# US 8,786,223 B2 · Controlling torque ripple in interior permanent magnet machines > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,786,223 B2 - Document ID: US8786223B2 - Status: Granted - Kind: B2 - Application number: 13/273,699 - Filed: 2011-10-14 - Published: 2013-04-18 - Granted: 2014-07-22 - Earliest claimed: 2011-10-14 - Assignees: Ford Global Technologies, LLC - Applicants: Franco Leonardi; Dean Richard Canini; Michael W. Degner - Inventors: Franco Leonardi; Dean Richard Canini; Michael W. Degner - Web page: https://patentgrep.com/patent/US8786223B2 ## CPC - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60L 50/16: with provision for separate direct mechanical propulsion - B60L 50/61: by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles - H02P 21/22: Current control, e.g. using a current control loop - B60L 2210/40: DC to AC converters - B60L 2220/14: Synchronous machines - B60L 2240/421: Speed - B60L 2240/423: Torque - B60L 2270/145: Structure borne vibrations - H02P 2207/05: Synchronous machines, e.g. with permanent magnets or DC excitation - Y02T 10/62: Hybrid vehicles - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A system for controlling a vehicle, the vehicle including a permanent magnet (PM) synchronous motor, includes a controller. The controller is configured to control the motor with a motor current. In the presence of a predetermined condition, the motor current results in increased winding loss and reduced torque ripple with respect to optimal motor current for minimal winding loss. ## Claims ### Claim 1 A system for controlling a vehicle including a permanent magnet (PM) synchronous motor, the system comprising a controller configured to: control the motor with a motor current and, in the presence of a predetermined condition, alter a control angle of the motor current to increase winding loss and reduce torque ripple with respect to an optimal control angle of the motor current for minimal winding loss. ### Claim 2 (depends on 1) The system of claim 1 wherein the controller is further configured to: establish a motor speed; and determine the presence of the predetermined condition based on whether the motor speed falls within a predetermined speed range, and further based on whether a torque command exceeds a predetermined value. ### Claim 3 (depends on 2) The system of claim 2 wherein, in the presence of the predetermined condition, the motor current results in decreased control angle of at least 5 degrees with respect to optimal motor current for minimal winding loss. ### Claim 4 (depends on 1) The system of claim 1 wherein, in the presence of the predetermined condition, the motor current results in decreased control angle of at least 5 degrees with respect to optimal motor current for minimal winding loss. ### Claim 5 A method of controlling a vehicle including a permanent magnet (PM) synchronous motor comprising: controlling the motor based on d-axis and q-axis current commands Id and Iq, respectively, corresponding to a torque command; and in the presence of a predetermined condition, altering a control angle defined by Id and Iq to increase winding loss and reduce torque ripple relative to an optimal control angle for minimal winding loss. ### Claim 6 (depends on 5) The method of claim 5 wherein, in the absence of the predetermined condition, Id and Iq result in reduced winding loss and increased torque ripple with respect to optimal Id and Iq for minimal torque ripple. ### Claim 7 (depends on 6) The method of claim 6 further comprising: establishing a motor speed; and determining the presence of the predetermined condition based on whether the motor speed falls within a predetermined speed range. ### Claim 8 (depends on 7) The method of claim 7 further comprising: determining the presence of the predetermined condition further based on whether the torque command exceeds a predetermined value. ### Claim 9 (depends on 8) The method of claim 8 wherein, in the presence of the predetermined condition, Id and Iq result in increased peak current with respect to optimal Id and Iq for minimal winding loss. ### Claim 10 (depends on 9) The method of claim 9 wherein, in the presence of the predetermined condition, Id and Iq result in decreased control angle of at least 5 degrees with respect to optimal Id and Iq for minimal winding loss. ### Claim 11 (depends on 5) The method of claim 5 wherein, in the presence of the predetermined condition, Id and Iq result in increased peak current with respect to optimal Id and Iq for minimal winding loss. ### Claim 12 (depends on 11) The method of claim 11 wherein, in the presence of the predetermined condition, Id and Iq result in decreased control angle of at least 5 degrees with respect to optimal Id and Iq for minimal winding loss. ### Claim 13 A system for controlling a vehicle including a permanent magnet (PM) synchronous motor, the system comprising a controller configured to: control the motor based on d-axis and q-axis current commands Id and Iq, respectively, corresponding to a torque command; and in the presence of a predetermined condition, alter a control angle defined by Id and Iq to increase winding loss and reduce torque ripple relative to an optimal control angle for minimal winding loss. ### Claim 14 (depends on 13) The system of claim 13 wherein, in the absence of the predetermined condition, Id and Iq result in reduced winding loss and increased torque ripple with respect to optimal Id and Iq for minimal torque ripple. ### Claim 15 (depends on 14) The system of claim 14 wherein the controller is further configured to: establish a motor speed; and determine the presence of the predetermined condition based on whether the motor speed falls within a predetermined speed range. ### Claim 16 (depends on 15) The system of claim 15 wherein the controller is further configured to: determine the presence of the predetermined condition further based on whether the torque command exceeds a predetermined value. ### Claim 17 (depends on 16) The system of claim 16 wherein, in the presence of the predetermined condition, Id and Iq result in increased peak current with respect to optimal Id and Iq for minimal winding loss. ### Claim 18 (depends on 17) The system of claim 17 wherein, in the presence of the predetermined condition, Id and Iq result in decreased control angle of at least 5 degrees with respect to optimal Id and Iq for minimal winding loss. ### Claim 19 (depends on 13) The system of claim 13 wherein, in the presence of the predetermined condition, Id and Iq result in increased peak current with respect to optimal Id and Iq for minimal winding loss. ### Claim 20 (depends on 19) The system of claim 19 wherein, in the presence of the predetermined condition, Id and Iq result in decreased control angle of at least 5 degrees with respect to optimal Id and Iq for minimal winding loss.