Method and apparatus for auto-tuning an electric machine current regulator

A motor control unit comprising:

• a processor configured to tune a current regulator regulating a supply of electrical current to an electric motor by,
• determining a plurality of variables, the plurality of variables including a stator resistance value, a first inductance value and a second inductance value, the stator resistance value being a resistance value of a stator phase of the electric motor, the first inductance value being a d-axis inductance of the electric motor and the second inductance value being a q-axis inductance of the electric motor;
• determining a plurality of gains by,
• determining a plurality of switching frequencies associated with a speed of the electric motor,
• determining a virtual resistance value based on the determined stator resistor value,
• for each of the plurality of switching frequencies,
• determining a first and second proportional gains based on the determined first and second inductance values, and
• determining a first and second integral gains based on a respective one of the first and second proportional gains, the determined virtual resistance and the determined stator resistance value, the first and second integral gains associated with each of the plurality of switching frequencies forming the plurality of gains;
• and
• generating current commands for operating the electric motor based on the determined plurality of gains.