Method and system for controlling a motor
First Claim
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1. A method of transitioning an electric motor from a first operating mode to a second operating mode, the method comprising:
- measuring the speed of the motor;
generating a second torque command, the second torque command being a function of the measured motor speed, a first torque command, and a motor speed command;
sending the second torque command to the motor; and
modifying the second torque command when the measured motor speed reaches a predetermined value.
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Abstract
A method of transitioning a motor from a torque control mode to a speed control mode includes providing the motor with a torque command to eliminate torque holes at the transition. A speed controller generates a speed error, which is used to generate two torque terms. The first torque term is proportional to the speed error, and the second torque term includes the integral of the speed error. A third torque term comprises a feedforward torque, which is added to the first two torque terms to generate the torque command.
128 Citations
23 Claims
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1. A method of transitioning an electric motor from a first operating mode to a second operating mode, the method comprising:
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measuring the speed of the motor;
generating a second torque command, the second torque command being a function of the measured motor speed, a first torque command, and a motor speed command;
sending the second torque command to the motor; and
modifying the second torque command when the measured motor speed reaches a predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of transitioning an electric motor from a first operating mode to a second operating mode, the method comprising:
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measuring the speed of the motor;
generating a speed error, the speed error being the difference between a motor speed command and the measured motor speed;
generating a second torque command, the second torque command being a function of the speed error, an integral of the speed error, and a first torque command;
sending the second torque command to the motor; and
modifying the second torque command when the measured motor speed reaches a predetermined value. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A system for transitioning an electric motor from a first operating mode to a second operating mode, the system comprising:
a first controller for at least controlling the motor, the first controller being configured to at least generate a speed error, an integral of the speed error, and a second torque command, the speed error being the difference between a motor speed command and a measured motor speed, the second torque command being a function of the speed error and a first toque command, the first controller being further configured with an adaptive anti-windup strategy for limiting the size of the speed error integral. - View Dependent Claims (16, 17, 18, 19)
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20. A controller for controlling an electric motor, the controller comprising:
an algorithm for generating a second torque command and for sending the second torque command to the motor, the second torque command being a function of a speed error, an integral of the speed error, and a first torque command, the algorithm including an adaptive anti-windup strategy for limiting the size of the speed error integral. - View Dependent Claims (21)
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22. A vehicle having an electric motor and a system for transitioning the motor from a first operating mode to a second operating mode, the system comprising:
a first controller for at least controlling the motor, the first controller being configured to at least generate a speed error, an integral of the speed error, and a second torque command, the speed error being the difference between a motor speed command and a measured motor speed, the second torque command being a function of the speed error and a first torque command, the first controller being further configured with an adaptive anti-windup strategy for limiting the size of the speed error integral. - View Dependent Claims (23)
Specification