining the feedback current values to generate an error value;
• mathematically combining the error value and the torque reference value to generate a torque command value;
• and
• using the torque command value to control the machine;
• wherein the step of mathematically combining the error value and the torque reference value includes adding a derivative of the error value and a derivative of the torque reference value.

A method for use with a controller for controlling a machine wherein a torque reference value is provided, the method comprising the steps of:

• obtaining feedback current values corresponding to the currents provided to the machine;
• mathematically combining the feedback current values to generate an error value;
• mathematically combining the error value and the torque reference value to generate a torque command value;
• and
• using the torque command value to control the machine;
• wherein the step of obtaining feedback currents includes obtaining d and q-axis feedback currents, the step of using the torque command value to control the machine includes generating a q-axis command voltage value as a function of the torque command value and using the q-axis command voltage value to drive the machine, the step of using the torque command value includes the steps of deriving a q-axis command current value from the torque command value, subtracting the q-axis feedback current value from the q-axis command current value to generate a q-axis error current value, deriving a q-axis regulated voltage value from the q-axis error current value and deriving the q-axis command voltage value as a function of the q-axis regulated voltage value.

A method for use with a controller for controlling a machine wherein a torque reference value is provided, the method comprising the steps of:

• obtaining feedback current values corresponding to the currents provided to the machine;
• mathematically combining the feedback current values to generate an error value;
• mathematically combining the error value and the torque reference value to generate a torque command value;
• and
• using the torque command value to control the machine;
• identifying a system operating frequency, mathematically combining the operating frequency and the torque reference value to generate a power reference value and, wherein, the step of mathematically combining to generate an error value includes combining the feedback current values to generate a power estimate and subtracting the power estimate from the power reference value.

A method for use with a controller for controlling a machine wherein a torque reference value is provided, the method comprising the steps of:

• obtaining feedback current values corresponding to the currents provided to the machine;
• mathematically combining the feedback current values to generate an error value;
• mathematically combining the error value and the torque reference value to generate a torque command value;
• and
• using the torque command value to control the machine;
• wherein the error value is a power error value and the step of mathematically combining the error value and the torque reference value to generate a torque command value includes the steps of converting the torque reference value into a power reference value and combining derivatives of each of the power reference value and the power error value to generate the torque reference value to generate the torque command value.

An apparatus for use with a controller providing command voltage signals to control a machine wherein a torque reference value is provided, the apparatus for identifying an error indicative of the difference between the reference torque value and the torque applied to the machine and using the error value to modify control of the machine, the apparatus comprising:

• sensors for obtaining current values corresponding to the currents provided to the machine;
• and
• a processor running software to:
• mathematically combine the current values to generate an error value;
• mathematically combine the error value and the torque reference value to generate a torque command value;
• and
• use the torque command value to control the machine;
• wherein the step of mathematically combining the error value and the torque reference value includes adding a derivative of the error value and a derivative of the torque reference value.

An apparatus for use with a controller providing command voltage signals to control a machine wherein a torque reference value is provided, the apparatus for identifying an error indicative of the difference between the reference torque value and the torque applied to the machine and using the error value to modify control of the machine, the apparatus comprising:

• sensors for obtaining current values corresponding to the currents provided to the machine, the sensors obtaining d and q-axis feedback currents;
• and
• a processor running software to:
• mathematically combine the current values to generate an error value;
• mathematically combine the error value and the torque reference value to generate a torque command value;
• and
• derive a q-axis command current value from the torque command value;
• subtract the q-axis feedback current value from the q-axis command current value to generate a q-axis error current value;
• derive a q-axis regulated voltage value from the q-axis error current value;
• derive a q-axis command voltage value as a function of the q-axis regulated voltage value;
• and
• use the q-axis command voltage value to drive the machine.