• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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  • 优先权
    • 专利摘要:
    A method and system for controlling an electric motor is disclosed a temperature estimation module (104) which estimates a change in temperature of the magnets associated with the motor rotor (117) based on an operational magmetic flux intensity which is compared with a determined reference magnetic flux intensity at a known ambient temperature and for a predetermined motor operating range. the temperature estimation module (104) or the system (120) establishes a relationship between the estimated change in temperature and a magnetic torque component of a target motor output torque (117) consistent with the predetermined operating range. the current adjustment module (107) or the system (120) adjusts a command (eg, quadrature axis current command) to the motor (117) to compensate for the shaft torque variation associated with the estimated change at the temperature in accordance with the established ratio.
    公开号:BR112013021505B1
    申请号:R112013021505-4
    申请日:2012-02-20
    公开日:2021-07-20
    发明作者:Long Wu；Robert Shaw
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    [001] This invention refers to a method and a system to control an electric motor with temperature compensation. FUNDAMENTALS OF THE INVENTION
    [002] An electric motor can have a rotor with permanent magnets and a stator, such as a motor with an interior permanent magnet (IPM) or a synchronous motor with IPM. An internal permanent magnet (IPM) motor or a synchronous machine with IPM can have varying magnetic field strengths due to a change in temperature in the magnets associated with the rotor. In turn, if the magnetic field strength decreases, the output torque and operating efficiency of the motor tend to decrease. Certain motors do not have direct temperature sensors that measure the temperature of magnets in the rotor, as opposed to the stator housing or stator windings. Additionally, rotor magnet temperature may have a poorly defined, erratic, or inconsistent relationship with stator winding temperature or coolant temperature in different motor speed regions. Thus, there is a need for a better method and system for controlling a temperature compensated electric motor. SUMMARY OF THE INVENTION
    [003] According to an embodiment, the method and system for controlling an electric motor comprise a rotor with associated rotor magnets and a stator. A temperature estimation module estimates a change in temperature of magnets associated with the motor rotor based on an operating magnetic flux strength that is compared to a reference magnetic flux strength determined at a known ambient temperature and for an operating range engine preset. The temperature estimation module or system establishes a relationship between the estimated change in temperature and a magnetic torque component of a target motor output torque consistent with the predetermined operating range. The current adjustment module or data processing system adjusts a command (eg, quadrature geometry axis current command or quadrature axis current) to the motor to compensate for the shaft torque variation associated with the estimated change in temperature in accordance with the established relationship. BRIEF DESCRIPTION OF THE DRAWINGS
    [004] Figure 1 is a block diagram of a mode of a system to control an electric motor with temperature compensation.
    [005] Figure 2 is a block diagram of an electronic data processing system consistent with Figure 1.
    [006] Figure 3 is a block diagram that shows a part of the system in more detail than Figure 1.
    [007] Figure 4 is a flowchart of a first modality of a method to control an electric motor with temperature compensation.
    [008] Figure 5 is a flowchart of a second mode of a method to control an electric motor with temperature compensation.
    [009] Figure 6 is a flowchart of a third mode to control an electric motor with temperature compensation. DESCRIPTION OF THE PREFERRED MODALITY
    [0010] According to an embodiment, figure 1 discloses a system for controlling a motor 117 (for example, a motor with an interior permanent magnet (IPM)) or another alternating current machine. In one embodiment, the system, beside motor 117, may be referred to as an inverter or a motor controller.
    [0011] The system comprises electronic modules, SOFTWARE modules or both. In one embodiment, the engine controller comprises an electronic data processing system 120 to support storing, processing or executing SOFTWARE instructions of one or more SOFTWARE modules. The electronic data processing system 120 is indicated by the dashed lines in Figure 1 and is shown in more detail in Figure 2.
    [0012] The data processing system 120 is coupled to an inverter circuit 188. The inverter circuit 188 comprises a semiconductor drive circuit that drives or controls switching semiconductors (e.g., insulated gate bipolar transistors (IGBT) or others power transistors) to transmit control signals to motor 117. In turn, inverter circuit 188 is coupled to motor 117. Motor 117 is associated with a sensor 115 (e.g., a position sensor, a resolver or sensor encoder) which is associated with the motor shaft 126 or the rotor. Sensor 115 and motor 117 are coupled to data processing system 120 to provide feedback data (e.g., current feedback data such as ia, ib, ic), raw position signals, among other data or signals. possible feedback loops, for example. Other possible feedback data include, but are not limited to, winding temperature readings, semiconductor temperature readings of inverter circuit 188, three-phase voltage data, or other thermal or performance information for motor 117.
    [0013] In one embodiment, the torque command generation module 105 is coupled to a d-q geometry axis current generation manager 109 (eg d-q geometry axis current generation lookup tables). dq geometry axis current is related to direct geometry axis current and quadrature geometry axis current as applicable in the context of vector-controlled alternating current machines, such as motor 117. The output of the current generation manager of the geometry axis dq 109 and the output of a current adjustment module 107 (eg, geometry axis current adjustment module dq 107) are fed into an adder 119. In turn, one or more outputs (eg data of the direct axis current (id*) and quadrature geometry axis current data (iq*)) of the adder 119 are provided or coupled in a current regulating controller 111.
    [0014] The current regulation controller 111 is capable of communicating with the pulse width modulation (PWM) generation module 112 (e.g. space vector PWM generation module). The current regulation controller 111 receives respective dq geometry axis current commands (e.g. id* and iq*) and dq axis actual currents (e.g. id and iq) and transmits corresponding axis voltage commands dq (for example, vd* and vq* commands) for insertion into the PWM 112 generation module.
    [0015] In one embodiment, the PWM generation module 112 converts the direct axis voltage data and the quadrature axis voltage data from two-phase data representations to three-phase representations (e.g., three-phase voltage representations, such as va*, vb* and vc*) to control motor 117, for example. Outputs from PWM generating module 112 are coupled to drive 188.
    [0016] The inverter circuit 188 comprises power electronic components such as switching semiconductors to generate, modify and control pulse width modulated signals or other alternating current signals (e.g., pulse, square wave, sine wave or other forms of waveform) applied to motor 117. The PWM generating module 112 provides inputs to a drive stage in the inverter circuit 188. An output stage of the inverter circuit 188 provides a pulse-width modulated voltage waveform or other voltage signal for engine control. In one embodiment, inverter 188 is powered by a direct current (DC) voltage bus.
    [0017] Motor 117 is associated with a sensor 115 (e.g., a resolver, encoder, speed sensor or another position sensor or speed sensors) that estimates at least one of an angular position of the motor shaft 126, of a speed or a speed of the motor shaft 126 and a direction of rotation of the motor shaft 126. The sensor 115 can be mounted on the shaft of the motor 126, or be integral with it. The output of sensor 115 is capable of communicating with primary processing module 114 (e.g., position and velocity processing module). In one embodiment, sensor 115 can be coupled to an analog-to-digital converter (not shown) that converts analog position or velocity data to digital position or velocity data, respectively. In other embodiments, sensor 115 (e.g., digital position encoder) may provide a digital data output of position data or speed data for motor shaft 126 or rotor.
    [0018] A first output (for example, position data and speed data for motor 117) of the primary processing module 114 is communicated to phase converter 113 (for example, three-phase to two-phase current PARK transform module) which converts respective three-phase digital representations of the measured current into corresponding two-phase digital representations of the measured current. A second output (e.g., speed data) from the primary processing module 114 is communicated to the calculation module 110 (e.g., voltage ratio per speed adjusted module).
    [0019] An input of a sensor circuit 124 is coupled to motor terminals 117 to sense at least the measured three-phase currents and a voltage level of the direct current (DC) bus (e.g., high-voltage DC bus that it can provide DC power to the inverter circuit 188). An output of the sensor circuit 124 is coupled to an analog to digital converter 122 to digitize the output of the sensor circuit 124. In turn, the digital output of the analog to digital converter 122 is coupled to the secondary processing module 116 (e.g., bus. current (DC) and three-phase current processing module). For example, sensor circuit 124 is associated with motor 117 to measure three-phase currents (e.g., current applied to the windings of motor 117, versus EMF induced in the windings, or both).
    [0020] Certain outputs of the primary processing module 114 and the secondary processing module 116 feed the phase converter 113. For example, the phase converter 113 can apply a PARK transform or other conversion equations (for example, certain equations which are suitable are known to those skilled in the art) to convert the measured three-phase current representations to two-phase current representations based on the digital three-phase current data from the secondary processing module 116 and the position data from the sensor 115. The output of phase converter module 113 is coupled to current regulating controller 111.
    [0021] Other outputs of the primary processing module 114 and the secondary processing module 116 can be coupled to inputs of the calculation module 110 (e.g., voltage-adjusted-speed ratio calculation module). For example, the primary processing module 114 may provide speed data (e.g., motor shaft revolutions per minute 126), while the secondary processing module 116 may provide a measured voltage level in direct current (e.g., on the direct current (DC) bus of a vehicle). The DC bus DC voltage level that supplies electrical power to the inverter circuit 188 may fluctuate or vary due to various factors, including, but not limited to, ambient temperature, battery condition, battery state of charge, resistance or reactance battery status, fuel cell status (if applicable), engine load conditions, engine torque and corresponding operating speed, and vehicle electrical load (eg, electrically driven air conditioning compressor). The calculation module 110 is connected as an intermediary between the secondary processing module 116 and the dq geometry axis current generation manager 109. The output of the calculation module 110 can adjust or impact current commands generated by the current generation manager. geometry axis current dq 109 to compensate for fluctuation or variation in DC bus voltage, among other things.
    [0022] The rotor magnet temperature estimation module 104, the current modeling module 106 and the terminal voltage feedback module 108 are coupled to the dq geometry axis current adjustment module 107, or are capable of communicate with him. In turn, the d-q geometry axis current module 107 can communicate with the dq axis current generation manager or with the adder 119.
    [0023] The rotor magnet temperature module 104 estimates or determines the temperature of the rotor magnet or permanent magnets. In one embodiment, the rotor magnet temperature estimation module 104 can estimate the temperature of the rotor magnets from the calculation of internal control variables, one or more sensors located in the stator, in thermal communication with the stator or attached to the motor housing 117. For example, the rotor magnet temperature module can estimate or facilitate determination of rotor temperature or a current adjustment based on estimated temperature by observing a change in magnetic field strength or available torque of the engine 117 at an ambient or reference temperature as a function of an actual elevated operating temperature.
    [0024] In an alternative mode, the rotor magnet temperature estimation module 104 can be replaced by one or more sensors located in the stator, in thermal communication with the stator or attached to the motor housing 117, or it can estimate the temperature of the rotor magnets from them.
    [0025] In another alternative embodiment, the rotor magnet temperature estimation module 104 can be replaced by a temperature detector (e.g., a thermistor or an infrared thermal sensor coupled to the wireless transmitter) mounted on the rotor or on the magnet, where the detector provides a signal (eg, wireless signal) indicative of the temperature of the magnet or magnets.
    [0026] In an embodiment, the method or system may operate as follows. The torque command generating module 105 receives an input control data message, such as a speed control data message, a voltage control data message, or a torque control data message, via a vehicle data bus 118. The torque command generation module 105 converts the input control message received into torque control command data 316.
    [0027] The geometry axis current generation manager dq 109 selects or determines the direct axis current command data and the quadrature geometry axis current command data associated with respective torque control command data and respective motor shaft 126 speed data detected. For example, the geometry axis current generation manager dq 109 selects or determines the direct geometry axis current command or the quadrature geometry axis current command by accessing one or more of the following: (1) a table of search, database or other data structure relating respective torque commands to corresponding direct and quadrature geometric axis currents, (2) a set of quadratic equations or linear equations relating respective torque commands to corresponding geometric axis currents direct and quadrature, or (3) a set of rules (eg, if-then rules) that relate respective torque commands to corresponding direct and quadrature geometry axis currents. Sensor 115 in motor 117 facilitates the provision of sensed speed data to motor shaft 126, where primary processing module 114 can convert position data provided by sensor 115 into speed data.
    [0028] The current adjustment module 107 (eg dq geometry axis current adjustment module) provides current adjustment data to adjust the direct axis current command data and the direct axis current command data. quadrature axis based on input data from rotor magnet temperature estimation module 104, current modeling module 106, and terminal voltage feedback module 108.
    [0029] The current modeling module 106 can determine a correction or preliminary adjustment of the quadrature axis current command (q axis) and the direct axis current command (d axis) on the basis of an or plus of the following factors: torque load on engine 117 and engine speed 117, for example. The rotor magnet temperature estimation module 104 can generate a secondary adjustment of the axis q axis current command and the d axis current command based on an estimated change in rotor temperature or an estimated change in the intensity of the rotor. magnetic field of rotor magnets relative to a rotor temperature or magnetic field strength characterized at a known ambient temperature under known operating conditions, for example. The terminal voltage feedback module 108 may provide a third adjustment to the d-axis current command and the q-axis current command based on a controller voltage command as a function of a threshold voltage. The current adjustment module 107 can provide an aggregated current adjustment that takes into account the preliminary adjustment, one of the secondary adjustment and the third adjustment.
    [0030] In one embodiment, the motor 117 can comprise a machine with an interior permanent magnet (IPM) or a machine with synchronous IPM (IPMSM). An IPMSM has many favorable advantages compared to conventional induction machines or surface-mounted PM machines (SMPM), such as high efficiency, high energy density, wide operating region of constant energy, no maintenance, for example.
    [0031] If motor 117 comprises an IPMSM, the output torque consists of two components, magnetic torque and reluctance torque, as follows:

    [0032] In Equation 1, Tshaft is the total motor torque, Tmag is the magnetic torque component, Trel is the reluctance torque component, pp is the number of pole pairs of the motor or machine, Àf is the bond of maximum flux per phase, id is the forward axis current, iq is the quadrature axis current, Ld is the forward axis inductance, and Lq is the quadrature axis inductance.
    [0033] In Equation 1, the maximum flux binding per phase (Àf) can be determined by the intensity of the magnet and the level of magnetic saturation. Ld and Lq are inductances of the d-q geometric axis of the machine, which vary depending on the level of magnetic saturation. For the sake of simplicity, the following considerations apply to Equation 1:1. Àf is directly proportional to the magnitude of the magnet, as is the magnetic torque component Tmag;2. Ld and Lq are functions of id and iq only, although changing Àf has a slight impact on Ld and Lq, where Ld and Lq can be derived from simulations based on finite element analysis; e3. (Ld - Lq) has negligible change when the d-q geometry axis current (id, iq) varies slightly, and the reluctance torque component Trel has a negligible change with the slight variation of the d-q axis current.
    [0034] Without adjusting current commands, the fluctuation of magnet intensity due to the change in magnet temperature will cause a corresponding percentage change in the magnetic torque component Tmag. However, the net percentage change in total output torque still depends on the weight of each torque component, which varies with operating conditions.
    [0035] In steady state operation of an IMPSM (eg motor 117), the output of current regulation controller 111 provides that geometry axis terminal voltages dq can be expressed as follows:

    [0036] In Equations 2 and 3, vd is the voltage or the command of the direct axis, Vq is the Voltage or the command of the quadrature axis, rs is the resistance of the motor or machine stator, id is the current of the direct axis, iq is the quadrature axis current, Me is the rotational electrical velocity of the rotor with respect to the stator, Xf is the maximum flux linkage per phase, Ld is the inductance of the direct axis.
    [0037] In Equations 2 and 3, if negligible stator resistance (rs) changes in relation to the stator winding temperature, and considering that Ld and Lq are functions of the axis current dq (id, iq) only, the change of the magnet temperature that causes flux link fluctuation (Xf) has no effect on the d Vd geometry axis terminal Voltage command. The rotational electrical speed (Me) of the rotor can be proportional to the mechanical rotational speed of the rotor, for example . However, the geometry axis terminal voltage command q Vq will vary in this way to accommodate the Xf fluctuation.
    [0038] Sensor 115 (eg shaft or rotor speed detector) may comprise one or more of the following: a direct current motor, an optical encoder, a magnetic field sensor (eg HALL effect sensor ), magnetoresistive sensor and a resolver (eg a brushless resolver). In one embodiment, sensor 115 comprises a position sensor, wherein position data and associated time data are processed to determine speed or velocity data for motor shaft 126. In another embodiment, sensor 115 comprises a speed sensor, or the combination of a speed sensor and an integrator, to determine the position of the motor shaft.
    [0039] In yet another configuration, sensor 115 comprises an auxiliary compact direct current generator that is mechanically coupled to motor shaft 126 of motor 117 to determine the speed of motor shaft 126, which the direct current generator produces an output voltage proportional to the rotational speed of motor shaft 126. In yet another embodiment, sensor 115 comprises an optical encoder with an optical source that transmits a signal toward a rotating object coupled to shaft 126 and receives a reflected signal. or diffracted into an optical detector, where the frequency of the received signal pulses (eg, square waves) may be proportional to a shaft speed of the motor 126. In a further embodiment, the sensor 115 comprises a resolver with a first winding and a second winding, in which the first winding is supplied with an alternating current, in which the voltage induced in the second winding varies with the frequency of the rotation of the rotor.
    [0040] In Figure 2, the electronic data processing system 120 comprises an electronic data processor 264, a data bus 262, a data storage device 260 and one or more data ports (268, 270, 272, 274 and 276). Data processor 264, data storage device 260, and the one or more data ports are coupled on data bus 262 to support data communications between data processor 264, data storage device 260, and a or more data ports.
    [0041] In one embodiment, the data processor 264 may comprise an electronic data processor, a microprocessor, a microcontroller, a programmable logic arrangement, a logic circuit, an arithmetic logic unit, an application-specific integrated circuit, a computer processor. digital signal, a proportional-integral-derived (PID) controller or another data processing device.
    [0042] The data storage device 260 may comprise any magnetic, electronic or optical device for storing data. For example, data storage device 260 may comprise an electronic data storage device, an electronic memory, non-volatile electronic random access memory, one or more electronic data registers, data serializers, a magnetic disk drive, a hard drive, an optical disc drive, or the like.
    [0043] As shown in Figure 2, the data ports comprise a first data port 268, a second data port 270, a third data port 272, a fourth data port 274 and a fifth data port 276, although any suitable number of data ports can be used. Each data port may comprise a transceiver and temporary storage memory, for example. In one embodiment, each data port can comprise any serial or parallel input/output port.
    [0044] In an embodiment illustrated in Figure 2, the first data port 268 is coupled to the vehicle data bus 118. In turn, the vehicle data bus 118 is coupled to the controller 266. In one configuration, the second data port 270 can be coupled to inverter circuit 188; third data port 272 can be coupled to sensor 115; fourth data port 274 can be coupled to analog to digital converter 122; and fifth data port 276 can be coupled to terminal 108 voltage feedback module. Analog to digital converter 122 is coupled to sensor circuit 124.
    [0045] In an embodiment of the data processing system 120, the torque command generation module 105 is associated with or supported by the first data port 268 of the electronic data processing system 120. The first data port 268 may be coupled to a vehicle data bus 118, such as a controller area network (CAN) data bus. Vehicle data bus 118 can provide data bus messages with torque commands to torque command generation module 105 via first data port 268. The operator of a vehicle can generate torque commands via a user interface, such as an accelerator, a foot pedal, a 266 controller, or other control device.
    [0046] In certain embodiments, the sensor 115 and the primary processing module 114 may be associated with or supported by a third data port 272 of the data processing system 120.
    [0047] In one embodiment, when an electric motor (eg 117) comprises a rotor with associated magnets and a stator, a system for controlling the motor (eg 117) comprises a data processor 264 to estimate a change in temperature of the magnets associated with the motor rotor (eg 117) based on an operating magnetic flux strength which is compared to a reference magnetic flux strength determined at a known ambient temperature and for a predetermined operating range of the motor. A temperature estimation module 104 is adapted to establish a relationship between the estimated change in temperature and a magnetic torque component of a target motor output torque consistent with the predetermined operating range. For example, in one configuration, a temperature estimation module 104 comprises SOFTWARE instructions (e.g., stored in data storage device 260 permanently or non-temporarily) for data processor 264 to establish a relationship between the change. estimated at temperature and a magnetic torque component of a target motor output torque consistent with the predetermined operating range. A current adjustment module 107 is adapted to adjust a command for the motor to compensate for the shaft torque variation associated with the estimated change in temperature in accordance with the established ratio. For example, in one configuration, current adjustment module 107 comprises SOFTWARE instructions (e.g., stored in data storage device 260 permanently or non-temporarily) for data processor 264 to compensate for torque variation of the axis associated with the estimated change in temperature in accordance with the established relationship.
    [0048] In one embodiment, data processor 264 is arranged to derive the operational magnetic flux intensity from an operational quadrature axis voltage command and wherein data processor 264 is arranged to derive the intensity of the reference magnetic flux from a quadrature reference axis voltage command. Data processor 264 is adapted to execute SOFTWARE instructions from temperature estimation module 104 to establish the relationship, wherein the relationship comprises the magnetic torque component of the target output torque as a function of the strength of the reference magnetic flux, a direct geometry axis current command, a quadrature axis current command, direct axis inductance, and quadrature axis inductance.
    [0049] The current adjustment module 107 or the data processor 264 can generate the command according to several examples, which can be applied alternatively or cumulatively. In a first example, the command comprises a quadrature axis current command. In a second example, the command comprises a respective increase in a quadrature axis current command in response to a corresponding increase in temperature. In a third example, the command comprises an adjustment to a quadrature geometry axis current command based on the estimated change in temperature and a magnetic torque component of the target output torque.
    [0050] In general, data processor 264 may perform, determine, calculate or solve any equations or mathematical expressions presented in this document, or variations thereof that fall within the scope of the claims, in aid of command provision or other compensation for change of temperature or change in intensity of the magnetic flux in the rotor magnets.
    [0051] Figure 3 illustrates a possible exemplary configuration of the rotor magnet temperature estimation module 104, the current adjustment module 107 and the dq geometry axis current generation manager 109 with more details than Figure 1. In one configuration, the 3D (three-dimensional) magnetic torque component weight lookup table 304 receives a torque command 316 (eg, expressed as a percentage) and adjusted voltage-per-speed ratio 318 as inputs. The 3D (three-dimensional) magnetic torque component weight lookup table 304 provides an interpolated weighting of the magnetic torque component (eg WCmag) as an output. The 3D (three-dimensional) magnetic torque lookup table 304 defines a first relationship between a respective combination of the entered torque command data 316, the entered speed adjusted voltage ratio data 318 and a corresponding transmitted interpolated weight of the torque component magnetic (eg WCmag).
    [0052] The torque command data 316 and the adjusted speed voltage ratio data 318 are entered into a 3D quadrature geometry (Iq) current lookup table 302, a geometry axis current lookup table 3D direct (Id) 308 and a 3D real flux link lookup table 306. The 3D quadrature axis current lookup table (Iq) 302 defines a second relationship between a respective combination of input torque command 316, the input-adjusted voltage-to-speed ratio 318 and a corresponding transmitted interpolated quadrature geometric axis current command (eg, i*q). The 3D quadrature geometry axis current lookup table (Id) 308 defines a third relationship between a respective combination of the input torque command 316, the input adjusted voltage per speed ratio 318, and a corresponding direct axis current command transmitted interpolated (eg i*d). The 3D real stream link lookup table defines a fourth relationship between a respective combination of the input torque command 316, the input adjusted voltage per speed ratio 318, and a corresponding transmitted interpolated real stream link level (e.g., Vq *C/OeC or when Vq*C is an average).
    [0053] The actual interpolated flux binding level is entered into the estimator 314 for magnetic characterization temperature offset. The 314 estimator also enters stored values of magnetic flux intensity (eg, Vq*0 or its average) at ambient temperature and corresponding electrical rotational velocity (eg, coe') at ambient temperature or at a known reference temperature for the rotor. The stored values of magnetic flux intensity and corresponding rotational speed are stored in data storage device 260 or non-volatile memory register, for example. Estimator 314 transmits a change in magnet temperature (eg, ΔTmagnet). The calculator 312 for calculating a q axis current command fit coefficient calculates a q axis current fit based on the received change in magnet temperature and the interpolated weight of the magnetic torque component. In a multiplier 319 or an auxiliary adder 119, the fit coefficient of the interpolated quadrature geometry axis current command (q axis) (e.g., Jq) is multiplied or otherwise combined with the quadrature geometry axis command interpolated (for example, command iq interpolated or iq*) to produce an adjusted quadrature geometry axis current command (for example, i*q_adjusted).
    [0054] The geometry axis current generation manager d-q 109 stores characterizations of the operating torque curves as a function of the operating speed of the rotor over a range of operating speeds. The average motion of the q axis voltage command is recorded in data storage device 260 during a characterization of motor 117 or definition of operating points of motor 117 or the output operating torque versus speed curve. Engine 117 (eg IPMSM) needs to be carefully characterized so that better operating trajectories can be determined at different operating speeds. During characterization, best control angles are selected for a lot of current magnitudes at a specific motor speed of the motor shaft. In addition to recording the output torque at each operating point, the quadrature geometry axis terminal voltage command (q axis) calculated from controller 111 must also be recorded.
    [0055] In the data processing system 120 or in the current regulation controller 111, the vq command is updated in each pulse width modulation (PWM) cycle or in another update interval, as follows:

    [0056] where the first expression (from Gcq(S) * (i*q - iq)) is the proportional integral output (PI) of current regulation and the remaining expression (from we * Ld * i*d + we * XRf) refers to the forward item feed, which reflects the dq geometry axis cross coupling and counter-electromotive force (EMF) effect. Because XfR is the connection level of the reference flow at ambient temperature (eg, enclosure), the iq proportional integral regulator (PI) integration item will be adjusted to the appropriate value such that the level of actual flow link can be compensated.
    [0057] Due to the action of proportional integral regulation (PI), the generated quadrature geometry axis voltage (vf*) actually fluctuates slightly around an average value even in steady state condition. In order to accurately reflect the true level of the maximum flux per phase (Xf) connection during characterization, an average motion of v>', the mean quadrature axis voltage command, must be recorded corresponding to each operating point during characterization.
    [0058] Finally, at a specific operating point, its true flux binding level during characterization can be calculated as follows:
    where Xfc is the actual flux binding level calculated per phase during characterization (eg under various known operating conditions and corresponding temperatures), XRf is the flux binding level per phase at a reference operating condition and a corresponding to reference ambient temperature, is the average motion of the quadrature axis terminal voltage command recorded during characterization, and is the rotational electrical speed of the rotor during characterization. In a configuration, XCf or XRf can also include some compensation for inaccurate inductance of the direct geometry axis (eg Ld parameter) in the forward item feed (eg ΔLd • i*d). At the end of the characterization of a particular engine 117, three 3D lookup tables must be built, as illustrated in block 302, block 304 and block 306 of figure 3, for example.
    [0059] The rotor magnet temperature estimation module 104 estimates the magnet temperature deviation at runtime of a characterization level (for example, reference operating conditions). While motor 117 (eg, IPMSM) is running, the set voltage-to-speed ratio 318 and torque command percentage 316 will determine ^''Pa commands from the 3D lookup tables. Then, the average move value of the geometric axis terminal voltage command q can be continuously calculated during runtime operation. Therefore, the actual flow binding level during runtime operation can be calculated as follows:
    is the average motion value of the q axis terminal voltage command calculated at runtime, coeO is the actual motor rotational electrical velocity. Due to the variation of the DC voltage on the bus, the same set of commands may be running at a motor speed different from the corresponding speed of characterization, unless compensation for the variation of the DC voltage on the bus is provided by the calculation module 110 or otherwise by the data processing system 120.
    [0060] Based on Equation (5) and Equation (6), the deviation in the flow connection at runtime far from the characterization stage for the same set of current commands of the geometry axis dq can be calculated as follows:

    [0061] Similar to XfC, f can also include some compensation for imprecise Ld. However, (f - XfC) should remove the dependency on Ld compensation. The corresponding change in rotor magnet temperature, ΔTmagnet, can be calculated as follows:
    where ^ is a negative temperature coefficient for the permanent magnet material, ΔXf is the change in magnetic flux per phase, XfR is the magnetic flux per phase at a reference temperature (eg ambient temperature) or under operating conditions of reference. A positive value of ΔTmagnet means higher magnet temperature, while a negative value of ATmagnet means lower magnet temperature.
    [0062] In Figure 3, the magnetic torque component weight is calculated to produce the lookup table of the magnetic torque component weight3D, for example. The IPMSM characterization procedure determines the best operational trajectory over the full speed range. For a specific command set corresponding magnetic torque component and reluctance torque component can be calculated using machine parameter data. Therefore, the nominal weight percentage of the magnetic torque component of the total output torque can be calculated as follows:
    where WCmag is the magnetic torque component weight, pp is the number of motor or machine pole pairs, f is the maximum flux connection per phase at the reference temperature or operating condition, id* is the current command of the direct geometry axis, iq* is the quadrature axis current command, Ld is the direct axis inductance, and Lq is the quadrature axis inductance.
    [0063] The calculated magnetic torque component weight is obtained using nominal machine parameters (eg pole pairs and inductances) and will be slightly different from the true magnetic torque weight during the characterization stage. The difference in torque weight can potentially cause some inaccuracy in the torque compensation stage, so that the data processing system 120 can apply additional torque weight compensation based on supplementary or empirical testing. After this OFFLINE post-characterization calculation, the fourth 3D lookup table can be generated, as illustrated in block 304 of Figure 3.
    [0064] Figure 4 discloses a method for controlling an electric motor 117 (for example, an internal permanent magnet motor, induction motor or other alternating current machine) with temperature compensation. The method in figure 4 starts at step S200.
    [0065] In step S200, a rotor magnet temperature estimation module 104 or a data processing electronics 120 estimate a change in temperature of one or more magnets associated with a motor rotor 117. For example, the rotor magnet temperature estimation module 104 or a data processing electronics 120 estimate a change in temperature of one or more magnets based on an operational magnetic flux strength that is compared to a determined reference magnetic flux strength at a known ambient temperature (eg ambient temperature) for a predetermined operating range (eg revolutions per minute and torque load) of motor 117. Ambient temperature can be set to any suitable reference temperature in the operating temperature range, but it is preferable to set at or near room temperature or in the middle of the operating temperature range (eg 40 degrees Celsius minus ius up to 150 degrees Celsius).
    [0066] The magnetic intensity of the permanent rotor has a significant negative temperature coefficient, from about 0.09% to about 0.12% per degree Celsius (C), in relation to the change in temperature of the magnet. In practice, the magnet temperature can easily range from minus 40 degrees Celsius in cold starting to 150 degrees Celsius in full torque operation at high speed, particularly when engine 117 is used in an outdoor vehicle. The magnitude of the magnet can vary up to approximately twenty (20) percent and cause a corresponding change in the output torque on the motor shaft 126 in the absence of torque compensation provided in accordance with the methods of figure 4 through figure 6, inclusive.
    [0067] In one embodiment, the operational magnetic flux strength is derived from an operational quadrature axis voltage command and the reference magnetic flux strength is derived from a reference quadrature axis voltage command. The operating range (eg, predetermined operating range) of the engine 117 can be determined or expressed as a function of one or more of the following factors: the operating speed of the machine (eg, rotational speed of the shaft of the engine 126), the load of torque in motor 117 (for example, as indicated by the magnitude of current or current draw), the operating duration of motor 117 (for example, continuous operation as a function of intermittent), and the flow and temperature of the coolant (if applicable).
    [0068] In an alternative mode, the data processing system 120 determines whether the motor 117 is operating at a motor shaft speed below a lower limit. If the motor 117 is operating at a motor shaft speed below the lower limit, the data processing system 120 can supplement the rotor magnet temperature determination with a stator winding temperature sensor 115, a temperature sensor of refrigerant 115 or both.
    [0069] In step S202, the rotor magnet temperature estimation module 104, the dq axis current adjustment module 107 or the data processing system 120 establish a relationship between the estimated change in temperature and a component of magnetic torque from a target motor 117 output torque consistent with the predetermined operating range. According to a first example for performing step S202, establishing the relationship comprises determining the magnetic torque component of the target output torque as a function of the magnitude of the reference magnetic flux, a direct axis current command, a command of quadrature axis current, direct axis inductance, and quadrature axis inductance. According to a second example to perform step S202, the relationship is determined according to the following equation:
    where Jq is the fit coefficient for the q axis current command, WCmag is the magnetic torque weight, ΔTmagnet is the calculated magnet temperature change, ^ is a negative temperature coefficient for the permanent magnet material. rotor magnets, ΔXf is the change in magnetic flux per phase, ΔfR is the magnetic flux per phase at a reference temperature (eg ambient temperature) or reference operating conditions. The equation exposed can consider that the inductance difference between the direct geometry axis inductance and the quadrature geometry axis inductance (Ld - Lq) has negligible change with slight variation in the dq geometry axis current commands (id, iq).
    [0070] In step S204, the dq geometry axis current setting module 107, the dq geometry axis current generation manager 109, the adder 119 or the data processing system 120 sets a command (for example, to the quadrature axis current) for motor 117 to compensate for the variation in torque of axis 126 associated with the estimated change in temperature in accordance with the established ratio. Step S204 can be performed according to various techniques that can be applied alternately or cumulatively. According to a first technique, adjusting the command further comprises adjusting a quadrature axis current command. According to a second technique, the command is determined according to the following equations:
    where i*q_adjusted is the product of the quadratic axis current command and the adjustment coefficient Jq, Jq is the adjustment coefficient for the q axis current command, ΔTmagnet is the calculated magnet temperature change, ^ is a negative temperature coefficient for the permanent magnet material of the rotor magnets, WCmag is the magnetic torque weight, ΔXf is the change in magnetic flux per phase, ΔfR is the magnetic flux per phase at a reference temperature (for example , ambient temperature) or under reference operating conditions.
    [0071] The equation exposed considers that the difference in inductance (Ld - Lq) has negligible change with slight variation in the commands (id, iq). In one mode, the adjustment coefficient (Jq) facilitates the maintenance of an output torque that is approximately five percent (5%) of the torque command throughout the entire operating range of the engine 117. Without the appropriate adjustments shown in the current commands from the data processing system controller 120, if the magnet intensity becomes weaker from an increase in magnet temperature, the output torque and operating efficiency of motor 117 will drop. Similarly, when the magnet intensity gets stronger from a decrease in magnet temperature, the output torque of motor 117 will increase to overuse the terminal voltage or will tend to cause instability in current regulation (eg, controller of current regulation 111).
    [0072] The method of figure 5 is similar to the method of figure 4, except that the method of figure 5 replaces step S204 by step S206. Like reference numbers in figure 4 and in figure 5 indicate like procedures or steps.
    [0073] In step S206, the dq geometry axis current setting module 107, the dq geometry axis current generation manager 109, the adder 119, the multiplier 310 or the data processing system 120 sets a command ( for example, for the quadrature geometry axis current) so that motor 117 compensates for the variation in torque of axis 126 associated with the estimated change in temperature in accordance with the established ratio, where the adjustment of the command comprises increasing a command of quadrature axis current in response to an increase in the temperature of the motor rotor magnets 117.
    [0074] The method of figure 6 is similar to the method of figure 4, except that the method of figure 6 replaces step S204 with step S208. Like reference numbers in figure 4 and in figure 5 indicate like procedures or steps.
    [0075] In step S208, the dq geometry axis current setting module 107, the dq geometry axis current generation manager 109, the adder 119 or the data processing system 120 sets a command (for example, to the quadrature geometry axis current) for motor 117 to compensate for the variation in axis torque 126 associated with the estimated change in temperature in accordance with the established relationship, wherein the adjustment of the command comprises adjusting a geometry axis current command quadrature based on the estimated change in temperature and a magnetic torque component of the target output drive. Step S208 can be performed according to various procedures that can be applied alternatively or cumulatively. In a first procedure, the estimated change in temperature is determined according to the following equation:
    where ΔTmagnet is the change in temperature of the magnet, with positive values of ΔTmagnet indicating an increase in temperature and negative values of ΔTmagnet indicating a decrease in temperature, ΔXf is the change in magnetic flux per phase, XfR is the magnetic flux per phase in a reference temperature (eg ambient temperature) or at reference operating conditions, and ^ is a negative temperature coefficient for the permanent magnet material.
    [0076] In a second procedure, the magnetic torque component is determined according to the following equation:
    where WCmag is the nominal weight percentage of the magnetic torque component of the total output torque, pp comprises the number of motor pole pairs, f is the maximum flux connection per phase at the reference temperature or operating condition, id* is the current command of the respective direct geometry axis, iq* is the current command of the corresponding quadrature geometry axis, Ld is the inductance of the direct geometry axis, and Lq is the inductance of the quadrature geometry axis. In the above equation, it is a specific set or corresponding pair of dq geometry axis current commands (for example, for a pulse cycle of the PWM signal).
    [0077] The method and system disclosed herein are well suited to achieving uniform motor 117 torque within a suitable tolerance (eg, plus or minus five percent) of a target torque, regardless of the variation in temperature of the rotor magnets. For example, the temperature of the rotor magnets can vary due to a change in ambient temperature in relation to weather conditions or due to the duty cycle (eg, continuous versus intermittent) of a vehicle or machine on which the engine operates. Additionally, the method and system disclosed herein are well suited for improving machine operating efficiency under various magnet strength conditions.
    [0078] Having described the preferred embodiment, it will be apparent that various modifications can be made without departing from the scope of the invention defined in the appended claims.
    权利要求:
    Claims (15)
    [0001]
    1. Method for controlling an electric motor (117) comprising a rotor with associated magnets and a stator, characterized in that it comprises: during a characterization of the motor (117), recording a reference magnetic flux (XR) connection level at a reference operating condition at ambient temperature; estimate a change in temperature of the magnets associated with the motor rotor (117) based on an operating magnetic flux binding level (XO) which is compared to the magnetic flux binding level reference (XR) recorded; establish a relationship between the estimated change in temperature and a magnetic torque component of a target motor output torque (117) consistent with the motor operating speed (117); the target output torque comprising a magnetic torque component and a reluctance torque component; and set a command so that the motor (117) compensates for the shaft torque variation associated with the estimated change in temperature in accordance with the established ratio.
    [0002]
    2. Method according to claim 1, characterized in that the operating magnetic flux (XO) binding level is derived from a voltage command of the operating quadrature geometric axis and the reference magnetic flux binding level ( XR) is derived from a quadrature reference geometry axis voltage command.
    [0003]
    3. Method according to claim 1, characterized in that establishing the relationship comprises determining the magnetic torque component of the target output torque as a function of the connection level of the reference magnetic flux (XR), a current command of the direct axis, a quadrature axis current command, direct axis inductance, and quadrature axis inductance.
    [0004]
    4. Method according to claim 1, characterized in that the adjustment of the command comprises additionally adjusting a current command of the quadrature axis.
    [0005]
    5. Method according to claim 1, characterized in that adjusting the command further comprises increasing a quadrature axis current command in response to an increase in temperature.
    [0006]
    6. System for controlling an electric motor (117), wherein the motor (117) comprises a rotor with associated magnets and a stator, characterized in that it comprises: a data processor (264) configured to store a connection level of the reference magnetic flux (XR) in a reference operating condition in recording ambient temperature during a motor characterization (117), and to estimate a change in temperature of the magnets associated with the motor rotor (117) based on a operating magnetic flux (XO) binding level which is compared to the recorded reference magnetic flux (XR) binding level; a temperature estimation module (104) configured to establish a relationship between the estimated change in temperature and a magnetic torque component of a target motor output torque (117) consistent with the motor operating speed (117); the target output torque comprising a magnetic torque component and a reluctance torque component; and a current adjustment module (107) configured to adjust a command for the motor (117) to compensate for the shaft torque variation associated with the estimated change in temperature in accordance with the stated ratio.
    [0007]
    7. System according to claim 6, characterized in that the data processor (264) is arranged to derive operating magnetic flux (XO) link level from an operating quadrature geometric axis voltage command and the data processor 264 is arranged to derive the reference magnetic flux (XR) binding level from a quadrature reference axis voltage command.
    [0008]
    8. System according to claim 6, characterized in that the data processor is adapted to execute SOFTWARE instructions of the temperature estimation module (104) to establish the relationship, wherein the relationship comprises the magnetic torque component of the target output torque as a function of the reference magnetic flux (XR) turn-on level, a direct geometry axis current command, a quadrature geometry axis current command, a direct axis inductance, and an axis inductance quadrature geometric.
    [0009]
    9. System according to claim 6, characterized in that the command comprises a current command of the quadrature geometric axis.
    [0010]
    10. System according to claim 6, characterized in that the command comprises a respective increase in a quadrature axis current command in response to a corresponding increase in temperature.
    [0011]
    11. System according to claim 6, characterized in that the command comprises an adjustment in a quadrature axis current command based on the estimated change in temperature and on a magnetic torque component of the target output torque.
    [0012]
    12. System according to claim 6, characterized in that the change in the estimated change in temperature is determined by the data processor (264) according to the following equation:
    [0013]
    13. System according to claim 6, characterized in that the magnetic torque component is determined by the data processor (264) according to the following equation:
    [0014]
    14. System according to claim 6, characterized in that the ratio is determined by the data processor (264) according to the following equation:
    [0015]
    15. System according to claim 6, characterized in that the command is determined by the data processor (264) according to the following equations: where i*q_adjusted is a product of the quadratic axis current command and the adjustment coefficient Jq, Jq is the adjustment coefficient for the q axis current command, ΔTmagnet is the calculated magnet temperature change, ^ is a negative temperature coefficient for the permanent magnet material of the magnets, WCmag is the magnetic torque weight, ΔXf is a change in magnetic flux per phase, ΔfR is the magnetic flux per phase at the known ambient temperature under the predetermined operating range.
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    同族专利:
    公开号 | 公开日
    BR112013021505A2|2020-07-21|
    EP2678939A2|2014-01-01|
    EP2678939B1|2020-10-07|
    AU2012220884A1|2013-09-12|
    WO2012115897A2|2012-08-30|
    EP2678939A4|2017-11-01|
    CN103931096A|2014-07-16|
    CN103931096B|2016-08-24|
    WO2012115897A3|2014-04-17|
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    JP2014515244A|2014-06-26|
    US20120212169A1|2012-08-23|
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    法律状态:
    2020-08-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-09-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-04-20| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-07-20| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/02/2012, OBSERVADAS AS CONDICOES LEGAIS. |
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