Motor control system to compensate for torque ripple
First Claim
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1. A motor control system, comprising:
 a motor having plurality of motor harmonics; and
a torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to;
determine a harmonic ripple current for each of the plurality of motor harmonics based on a reference qaxis current and a reference daxis current; and
add the plurality of harmonic ripple currents together to determine a ripple compensating current that is used to remove the plurality of harmonic ripple currents from the reference qaxis current and the reference daxis current.
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Abstract
A motor control system is provided. The motor control system includes a motor having plurality of motor harmonics, and a torque ripple compensation controller in communication with the motor. The torque ripple compensation controller is configured to determine a harmonic ripple current for a corresponding one of the plurality of motor harmonics. The harmonic ripple current is based on a reference qaxis current and a reference daxis current. The torque ripple compensation controller is configured to add the harmonic ripple current for each of the plurality of motor harmonics together to determine the ripple compensating current.
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20 Claims

1. A motor control system, comprising:

a motor having plurality of motor harmonics; and a torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to; determine a harmonic ripple current for each of the plurality of motor harmonics based on a reference qaxis current and a reference daxis current; and add the plurality of harmonic ripple currents together to determine a ripple compensating current that is used to remove the plurality of harmonic ripple currents from the reference qaxis current and the reference daxis current.  View Dependent Claims (2, 4, 5, 7, 8)


3. A motor control system, comprising:

a motor having plurality of motor harmonics; and a torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to; determine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference qaxis current and a reference daxis current; and add the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current, wherein the torque ripple compensation controller includes a plurality of lookup tables, wherein each of the plurality of lookup tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics, wherein values for the torque ripple magnitude and the torque ripple phase are based on cogging torque characteristics of the motor.


6. A motor control system, comprising:

a motor having plurality of motor harmonics; and a torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to; determine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference qaxis current and a reference daxis current; and add the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current, wherein the torque ripple compensation controller includes a plurality of lookup tables, wherein each of the plurality of lookup tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics, wherein the torque ripple compensation controller calculates a current qaxis phase output based on the torque ripple phase, wherein the current qaxis phase output is determined by;
MtrCurrQax_{—}iPhase=sign(Iq_ref)t_MtrTrq_ripple_{—}iPh(n)wherein MtrCurrQax_iPhase is the current qaxis phase output, Iq_ref is the reference qaxis current, and t_MtrTrq_ripple_iPh(n) is the torque ripple phase found in one of the plurality of lookup tables for an i^{th }harmonic.


9. A motor control system, comprising:

a motor having plurality of motor harmonics; and a torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to; determine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference qaxis current and a reference daxis current; and add the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current, wherein the ripple compensating current is a qaxis ripple compensating current, and determined by;


10. A motor control system, comprising
a motor having plurality of motor harmonics;  and
a torque ripple compensation controller in communication with the motor, the torque ripple compensation controller configured to; determine a harmonic ripple current for a corresponding one of the plurality of motor harmonics, the harmonic ripple current based on a reference qaxis current and a reference daxis current; and add the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current, wherein the ripple compensating current is a daxis ripple compensating current, and determined by;
 and

11. A method of motor control for a motor having a plurality of motor harmonics, comprising:

determining a harmonic ripple current for each of the plurality of motor harmonics by a torque ripple compensation controller based on a reference qaxis current and a reference daxis current; and adding the plurality of harmonic ripple currents together to determine a ripple compensating current that is used to remove the plurality of harmonic ripple currents from the reference qaxis current and the reference daxis current.  View Dependent Claims (12, 14, 15, 17, 18)


13. A method of motor control for a motor having a plurality of motor harmonics, comprising:

determining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference qaxis current and a reference daxis current; adding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current; and including a plurality of lookup tables with the torque ripple compensation controller, wherein each of the plurality of lookup tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics, wherein values for the torque ripple magnitude and the torque ripple phase are based on cogging torque characteristics of the motor.


16. A method of motor control for a motor having a plurality of motor harmonics, comprising:

determining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference qaxis current and a reference daxis current; adding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current; and including a plurality of lookup tables with the torque ripple compensation controller, wherein each of the plurality of lookup tables are used to determine one of a torque ripple magnitude and a torque ripple phase for one of the plurality of motor harmonics, wherein a harmonic ripple current is a harmonic qaxis ripple current, and determined by;
MtrCurrQax_{—}iPhase=sign(Iq_ref)t_MtrTrq_ripple_{—}iPh(n)wherein MtrCurrQax_iPhase is the current qaxis phase output, Iq_ref is the reference qaxis current, and t_MtrTrqripple_iPh(n) is the torque ripple phase found in one of the plurality of lookup tables for an i^{th }harmonic.


19. A method of motor control for a motor having a plurality of motor harmonics, comprising:

determining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference qaxis current and a reference daxis current; and adding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current, wherein the ripple compensating current is a qaxis ripple compensating current, and determined by;


20. A method of motor control for a motor having a plurality of motor harmonics, comprising:

determining a harmonic ripple current for a corresponding one of the plurality of motor harmonics by a torque ripple compensation controller, the harmonic ripple current based on a reference qaxis current and a reference daxis current; and adding the harmonic ripple current for each of the plurality of motor harmonics together to determine a ripple compensating current, wherein the ripple compensating current is a daxis ripple compensating current, and determined by;

1 Specification