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US 7,157,878 B2Granted
Transient compensation voltage estimation for feedforward sinusoidal brushless motor control
AssigneeDelphi Technologies, Inc.
InventorSteven James Collier-Hallman
Life of this patent
Estimating the term…
Abstract
A method for controlling a voltage mode controlled electric machine comprising: receiving a torque value representative of a desired torque; obtaining a speed value indicative of a rotational velocity of the electric machine; acquiring a phase advance value indicative of a desired phase advance angle; generating a voltage command responsive to the torque value, the position value; the generating is responsive to the torque value, the speed value, and the phase advance value.
Claims16
A method for controlling an electric motor, the method comprising:
- receiving a torque value representative of a desired torque;
- obtaining a speed value indicative of a rotational velocity of said electric motor;
- acquiring a phase advance value indicative of a desired phase advance angle;
- providing closed-loop voltage mode control of the electric motor by generating a voltage command in response to a solution of a dynamic inverse motor model equation of said electric motor, utilizing said torque value, said speed value, and said phase advance value;
- wherein the dynamic inverse motor model equation specifies that a magnitude of a voltage applied to the electric motor is a function of at least one of a magnitude of a previously existing voltage or a magnitude of a presently existing voltage at the electric motor.
2 more elements
A method for controlling an electric motor, the method comprising:
- receiving a torque value representative of a desired torque;
- obtaining a speed value indicative of a rotational velocity of said electric motor;
- acquiring a phase advance value indicative of a desired phase advance angle;
- and
- providing closed-loop voltage mode control of the electric motor by generating a voltage command in response to a solution of a dynamic inverse motor model equation of said electric motor, utilizing said torque value, said speed value, and said phase advance value;
- wherein the dynamic inverse motor model equation specifies that a magnitude of a voltage applied to the electric motor is a function of at least one of a magnitude of a previously existing voltage or a magnitude of a presently existing voltage at the electric motor;
- and
- wherein said dynamic inverse motor model equation comprises:
- V
-
-
- Cos
-
- (
- δ
- )
- =
- (
- L
- R
-
- s
- +
- 1
- )
-
- R
-
-
- T
- e
- K
- e
- +
- K
- e
-
- ω
- m
- +
- L
-
-
- ω
- e
- (
- L
-
-
- ω
- e
-
- T
- e
- /
- K
- e
- -
- V
-
-
- Sin
-
- (
- δ
- )
- R
-
- (
- L
- R
-
- s
- +
- 1
- )
- )
- where:
- V—is a magnitude of an applied Voltage
- δ—is an angle of said applied Voltage relative to a back emf
- α—is an angle of the Current relative to said back emf
- L—is a stator inductance
- R—is a stator resistance
- Ke—is a motor constant
- Te—is a desired torque
- ωm—is a rotor mechanical velocity
- ωe—is a rotor electrical velocity
- s—is a Laplace operator.
85 more elements
A system for controlling an electric motor comprising:
- a PM voltage mode controlled electric motor,
- a sensor operably connected to said electric motor and configured to measure at least one of a rotor velocity and a rotor position of said electric motor and transmit at least one of a velocity signal and a position signal;
- a controller, said controller operably connected to said electric motor and said sensor, said controller receiving said at least one of a velocity signal and a position signal and generating a voltage command in response to a solution of a dynamic inverse motor model equation of said electric motor;
- wherein the dynamic inverse motor model equation specifies that a magnitude of a voltage applied to the electric motor is a function of at least one of a magnitude of a previously existing voltage or a magnitude of a presently existing voltage at the electric motor;
- and
- wherein said voltage command is responsive to a desired torque value, a phase advance value, and said at least one of a velocity signal and a position signal.
3 more elements
A system for controlling an electric motor comprising:
- a PM voltage mode controlled electric motor;
- a sensor operably connected to said electric motor and configured to measure at least one of a rotor velocity and a rotor position of said electric motor and transmit at least one of a velocity signal and a position signal;
- a controller, said controller operably connected to said electric motor and said sensor, said controller receiving said at least one of a velocity signal and a position signal and generating a voltage command in response to a solution of a dynamic inverse motor model equation of said electric motor;
- wherein the dynamic inverse motor model equation specifies that a magnitude of a voltage applied to the electric motor is a function of at least one of a magnitude of a previously existing voltage or a magnitude of a presently existing voltage at the electric motor;
- and
- wherein said voltage command is responsive to a desired torque value, a phase advance value, and said at least one of a velocity signal and a position signal;
- wherein said controller includes a closed loop non-linear filter to solve said dynamic inverse motor model equation as an implicit equation, thereby providing said solution;
- and
- wherein said dynamic inverse motor model equation comprises:
- V
-
-
- Cos
-
- (
- δ
- )
- =
- (
- L
- R
-
- s
- +
- 1
- )
-
- R
-
-
- T
- e
- K
- e
- +
- K
- e
-
- ω
- m
- +
- L
-
-
- ω
- e
- (
- L
-
-
- ω
- e
-
- T
- e
- /
- K
- e
- -
- V
-
-
- Sin
-
- (
- δ
- )
- R
-
- (
- L
- R
-
- s
- +
- 1
- )
- )
- where:
- V—is a magnitude of an applied Voltage
- δ—is an angle of said applied Voltage relative to a back emf
- α—is an angle of a Current relative to said back emf
- L—is a stator inductance
- R—is a stator resistance
- Ke—is a motor constant
- Te—is a desired torque
- ωm—is a rotor mechanical velocity
- ωe—is a rotor electrical velocity
- s—is a Laplace operator.
86 more elements
A storage medium encoded with a computer program code including instructions for causing a controller to implement a method for controlling a voltage mode controlled electric motor, the method comprising:
- receiving a torque value representative of a desired torque;
- obtaining a speed value indicative of a rotational velocity of said electric motor;
- acquiring a phase advance value indicative of a desired phase advance angle;
- generating a voltage command in response to a solution of a dynamic inverse motor model equation of said electric motor, utilizing said torque value, said speed value, and said phase advance value;
- wherein the dynamic inverse motor model equation specifies that a magnitude of a voltage applied to the electric motor is a function of at least one of a magnitude of a previously existing voltage or a magnitude of a presently existing voltage at the electric motor.
2 more elements
Dependencies are inferred from the claim text.