System for calibrating an electrical control system

• US 8,531,141 B2
• Filed: 02/28/2011
• Issued: 09/10/2013
• Est. Priority Date: 02/28/2011
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Wu, Long, Shaw, Robert, Tremel, Chris J., Wanner, Kent D.
• Primary Examiner(s): Ip, Paul
• Application Number:
  US13/036,966
• Publication Number:
  US 20120217915A1
• Time in Patent Office: 925 Days
• Field of Search: 318/400.02, 318/400.07, 318/400.14, 318/721, 318/727, 318/808
• US Class Current: 318/400.07
• CPC Class Codes: H02P 21/16 Estimation of constants, e.g. the rotor time constant
• CPC Class Codes: H02P 21/36 Arrangements for braking or slowing; Four quadrant control
• CPC Class Codes: H02P 27/08 with pulse width modulation
• CPC Class Codes: H02P 6/20 Arrangements for starting H02P6/08 takes precedence

Abstract

A method calibrates a current sensing instant to latch a current value from a set of current signals. A current command including a magnitude at a Gamma angle is provided to control a motor when the motor is operating in a motoring mode at a shaft speed. A matching current command including a same magnitude at a same Gamma angle is provided to control the motor when the motor is operating in a braking mode at a same shaft speed. A first actual averaging rms current magnitude of three phase currents of the motor is monitored when the motor is controlled by the current command and operating in the motoring mode. A second actual averaging rms current magnitude of the three phase currents of the motor is monitored when the motor is controlled by the matching current command and operating in the braking mode. A current sensing instant is adjusted until an observed first actual averaging rms current magnitude in the motoring mode equals an observed second actual averaging rms current magnitude in the braking mode.

Claims

1. A method of calibrating a current sensing instant to latch a current value from a set of current signals comprising:

providing a current command including a magnitude at a Gamma angle to control a motor when the motor is operating in a motoring mode at a shaft speed;

providing a matching current command including a same magnitude at a same Gamma angle to control the motor when the motor is operating in a braking mode at a same shaft speed;

monitoring, when the motor is controlled by the current command and operating in the motoring mode, a first actual averaging rms current magnitude of three phase currents of the motor;

monitoring, when the motor is controlled by the matching current command and operating in the braking mode, a second actual averaging rms current magnitude of the three phase currents of the motor;

adjusting a current sensing instant until an observed first actual averaging rms current magnitude in the motoring mode equals an observed second actual averaging rms current magnitude in the braking mode.

2. The method of claim 1, wherein an actual averaging rms current magnitude of three phase currents of the motor is continuously sensed.

3. The method of claim 2, wherein the current sensing instant is adjusted for each pulse width modulation cycle.

4. The method of claim 1, wherein the motoring mode represents a mode of operation where the motor is receiving power from a power source, and the braking mode represents a mode of operation where the motor is supplying power to the power source.

5. The method of claim 1, wherein the current sensing instant is configured to latch a current value from the set of current signals such that it corresponds to an averaging point of a rising or falling current slope.

6. A system for processing a sensed current signal from a motor, the system comprising:

a digital signal processor;

a field programmable gate array in communication with the digital signal processor;

the digital signal processor being configured to generate a digital pulse indicating a current sensing instant at which to latch a current value from a sensed current signal from a motor, a rising or falling edge of the digital pulse being configured to correspond to an averaging point of the sensed current signal;

the field programmable gate array being configured to receive a continuously sensed three phase current signal from a motor and the digital pulse from the digital signal processor, the field programmable gate array configured to latch a set of three phase current values from the continuously sensed current signal at the current sensing instant indicated by the rising or falling edge of the digital pulse, and transmit the latched three phase current values to the digital signal processor.

7. The system of claim 6, wherein the digital signal processor is configured to perform a Park transformation on the received latched three phase current value to generate a d-axis current signal and a q-axis current signal.

8. The system of claim 7, further comprising a current regulation controller configured to receive the d-axis current signal and the q-axis current signal from the digital signal processor.

9. The system of claim 6, wherein the digital signal processor comprises a pulse width modulation generator dedicated to generating the digital pulse.

10. The system of claim 6, wherein the field programmable gate array receives the continuously sensed three phase current signal from either an external analog-to-digital converter and sensing circuit, or from an internal analog-to-digital converter and sensing circuit.

11. The system of claim 6, wherein the field programmable gate array includes a filter which filters the continuously sensed three phase current signal.

12. A method of calibrating inverter current transducers for a machine controller, the method comprising:

commanding a known DC current through a machine winding;

receiving a feedback current from the machine controller;

comparing the feedback current to the known DC current;

calculating a scaling ratio based on the comparison;

repeating the steps of commanding, receiving, comparing, and calculating a plurality of times, each time using a different known DC current magnitude;

generating a lookup table comprising the calculated scaling ratios for the known DC current magnitudes;

wherein the known DC current is commanded through the machine winding in a first direction;

commanding the known DC current through the machine winding in a second direction opposite the first direction;

receiving a second feedback current from the machine controller;

comparing the second feedback current to the known DC current; and

calculating a second scaling ratio based on the comparison.

13. The method of claim 12, wherein the calculated scaling ratios are calibrated separately and stored for each phase of the three-phase motor.

14. The method of claim 12, wherein the steps of commanding, receiving, comparing, calculating, repeating, and generating are preformed prior to a designated operation of the machine, and wherein during the designated operation of the machine, a measured current magnitude of the machine is adjusted by a corresponding scaling ratio stored in the lookup table.

15. A method of calibrating inverter current transducers for a machine controller, the method comprising:

commanding a known DC current through a machine winding;

receiving a feedback current from the machine controller;

comparing the feedback current to the known DC current;

calculating a scaling ratio based on the comparison;

repeating the steps of commanding, receiving, comparing, and calculating a plurality of times, each time using a different known DC current magnitude;

generating a lookup table comprising the calculated scaling ratios for the known DC current magnitudes;

verifying the scaling ratio using AC current; and

wherein verifying the scaling ratio comprises commanding a specific current magnitude at a moderate Gamma angle through machine, receiving an actual average three phase current from the machine, and comparing the actual average three phase current to the commanded specific current magnitude.

16. The method of claim 15, further comprising repeating the step of verifying at a plurality of shaft speeds with different electrical frequencies.

17. A method performed by a processor of calculating a time delay associated with receiving and processing a current signal, the method comprising:

measuring a hardware circuit phase delay by the processor;

measuring a current samples processing or filtering delay by the processor;

estimating a current reading delay by the processor;

measuring a power switches deadtime delay by the processor; and

adjusting by the processor a current sensing instant used to latch a current value from a continuously sensed current signal buffer, the adjustment based on a total delay from the measured hardware phase delay, the measured current samples processing delay, the estimated current reading delay, and the measured power switches deadtime delay.

18. The method of claim 17, wherein the current reading delay includes delays from reading current samples from an analog-to-digital converter to a field programmable gate array, and delays from transmitting latched current values from a field programmable gate array to a digital signal processor through a parallel bus.

19. The method of claim 18, wherein the current reading delay is estimated based on a sampling clock cycle of the current signal.

20. The method of claim 17, wherein the hardware delay results from at least one of a current transducer coupled to a motor, a low-pass anti-aliasing filter, an operational amplifier for analog signal offset and scaling adjustment, or an analog-to-digital converter delay.

21. The method of claim 20, wherein the hardware delay is determined by comparing a first signal directly outputted by a motor to a second signal outputted by the motor and received immediately prior to being transmitted to a field programmable gate array.

22. The method of claim 17, wherein the current samples processing delay includes a phase delay from digital filtering of a series of sampled current signals.

23. The method of claim 17, wherein the power switches deadtime delay is measured based on a deadtime of a power switch.