Transient compensation voltage estimation for feedforward sinusoidal brushless motor control

• US 7,157,878 B2
• Filed: 11/19/2002
• Issued: 01/02/2007
• Est. Priority Date: 11/19/2002
• Status: Expired due to Term

• Current Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust), Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Collier-Hallman, Steven James
• Primary Examiner(s): Donovan; Lincoln
• Assistant Examiner(s): MCCLOUD, RENATA D
• Application Number:
  US10/300,146
• Publication Number:
  US 20040095089A1
• Time in Patent Office: 1,505 Days
• Field of Search: 318/560, 318/567, 318568-569, 318/432, 318/439
• US Class Current: 318/567
• CPC Class Codes: B62D 5/046 Controlling the motor
• CPC Class Codes: G05B 2219/42063 Position and speed and current and force, moment, torque
• CPC Class Codes: H02P 6/15 Controlling commutation time
• CPC Class Codes: H02P 6/16 Circuit arrangements for detecting position

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.

Claims

1. 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. The method of claim 1 wherein said obtaining a speed value comprises receiving a position value and computing said speed value therefrom.

3. The method of claim 1 wherein said generating includes implementing a closed loop non-linear filter to solve said dynamic inverse motor model equation as an implicit equation, thereby providing said solution.

5. The method of claim 1 further including receiving a temperature signal.

6. The method of claim 5 wherein said generating is responsive to said temperature signal.

7. The method of claim 6 wherein said generating includes scheduling a motor parameter as a function of said temperature signal.

4. 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;

8. 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.

9. The system of claim 8 wherein said controller computes a speed value responsive to said position signal.

10. The system of claim 8 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.

12. The system of claim 8 wherein said voltage command is responsive to frequency responsive dynamic terms implemented as filters.

13. The system of claim 8 further including a temperature sensor in operable communication with said controller and transmitting a temperature signal.

14. The system of claim 13 wherein said voltage command is responsive to said temperature signal.

15. The system of claim 14 wherein said voltage command is responsive to a scheduled a motor parameter as a function of said temperature signal.

11. 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;

16. 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.