System for controlling a motor

• US 8,450,962 B2
• Filed: 02/28/2011
• Issued: 05/28/2013
• Est. Priority Date: 02/28/2011
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Wu, Long, Shaw, Robert
• Primary Examiner(s): Ip, Paul
• Application Number:
  US13/036,953
• Publication Number:
  US 20120217923A1
• Time in Patent Office: 820 Days
• Field of Search: 318/609, 318/610, 318/400.02, 318/400.04, 318/400.07, 318/400.3
• US Class Current: 318/610
• CPC Class Codes: H02P 21/0003 Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
• CPC Class Codes: H02P 21/02 specially adapted for optimising the efficiency at low load
• CPC Class Codes: H02P 21/06 Rotor flux based control involving the use of rotor position or rotor speed sensors
• CPC Class Codes: H02P 29/662 the rotor having permanent magnets H02P29/67 takes precedence

Abstract

A control system for a motor includes a current regulation controller for generating a terminal voltage command. The terminal voltage command is used for converting a supply voltage to a three phase voltage to power a motor. The control system also includes a terminal voltage command feedback module for controlling the terminal voltage command. The terminal voltage command feedback module compares the terminal voltage command to a determined voltage limit of the supply voltage and generates a d-axis current adjustment command in accordance with the comparison. The d-axis current adjustment command is used for reducing the terminal voltage command below the determined voltage limit. The control system also includes a summer coupled with the terminal voltage command feedback module. The summer adds the d-axis current adjustment command to a d-axis current command received from a lookup table.

Claims

1. A control system for a motor comprising:

a current regulation controller for generating a terminal voltage command used for converting a supply voltage to a three phase voltage to power a motor;

a terminal voltage command feedback module for controlling the terminal voltage command, wherein the terminal voltage command feedback module compares the terminal voltage command to a determined voltage limit of the supply voltage and generates a d-axis current adjustment command in accordance with the comparison, the d-axis current adjustment command used for reducing the terminal voltage command below the determined voltage limit; and

a summer coupled with the terminal voltage command feedback module, wherein the summer adds the d-axis current adjustment command to a d-axis current command received from a lookup table.

2. The control system of claim 1, wherein the determined voltage limit is determined every pulse-width modulation cycle based on a detected supply voltage.

3. The control system of claim 1, wherein the terminal voltage command feedback module generates the d-axis current adjustment command when the terminal voltage command is greater than the determined voltage limit.

4. The control system of claim 1, further comprising a pulse width modulation generation module coupled with the current regulation controller, wherein the pulse width modulation generation module receives the terminal voltage command and generates a three phase voltage command based on the terminal voltage command to power the motor.

5. The control system of claim 4, wherein the supply voltage is a dc bus voltage used to power the pulse width modulation generation module.

6. The control system of claim 1, wherein the determined voltage limit is calculated by dividing a magnitude of the supply voltage by √

3, and multiplying the result by a percentage coefficient.

7. The control system of claim 6, wherein the percentage coefficient comprises about 0.95.

8. An anti-wind up proportional-integral controller for a voltage feedback control module used with a motor, comprising:

an integrator module including an integrator input, an integrator upper limit input, an integrator lower limit input, a positive hold input, and a negative hold input;

a summation module connected with the integration module for summing a limited output of the integrator module and a proportional gain output to obtain a summation module result;

a sum saturation module connected with the summation module and including a sum upper limit and a sum lower limit, the sum saturation module configured to output the summation module result when the summation module result is less than the sum upper limit and greater than the sum lower limit, to output the sum lower limit when the summation module result is less than the sum lower limit, to output the sum upper limit when the summation module result is greater than the sum upper limit, and to output a positive hold signal to the positive hold input of the integrator module when the summation module result is greater than the sum upper limit, wherein the integrator lower limit input is set to zero, the sum lower limit is set to zero, and the negative hold is disabled.

9. The anti-wind up proportional-integral controller of claim 8, wherein a proportional gain and an integral gain of the proportional-integral controller differ based on a speed of the motor.

10. The anti-wind up proportional-integral controller of claim 9, wherein the limited output of the integrator module represents a sum of a product of an input error and the integral gain value added to a previous step integrator output when the sum is less than the integrator upper limit input and greater than the integrator lower limit input, the integrator upper limit input when the sum is greater than the integrator upper limit input, and the integrator lower limit input when the sum is less than the integrator lower limit input.

11. The anti-wind up proportional integral controller of claim 10, wherein the integrator upper limit input and the sum upper limit are set at about 10-15% of a characteristic current of the motor.

12. The anti-wind up proportional integral controller of claim 9, wherein the proportional gain output represents a product of an input error and the proportional gain value.

13. The anti-wind up proportional integral controller of claim 9, wherein the proportional gain and the integral gain are obtained from lookup tables, and are determined based on a speed range of the motor.

14. A method of controlling a motor comprising:

monitoring a terminal voltage command generated by a current regulation controller;

comparing the terminal voltage command to a voltage limit of a supply voltage;

generating an adjustment command based on the comparison;

adding the adjustment command to a current command obtained from a lookup table to create an adjusted current command; and

transmitting the adjusted current command to the current regulation controller.

15. The method of claim 14, further comprising:

detecting the supply voltage within every pulse-width modulation cycle; and

calculating the voltage limit within every pulse-width modulation cycle based on the detected supply voltage.

16. The method of claim 14, further comprising generating the terminal voltage command based on the adjusted current command.

17. The method of claim 14, wherein the terminal voltage command and the voltage limit are compared with a proportional-integral controller.

18. The method of claim 17, wherein the proportional-integral controller is modified so that an integrator lower limit is set to zero, a sum lower limit is set to zero, and a negative hold input is disabled.

19. The method of claim 14, wherein the adjustment command is generated when the terminal voltage command is greater than the voltage limit.