# US 9,520,820 B2 · Method and apparatus for auto-tuning an electric machine current regulator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,520,820 B2 - Document ID: US9520820B2 - Status: Granted - Kind: B2 - Application number: 14/581,829 - Filed: 2014-12-23 - Published: 2016-06-23 - Granted: 2016-12-13 - Earliest claimed: 2014-12-23 - Assignees: Deere & Company - Applicants: David Holmburg; Robert Shaw; Long Wu - Inventors: David Holmburg; Robert Shaw; Long Wu - Web page: https://patentgrep.com/patent/US9520820B2 ## CPC - H02P 21/14: Estimation or adaptation of machine parameters, e.g. flux, current or voltage - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## Abstract In one example embodiment, a motor control unit includes 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 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. The processor is further configured to tune the current regulator by determining a plurality of gains based on the determined plurality of variables and generating current commands for operating the electric motor based on the determined plurality of gains. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The motor control unit of claim 1, wherein the processor is configured to determine the stator resistance value by, determining a first resistance value of the stator when a speed of the electric motor is zero and a current flowing through the electric motor is positive, determining a second resistance value of the stator when the speed of the electric motor is zero and the current flowing through the electric motor is negative, and averaging the first and second resistance values to obtain the stator resistance value. ### Claim 3 (depends on 1) The motor control unit of claim 1, wherein the processor is configured to determine the first inductance value by, determining a time for a magnitude of a d-axis current flowing through the electric motor to change between lower and upper limits with respect to a reference point, and determining the first inductance value based on the determined time, a voltage value corresponding to the set reference point and the change of the magnitude of the d-axis current. ### Claim 4 (depends on 3) The motor control unit of claim 3, wherein the processor is configured to determine the first inductance value based on the determined time, the voltage value corresponding to the set reference point, the change of the magnitude of the d-axis current and the determined stator resistance. ### Claim 5 (depends on 1) The motor control unit of claim 1, wherein the processor is configured to determine the second inductance value by, determining a time for a magnitude of a q-axis current flowing through the electric motor to change between lower and upper limits with respect to a reference point, and determining the second inductance value based on the determined time, a voltage value corresponding to the set reference point and the change of the magnitude of the q-axis current. ### Claim 6 (depends on 5) The motor control unit of claim 5, wherein the processor is configured to determine the second inductance value based on the determined time, the voltage value corresponding to the set reference point, the change of the magnitude of the q-axis current and the determined stator resistance. ### Claim 7 (depends on 1) The motor control unit of claim 1, wherein the processor is further configured to, determine, at each of the plurality of switching frequencies, whether the current regulator satisfies a performance requirement using corresponding ones of the plurality of determined gains; and adjust the corresponding ones of the plurality of determined gains based on whether the current regulator satisfies the performance requirement at each of the plurality of switching frequencies. ### Claim 8 (depends on 7) The motor control unit of claim 7, wherein the processor determines whether the current regulator satisfies the performance requirement by, determining a first ratio between a d-axis current command of the generated current commands and an actual d-axis current of the electric motor, determining a second ratio between a q-axis current command of the generated current commands and an actual q-axis current of the electric motor, and determining that the current regulator meets the performance criteria if the first and second ratios are within a threshold. ### Claim 9 (depends on 1) The motor control unit of claim 1, wherein the processor is further configured to supply the generated current commands to an inverter which converts the current commands to three-phase voltages for running the electric motor. ### Claim 10 A method of tuning a current regulator regulating a supply of electrical current to an electric motor, the method comprising: 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. ### Claim 11 (depends on 10) The method of claim 10, wherein the determining the plurality of variables determines the stator resistance value by, determining a first resistance value of the stator when a speed of the electric motor is zero and a current flowing through the electric motor is positive, determining a second resistance value of the stator when the speed of the electric motor is zero and the current flowing through the electric motor is negative, and averaging the first and second resistance values to obtain the stator resistance value. ### Claim 12 (depends on 10) The method of claim 10, wherein the determining the plurality of variables determines the first inductance value by, determining a time for a magnitude of a d-axis current flowing through the electric motor to change between lower and upper limits with respect to a reference point, and determining the first inductance value based on the determined time, a voltage value corresponding to the set reference point and the change of the magnitude of the d-axis current. ### Claim 13 (depends on 12) The method of claim 12, wherein the determining the plurality of variables determines the first inductance value based on the determined time, the voltage value corresponding to the set reference point, the change of the magnitude of the d-axis current and the determined stator resistance. ### Claim 14 (depends on 10) The method of claim 10, wherein the determining the plurality of variables determines the second inductance value by, determining a time for a magnitude of a q-axis current flowing through the electric motor to change between lower and upper limits with respect to a reference point, and determining the second inductance value based on the determined time, a voltage value corresponding to the set reference point and the change of the magnitude of the q-axis current. ### Claim 15 (depends on 14) The method of claim 14, wherein the determining the plurality of variables determines the second inductance value based on the determined time, the voltage value corresponding to the set reference point, the change of the magnitude of the q-axis current and the determined stator resistance. ### Claim 16 (depends on 10) The method of claim 10, further comprising: determining, at each of the plurality of switching frequencies, whether the current regulator satisfies a performance requirement using corresponding ones of the plurality of determined gains; and adjusting the corresponding ones of the plurality of determined gains based on whether the current regulator satisfies the performance requirement at each of the plurality of switching frequencies. ### Claim 17 (depends on 16) The method of claim 16, wherein the determining whether the current regulator satisfies the performance requirement includes, determining first ratio between a d-axis current command of the generated current commands and an actual d-axis current of the electric motor, determining a second ratio between a q-axis current command of the generated current commands and an actual q-axis current of the electric motor, and determining that the current regulator meets the performance criteria if the first and second ratios are within a threshold. ### Claim 18 (depends on 10) The method of claim 10, further comprising: supplying the current commands to an inverter which converts the current commands to three-phase voltages for running the electric motor.