method to generate initial operational points to control a machine with permanent inner magnet, and,

专利摘要:
METHOD FOR GENERATING INITIAL OPERATING POINTS TO CONTROL A MACHINE WITH PERMANENT INTERIOR MAGNET, IPM MACHINE, AND, COMPUTER PROCESSING UNIT Modalities of the present invention provide a device and a method for generating initial operational points for controlling a machine with an internal permanent magnet (IPM ). The method includes loading an inductance lookup table (S110), first calculation of a maximum torque trajectory per Amp (MTPA) for a first limit speed based on machine parameters of the machine with IPM (S120), according to the calculation of a truncated voltage limit ellipse with monotonically increasing torque for a first speed based on machine parameters (S130), if the first speed is higher than the first limit speed, determine an operational path at the first speed (S140) based on at minus one of the calculated MTPA trajectory and the calculated truncated voltage limit ellipse, and generate an Id, Iq map that maps an Id value and an Lq value to each torque command from a plurality of torque commands to the first speed based on the determined operational trajectory (S150).
公开号:BR112013022024B1
申请号:R112013022024-4
申请日:2012-02-01
公开日:2021-01-19
发明作者:Long Wu；Srujan Kusumba；Vilar W. Zimin；Tianjun Fu；Robert Shaw
申请人:Deere & Company；
IPC主号:

专利说明:

FIELD
[0001] Example modalities are related to a device and a method for generating an initial query table of the controller to control a machine with an inner permanent magnet (IPM). FUNDAMENTALS
[0002] AC machines are used extensively in loaders or other heavy equipment machinery because they provide higher efficiency than DC machines. Of the AC machines, an IPM machine has a wide operating speed range with high drive efficiency for a constant energy region. A machine controller with IPM, also called an inverter, controls the operation of the machine with IPM. The controller produces AC control signals that are applied to the machine terminals with IPM. Typically, the controller controls the machine with IPM based on the information or a part of the information that characterizes the machine with IPM. At least part of the characterization concerns the machine's operational model with IPM that allows the translation of input requests into the desired operational output. For example, a desired output torque can be requested and, based on part of the characterization, the controller controls the machine with IPM to distribute the desired torque. In order to provide the desired output torque, the IPM controller transmits operational points to the machine with IPM in response to a desired torque.
[0003] A conventional method uses theoretical equations to find operational points on the machine, which may not be accurate. Another conventional method uses finite element analysis to find correct operational points, which is very time-consuming. Furthermore, these conventional methods may not cover the entire operational range in terms of speed and torque level. SUMMARY
[0004] Modalities of the present invention provide a method for generating initial operational points for controlling a machine with a permanent interior magnet (IPM).
[0005] The method includes loading an inductance lookup table, where the inductance lookup table includes sets of a direct geometric axis (Ld) inductance value and a quadrature geometric axis (Lq) inductance value, and each set corresponds to a peak current magnitude and a current control angle. The current control angle can indicate quantities of the peak current magnitude that appear as direct geometric axis current (Id) and quadrature geometric axis current (Iq).
[0006] The method also includes first calculation of a maximum torque path per amp (MTPA) for a first limit speed based on machine parameters of the machine with IPM, second calculation of a truncated voltage limit ellipse with monotonically increasing torque for a first speed based on the machine parameters, if the first speed is higher than the first limit speed, determine an operational path at the first speed based on at least one of the calculated MTPA path and the calculated truncated stress limit ellipse, and generate an Id, Iq map that maps an Id value and an Iq value to each torque command from a plurality of torque commands for the first speed based on the determined operating path.
[0007] In some modalities, the first limit speed is a base speed, the base speed being a maximum axis speed at which maximum constant output torque of the machine with IPM is reached.
[0008] The determination step may additionally include the following: if the first speed is less than a second limit speed and greater than the first limit speed, the determination step determines the operational trajectory based on a comparison of the calculated MTPA trajectory and of the calculated truncated stress limit ellipse; if the first speed is the second speed limit or higher than the second speed limit, the determination step determines the operational trajectory based on the truncated stress limit ellipse calculated with monotonically increasing torque only; and / or if the first speed is the first limit speed or less than the first limit speed, the determination step determines the operational trajectory based on the calculated MTPA trajectory.
[0009] In some modalities, the second limit speed is a critical speed, the critical speed being a speed at which the uncontrolled generation voltage (UCG) from an electromotive counter-force (backemf) of the machine with IPM is equal to a voltage of the DC link bus.
[00010] If the first speed is lower than the second limit speed and higher than the first limit speed, the determination step includes selecting the lowest of an Iq value of the calculated MTPA path and an Iq value of the truncated stress limit ellipse calculated for each Id value, where the operational trajectory includes the selected Iq values.
[00011] The first calculation step may additionally include determining an initial table, in which the initial table includes combinations Id, Iq with values that cover all possible values for a preset current limit, calculating the current peak magnitude , the current control angle and the Ld and Lq values for each combination Id, Iq of the initial table, calculate the torque for each combination Id, Iq of the initial table based on the machine parameters, define a torque range for each of the plurality of torque commands, determine a subset of combinations Id, Iq for each torque command based on the calculated torque and the defined torque range, select a combination Id, Iq from each subset that has a peak magnitude of calculated current lower than other combinations Id, Iq of the subset and / or calculate the path of MTPA based on the selected sets of combinations Id, Iq.
[00012] In some mode, the torque calculated for each of the combinations Id, Iq in the given subset falls within the defined torque range that covers a respective torque command.
[00013] The second calculation step may additionally include determining a vertex value Id for the right vertex of the stress limit ellipse at a defined axis speed based on the machine parameters, calculating maximum permissible Iq values corresponding to a range of values Id, where the range of Id values is from the vertex value Id determined up to a preset minimum Id limit, and / or calculate the voltage limit ellipse for the first speed based on the calculated maximum permissible Iq values. Also, the apex value Id can be forced to zero if the apex value determined is greater than zero.
[00014] The second calculation step may additionally include calculating the torque along points of the stress limit ellipse calculated at the first speed, and / or truncating the stress limit ellipse calculated by disregarding the monotonically decreasing torque.
[00015] In some modalities, the method may additionally include obtaining Ld values and Lq values using simulation based on finite element analysis, and generating the inductance lookup table based on the obtained inductance parameters.
[00016] In some modalities, the method may additionally include generating a different Id, Iq map for a plurality of speeds by repeating the second calculation step, the determination step and the generation step for each speed, and building an Id map , Iq integrated based on the plurality of maps Id, Iq.
[00017] In some embodiments, the machine with IPM includes a machine controller with the Id, Iq map, as discussed above.
[00018] In another mode, the method includes first calculating a maximum torque path per amp (MTPA) for a first limit speed based on the machine parameters of the machine with IPM, according to calculating a truncated voltage limit ellipse with monotonically increasing torque for a first speed based on machine parameters, if the first speed is higher than the first limit speed, determine an operational path at the first speed based on at least one of the calculated MTPA path and the limit ellipse of calculated truncated voltage, and generate an Id, Iq map that maps a current value of the direct geometric axis (Id) and a current value of the quadrature geometric axis (Iq) at each torque command of a plurality of torque commands to the first speed based on the determined operational trajectory. The determination step includes determining the operational path based on a comparison of the calculated MTPA path and the calculated truncated stress limit ellipse if the first speed is less than a second limit speed and greater than the first limit speed.
[00019] In some embodiments, the first limit speed is a base speed, the base speed being a maximum axis speed at which maximum constant output torque of the machine with IPM is reached, and the second limit speed is a critical speed, in that the critical speed is a speed at which the uncontrolled generation voltage (UCG) from an electromotive counter-force (backemf) of the machine with IPM is equal to a DC bus voltage.
[00020] In some embodiments, the machine parameters include an inductance lookup table. The inductance lookup table includes sets of a direct geometric axis (Ld) inductance value and a quadrature geometric axis (Lq) inductance value, and each set corresponds to a peak current magnitude and an angle current control angle, where the current control angle can include amounts of the peak current magnitude that appear as Id and Iq.
[00021] The determination step can additionally include the following: if the first speed is the second limit speed or higher than the second limit speed, the determination step determines the operational trajectory based on the truncated stress limit ellipse calculated with monotonically increasing torque only; and / or if the first speed is the first limit speed or less than the first limit speed, the determination step determines the operational trajectory based on the calculated MTPA trajectory. The determination step may additionally include selecting the smallest of an Iq value of the calculated MTPA path and an Iq value of the calculated truncated stress limit ellipse for each Id value, where the operational path includes the selected Iq values.
[00022] The first calculation step may include determining an initial table, in which the initial table includes combinations Id, Iq with values that cover all possible values for a preset current limit, calculating the current peak magnitude, the current control angle and the Ld and Lq values for each combination Id, Iq of the initial table, calculate the torque for each combination Id, Iq of the initial table based on the machine parameters, define a torque range for each of the plurality of torque commands, determine a subset of combinations Id, Iq for each torque command based on the calculated torque and the defined torque range, select an combination Id, Iq from each subset that has a peak current magnitude calculated less than other subset Id, Iq combinations and calculate the path of MTPA based on the selected sets of Id, Iq combinations.
[00023] In some modes, the torque calculated for each of the combinations Id, Iq in the given subset falls within the defined torque range that covers a respective torque command.
[00024] The second calculation step may include determining an Id vertex value at the right vertex point of the stress limit ellipse at a defined axis speed based on machine parameters, calculating maximum allowable Iq values corresponding to a range of values Id, where the range of Id values is from the vertex value Id determined up to a preset minimum Id limit, and / or calculate the voltage limit ellipse for the first speed based on the calculated maximum permissible Iq values. The apex value Id can be forced to zero if the apex value determined is greater than zero.
[00025] The second calculation step may additionally include calculating the torque along points of the stress limit ellipse calculated at the first speed, and truncating the stress limit ellipse calculated by disregarding the monotonically decreasing torque.
[00026] The method may additionally include generating a different Id, Iq map for a plurality of speeds by repeating the second calculation step, the determination step and the generation step for each speed, and building an Id, Iq map integrated with based on the plurality of maps Id, Iq. In some embodiments, the machine with IPM includes a machine controller with the map Id, Iq, as shown.
[00027] Modalities of the present invention provide a computer processing unit to generate initial operational points for controlling a machine with an internal permanent magnet (IPM).
[00028] The processing unit of the computer includes a memory configured to store machine parameters. The machine parameters include an inductance lookup table. The inductance lookup table includes sets of a direct geometric axis (Ld) inductance value and a quadrature geometric axis (Lq) inductance value. Each set can correspond to a peak current magnitude and a current control angle. The current control angle can indicate quantities of the peak current magnitude that appear as direct geometric axis current (Id) and quadrature geometric axis current (Iq).
[00029] The computer's processing unit may also include a processor configured for first calculating a maximum torque path per amp (MTPA) for a first limit speed based on machine parameters. The processor is configured for the second calculation of a truncated voltage limit ellipse with monotonically increasing torque for a first speed based on machine parameters, if the first speed is higher than the first limit speed. The processor is configured to determine an operational path at first speed based on at least one of the calculated MTPA path and the calculated truncated voltage limit ellipse. The processor is configured to generate an Id, Iq map that maps an Id value and an Iq value to each torque command from a plurality of torque commands for the first speed based on the determined operating path.
[00030] In some modalities, the first limit speed is a base speed, where the base speed is a maximum axis speed at which maximum constant output torque of the machine with IPM is reached.
[00031] In some modality, if the first speed is lower than a second limit speed and higher than the first limit speed, the processor is configured to determine the operational path based on a comparison of the calculated MTPA path and the voltage limit ellipse calculated truncated; if the first speed is the second limit speed or higher than the second limit speed, the processor is configured to determine the operating path based on the truncated voltage limit ellipse calculated with monotonically increasing torque only; and / or if the first speed is the first speed limit or less than the first speed limit, the processor is configured to determine the operational path based on the calculated MTPA path.
[00032] In some modalities, the second limit speed is a critical speed, where the critical speed is a speed at which the uncontrolled generation voltage (UCG) from an electromotive counter-force (backemf) of the machine with IPM is equal to a bus voltage in direct current (DC).
[00033] If the first speed is lower than the second limit speed and higher than the first limit speed, the processor is configured to select the lowest of an Iq value of the calculated MTPA path and an Iq value of the truncated voltage limit ellipse calculated for each Id value, where the operational trajectory includes the selected Iq values.
[00034] Also, the processor can be configured to determine an initial table, in which the initial table includes combinations Id, Iq with values that cover all possible values for a preset current limit, to calculate the peak magnitude of current, the current control angle and the Ld and Lq values for each combination Id, Iq of the initial table, to calculate the torque for each combination Id, Iq of the initial table based on the machine parameters, to define a torque range for each of the plurality of torque commands, to determine a subset of combinations Id, Iq for each torque command based on the calculated torque and the defined torque range, to select a combination Id, Iq from each subset that has a calculated peak current magnitude less than other subset Id, Iq combinations, and to calculate the path of MTPA based on the selected sets of Id, Iq combinations. The torque calculated for each of the combinations Id, Iq in the given subset may fall within the defined torque range that encompasses a respective torque command.
[00035] Also, the processor can be configured to determine a vertex Id value for the right vertex of the voltage limit ellipse at an axis speed defined based on the machine parameters, to calculate maximum permissible Iq values corresponding to a range of Id values, where the range of Id values is from the vertex value Id determined up to a preset minimum Id limit, and to calculate the voltage limit ellipse for the first speed based on the calculated maximum permissible Iq values. Also, the apex value Id can be forced to zero if the apex value determined is greater than zero.
[00036] Also, the processor can be configured to calculate the torque along points of the voltage limit ellipse calculated at the first speed and to truncate the voltage limit ellipse calculated by disregarding the monotonically decreasing torque. The processor is configured to generate a different Id, Iq map for a plurality of speeds by repeating the second calculation step, the determination step and the generation step for each speed, and to build an integrated Id, Iq map based on the plurality of maps Id, Iq. BRIEF DESCRIPTION OF THE DRAWINGS
[00037] Example modalities will be more fully understood from the detailed description given below and the accompanying drawings, in which equal elements are represented by equal reference numbers, which are given by way of illustration only and, thus, are not limiting , and wherein: FIG. 1 illustrates a method for constructing a map Id, Iq for a plurality of speeds according to an embodiment of the present invention; FIG. 2 illustrates a device 200 for constructing a map Id, Iq for a plurality of speeds according to an embodiment of the present invention; FIG. 3A includes a plurality of curves and a plurality of voltage limiting ellipses in a plane d-q according to an embodiment of the present invention; FIG. 3B illustrates a plurality of voltage limit ellipses and a plurality of curves in a d-q plane according to an embodiment of the present invention; FIG. 4 illustrates a method for calculating the trajectory of MTPA for the first limit speed or a speed below the first limit speed according to an embodiment of the present invention; FIG. 5 illustrates a method for generating the Id, Iq map using the stress limit ellipse or a combination of the MTPA path and the stress limit ellipse for operating speeds above the first limit speed according to an embodiment of the present invention; FIG. 6 illustrates a method for calculating operational trajectories for a plurality of speeds and generating a plurality of integrated maps Id, Iq based on the operational trajectories according to an embodiment of the present invention; FIG. 7 is a block diagram of an embodiment of a system for controlling an electrical machine with IPM; and FIG. 8 is a block diagram of an electronic data processing system consistent with FIG. 7. DETAILED DESCRIPTION OF THE EXAMPLE MODALITIES
[00038] Various example modalities will now be described more fully in relation to the accompanying drawings in which some example modalities are shown. Like numbers refer to like elements throughout the description of FIGS.
[00039] It will be understood that, although the terms first, second, etc. can be used here to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, a first element can be called a second element and, similarly, a second element can be called a first element, without departing from the scope of the example modalities. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.
[00040] The terminology used here is for the purpose of describing particular modalities only and is not intended to be limiting to exemplary modalities. As used here, it is intended that the singular forms "one", "one", "o" and "a" also include plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including" when used herein, specify the presence of declared resources, integers, steps, operations, elements and / or components, but do not prevent the presence or addition of one or more other resources, integers, steps, operations, elements, components and / or groups of these.
[00041] It should also be noted that, in some alternative implementations, the functions / acts noted may occur outside the order noted in FIGS .. For example, two FIGS. shown in succession may, in fact, be performed concurrently or may sometimes be performed in reverse order, depending on the functionality / acts involved.
[00042] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning commonly understood by those versed in the technique to which the example modalities belong. It will be further understood that terms, for example, those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meanings in the context of the relevant technology and will not be interpreted in an idealized or excessively formal sense, unless here so expressly defined.
[00043] In the following description, illustrative modalities will be described in relation to symbolic acts and representations of operations (for example, in the form of flowcharts) that can be implemented as program modules or functional processes that include routines, programs, objects, components, data structures, etc., which, when executed, perform particular tasks or implement abstract data types in particular, and can be implemented using existing hardware on existing network elements. Such existing hardware may include one or more Central Processing Units (CPUs), digital signal processors (DSPs), application-specific integrated circuits, computers with field programmable port arrangements (FPGAs) or similar machines that once programmed become whether machines in particular.
[00044] It should be kept in mind, however, that all these terms and similar terms must be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically stated otherwise, or as is apparent from the discussion, terms such as "obtain", "determine", "calculate", "select", "define", "truncate", "generate" or similar, relate to the action and processes of a computer system, or similar electronic computing device, that manipulate and transform data represented as physical and electronic quantities in the records and memories of the computer system into other data similarly represented as physical quantities in memories or in the records of the computer system or other such devices for storing, transmitting or displaying information.
[00045] Modalities of the present invention provide a device and a method for generating initial operating points for a machine with a permanent interior magnet (IPM). The machine with IPM can be any type of machine with IPM that is well known to those skilled in the art. For example, a machine with IPM may include a slotted stator and a rotor with permanent magnet poles, as well as a controller configured to control the machine with IPM. The initial operational points can be stored in at least one look-up table, which is used when operating the machine with IPM.
[00046] Each operational point includes a current value of the direct geometric axis (Id) and a current value of the quadrature geometric axis (Iq), which can also be referred to as a flow current command and a current flow command. torque, respectively. The current commands, Id and Iq, are components of a peak current magnitude (Is) and a current control angle (y). The current control angle (y) indicates quantities of Is that appear as Id and Iq in the dq plane. In one embodiment, the current control angle (y) is the angle of the peak current magnitude (Is) in relation to the positive q geometric axis of the dq plane. The relationship between the peak current magnitude Is and the current control angle (y) and Id and Iq is as follows.

[00047] The current command Iq can have a positive or negative sign (+/-), depending on the signal of the torque command. The current commands indicate the appropriate amount of current to be applied to the machine with IPM in response to a torque command (for example, 50 Nm) and an operating speed. According to one modality, an operational point is mapped to each torque command for a plurality of speeds that cover the full range of the machine with IPM. The torque command can be expressed in terms of a percentage of torque in the full range (for example, 0%, 5%, 10%, 15%). The operating points and corresponding torque commands are stored in at least one lookup table with Id, Iq maps. Therefore, in response to a particular operating torque and speed command, the machine with IPM selects the corresponding operating point (for example, Id value, Iq value) based on the appropriate Id, Ip map in at least one lookup table.
[00048] The initial operational points can be used to test the machine's performance with IPM. For example, based on the initial operational points, a user can (a) test torque control, speed control and basic voltage control on the machine with IPM, (b) tune in proportional integral (PI) gains of the current loop, the speed loop and machine voltage loop, (c) test thermal performance and machine limitations, (d) evaluate losses of electronic power components and select optimal pulse width modulation (PWM) switching frequencies, and ( e) establish a foundation for position calibration and engine characterization, for example.
[00049] According to some modalities, the initial operating points generated can provide operational points for the complete operational range (for example, full torque ranges and full speed) of the machine with IPM, while satisfying current and current limitations. specified voltage. In addition, the generation of the initial operating points uses machine parameter data from the machine with IPM, such as actual inductance values that are not considered constant and are heavily coupled between dq geometric axes. As a result, the initial operating points generated can be beneficial for understanding how well the machine with IPM is designed for a specific application purpose, such as (a) whether the machine with IPM is oversized or in need of torque generation capacity. , (b) if the current required for full torque operation at low speed is too large, (c) if there is sufficient voltage for operation at high speed and the corresponding angle is too large, and (d) if the torque sensitivity at position function is very large, for example.
[00050] FIG. 1 illustrates a method for constructing an Id, Iq map for a plurality of speeds according to an embodiment of the present invention. The method can be performed by any type of computer processing unit with a memory and a processor, as explained below in relation to FIG. two.
[00051] FIG. 2 illustrates a device 200 for constructing an Id, Iq map for a plurality of speeds according to an embodiment of the present invention. Device 200 includes a processor 205 and at least one memory 210. Device 200 can include other components that are well known to those skilled in the art. Processor 205 can be any type of processor configured to execute program codes stored in at least one memory 210. Memory 210 can be any type of memory, such as Random Access Memory (RAM) and Exclusive Read Memory (ROM) , for example. The device 200 can perform any of the operations in FIGS. 1 and 4 - 6 of the present application, as further explained below.
[00052] Again in relation to FIG. 1, in step S110, processor 205 loads machine parameters of the machine with IPM from at least one memory 210. Machine parameters can include an electromotive counter-force constant (backemf) (Xf), a current limit, a number of pole pairs of the machine with IPM, a level of the bus voltage in direct current (DC), an inductance lookup table, a stator resistance and / or a coefficient of intensity of the permanent magnet in relation to the temperature, for example. In addition, machine parameters can include any other type of parameter that is well known to those skilled in the art.
[00053] The inductance lookup table can include sets of a direct geometric axis (Ld) inductance value and a quadrature geometric axis (Lq) inductance value. Each set corresponds to a peak current magnitude (Is) and a current control angle (y). Tables 1 and 2, shown below, illustrate a modality of the inductance query table. Table 1
Table 2

[00054] Table 1 provides the inductance value for Ld, while Table 2 provides the inductance value for Ld. However, modalities of the present invention cover any type of arrangement that maps the peak current magnitude and the control angle. current to the inductance values of Ld and Lq. For example, in another embodiment, Table 1 and Table 2 can be incorporated into a table.
[00055] Each line corresponds to a specified peak current magnitude (Is) (for example, 0 A, 25 A, 50 A, etc.). The highest level of the peak current magnitude in Tables 1 and 2 must have exceeded the maximum current limit for the machine with IPM, which is determined both by a thermal limit of the winding of the machine and by a current limit of the component of hardware switching. Although Tables 1 and 2 illustrate 400 A as the highest peak current magnitude, embodiments of the present invention can cover any value.
[00056] Each column corresponds to a specified current control angle (y) (for example, 0 °, 5 °, 10 °, ..., 85 °, 90 °). As the machine operation with IPM is considered symmetrical in the second and third quadrants of the d-q plane, the provision of the Ld and Lq values for the control current angles from 90 to 180 is not required.
[00057] Each Ld and Lq value corresponding to a specific peak current magnitude (Is) and current control angle (y) can be obtained using simulation tools based on finite element analysis (FEA), such as SPEED, JMAG, Ansys or Ansoft, for example. The FEA-based simulation electromagnetically analyzes the machine with IPM to generate the Ld and Lq values for the inductance lookup table. In other words, a machine designer can fill in the inductance lookup table by running an iterative FEA-based simulation for the machine with IPM.
[00058] The backemf constant (Xf) can be defined as follows:

[00059] The λf parameter is the backemf constant and has the unit of volts per electric radians / second, the coelec parameter is the electrical frequency and the Vline_line_rms parameter is the fundamental mean square root (rms) of the line-to-line voltage of the terminal of machine. The line-to-line voltage of the machine terminal is the voltage applied to the machine with IPM.
[00060] The DC bus voltage level for a particular application can be used. The DC bus voltage is the voltage supply from the power supply to the machine controller with IPM. For example, when the machine with IPM operates in the medium to high speed region, the voltage level of the DC bus directly determines the voltage threshold which further limits the output torque at higher speeds.
[00061] Also, depending on the machine size and the DC bus voltage level, a stator resistance may or may not be important for the initial operating points. Basically, for high-powered machines with a high level of DC bus voltage (for example, a traction machine for a heavy vehicle off the road), the voltage drop across the phase resistance is usually insignificant. However, for low power and low voltage machines (for example, grass treatment machine), the voltage drop across the phase resistance can be considered for the evaluation of the voltage limit.
[00062] For more advanced / accurate evaluation of motor control with IPM, the intensity coefficient of the permanent magnet in relation to the temperature may be required, for example, -0.11% per degree C. The intensity coefficient of the permanent magnet it can be useful to appropriately compensate for the variation in output torque due to the change in the temperature of the magnet.
[00063] In step S120, processor 205 calculates a maximum torque path per amp (MTPA) for a first limit speed based on the machine parameters of the machine with IPM, which include the inductance lookup table. The first limit speed can be a base speed, which is the maximum spindle speed at which the machine's constant maximum output torque with IPM is reached. For operating speeds at base speed or below base speed, the operational points (Id, Iq) are determined based on the MTPA trajectory only. However, in some cases, for operating speeds above the base speed, the MTPA calculated for the base speed is used to determine the operating path for the current speed. The details of step S120 are further explained with reference to FIG. 4 of the present invention.
[00064] In step S130, processor 205 calculates a truncated voltage limit ellipse with monotonically increasing torque for a first speed based on the machine parameters, if the first speed is higher than the first limit speed. For example, for operating speed higher than the first limit speed, the machine's operation with IPM can be limited by the voltage limit ellipse. The first speed can be any speed in a plurality of speeds that cover the complete operational range of the machine with IPM. If the first speed is higher than the first limit speed, processor 205 calculates the truncated voltage limit ellipse. The details of step S130 are further explained with reference to FIG. 5 of the present invention.
[00065] In step S140, processor 205 determines an operational path based on at least one of the calculated MTPA path and the calculated truncated voltage limit ellipse. For example, if the first speed is lower than a second limit speed and higher than the first limit speed, step S140 determines the operational path based on a comparison of the calculated MTPA path and the calculated truncated stress limit ellipse. The second limit speed can be a critical speed, which is a speed at which the uncontrolled generation voltage (UCG) of the IPM machine's backemf is equal to the DC bus voltage. If the first speed is the second limit speed or higher than the second limit speed, step S140 determines the operational path based on the truncated stress limit ellipse calculated with monotonically increasing torque only. If the first speed is the first limit speed or less than the first limit speed, step S140 determines the operational path based only on the calculated MTPA path. The details of step S140 are further explained with reference to FIG. 5 of the present invention.
[00066] In S150, processor 205 generates an Id, Iq map for the first speed based on the determined operational path. The Id, Iq map can be a lookup table that includes torque commands (Tcmd) as a function of the direct commands of the direct geometric axis (id_cmd) and torque commands (Tcmd) as a function of the current commands of the quadrature geometric axis (iq_cmd). As previously explained, torque commands can be expressed as a percentage of torque. For example, a torque value, such as 50 Nm, can be converted to a torque percentage, such as 5%, and the torque percentage can be stored in association with current commands. The details of step S150 are further explained in relation to FIGS. 5 - 6 of the present invention.
[00067] Steps 130, 140 and 150 are repeated for each speed for the plurality of speeds. As a result, processor 205 generates a different Id, Iq map for the plurality of speeds. In step S160, the processor builds an integrated Id, Iq map based on the plurality of Id, Iq maps. For example, the integrated Id, Iq map can include a plurality of lookup tables, where each lookup table provides the torque commands (Tcmd) as a function of the direct commands of the direct geometric axis (id_cmd) and the torque commands (Tcmd) as a function of the current commands of the quadrature geometric axis (iq_cmd) for a corresponding speed. The details of step S160 are further explained in relation to FIGS. 5 - 6 of the present invention.
[00068] FIGS. 3A and 3B provide a graphical explanation of the ellipses voltage limits for a plurality of speeds (including the critical speed and the base speed) and the MTPA trajectory for the base speed.
[00069] FIG. 3A includes a plurality of curves and a plurality of voltage limiting ellipses in a plane d-q according to an embodiment of the present invention. The plurality of curves includes the path of MTPA (OB), the minimum path (MJ) of torque by torque (MVPT) and the path (ABJD) current limit of the stator (SCL). The plurality of stress limit ellipses include the base speed (Wb), the transition speed (wtransition) and the critical speed (Wcriticai).
[00070] The MVPT path determines the peak output torque at each speed from a voltage limiting point of view. The SCL path determines the permissible peak current that passes through the machine's stator windings with IPM. Point B is the intersection point of the MTPA trajectory and the SCL trajectory, and point J is the intersection point of the SCL trajectory and the MVPT trajectory.
[00071] The base speed (®b) is defined as when the voltage limit ellipse crosses point B. When the voltage limit ellipse crosses point J, the corresponding speed is defined as the transition speed, Wtransition. Finally, when the voltage limit ellipse crosses point O, the corresponding motor speed is defined as the critical speed, Critical.
[00072] The machine with IPM is operating along the MTPA path without voltage restriction or along the voltage limit ellipse when flow weakening is required.
[00073] FIG. 3B illustrates a plurality of voltage limit ellipses and a plurality of curves in a d-q plane according to an embodiment of the present invention. The plurality of curves includes the same paths described above in relation to FIG. 3A. The plurality of voltage limit ellipses correspond to the first, second, third and fourth operating speeds, which are included in four main operating regions, respectively, as further described below.
[00074] First, when an operational speed is lower than the base speed (for example, W <Wbase, such as W1), the machine with IPM is operating along the path of MTPA (OEGB) without a limit on the limitation of voltage. This case belongs to the region of no flow weakening. As explained in relation to FIG. 1, if the operational speed is the base speed or below the base speed, the operational path is determined based on the MTPA. In this case, the operational trajectory is OEGB.
[00075] Second, when the operational speed of the machine with IPM is higher than the base speed and less than the transition speed (for example, the) base <m <(mransbon, such as m2), the machine with IPM is operating along the path of MTPA until reaching the point of the stress limit point G. After this, the machine with IPM switches to the path of the stress limit ellipse until reaching the limit point SCL C. The operational path at speed m2 is the OEGC curve and the output torque is monotonically increasing along this operational curve. The peak torque at this speed is determined by the stator current limit. The case belongs to the region of partial flow weakening. As explained in relation to FIG. 1, when the operational speed is higher than the base speed and less than the critical speed, the operational path can be based on a comparison of the voltage limit ellipse and the MTPA path. These features are further explained in relation to FIG. 5. However, depending on the current limit value and the machine design parameters, the transition speed may or may not exist. For example, if the current limit value is relatively large, then the transition speed in FIG. 3B may not need to be considered. In this case, the peak torque above the base speed is always limited by the MVPT curve, not the stator current limit curve.
[00076] Third, when the operational speed of the machine with IPM is higher than the transition speed and less than the critical speed (for example, mtransition <m <mcritical, such as m3), the machine with IPM is operating over from the path of MTPA until reaching the limit point of stress E. After that, the machine with IPM is additionally operating along the limit ellipse of tension until reaching the limit point MVPT K. The operational path at speed m3 is the OEK curve, and the output torque is monotonically increasing along this operating curve. The peak torque at this speed is determined by the MVPT limit. This case also belongs to the partial flow weakening region. As explained in relation to FIG. 1, when the operational speed is higher than the base speed and less than the critical speed, the operational path can be based on a comparison of the voltage limit ellipse and the MTPA path. These features are further explained in relation to FIG. 5.
[00077] Fourth, when the operational speed of the machine with IPM is higher than the critical speed (for example, m> critical, such as m4), the machine with IPM is always operating along the voltage limit ellipse until it reaches the MVPT L limit point. The operational trajectory at speed m4 is the NL curve and the output torque is monotonically increasing along this operational curve. This case belongs to the region of complete flow weakening. As explained in relation to FIG. 1, if the operating speed is above the critical speed, the operating path is determined based only on the voltage limit ellipse with monotonically increasing torque.
[00078] FIGS. 4 - 6 illustrate methods for determining the operational trajectories and generating operational points for a plurality of speeds that can fall in any of the above-identified regions according to the modalities of the present invention.
[00079] FIG. 4 illustrates a method for calculating the MTPA trajectory for the first limit speed or a speed below the first limit speed according to an embodiment of the present invention (for example, step S120 in FIG. 1).
[00080] In step 410, processor 205 loads machine parameters with IPM that include the inductance lookup table, the backemf constant and / or the current limit, for example. The processor 205 can be configured to load other machine parameters with IPM which are well known to those skilled in the art.
[00081] In step 415, processor 205 determines an initial table. The initial table includes combinations Id, Iq with values that cover all possible values for a preset current limit. For example, when the preset current limit is 500 A, there are 501 x 501 combinations of (Id, Iq). Therefore, the initial table includes each of the possible combinations, such as (0 A, 1 A; 0 A, 2 A; ...; 500 A, 500 A).
[00082] In step S420, processor 205 calculates the peak current magnitude (Is), the current control angle (y), the Ld and Lq values for each combination Id, Iq of the initial table. For example, processor 205 calculates the peak current magnitude (Is) and the current control angle (y) for each combination Id, Iq based on Equation 1 and Equation 2. Then, processor 205 obtains the values Ld and Lq for each combination Id, Iq using the inductance lookup table, the calculated peak current magnitude and the current control angle. For example, using the calculated peak current magnitude (Is) and the current control angle (y) as inputs, processor 205 queries the corresponding Ld and Lq values in the inductance lookup table. Also, in step S420, the processor calculates the torque for each combination Id, Iq of the initial table based on the following equation, for example.

[00083] The parameter p is the number of pole pairs, kf is the backemf constant, the parameters Ld and Lq are the inductance values obtained from the inductance lookup table and the parameters Id and Iq are obtained from the initial table.
[00084] In step S425, processor 205 defines a range for a respective torque command. For example, for a specific torque command, for example, 100 Nm, the processor defines a torque range, for example, 99.5 Nm to 100.5 Nm. As further explained below, processor 205 will repeat this step in order to obtain an ideal operating point for each torque command among a plurality of torque commands.
[00085] In step S430, processor 205 determines a subset of combinations Id, Iq from the initial table for a torque command that can generate torque in the defined range and does not exceed the current limit. For example, using the results from step S420, processor 205 queries all combinations Id, Iq that can generate torque in the torque range. The torque calculated for each of the combinations Id, Iq in the given subset falls within the defined torque range that covers the respective torque command.
[00086] In step S435, using the results from step S430, processor 205 selects the combination Id, Iq with the minimum magnitude of peak current (Is). The selected Id, Iq combination can represent the operational point with the least copper loss among this subset. As such, the selected combination Id, Iq can be the ideal operating point for the respective torque command level.
[00087] In step S440, processor 205 determines whether the torque command is the last torque command in the plurality of torque commands, which represents the complete torque range. If processor 205 determines that the torque command is not the last torque command (NO), the process returns to step S425. In other words, steps S425, S430 and S435 are repeated for the full range of torque commands, for example, 5 Nm, 10 Nm, 15 Nm, ..., until the maximum output torque is assigned to an operating point ideal.
[00088] In step S450, processor 205 stores selected combinations Id, Iq corresponding to the plurality of torque commands in at least one memory 210.
[00089] In step S455, processor 205 calculates the path of MTPA, which includes the selected Id, Iq combinations, using a polynomial curve matching operation. The polynomial curve matching operation can be any type of operation that generates a curve based on numerous points. Again in relation to FIG. 3B, the path of MTPA can be the OEGB curve.
[00090] In step S460, processor 205 stores the coefficients of the calculated MTPA path in at least one memory 210.
[00091] For speeds at the first limit speed or below the first limit speed, processor 205 determines the MPTA path calculated as the operational path for this speed. Based on the operational path that includes the selected Id, Iq combinations, processor 205 generates the Id, Iq map for the first limit speed or below the first limit speed that maps the selected combination Id, Iq to each torque command of the plurality of torque commands. For example, the Id, Iq map includes the selected combination Id, Iq corresponding to each torque percentage (for example, 5%, 10%, etc.) for the full operational torque range.
[00092] FIG. 5 illustrates a method for generating the Id, Iq map using the stress limit ellipse or a combination of the MTPA path and the stress limit ellipse for operating speeds above the first limit speed according to an embodiment of the present invention. FIG. 5 illustrates a method for generating the Id, Iq map for an operational speed. However, FIG. 6 further expands on the method of FIG. 5 by the extent of the operation of FIG. 5 for a plurality of speeds.
[00093] In S510, processor 205 loads the machine parameters and MTPA coefficients that were determined in FIG. 4 from at least one memory 210.
[00094] In S515, processor 205 selects a speed from a plurality of speeds that range from above the first limit speed to the highest speed of the machine with IPM. Processor 205 calculates the corresponding electrical frequency based on the following equation.

[00095] The parameters n comprise the rotor speed in rpm, and p is the number of pole pairs.
[00096] In step S520, processor 205 calculates the voltage limit of the phase terminal based on the voltage level of the DC bus based on the following equation.

[00097] Vlimite is the voltage limit of the phase terminal, Vdc is the DC bus voltage and parameter n is a coefficient to consider operating conditions. For example, the coefficient cannot be a percentage, such as 92%. The coefficient value n can be any percentage that indicates a range or voltage range. For example, the coefficient cannot be any value between 90% and 95%. In a particular modality, the coefficient n can be 92% in order to create a space of 8% for a voltage margin, in such a way that a range of events can be taken into account, such as variation of the intensity of the magnet due at room temperature, fast additional voltage for dynamic torque command request during transient and / or imperfect DC bus voltage measurements, for example.
[00098] In S525, processor 205 determines a vertex value Id for the right vertex of the voltage limit ellipse for the selected operational speed. For example, the point of the right corner can be initialized to (0,0). Next, the terminal voltage for the initialized points is calculated based on the following equations.

[00099] The parameter vd is the voltage of the geometric axis d, vq is the voltage of the geometric axis q, rs is the stator resistance, idé the current of the geometric axis d, iq is the current of the geometric axis q, Ldé is the inductance of the geometric axis d , Lq is the inductance of the geometric axis q, W is the electrical frequency of the IPM and kfé is the intensity of the permanent magnet in the IPM rotor. Ld and Lq are obtained from the lookup table.
[000100] If the voltage of the resulting Vterm terminal, coming from Equations (7) - (9), is lower than the voltage limit of the Vlimite phase terminal coming from Equation (6), the vertex value Id is greater than zero. In other circumstances, while maintaining Iq = 0, processor 205 gradually increases the value of the magnitude Id along the negative geometric axis d (for example, from 0 to - 1, -2, etc.) until the resulting terminal voltage vterm is equal to or approximately equal to the voltage limit of the Vlimite phase terminal. Then, processor 205 sets the closest integral value to achieve this condition as the vertex value Id, which is a negative number.
[000101] In S525, processor 205 determines whether the vertex value determined is greater than zero. If processor 205 determines that the vertex Id value determined is greater than zero (YES), processor 205 forces the vertex Id value to zero, and the process proceeds to step S540. If processor 205 determines that the vertex Id value determined is less than or equal to zero (NO), the process uses the Vertex Id value determined in step S540.
[000102] In S540, processor 205 calculates the maximum permissible Iq values corresponding to a range of Id values, where the range of Id values is from the vertex value Id determined up to a preset minimum Id limit. The preset minimum Id limit must be selected in such a way that the maximum torque generated in this Id limit equals or exceeds the peak torque specified at the selected speed. For example, if Id is -50 A, then the Iq value increases from 0 to 1, and the processor evaluates at least two conditions: (1) if the corresponding voltage of the Vterm terminal is below the voltage limit of the Vlimite phase terminal and (2) if the peak current magnitude is below the current limit. If the result is yes for both conditions, processor 205 increases the magnitude Iq (for example, by 2, 3, 4, etc.) until the result of at least one of the exposed conditions is no. As a result, processor 205 calculates the maximum allowable value Iq for each Id value in the range. It is noticed that the exposed procedure applies in the following two cases, ωbase <ω <ωtransition and ωtransition <ω <ωcritical, as previously explained in relation to FIG. 3 (b).
[000103] In step S545, processor 205 calculates the torque at different points in the voltage limit ellipse. As previously explained, in the defined Id range, processor 205 calculates the maximum possible Iq value for each corresponding Id value. Then, for each combination (Id, Id), processor 205 obtains the peak current magnitude Is, the current control angle and the corresponding inductance values Ld, Lq and then calculates the torque at each point found when along the stress limit ellipse based on Equations (1) - (4).
[000104] In step S550, processor 205 truncates the calculated voltage limit ellipse by finding the monotonically increasing torque from the voltage limit ellipse and subsequently discarding the monotonically decreasing torque. For example, because the torque value at each point along the voltage limit ellipse is known from step S545, processor 205 truncates the voltage limit ellipse when the calculated torque stops growing.
[000105] In step S555, processor 205 determines whether the vertex value Id is less than zero. If processor 205 determines that the vertex value Id is less than zero (YES), this indicates that the selected speed is equal to or greater than the second limit speed (for example, the critical speed). As such, in step S560, processor 205 selects the truncated voltage limit ellipse as the operational path, and generates the Id, Iq map based on the truncated voltage limit ellipse. If processor 205 determines that the vertex value Id is equal to or greater than zero (NO), this indicates that the selected speed is lower than the second limit speed (for example, critical speed) and higher than the first limit speed (for example, base speed). As such, processor 205 determines the operational path based on a comparison of the MTPA path and the calculated truncated voltage limit ellipse, as further explained below.
[000106] In step S565, processor 205 calculates the MTPA trajectory of FIG. 4 in the same current range as the geometric axis d. Then, in step S570, processor 205 compares the calculated MTPA path with the calculated truncated voltage limit ellipse. In step S575, processor 205 selects the lowest of the Iq value of the calculated MTPA path and of the Iq value of the truncated voltage limit ellipse calculated for each Id value. As such, the operational path for the selected speed includes the selected Iq values.
[000107] FIG. 6 illustrates a method for calculating operational trajectories for a plurality of speeds and generating a plurality of integrated Id, Iq maps based on the operational trajectories according to an embodiment of the present invention.
[000108] In step 610, processor 210 loads the machine parameters from at least one memory 210. In step 615, processor 210 loads the MTPA path to the first limit speed that was calculated in FIG. 4. In step 620, processor 205 constructs a velocity vector from the highest velocity vector to the first limit speed. In step 625, processor 205 selects one of the velocity vectors and calculates the operational path for this velocity using the method described in FIG. 5. In step S630, the processor generates an Id, Iq map based on the calculated operational path.
[000109] In step S635, processor 205 determines whether the selected speed vector is the last vector. If processor 205 determines that the selected velocity vector is not the last vector (NO), the processor returns to step S625. As such, processor 205 repeats steps S625 and S630 for each speed of the plurality of speeds in the vector. As a result, processor 205 generates a plurality of maps Id, Iq for the plurality of speeds. If processor 205 determines that the selected velocity vector is the last vector (YES), the process continues to step 645 to construct an integrated Id, Iq map at all the velocities evaluated in the velocity vector.
[000110] Optionally, in step 650, processor 205 can graphically represent trajectories of Iq as a function of Id at all speeds in the same plane d-q to validate the authenticity of the data obtained.
[000111] In the following, an application of the characterization and, in particular, of the initial consultation table generated according to the above-described procedures will be described below in relation to FIG. 7.
[000112] According to one embodiment, FIG. 7 discloses a system for controlling a machine with IPM 117 (for example, a machine with permanent inner magnet (IPM)) or another machine in alternating current. In one embodiment, the system, next to the machine with IPM 117, can be referred to as an inverter or a machine controller with IPM.
[000113] The system comprises electronic modules, software modules or both. In one embodiment, the IPM machine controller comprises an electronic data processing system 120 to support storing, processing or executing software instructions from one or more software modules. The electronic data processing system 120 is indicated by the dashed lines in FIG. 7 and is shown in more detail in FIG. 8.
[000114] 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 (for example, isolated port bipolar transistors (IGBT) or others power transistors) to transmit control signals to the machine with IPM 117. In turn, the inverter circuit 188 is coupled to the machine with IPM 117. The machine with IPM 117 is associated with a sensor 115 (for example, a sensor of position, a resolver or encoder position sensor) that is associated with axis 126 or the machine rotor with IPM. The sensor 115 and the machine with IPM 117 are coupled to the data processing system 120 to provide feedback data (for example, current feedback data, such as ia, ib, ic), raw position signals, among other possible ones data or feedback signals, for example. Other possible feedback data include, but are not limited to, winding temperature readings, inverter circuit semiconductor temperature readings 188, three-phase voltage data, or other thermal or performance information for the machine with IPM 117.
[000115] In one embodiment, the torque command generation module 105 is coupled to a dq 109 geometry axis current generation manager (for example, dq geometry axis current generation tables) along with a ratio of voltage per set speed from calculation module 110. The geometry axis current generation manager dq 109 can store any of the aforementioned look-up tables. The output of the dq 109 geometric axis current generation manager and the output of a current adjustment module 107 (for example, dq 107 geometric axis current adjustment module) are fed into an adder 119. In turn, one or more outputs (for example, direct geometric axis current data (id *) and quadrature geometric axis current data (iq *)) from adder 119 are provided or coupled to a current regulation controller 111.
[000116] The current regulation controller 111 is capable of communicating with the pulse width modulation (PWM) generation module 112 (for example, PWM generation module of the space vector). Current regulation controller 111 receives respective current commands from the geometric axis dq (for example, id * and iq *) and currents of the real geometric axis dq (for example, id and iq) and transmits corresponding voltage commands from the geometric axis dq (for example, vd * and vq * commands) for insertion in the PWM 112 generation module.
[000117] In one embodiment, the PWM 112 generation module converts the voltage data of the direct geometric axis and the voltage data of the quadrature geometric axis from two-phase data representations into three-phase representations (for example, three-phase voltage representations, such as va *, vb * and vc *) for controlling the machine with IPM 117, for example. Outputs from the PWM generation module 112 are coupled to the inverter 188.
[000118] The inverter circuit 188 comprises electronic power components, such as switching semiconductors, to generate, modify and control signals modulated by pulse width or other alternating current signals (for example, pulse, square wave, sinusoid or other forms applied to the machine with IPM 117. The PWM generation module 112 provides inputs to a trigger stage on inverter circuit 188. An output stage of inverter circuit 188 provides a voltage waveform modulated by pulse width or other voltage signal for machine control with IPM. In one embodiment, inverter 188 is powered by a direct current (DC) voltage bus.
[000119] The machine with IPM 117 is associated with a sensor 115 (for example, a resolver, encoder, speed sensor, or another position sensor or speed sensors) that estimates at least one of an angular position of the axis 126 of the machine with IPM, of a speed or speed of the axis 126 of the machine with IPM and of a direction of rotation of the axis 126 of the machine with IPM. Sensor 115 can be mounted on axis 126 of the machine with IPM, or be integral with it. The output of sensor 115 is capable of communicating with primary processing module 114 (for example, position and speed processing module). In one embodiment, sensor 115 can be coupled to an analog to digital converter (not shown) that converts position data or analog speed data to digital position or speed data, respectively. In other embodiments, sensor 115 (for example, digital position encoder) can provide digital data output of position data or speed data to axis 126 or the machine rotor with IPM.
[000120] A first output (for example, position data and speed data for the machine with IPM 117) from the primary processing module 114 is communicated to the phase converter 113 (for example, three-phase current transformer module for biphasic) that converts respective digital three-phase representations of the measured current into corresponding digital two-phase representations of the measured current. A second output (for example, speed data) from the primary processing module 114 is communicated to the calculation module 110 (for example, voltage ratio module by adjusted speed).
[000121] An input of a sensor circuit 124 is coupled to machine terminals with IPM 117 to perceive at least the measured three-phase currents and a voltage level of the direct current (DC) bus (for example, high voltage DC bus) which can supply 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 (for example, module bus (DC) and three-phase current processing lines). For example, the sensor circuit 124 is associated with the machine with IPM 117 to measure three-phase currents (for example, current applied to the windings of the machine with IPM 117, against EMF induced in the windings or both).
[000122] Certain outputs from primary processing module 114 and 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 conversion methods that are suitable are known to those skilled in the art) for converting the measured three-phase current representations into 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 the phase converter module 113 is coupled to the current regulation controller 111.
[000123] Other outputs of primary processing module 114 and secondary processing module 116 can be coupled to the inputs of calculation module 110 (for example, module for calculating the voltage ratio per set speed). For example, primary processing module 114 can provide speed data (for example, revolutions per minute of machine 126 axis with IPM), while secondary processing module 116 can provide a measured level of DC voltage (for example, example, on a vehicle's direct current (DC) bus). The level of direct current voltage on the DC bus that supplies the inverter circuit 188 with electrical power can fluctuate or vary due to several factors, including, but not limited to, ambient temperature, battery condition, battery charge status, resistance or battery reactance, fuel cell status (if applicable), machine load conditions with IPM, respective machine torque with IPM and corresponding operating speed, and vehicle electrical loads (for example, electrically driven air conditioning compressor) . The calculation module 110 is connected as an intermediary between the secondary processing module 116 and the dq geometric axis current generation manager 109. The output of the calculation module 110 can adjust or impact current commands generated by the generation generator. geometric axis current dq 109 to compensate for fluctuation or variation in bus voltage in direct current, among other things. The structure and operation of the calculation module 110 are described in detail in the US Order of unknown number, entitled ““, deposited on February 28, 2011 by the inventor of the order in question, the entire contents of which is hereby incorporated by reference.
[000124] The rotor magnet temperature estimation module 104, the current shaping module 106 and the voltage feedback module of terminal 108 are coupled to the current adjustment module of the geometry axis dq 107, or are capable of communicate with him. In turn, the d-q geometry axis current module 107 can communicate with the dq geometry axis current generation manager or adder 119.
[000125] 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 one or more sensors located in the stator, in thermal communication with the stator or attached to the machine housing with IPM 117.
[000126] In another embodiment, the module for estimating the temperature of the rotor magnet 104 can be replaced by a temperature detector (for example, a thermistor and wireless transmitter, such as an infrared thermal sensor) mounted on the rotor or magnet, wherein the detector provides a signal (for example, wireless signal) indicative of the temperature of the magnet or magnets.
[000127] In one embodiment, the method or system can operate as follows. The torque command generation 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, on a vehicle data bus 118. The torque command generation module 105 converts the input control message received into torque control command data 316.
[000128] The dq 109 geometric axis current generation manager selects or determines the direct geometric axis current command data and the quadrature geometric axis current command data associated with respective torque control command data and respective speed data detected from axis 126 of the machine with IPM. For example, the dq 109 geometric axis current generation manager selects or determines the direct geometric axis current command and the quadrature geometric axis current command by accessing control lookup tables, such as the aforementioned control tables. Query. Sensor 115 on the machine with IPM 117 facilitates the provision of the detected speed data for axis 126 of the machine with IPM, where the primary processing module 114 can convert position data provided by sensor 115 into speed data.
[000129] The current adjustment module 107 (for example, dq geometric axis current adjustment module) provides current adjustment data to adjust the direct geometric axis current command data and the current command data of the geometric quadrature axis based on input data from the rotor magnet temperature estimation module 104, current shaping module 106 and voltage feedback module from terminal 108.
[000130] The current shaping module 106 can determine a correction or preliminary adjustment of the current command of the quadrature geometric axis (geometric axis q) and the current control of the direct geometric axis (geometric axis d) based on a or more of the following factors: torque load on the machine with IPM 117 and machine speed with IPM 117, for example. The rotor magnet temperature estimation module 104 can generate a secondary adjustment of the geometric axis current command q and the geometric axis current command d based on an estimated change in the rotor temperature, for example. The voltage feedback module of terminal 108 can provide a third adjustment to the current of the d axis and the q axis based on the voltage command of the controller as a function of the voltage limit. The current adjustment module 107 can provide an aggregate current adjustment that takes into account one or more of the following adjustments: a preliminary adjustment, a secondary adjustment and a third adjustment.
[000131] In one embodiment, the machine with IPM 117 can comprise a machine with permanent internal magnet (IPM) or a machine with synchronous IPM (IPMSM). An IPMSM has many favorable advantages, when compared to conventional induction machines or surface mounted PM machines (SMPM), such as high efficiency, high energy density, wide operating region with constant energy, no maintenance, for example.
[000132] Sensor 115 (eg shaft or rotor speed detector) may comprise one or more of the following: a machine with direct current IPM, an optical encoder, a magnetic field sensor (for example, Hall effect), magnetoresistive sensor and a resolver (for example, a brushless resolver). In one configuration, sensor 115 comprises a position sensor, in which position data and associated time data are processed to determine the speed or speed data for axis 126 of the machine with IPM. In another configuration, sensor 115 comprises a speed sensor or the combination of a speed sensor and an integrator to determine the position of the machine axis with IPM.
[000133] In yet another configuration, the sensor 115 comprises a compact auxiliary direct current generator that is mechanically coupled to the machine axis 126 with IPM of the machine with IPM 117 to determine the speed of the machine axis 126 with IPM, where the direct current generator produces an output voltage proportional to the rotational speed of axis 126 of the machine with IPM. In yet another configuration, sensor 115 comprises an optical encoder with an optical source that transmits a signal in the direction of a rotating object coupled to axis 126 and receives a reflected or diffracted signal in an optical detector, in which the frequency of the pulses of received signals (for example, square waves) can be proportional to a speed of axis 126 of the machine with IPM. In an additional configuration, 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 rotation of the rotor.
[000134] In FIG. 8, 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 one or more data ports are coupled to data bus 262 to support data communications between data processor 264, data storage device 260 and one or more data ports.
[000135] In one embodiment, the 264 data processor 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 processor digital signal, a proportional - integral - derived controller (PID) or another data processing device.
[000136] The data storage device 260 can comprise any magnetic, electronic or optical devices for data storage. 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 records, data serializers, a magnetic disk drive, a hard disk drive, an optical disc drive, or the like.
[000137] As shown in FIG. 8, 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 can comprise a transceiver and a temporary storage memory, for example. In one embodiment, each data port can comprise any serial or parallel input / output port.
[000138] In an embodiment illustrated in FIG. 8, the first data port 268 is coupled to the data bus of vehicle 118. In turn, the data bus of vehicle 118 is coupled to controller 266. In one configuration, the second data port 270 can be coupled to the circuit inverter 188, the third data port 272 can be coupled to the sensor 115, the fourth data port 274 can be coupled to the analog to digital converter 122 and the fifth data port 276 can be coupled to the voltage feedback module of terminal 108 The analog to digital converter 122 is coupled to the sensor circuit 124.
[000139] In a data processing system modality 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 can be coupled to a vehicle data bus 118, such as a controller area network (CAN) data bus. The data bus of vehicle 118 can provide messages from the data bus with torque commands to the torque command generation module 105 via the first data port 268. The operator of a vehicle can generate the torque commands via a user interface, such as an accelerator, a pedal, a 266 controller or other control device.
[000140] In certain embodiments, sensor 115 and primary processing module 114 may be associated with, or supported by, a third data port 272 of data processing system 120. [000141] The invention being so described, it will be obvious that it can be varied in many ways. Such variations should not be considered as a departure from the invention, and it is intended that all such modifications are included in the scope of the invention.

权利要求:
Claims (12)
[0001]
1. Method for generating initial operational points to control a machine (117) with an inner permanent magnet (IPM), characterized by the fact that it comprises: loading an inductance lookup table, the inductance lookup table including sets of an inductance value of the direct geometric axis (Ld), and an inductance value of the quadrature geometric axis (Lq), each set corresponding to a peak current magnitude and a current control angle, the current control angle indicating quantities of peak current magnitude that appear as direct geometric axis current (Id) and quadrature geometric axis current (Iq); first calculation of a maximum torque path per Ampere (MTPA) for a first limit speed based on machine parameters of the machine (117) with inner permanent magnet (IPM), the machine parameters including the inductance lookup table; second, for a first speed higher than the first limit speed, calculating a stress limit ellipse for a first speed based on machine parameters, and truncating the stress limit ellipse for a truncated stress limit ellipse with monotonically increasing torque ; determine an operational path at first speed based on at least one of the calculated maximum torque path per Amp (MTPA) and the calculated truncated voltage limit ellipse; where the determination steps include: if the first speed is less than a second limit speed and greater than the first limit speed, the determination step determines the operating path based on a comparison of the calculated maximum torque path per Amp (MTPA) and the calculated truncated stress limit ellipse; if the first speed is the second speed limit or higher than the second speed limit, the determination step determines the operational trajectory based on the truncated stress limit ellipse calculated with monotonically increasing torque only; and if the first speed is the first limit speed or less than the first limit speed, the determination step determines the operational trajectory based on the calculated maximum torque trajectory per Ampère (MTPA), generate a map (Id), (Iq) in a machine controller to control a machine (117) with an inner permanent magnet (IPM).
[0002]
2. Method according to claim 1, characterized by the fact that the first limit speed is a base speed, the base speed being a maximum axis speed in which maximum constant output torque of the machine (117) with inner permanent magnet ( IPM) is achieved.
[0003]
3. Method according to claim 1, characterized by the fact that the second limit speed is a critical speed, the critical speed being a speed at which the uncontrolled generation voltage (UCG) from an electromotive counterforce (BACKEMF) from machine with permanent internal magnet (IPM) is equal to a bus voltage in direct current (DC) from a power supply of a machine controller (117) with permanent internal magnet (IPM).
[0004]
4. Method according to claim 1, characterized by the fact that, if the first speed is lower than the second limit speed and higher than the first limit speed, the determination step includes: selecting the lowest value of (Iq) of the maximum path per Ampere (MTPA) calculated and the value (Id) of the truncated voltage limit ellipse calculated for each value (Id), in which the operational path includes the selected values (Iq).
[0005]
5. Method according to claim 1, characterized by the fact that the first calculation step includes: determining an initial table, the initial table including combinations (Id), (Iq) having values that cover all possible values for a limit pre-set current; calculate the peak current magnitude, the current control angle and the values (Ld), (Lq) for each combination (Id), (Iq) from the initial table; calculate the torque for each combination (Id), (Iq) of the initial table based on the machine parameters; define a torque range for each of the plurality of torque commands; determine a subset of combinations (Id), (Iq) for each torque command based on the calculated torque and the defined torque range; select a combination (Id), (Iq) from each subset that has a calculated peak current magnitude less than other combinations (Id), (Iq) of the subset; and calculate the trajectory of MTPA based on the selected sets of combinations (Id), (Iq).
[0006]
6. Method according to claim 5, characterized by the fact that the torque calculated for each of the combinations (Id), (Iq) in the given subset falls within the defined torque range that encompasses a respective torque command.
[0007]
7. Method according to claim 1, characterized by the fact that the second calculation step includes: determining a vertex value (Id) for the right vertex of the stress limit ellipse at a defined axis speed based on the parameters of machine; calculate maximum permissible values (Iq) corresponding to a range of values (Id), the range of values (Id) being of the vertex value (Id) determined up to a pre-adjusted minimum limit (Id); and calculate the stress limit ellipse for the first speed based on the calculated maximum permissible values (Iq).
[0008]
8. Method according to claim 7, characterized by the fact that the vertex value (Id) is forced to zero if the vertex value (Id) determined is greater than zero.
[0009]
9. Method according to claim 7, characterized by the fact that the second calculation step additionally includes: calculating the torque along points of the stress limit ellipse calculated at the first speed; and truncate the voltage limit ellipse calculated by disregarding the monotonically decreasing torque.
[0010]
10. Method according to claim 1, characterized by the fact that it additionally comprises: obtaining the values (Ld) and (Lq) using simulation based on finite element analysis; and generate the inductance lookup table based on the obtained inductance parameters.
[0011]
11. Method according to claim 1, characterized by the fact that it additionally comprises: generating a different map (Id), (Iq) for a plurality of speeds by repeating the second calculation step, the determination step and the generation for each speed; and building a map (Id), (Iq) integrated based on the plurality of maps (Id), (Iq).
[0012]
12. Processing unit (200) of the computer to generate initial operational points to control a machine (117) with an inner permanent magnet (IPM), including a machine controller to control the machine (117), characterized by the fact that the unit of computer processing comprises: a memory (210) configured to store machine parameters, the machine parameters including an inductance lookup table, the inductance lookup table including sets of a direct geometric axis (Ld) inductance value and an inductance value of the quadrature geometric axis (Lq), each set corresponding to a peak current magnitude and a current control angle, the current control angle indicating quantities of the peak current magnitude that appear as current the direct geometric axis (Id) and current of the quadrature geometric axis (Iq); and a processor (205) configured for the first calculation of a maximum torque trajectory per Amp (MTPA) for a first limit speed based on the machine parameters of a machine (117) with inner permanent magnet (IPM), the machine parameters including the inductance lookup table, the processor (205) set to second, for a first speed higher than the first limit speed, calculate the voltage limit ellipse for the first speed based on the machine parameters and truncate the voltage limit ellipse for a truncated stress limit ellipse with monotonically increasing torque, the processor configured to determine an operational path at first speed based on at least one of the calculated MTPA path and the calculated truncated stress limit ellipse, where the determination steps include if the first speed is lower than a second limit speed and higher than the first limit speed, the de step termination determines the operational path based on a comparison of the calculated MTPA path and the calculated truncated stress limit ellipse; if the first speed is the second speed limit or higher than the second speed limit, the determination step determines the operational trajectory based on the truncated stress limit ellipse calculated with monotonically increasing torque only; and if the first speed is the first limit speed or less than the first limit speed, the determination step determines the operational path based on the calculated MTPA path, the processor configured to generate a to (Id), (Iq) map that maps a value (Id) and a value (Iq) for each torque command of a plurality of torque commands for the first speed based on the determined operating path, in which the machine controller is configured to use the generated map (Id) , (Iq) to control a machine (117) with a permanent interior magnet (IPM).

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同族专利:

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公开号 | 公开日

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US20120217916A1|2012-08-30|

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AU2012223687A1|2013-09-12|

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BR112013022024A2|2016-11-29|

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EP2686949B1|2020-06-17|

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WO2012118590A3|2014-03-13|

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CN103891129A|2014-06-25|

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CN103891129B|2017-07-07|

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JP2014515245A|2014-06-26|

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EP2686949A4|2017-10-25|

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US8410737B2|2013-04-02|

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WO2012118590A2|2012-09-07|

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EP2686949A2|2014-01-22|

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法律状态:
2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2019-07-30| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

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2020-06-02| B07A| Technical examination (opinion): publication of technical examination (opinion)|

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2020-12-15| B09A| Decision: intention to grant|

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2021-01-19| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 01/02/2012, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US13/036,382|US8410737B2|2011-02-28|2011-02-28|Device and method for generating an initial controller lookup table for an IPM machine|

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US13/036382|2011-02-28|

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PCT/US2012/023440|WO2012118590A2|2011-02-28|2012-02-01|Device and method for generating an initial controller lookup table for an ipm machine|

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