system for processing a sensed current signal from a motor

专利摘要:
METHODS FOR CALIBRATION OF A CURRENT SENSING INSTANT, AND INVERTING CURRENT TRANSDUCERS, AND TO CALCULATE A TIME DELAY ASSOCIATED WITH THE RECEPTION AND PROCESSING OF A CURRENT SIGNAL, AND THE SYSTEM FOR PROCESSING A CURRENT SIGNAL IS SENSORED Disclosed is a method that calibrates a current sensing instant to lock a current value from a set of current signals (402 in Figure 4). A current command that includes a magnitude at a Gamma angle is provided to control a motor when the motor is operating in a motorized mode at a shaft speed (404). A corresponding current command that includes the same magnitude. at the same angle Gamma is provided to control the motor when the motor is operating in a braking mode at the same shaft speed (408). A first rms current magnitude of true weighting of the three phase motor currents is monitored when the motor is controlled by the current command and is operating in motorized mode (406). A second rms current magnitude of actual weighting of the three phase motor currents is monitored when the motor is controlled by the corresponding current command (...).
公开号:BR112013022026B1
申请号:R112013022026-0
申请日:2012-01-27
公开日:2021-06-08
发明作者:Long Wu；Robert Shaw；Chris J. Tremel；Kent D. Wanner
申请人:Deere & Company；
IPC主号:

专利说明:

FIELD OF THE INVENTION
[001] The present description relates, in general, to a system and a method, in general, referred to as a system to calibrate an electrical control system. FUNDAMENTALS
[002] Motors, such as an alternating current machine, such as an interior permanent magnet motor (IPM), a synchronous IPM machine (IPMSM), conventional induction machines, surface mounted PM machines (SMPM), other alternating current machines , or various other machines, can be controlled and/or powered in various ways. For example, engines can be powered using a battery, electricity, fossil fuels, engines, supply voltages or other sources. Engines can be controlled manually and/or with the assistance of computer processors. SUMMARY
[003] A method calibrates a current perception instant to serialize a current value coming from a set of current signals. A current command that includes a magnitude at a Gamma angle is provided to control a motor when the motor is operating in a motorized mode at one shaft speed. A corresponding current command that includes the same magnitude at the same Gamma angle is provided to control the motor when the motor is operating in a braking mode at the same shaft speed. A first rms current magnitude of true weighting of the three phase motor currents is monitored when the motor is controlled by the current command and is operating in motorized mode. A second rms current magnitude of true weighting of the three phase motor currents is monitored when the motor is controlled by the corresponding current command and is operating in brake mode. A current sense instant is adjusted until a first true weighting rms current magnitude observed in motorized mode equals a second true weighting rms current magnitude observed in braking mode.
[004] Other systems, methods, features and advantages will be apparent to those skilled in the art upon examination of the following figures and detailed description. It is intended that all such additional systems, methods, features and advantages are included in this description, fall within the scope of the modalities and be protected by the following claims and defined by the following claims. Additional features and benefits are discussed below in conjunction with the description. BRIEF DESCRIPTION OF THE DRAWINGS
[005] The system and/or the method can be better understood in relation to the following drawings and description. Non-limiting and non-exhaustive descriptions are described in relation to the following drawings. The components in the figures are not necessarily to scale, instead emphasis being placed on illustration of principles. In the figures, like reference numbers may refer to like parts throughout the different figures unless otherwise specified.
[006] FIG. 1 is a block diagram of a control system for controlling a motor.
[007] FIG. 2 is a block diagram of an electronic data processing system used with a control system to control a motor.
[008] FIG. 3 is a signal diagram in a motorized mode and a braking mode for a motor.
[009] FIG. 4 is a flowchart of a method of calibrating a single-instant current perception.
[0010] FIG. 5 is a flowchart of a method of calibrating a current sense instant.
[0011] FIG. 6 is a flowchart of a method of generating a lookup table with scaling coefficients.
[0012] FIG. 7 is a circuit diagram of a part of a control system for controlling a motor.
[0013] FIG. 8 is a block diagram of a part of a control system for controlling a motor. DETAILED DESCRIPTION
[0014] In many motorized systems, precise control of the operation of motors may be desired and, in some situations, required. Precise control and operation of motors can require an understanding of motor properties as well as significant processing capabilities.
[0015] FIG. 1 illustrates a control system that can be used to control one or more motors, such as a motor 117. The control system can include one or more of an electronic data processing system 120, an inverter switching circuit 188, a sensor 115 and/or a vehicle data bus 118. More or less components or features may be included. The control system may relate to a combination of electronic data processing system 120, inverter switching circuit 188, and sensor 115. In some systems, the control system may include vehicle data bus 118. In other systems, the control system may refer only to electronic data processing system 120 and/or inverter switching circuit 188. Motor 117 and/or mechanical shaft 126 shown in FIG. 1 may or may not be considered a part of the control system. In some embodiments, the control system of FIG. 1, beside motor 117, may be referred to as an inverter or a motor controller.
[0016] The control system can be implemented and/or used to control one or more motors, such as, for example, a motor 117. Motor 117 can relate to several machines or several motors, such as a current machine such as an internal permanent magnet motor (IPM), a synchronous IPM machine (IPMSM), conventional induction machines, surface mounted PM machines (SMPM), other alternating current machines, or various other machines. In some modalities, an IPMSM may have favorable advantages compared to conventional induction machines or surface-mounted PM machines (SMPM), such as high efficiency, high energy density, wide operating region with constant energy and less maintenance, for example. For simplicity, the controlled machine may be referred to as engine 117, but it should be understood that the disclosure is not limited to one engine.
[0017] Motor 117 can run and/or operate in various ways. For example, motor 117 can be energized and/or controlled by a power supply. The power supply can be, for example, a voltage source (or source voltage) or a supply voltage (or supply voltage) such as a battery, electricity, bus voltage (such as bus voltage in current continuous) and/or other energy, voltage or current supply.
[0018] Motor 117 may require, receive, be energized by and/or operate based on a control signal. The control signal can be, for example, a current and/or voltage command, such as a three-phase current and/or voltage command. The control signal can physically energize motor 117 and/or can instruct the machine how to operate. The control signal can contain and/or distribute energy from the power supply to the motor.
[0019] The control signal can be, for example, sent to the motor 117 by the inverter switching circuit 188, a generation module 112, such as a pulse width modulation generator, or other resources or components. Other ways to operate and/or energize motor 117 may be possible.
[0020] Motor 117 can be operable and/or run in various modes. For example, motor 117 may be operable and/or run in a motorized mode. A motorized mode can refer to a mode in which the motor 117 drives an attached mechanical axis, such as mechanical axis 126, or other device in one direction, with a speed, with an acceleration and/or with a power. For example, a motorized mode may refer to a mode in which the motor 117, attached to a larger machine, such as a vehicle, drives, energizes, propels and/or accelerates the larger machine in a first direction. Motorized mode may refer to a mode in which motor 117 is consuming and/or receiving power from a power supply.
[0021] Motorized mode can be initiated by a command, such as a command coming from a user. For example, a user can instruct the control system and/or motor, through a user interface, to energize the motor. An example of a user interface might be the controller 266 shown in FIG. 2 and discussed below. The control system can process the instruction and produce a signal and/or a command to drive the motor.
[0022] Motor 117 can also operate in a braking mode, or a generation mode. A braking mode, or generating mode, can refer to a mode where motor 117 is not driving and/or energizing a machine. For example, a braking mode may exist or refer to when a motor 117 is operating and no signal and/or power command is being sent to motor 117. In a braking or generating mode, the motor 117 may be generating a load and/or supplying electrical power and/or voltage to the power supply. For example, a rotary engine that may be idling may generate a signal and/or load from its rotation that can be transmitted to the power source for the engine and/or control system, such as a voltage source. from the DC bus. Brake mode can refer to a mode of operation in which the motor is supplying power to the power source. In some systems, the braking mode may concern an operation of the motor 117 where the motor 117 and/or the mechanical shaft 126 are rotated in a direction opposite to the motorized mode.
[0023] In some embodiments, a distinction between a motorized mode and a braking mode is that a motorized mode refers to a period in which a motor 117 is consuming energy from the power supply and the braking mode (or braking mode generation) can relate to when motor 117 is feeding back energy into the power supply. Other modes of engine 117 operation are possible.
[0024] As mentioned and shown in FIG. 1, motor 117 may be connected to, coupled with, and/or communicated with inverter switching circuit 188.
[0025] The inverter switching circuit 188 can receive command signals from the electronic data processing system 120, such as from the generation module 112. For example, the generation module 112 can provide inputs to one stage drive in inverter circuit 188. Such command signals may be generated and/or transmitted by generation module 112 to inverter switching circuit 188 to be processed and sent to motor 117 to control and/or drive motor 117. In some systems , such commands may be referred to as voltage commands or three-phase voltage commands.
[0026] The inverter switching circuit 188 can be powered by a power supply. In some configurations, the inverter switching circuit 188 and/or the power supply to the inverter switching circuit 188 may be considered the power supply to motor 117. In some configurations, the power supply may be a bus. voltage in direct current (DC). The power supply may alternatively be a voltage source (or source voltage) or a supply voltage (or supply voltage), such as a battery, electricity, other bus voltage and/or other power, voltage or power supply. chain. Other power supplies and configuration are possible.
[0027] The switching circuit of inverter 188 may include power electronics, such as switching semiconductors, which may operate and/or be used to generate, modify and/or control pulse-width modulated signals or other current signals alternating, such as pulse, square wave, sine wave, or other waveforms. The inverter switching circuit 188 may include a semiconductor drive circuit that drives or controls switching semiconductors (e.g., insulated gate bipolar transistors (IGBT) or other power transistors) to transmit the generated control signals and/or modified to engine 117.
[0028] As mentioned, the inverter switching circuit 188 may receive a voltage command, or other command signal, from a generation module 112. The inverter switching circuit 188 may provide voltage signals or commands , current and/or power based on the command signals received to the motor 117. For example, the inverter switching circuit 188 may receive commands and/or command signals from the generation module 112, may transform supplied supply voltage. and/or fed to the inverter switching circuit 188 at a voltage command and/or voltage signal, and/or may transmit or otherwise send the voltage command and/or voltage signal to motor 117. The command and/or the signal generated by the inverter switching circuit 188 may be, and/or may also be referred to as, a voltage command, a terminal voltage command, or a dq geometry axis voltage command.
[0029] Control signals or commands provided by the switching circuit of inverter 188 to motor 117 can control and/or drive motor 117. For example, an output, port or transmission stage of the switching circuit of inverter 188 can provide and /or transmit a pulse width modulated voltage waveform or other voltage signal for motor control. Control signals and/or commands provided by the switching circuit of inverter 188 to motor 117 may or may not be based on the command signals received by switching circuit of inverter 188 from generation module 112, and/or related to they.
[0030] Motor 117 can be attached to, connected to and/or communicated with mechanical axis 126. Mechanical axis 126 can be configured and/or attached to motor 117 in such a way that when motor 117 is operating , the mechanical shaft 126 may rotate or otherwise be displaced. As an example, a motor 117 can drive a rotation of the mechanical shaft 126. In this way, an object attached to one end of the mechanical shaft, such as a wheel, can be rotated by the motor 117. The mechanical shaft 126 can be a shaft of the motor or various other axes.
[0031] The mechanical shaft 126 can have various shapes, sizes and/or dimensions, and can be made of various materials. For example, a mechanical axle 126 can be any mechanical axle configured and/or capable of being used with a motor 117, such as an axle in a vehicle attached to a vehicle engine. Other mechanical axes may be possible.
[0032] Motor 117 can also be associated with a sensor 115. Sensor 115 can be, and/or can include a position sensor, a brushless resolver, another resolver, an encoder position sensor, a speed sensor , a shaft or rotor speed detector, a digital position encoder, a direct current motor, an optical encoder, a magnetic field sensor such as a Hall effect sensor, a magnetoresistive sensor or various combinations of sensors, encoders or encoders. A sensor output can include analog signals, digital signals, or both. Other sensors may be possible.
[0033] Sensor 115 can be connected to, attached to and/or communicated with mechanical axis 126 and/or motor 117. For example, sensor 115 can be mounted on mechanical axis 126, or be integral with it . This can be used in systems where a rotation or displacement of the mechanical shaft can be easily and/or directly correlated with one or more properties of motor 117. Alternatively, sensor 115 can be connected directly to the motor and/or others components attached to or in communication with the engine. Furthermore, more than one sensor 115 can be used in some systems. For example, a sensor 115 can be used to perceive data for each phase of a three-phase motor. Various configurations are possible.
[0034] Sensor 115 can be used to monitor, measure and/or estimate one or more properties of motor 117 and/or mechanical axis 126. When sensor 115 is connected or attached to mechanical axis, sensor 115 can, by example, monitoring, measuring and/or estimating properties of mechanical axis 126, such as an angular position of mechanical axis 126, a speed or velocity of mechanical axis 126, and/or a direction of rotation of mechanical axis 126. Alternatively, sensor 115 can measure one or more properties of a motor 117 directly, such as, for example, an angular position of motor 117, a speed or speed of motor 117 and/or a direction of rotation of motor 117.
[0035] In some configurations, sensor 115 includes a position sensor, in which position data and associated time data are processed to determine speed or velocity data for mechanical axis 126. In other configurations, sensor 115 may include a speed sensor, or the combination of a speed sensor and an integrator, to determine the position of the motor shaft. In other configurations, sensor 115 may include a compact auxiliary direct current generator that is mechanically coupled to mechanical shaft 126 of motor 117 to determine the speed of shaft of motor 126. In these configurations, the direct current generator may produce a voltage of output proportional to rotational speed of motor shaft 126. In other configurations, sensor 115 may include an optical encoder with an optical source that transmits a signal toward a rotating object coupled to mechanical shaft 126 and receives a reflected or diffracted signal in an optical detector. In these configurations, the frequency of received signal pulses (eg, square waves) may be proportional to a speed of mechanical axis 126. In other configurations, sensor 115 may include a resolver with a first winding and a second winding, where the first winding is supplied with an alternating current (ac), whereby the voltage induced in the second winding varies with the rotation frequency of the rotor. Several other configurations are possible.
[0036] Sensor 115 can transmit a signal based on properties and/or signals monitored, measured and/or estimated from the attachment or connection on mechanical shaft 126 and/or motor 117. The output of sensor 115 can include data of feedback, such as current feedback data, such as ia, ib, ic, raw signals, such as raw position or velocity signals, or other raw or feedback data. Other possible feedback data include, but are not limited to, winding temperature readings, semiconductor temperature readings of inverter circuit 188, three-phase voltage or current data, or other thermal or performance information for motor 117. Alternatively, or in addition moreover, the output of sensor 115 may include processed signals. The output of sensor 115 can be an analog or digital signal.
[0037] In some embodiments, sensor 115 can be coupled to an analog-to-digital converter (not shown) that can convert analog position or velocity data to digital position or velocity data, respectively. An analog to digital converter such as this may be internal or external to the control system and/or electronic data processing system 120. In other embodiments, the sensor 115 may provide a digital data output of the position data or the data. such as position data or velocity data for the mechanical shaft 126 or the rotor.
[0038] The output of a sensor 115 may be transmitted, sent, passed and/or otherwise communicated to electronic data processing system 120. In some systems, the output may be coupled to primary processing module 114 of the data processing system. electronic data processing 120. In embodiments where sensor 115 is coupled to an analog-to-digital converter (not shown), the output of the analog-to-digital converter may be transmitted, sent, passed, and/or otherwise communicated to the input module. primary processing 114.
[0039] The control system may include an electronic data processing system 120. The electronic data processing system 120 is indicated by the dashed lines of FIG. 1 and is shown in more detail in FIG. two.
[0040] The electronic data processing system 120 can be used to support storing, processing or executing software instructions of one or more software modules. Electronic data processing system 120 may include electronic modules, software modules, hardware modules, or combinations of each.
[0041] The electronic data processing system 120 may include one or more elements, resources and/or components, such as a sensor circuit 124 and an analog-to-digital converter 122. A primary processing module 114, a secondary processing module 116, a phase converter 113, a calculation module 110, a dq axis current generation manager 109, an adder or sum module 119, a current modeling module 106, a magnet temperature estimation module of rotor 104, a terminal voltage feedback module 108, a current adjustment module 107, a torque command generation module 105, a current regulation controller 111 and/or a generation module 112. The system Electronic data processing may also or alternatively include a digital processing system and/or a field programmable gate arrangement. One or more of the components of the electronic data processing system 120 can be combined with one another, and/or can be divided among other components. For example, in some systems, sensor circuit 124 and analog-to-digital converter 122 may be external to electronic data processing system 120. More or fewer components may be included in electronic data processing system 120. In some embodiments, the electronic data processing system 120 of FIG. 1 may represent more than one electronic data processing system, some or all of which can be connected, attached and/or communicated with each other.
[0042] As mentioned, an output from sensor 115 can be sent, transmitted and/or otherwise communicated to electronic data processing system 120. For example, an output from sensor 115 can be sent to primary processing module 114 .
[0043] The primary processing module 114, which can be a position and/or velocity processing module, can process the output of the sensor 115. The primary processing module 114 can process, determine, calculate, estimate and/or otherwise identify position data (θ) and/or speed data for motor 117. In some systems, sensor 115 in motor 117 may provide position data (θ) for motor shaft 126, and the motor module. primary processing 114 can convert the position data from sensor 115 to velocity data.
[0044] Position data (θ) for motor 117 may relate to a position of mechanical axis 126 and/or a position of motor 117. Position data (θ) may be expressed as and/or represent a angle, an angle of displacement, a phase, or various other angles or positions. Velocity data may relate to a speed of motor 117. Velocity data may be expressed as and/or refer to revolutions per minute of mechanical axis 126, or may be expressed and/or refer to various others speeds. Position data (θ) and/or velocity data may be processed, determined, calculated, estimated and/or otherwise identified by primary processing module 114 based on, or as a result of, the output received by the processing module primary 114 from sensor 115.
[0045] The primary processing module 114 can transmit the position data (θ) and/or the velocity data to one or more components of the control system. For example, primary processing module 114 may transmit position data (θ) to phase converter 113 and/or may transmit speed data to calculation module 110. Alternatively, primary processing module 114 may transmit one or both from position data (θ) and/or speed data for motor 117 to various other components of the control system.
[0046] In addition to the sensor 115 previously described, the control system may also include a sensor circuit 124. The sensor circuit 124 may have inputs that can be coupled to the motor 117. The sensor circuit inputs 124 may be used and/or operable to monitor, measure and/or estimate properties of motor 117. For example, inputs from sensor circuit 124 can be coupled to terminals of motor 117. Input from sensor circuit 124 can be used to sense a measured current from motor 117 For example, sensor circuit 124 can be associated with motor 117 to measure three-phase currents, such as a current applied to the windings of motor 117, against EMF induced in the windings or both. Sensor circuit 124 may also or alternatively be used to measure a voltage level of motor 117, such as a voltage level at direct current of motor 117. Alternatively, or in addition, sensor circuit 124 may be used to measuring a level of the voltage supply used to power motor 117 and/or used to power the inverter switching circuit 188, such as a high voltage DC data bus, which provides DC power to the inverter switching circuit 188. Other configurations are possible. Additionally, other properties of motor 117 can be monitored, measured and/or estimated.
[0047] The sensor circuit 124 is shown in FIG. 1 as a part of electronic data processing system 120. Alternatively, sensor circuit 124 may be a separate component of electronic data processing system 120, and/or may be externally attached, connected and/or in communication with the electronic data processing system 120.
[0048] The sensor circuit 124 can transmit and/or output signals sensed from the motor 117 to an analog to digital converter 122 in the electronic data processing system 120. These signals can, for example, include measured three-phase currents and/or a level voltage of a power supply, such as the direct current (DC) data bus voltage that powers the inverter switching circuit 188.
[0049] The analog to digital converter 122 is shown in FIG. 1 as a part of electronic data processing system 120. Alternatively, analog to digital converter 122 may be a separate component of electronic data processing system 120 and/or may be externally attached, connected and/or in communication with the electronic data processing system 120.
[0050] Analog to digital converter 122 can receive an output from sensor circuit 124. Analog to digital converter 122 can transform and/or digitize an analog output from sensor circuit 124 into a digital signal which can then be further processed by the electronic data processing system 120.
[0051] The analog to digital converter 122 can be attached, connected, coupled and/or communicated with the secondary processing module 116. An output of the analog to digital converter 122, such as the digitized output of the sensor circuit 124, can be transmitted to the secondary processing module 116.
[0052] On some systems, the analog to digital converter 122 may not be required or included. For example, in systems where an output of sensor circuit 124 is a digital signal, an analog to digital converter 122 may not be used.
[0053] The secondary processing module 116, which may, in some systems, be referred to as a "direct current (DC) and three-phase current bus processing module", can process, determine, calculate, estimate or otherwise This means to identify information from the signals received from the analog to digital converter 122. For example, the secondary processing module 116 can determine or identify three-phase currents (ia, ib, ic) from the signal received from the sensor circuit 124. These three-phase currents (ia, ib, ic) can represent and/or relate to the actual three-phase currents generated by the motor 117. Alternatively, or in addition, the secondary processing module 116 can determine or identify the voltage of the data bus at direct current (DC) that powers the inverter switching circuit 188.
[0054] Secondary processing module 116 may include one or more digital signal processors, field programmable gate arrays, other processors, and/or various other components. Additionally, or alternatively, secondary processing module 116 may be included in one or more digital signal processors, field programmable gate arrays, other processors, and/or various other components.
[0055] The secondary processing module 116 can transmit the three-phase currents (ia, ib, ic) and/or voltage in direct current to one or more components of the control system and/or electronic data processing system 120. By For example, the secondary processing module 116 can transmit each of the three phase currents (ia, ib, ic) to the phase converter 113 and can transmit the voltage in direct current (VDC) to the calculation module 110. Alternatively, the processing module The secondary 116 can transmit one or both of the three-phase currents (ia, ib, ic) and/or the direct current voltage (VDC) to the various other components of the control system.
[0056] Phase converter 113, which may, in some systems, be referred to as a three-phase to two-phase current Park transform module, can receive outputs from one or both of the primary processing module 114 and the module secondary processing 116. For example, as in FIG. 1, the phase converter can receive the three-phase motor currents (ia, ib, ic) from the secondary processing module 116 as well as position data (θ) from the primary processing module 114. Other inputs are possible .
[0057] The phase converter 113 can convert the three-phase currents (ia, ib, ic) and the position data (θ) from a three-phase digital representation of the measured current in motor 117 into a corresponding two-phase digital representation of the measured current. The biphasic representation of the digital current can be a current signal represented on a dq axis and/or it can have a d axis current component and a q axis current component. For example, phase converter 113 can apply a Park transform or other conversion equations to convert measured three-phase current representations (ia, ib, ic) to two-phase current representations (id, iq) using the sourced current data from the secondary processing module 116 and the position data from the primary processing module 114 and/or the sensor 115.
[0058] The two-phase representation of the current (id, iq) can be the current of the geometric axis dq, and may relate to a current of the direct axis (id) and a current of the quadrature axis (iq), of applicable in the context of vector-controlled alternating current machines such as motor 117.
[0059] The two-phase current (id, iq) can be transmitted from the phase converter module 113 to another component of the control system and/or electronic data processing system 120, such as the current regulation controller 111. Other outputs from phase converter 113 are possible, and can be transmitted to other components of the control system and/or electronic data processing system 120.
[0060] Phase converter 113 may include one or more digital signal processors, field programmable gate arrays, other processors, and/or various other components. Additionally, or alternatively, phase converter 113 may be included in one or more digital signal processors, field-programmable gate arrays, other processors, and/or various other components. For example, in some system, the phase converter 113 and the secondary processing system 116, or the functionality of the phase converter 113 and/or the secondary processing system 116, may be included in a combination of a digital signal processor. and a field-programmable port arrangement. Other configurations may be possible.
[0061] The electronic data processing system 120 may include a calculation module 110. The calculation module 110 may receive outputs from the primary processing module 114 and the secondary processing module 116. For example, the processing module primary 114 can provide velocity data (such as the revolutions per minute of mechanical axis 126). Additionally or alternatively, the secondary processing module 116 may provide a measured voltage level in direct current.
[0062] The calculation module 110 can process, determine, calculate, estimate or otherwise identify a voltage-to-speed ratio, or other data, from the outputs received from the processing module 114 and/or the secondary processing module 116. For example, the calculation module 110 may divide the received direct current voltage by the received speed data to determine a voltage to speed ratio, such as adjusted voltage to speed ratio 318. Other calculations or comparisons are possible.
[0063] Additionally, the direct current voltage level of the power supply that supplies the inverter circuit 188 electrical energy may fluctuate or vary due to various factors, including, but not limited to, ambient temperature, battery condition, state of charge battery strength, battery resistance or reactance, fuel cell status (if applicable), engine load conditions, respective engine torque and corresponding operating speed, and vehicle electrical loads (eg, electrically driven air conditioning compressor ). The calculation module 110 can adjust and/or impact current commands generated by the d-q geometry axis current generation manager 109 to compensate for fluctuation or variation in the DC bus voltage, among other things. Such adjustments can be made, implemented and/or reflected in an adjusted voltage to speed ratio 318.
[0064] One or more outputs of the calculation module 110 can be transmitted, emitted, fed, sent and/or otherwise communicated to the current generation manager of the geometry axis dq 109.
[0065] The torque command generation module 105 can also or alternatively be attached, connected, coupled and/or otherwise be in communication with the geometry axis dq 109 current generation manager.
[0066] The torque command generation module 105 itself can receive an input, such as an input from the vehicle data bus 118. The vehicle data bus 118 can be, for example, an area network of the controller (CAN) or other network. The vehicle data bus may, in some systems, include wired networks, wireless networks or combinations of these. Additionally, the network may be a public network such as the Internet, a private network such as an intranet, or combinations thereof, and may utilize a variety of network protocols now available or later developed, including, but not limited to, protocols TCP/IP-based network network.
[0067] The torque command generation module 105 can take the signal or torque command received from the vehicle data bus 118, and can calculate, identify, estimate and/or generate torque command data 316 with based on the received signal. For example, when the received signal indicates that an accelerator pedal has been pressed, the torque command generation module 105 can generate a command and/or torque command data 316 for more torque and/or energy to be sent to the motor 117. Other signals and received commands are possible.
[0068] The torque command generation module 105 can include a lookup table that the torque command generation module 105 can use to compare and/or search an input command received by the torque command generation module 105 to identify and/or generate the resulting 316 torque command data in response to the received input command. In other systems, the torque command generation module 105 can process the input received, and can transmit the processed signal to the geometry axis dq 109 current generation manager, without using or referring to a lookup table, such as by the use of one or more algorithms and/or rule-based logic.
[0069] The torque command generation module 105 may be issued, transmitted and/or otherwise communicated to the geometry axis dq 109 current generation manager.
[0070] The geometry axis dq 109 current generation manager, which may also be referenced and/or include the dq geometry axis current generation lookup tables, can receive the 316 torque command data from the module of torque command generation 105. The dq geometry axis current generation manager 109 may also or alternatively receive adjusted voltage-per-speed ratio data 318 from the calculation module 110.
[0071] The geometry axis current generation manager dq 109 can use the received torque command data 316 and/or voltage data per velocity 318 to fetch, determine, select and/or generate axis current command data direct geometry (such as a d geometry axis current command (id*)) and/or quadrature geometry axis current command data (such as a q geometry axis current command (iq*)). For example, the dq 109 geometry axis current generation manager can select and/or determine the direct geometry axis current command and the quadrature geometry axis current command by accessing one or more of the following: (1) a lookup table, database, or other data structure that relates respective torque command data 316 and/or speed adjusted voltage data 318 with corresponding direct and quadrature geometry axis currents (id*, iq*), (2) a set of quadratic equations or linear equations that relate respective torque command data 316 and/or voltage per velocity data adjusted 318 to corresponding direct and quadrature geometric axis currents (id*, iq*), and /or (3) a set of rules (such as if-then rules) and/or logic that relate respective torque command data 316 and/or voltage per velocity data adjusted 318 to corresponding geo-axis currents. direct and quadrature etrics (id*, iq*). When the geometry axis dq 109 current generation module uses a lookup table, the lookup table can be a part of the axis dq geometry 109 current generation module and/or it can be accessible to the axis current generation module. geometric axis dq 109. The lookup table can be, for example, a three-dimensional lookup table.
[0072] The output of the dq geometry axis current generation manager 109 can be sent, fed, transmitted and/or otherwise communicated to an adder 119. Although FIG. 1 shows a system with an adder 119 that can sum an output of the geometry axis current generation manager 109 and an output of the current adjustment module 107, in other systems where the current adjustment module 107 and/or feedback controls are not desired, required or enabled, the output of current generation manager 109 can be fed directly into current regulation controller 111.
[0073] An output of the current adjustment module 107 may reflect one or more adjustment factors, such as one or more adjustment factors or commands determined and/or transmitted to the rotor magnet temperature estimation module 104, to the module of current shaping 106 and/or to the terminal voltage feedback module 108.
[0074] The rotor magnet temperature estimation module 104 can be connected to, attached to, communicated with, coupled to, monitored, or otherwise estimated or determined the temperature of one or more engine components 117 For example, the rotor magnet temperature estimation module 104 can estimate or determine the temperature of a rotor magnet or permanent magnets.
[0075] For example, in some embodiments, 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 housing of motor 117. In other embodiments, the rotor magnet temperature estimation module 104 can be replaced with a temperature detector (eg, a thermistor and wireless transmitter, such as an infrared thermal sensor) mounted on the rotor or magnet, where the detector can provide a signal, such as a wireless signal, that can be indicative of the temperature of the magnet or magnets.
[0076] In response to a measured temperature and/or estimated change in rotor temperature, and/or based on them, the rotor magnet temperature estimation module 104 can generate an adjustment of the axis current command qe/ or from the geometry axis current command d. The setting can be in the form of a current setting command, a setting signal, a setting factor and/or setting data to be sent to the current setting module 107. Setting can be sent, fed , transmitted and/or otherwise communicated to the current adjustment module 107.
[0077] Alternatively or additionally, the system may include a current modeling module 106. The current modeling module 106 may, for example, measure, calculate, estimate, monitor and/or otherwise identify one or more factors or features of motor 117. For example, the current modeling module 106 can identify a torque load on motor 117 and/or a speed of motor 117. Other factors and/or features are possible.
[0078] The current modeling module 106 can determine a correction or an adjustment of the quadrature geometry axis current command (q axis) and the direct axis current command (d axis) on the basis of an or more of the factors or features, such as the torque load on motor 117 and motor speed 117. Correction and/or tuning can be in the form of a current adjustment command, a trim signal, a factor of adjustment and/or adjustment data to be sent to the current adjustment module 107. This correction and/or this adjustment can be sent, fed, transmitted and/or otherwise communicated to the current adjustment module 107.
[0079] Alternatively or additionally, the system may include a terminal voltage feedback module 108. The terminal voltage feedback module 108 may, for example, calculate a threshold voltage supply, such as by sampling the magnitude of the supply. of voltage in each PWM cycle, and apply a threshold coefficient on the voltage supply, such as 1 / 3 or 0.95 / ^3, or other coefficients. The terminal voltage feedback module 108 can also sample the terminal voltage command from the current regulating controller 111. The terminal voltage feedback module 108 can compare the terminal voltage command with the voltage threshold and can generate a set command to be sent to the command generation module 107 whenever the terminal voltage command is greater than the voltage threshold. This adjustment command may be, for example, a d-axis current adjustment command, and may be intended to reduce the terminal voltage command generated by the current regulating controller 111.
[0080] The correction and/or adjustment may be in the form of a current adjustment command, a adjustment signal, a adjustment factor and/or adjustment data to be sent to the current adjustment module 107 The adjustment command from the terminal voltage feedback module 108 may be sent, fed, transmitted and/or otherwise communicated to the current adjustment module 107.
[0081] As mentioned, one or more of the rotor magnet temperature estimation module 104, the current modeling module 106 and the terminal voltage feedback module 108 can be coupled to the shaft current adjustment module geometric dq 107, and/or are able to communicate with it.
[0082] The current adjustment module 107 can concentrate the adjustment signals, the adjustment factors, the adjustment commands and/or the adjustment data coming from one or more of the rotor magnet temperature estimation module 104, of the current modeling module 106 and the terminal voltage feedback module 108. The current adjustment module 107 can add, aggregate / assimilate, compile and/or otherwise account for data and/or adjustment commands from each of the rotor magnet temperature estimation module 104, the current modeling module 106 and the terminal voltage feedback module 108 and, using this data, can generate and/or create a full or full adjustment command . When the lumped tuning data includes tuning commands, the current tuning module 107 can aggregate, sum and/or combine the tuning commands to form a tuning command. In other circumstances, the current adjustment module 107 may need to further process the adjustment commands to obtain a signal that can be summed in the sum block 119. This complete or total adjustment command may also be referred to, for example, as a trim command, a trim d-geometry current command, a trim d-geometry current trim command, or a trim d-geometry current trim.
[0083] The current adjustment module 107 can provide this d axis current adjustment data, such as the adjusted d axis current command, to adjust the direct axis current command data based on the input data from rotor magnet temperature estimation module 104, current shaping module 106, and terminal voltage feedback module 108.
[0084] In turn, the current adjustment module 107 can communicate with the geometry axis current generation manager 109 or with the adder 119. For example, the current adjustment module 107 can send, feed, transmit and/or otherwise communicate the geometry d axis current adjustment command to the adder 119, which may add the geometry axis current adjustment command d along with an output of the geometry axis dq current generation manager 109.
[0085] Although FIG. 1 shows each of the rotor magnet temperature estimation module 104, the current shaping module 106 and the terminal voltage feedback module 108 connected to the current adjustment module 107, and an output of the current adjustment module. current 107 supplied to sum block 119, other configurations are possible. For example, when rotor magnet temperature estimation module 104 and current shaping module 106 are not included or are disabled, an output from the voltage feedback module at terminal 108 can be transmitted directly to adder 119. other configurations are possible.
[0086] The adder 119, which in some systems may be referred to as a summation block or summation module, can receive the dq current command from the dq geometry axis current generation manager 109. The adder 119 can also or alternatively receive the geometry axis current adjustment command from the current adjustment module 107. The adder 119 can add the d axis current adjustment command to the current command dq, and can transmit an adjusted current command. The set current command can be represented as a two-phase current command (id*, iq*).
[0087] Although FIG. 1 represents the dq geometry axis current adjustment command transmitted to the adder 119, in some systems, the dq geometry axis current adjustment command can be transmitted directly to the dq geometry axis current generation manager 109 and/or it can be used by the dq geometry axis current generation manager to select an appropriate current command to be used in controlling and/or energizing the motor 117.
[0088] The adjusted current command from the adder 119 can be sent, fed, transmitted and/or otherwise communicated to the current regulating controller 111. As mentioned, the current regulating controller 111 can also receive the currents real two-phase (id, iq) from phase converter 113.
[0089] The current regulation controller 111 can process the respective dq geometry axis current commands (e.g. id* and iq*) and the actual dq axis currents (e.g. id and iq) received, and can transmit one or more corresponding dq geometry axis voltage commands (for example, vd* and vq* commands) based on the processed inputs. These dq axis voltage commands (vd*, vq*) may be two-phase voltage commands, and may be sent, powered, transmitted and/or otherwise communicated to the generation module 112.
[0090] The generation module 112, which can be a pulse width modulation (PWM) generation module, such as a space vector PWM generation module, can receive the voltage commands, such as the commands of two-phase voltage (vd*, vq*), from the current regulating controller 111. The generating module may generate a three-phase voltage command based on the received terminal voltage command. For example, the generation module 112 can convert the direct axis voltage and quadrature axis voltage (vd*, vq*) commands from two-phase data representations to three-phase representations such as va*, vb* and U*. The three-phase representations va*, vb* and vc* may, in some systems, represent a desired voltage to control the motor 117.
[0091] The three-phase voltage command representations (va*, vb* and vc*) can be transmitted, fed, sent and/or communicated to the inverter switching circuit 188. The inverter switching circuit 188 can generate the commands of three-phase voltage command to control the motor 117. The three-phase voltage commands can be based on the three-phase voltage command signals (va*, vb* and vc*) received from the generation module 112. At least in this way, the control system can be operated to control engine 117.
[0092] In some systems and/or embodiments, the generation module 112 may be powered by the same power supply previously discussed in relation to the switching circuit of the inverter 188. In some systems, the generation module 112 and the switching circuit of the inverter 188 can be part of the same component, and can receive the two-phase voltage command from the current regulating controller 111 and can transmit a three-phase voltage command to the motor 117 to drive the motor 117.
[0093] FIG. 2 illustrates an example of the control system. The control system of FIG. 2 may include 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). The control system of FIG. 2 may include all or part of electronic data processing system 120 of FIG. 1. Data processor 264, data storage device 260, and one or more data ports may be coupled to data bus 262 to support data communications between data processor 264, data storage device 260, and one or more data ports. Like-numbered components in FIG. 2 may be constructed and/or function the same or similar to the same components as FIG. 1.
[0094] The control system, electronic data processing system 120 and/or various components of electronic data processing system 120 can be or can include one or more computing devices of various types, such as a computer system . The computer system can include a set of instructions that can be executed to cause the computer system to perform any one or more of the computer-based methods or functions disclosed herein. The computer system can operate as a standalone device or it can be connected, for example, using a network, to other computer systems or peripheral devices. The computer system can include computers, processors and/or other programmable devices. Actions of computers, processors and/or other programmable devices may be directed by computer programs, applications and/or other forms of software. Memory in, used with or used by the control system, such as computer readable memory, may be used to direct computers, processors and/or other programmable devices to function in a particular manner when used by computers, processors and/or other programmable devices. Methods for controlling motors, as described herein by flowcharts, may be carried out as a series of operating steps on, or with the aid of, computers, processors and/or other programmable apparatus.
[0095] In a network implementation, the computer system can operate in the capacity of a server or as a client user computer in a server-client user type network environment. The computer system may include a processor, for example, a central processing unit (CPU), a graphics processing unit (GPU), or both. For example, control system and/or electronic data processing system 120 may include data processor 264 shown in FIG. two.
[0096] Data processor 264 can be a component in a variety of systems. For example, the processor can be part of a standard personal computer or workstation. The processor may comprise one or more general processors, digital signal processors, application-specific integrated circuits, field-programmable gate arrangements, servers, networks, digital circuits, analog circuits, combinations thereof, or other devices now known or later developed to data analysis and processing. Data processor 264 may include one or more of 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 digital signal processor, a proportional - integral - derivative (PID) controller or other data processing device. The processor may implement a software program, such as manually generated (i.e., programmed) code.
[0097] The data processor 264 can be coupled in the electronic data processing system 120, in one or more of the ports 268, 270, 272, 274 and 276 and/or in the data storage device 260. The data processor 264 may drive or assist various processings implemented in electronic data processing system 120. For example, logic and/or software that implement features and functions of electronic data processing system 120 may be partially or fully performed by data processor 264.
[0098] Data processor 264 may be connected to data bus 262. Data bus 262 may include one or more data buses. Data bus 262 can be any one of a variety of data buses or combinations of data buses. One or more components of the control system may be coupled on data bus 262, such as to facilitate and/or support communication between components. For example, data processor 264, data storage device 260, and one or more data ports (268, 270, 272, 274, and 276) are coupled to data bus 262 to support data communications between the data processor. data 264, data storage device 260 and one or more data ports.
[0099] Data storage device 260 may store and/or include all or part of electronic data processing system 120. For example, in FIG. 2, sensor circuit 124, analog to digital converter 122, primary processing module 114, secondary processing module 116, phase converter 113, calculation module 110, axis dq current generation manager 109, the adder or sum module 119, the current modeling module 106, the rotor magnet temperature estimation module 104, the terminal voltage feedback module 108, the current adjustment module 107, the module of generating torque command 105, current regulating controller 111 and/or generating module 112 may be included in and/or be in communication with data storage device 260. Fewer or more components may be included with the data storage device 260. Additionally or alternatively, more or less data storage devices 260 may be used for all or part of the electronic data processing system 120.
[00100] The data storage device 260 may comprise any magnetic, electronic or optical devices 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 records, data serializers, a magnetic disk drive, a hard drive, an optical disc drive, or the like.
[00101] The data storage device 260 may include a memory. Memory can be main memory, static memory or dynamic memory. Memory may include, but is not limited to, computer-readable storage media, such as various types of volatile and non-volatile storage media, including, but not limited to, random access memory, read-only memory, read-only memory programmable, electrically programmable read-only memory, electrically erasable read-only memory, flash memory, magnetic tape or disk, optical media, and the like. In one embodiment, the memory includes a memory or random access cache for the processor. In alternative embodiments, memory is separate from the processor, such as a processor memory cache, system memory, or other memory. Memory can be a storage device or an external database for data storage. Examples include a hard disk, compact disk (“CD”), digital video disk (“DVD”), memory card, memory device, floppy disk, universal serial bus (“USB”) type memory device, or any other Operable device for storing data. Memory is operable to store instructions executable by the processor. The functions, acts or tasks illustrated in the figures or described herein can be performed by the programmed processor that executes the instructions stored in memory. Functions, acts or tasks are independent of the particular instruction set type, storage media, processor or processing strategy and can be performed by software, hardware, integrated circuits, embedded software, microcode and the like, operating independently or in combination. Likewise, processing strategies can include multiprocessing, multitasking, parallel processing, and the like.
[00102] The term "computer readable media" may include a single media or multiple media, such as a centralized or distributed database, and/or associated caches and servers that store one or more sets of instructions. The term "computer readable media" can also include any media that is capable of storing, encoding, or performing a set of instructions for execution by a processor or that causes a computer system to perform any one or more of the methods or operations herein. disclosed. “Computer-readable media” can be non-temporary and can be tangible.
[00103] In a particular non-limiting exemplary embodiment, the computer-readable media may include solid-state memory, such as a memory card or other packaging that houses one or more non-volatile read-only memories. Additionally, the computer readable media can be random access memory or other volatile rewritable memory. Additionally, computer readable media may include magneto-optical or optical media, such as a disk or tapes or other storage device for capturing carrier wave signals, such as a signal communicated on a transmission media. A digital file attachment in an e-mail or other self-contained file or set of information files can be considered a distribution medium that is a tangible storage medium. Accordingly, disclosure is deemed to include any one or more of a computer-readable media or distribution media and other equivalent and successor media on which data or instructions may be stored.
[00104] In an alternative modality, dedicated hardware implementations, such as application-specific integrated circuits, programmable logic arrays and other hardware devices, can be built to implement one or more of the methods described herein. Applications that may include apparatus and systems of various modalities may broadly include a variety of electronic and computer systems. One or more modalities described herein may implement functions that use two or more specific interconnected hardware modules or devices with related control and data signals that can be communicated between, and through, modules or parts of an application-specific integrated circuit. . Thus, the present system covers implementations in software, embedded software and hardware.
[00105] Data ports 268, 270, 272, 274 and/or 276 may represent inputs, ports and/or other connections on data bus 262, data storage device 260 and/or data processor 264. Data ports 268, 270, 272, 274 and/or 276 of the control system of FIG. 2 can, also or alternatively, be coupled to one or more components of the engine 117, the control system, the user interfaces, the screen, the sensors, the converters and/or the other circuits. Each data port can comprise a transceiver and a temporary storage memory, for example. On some systems, each data port can comprise any serial or parallel input/output port.
[00106] For example, a 266 controller, such as a foot pedal on a vehicle or other user interface, can be connected, attached, docked and/or communicated with a vehicle data bus 118. The operator of a vehicle can generate torque commands through a user interface such as an accelerator, foot pedal, 266 controller or other control device. The torque commands generated can be a control data message, such as a speed control data message, a voltage control data message, or a torque control data message. Vehicle data bus 118 may provide data bus messages with torque commands to torque command generating module 105 via first data port 268. Various other inputs and/or messages may be received by the generating module of the torque command 105.
[00107] The electronic data processing system 120 may include other input devices configured to allow a user to interact with any of the system components, such as a numeric keypad, a keyboard, or a cursor control device such as a mouse, or a throttle, touch screen, remote control or any other operable device to interact with the computer system. In this way at least, the torque command generation module 105 can be associated with or supported by the first data port 268 of the electronic data processing system 120.
[00108] Alternatively or additionally, the inverter switching circuit 188 may be coupled to data bus 262 such as, for example, a second data port 270, which may in turn be coupled to data bus 262. Additionally or alternatively, sensor 115 and/or primary processing module 114 can be coupled to a third data port 272, which, in turn, can be coupled to data bus 262. Additionally or alternatively, sensor circuit 124 can be coupled to analog to digital converter 122, which can be coupled to a fourth data port 274. Additionally or alternatively, the terminal voltage feedback module 108 can be coupled to the fifth data port 276, which in turn , can be coupled to data bus 262.
[00109] Although data ports are designated first, second, third, etc., no order can be attached to data ports, and more or less inputs and/or components can be attached to any data port, and/or one or more data ports can be combined into the data port. Data ports can facilitate the provision of inputs to electronic data processing system 120.
[00110] Although not shown, the control system and/or electronic data processing system 120 may additionally include a display unit, such as a liquid crystal display (LCD), an organic light-emitting diode (OLED) , a flat-panel display, a solid-state display, a cathode ray tube (CRT), a projector, a printer, or other display device now known or later developed to convey certain information. The screen can act as an interface for the user to see the processor working or, specifically, as an interface to the software stored in memory or on the drive unit.
[00111] Additionally, the electronic data processing system 120 and/or the control system may also include a disk drive or optical unit. The disk drive unit may include computer readable media on which one or more sets of instructions, eg software, may be embedded. Additionally, instructions may incorporate one or more of the methods or logic described herein. In a particular embodiment, instructions may be resident completely, or at least partially, in memory and/or the processor during execution by the computer system. Memory and processor may also include computer-readable media, as discussed above.
[00112] According to various embodiments of the present disclosure, the methods described herein can be implemented by software programs executable by a computer system. Additionally, in a non-limited exemplary modality, implementations may include distributed processing, distributed component/object processing, and parallel processing. Alternatively, virtual computer system processing can be constructed to implement one or more of the methods or features described herein.
[00113] Motor 117 current can be monitored and/or measured in a number of ways. The measured current magnitude of a motor 117 can be based on and/or dependent on one or more factors. For example, a measured current magnitude can be based on an instant of current perception, a scaling tap of the current transducer, a pulse width modulation switching frequency selection, and/or a PI gain selection.
[00114] Proper measurement of current in motor 117 can be made easier by, and/or requiring, a correct or near-correct current magnitude measured from motor 117. In particular, it may be useful or necessary to calibrate the system accordingly. that the current of motor 117 is measured at a particular instant, also referred to as a current sensing instant. For example, you may wish to ensure that motor 117 current is measured at a weighting point or weighted from a current signal. This may be necessary, for example, to provide an accurate feedback to the current regulating controller 111.
[00115] As discussed, a generation module 112 and/or inverter switching circuit 188 can generate the voltage command which, in turn, can be sent or transmitted to the motor 117. When, for example, the inverter module generation 112 is a space vector pulse-width modulation generation module, the voltage command can generate a three-phase current that can include a ripple component. As the following equation for a machine phase terminal applied relative to the floating neutral voltage (van) illustrates, the ripple component can be twice the switching frequency PWM:van = rsis + L (day / dt) - ©cXfsen (θ)
[00116] where L is the phase inductance and w is an electrical frequency, and Xf is a phase against EMF. The above equation indicates that the current ripple magnitude can be mainly determined by L (phase inductance) and the PWM switching frequency, which can be inversely proportional to the voltage duration.
[00117] One or more factors may arise that can make current perception a difficult weighting point. For example, the control system may experience one or more delays, such as a hardware circuit phase delay, a current sample processing or filtering delay, a current read delay, and/or a time delay. dead of the power switches.
[00118] If an instant of current perception is delayed and/or is not tuned to accurately sense the motor current at the correct instant, all feedback systems that rely on such measurements may have a disadvantage and/or may not operate appropriately. For example, an incorrect feedback current caused by an inappropriately synchronized current sensing instant can lead to a mismatch between a current command and an actual rms current value, which can lead to an unstable control system.
[00119] In this way, it may be beneficial to calibrate the current perception instant to consider one or more of the above-described delays. For example, one can fine tune and/or otherwise define a current perception instant based on an operation of motor 117 in a braking mode and/or in a motorized mode.
[00120] It should be noted that, although an instant of current perception can be described as an instant at which a current signal is perceived, in some systems and methods, the current can be constantly perceived, and the instant of perception of current may refer merely to the instant at which the constantly perceived current is serialized or otherwise captured or obtained and sent for further processing and/or analysis. The current sensing instant can be configured to serialize a current value from a set of current signals that can be constantly received, such that the current sensing instant corresponds to a weighting point of a current slope. of ascent or descent.
[00121] As mentioned, a measured current magnitude of a motor 117 can be based on and/or depend on a current perception instant, a scaling derivation of the current transducer, a modulation switching frequency selection by pulse width and/or a PI gain selection. Among these, only the current perception instant demonstrates opposite effects when the motor is operating in a braking mode and in a motorized mode.
[00122] FIG. 3 shows an example signal 305, such as a signal generated by a pulse width modulation generating module 112. Signal 305 may be a base carrier waveform, such as a PWM carrier signal or used waveform. by PWM generation modules for phases A, B and C to generate respective pulse width modulated voltage signals to be sent to three motor terminals 117. The generated motor terminal pulse width modulated voltage signals can be represented as signals 315, 317 and 319, respectively. A phase terminal with respect to floating neutral voltage, such as a phase A with respect to floating neutral voltage, can be represented as voltage Van 310, and can be obtained based on voltage signals 315, 317 and 319.
[00123] In FIG. 3, current signal 340 corresponds to an ideal current signal, or current signal that is not delayed, from motor 117 when the motor is operating in a motorized mode, where the current signal is not delayed at all. Current signal 345 corresponds to an ideal current signal coming from motor 117 when the motor is operating in a braking mode (or generating mode). As mentioned, the frequency of current signals 340 and 345 is twice that of the PWM carrier signal 305, and contains a ripple effect. In this way, it is important to measure the current signal 340 at a current signal weighting point, such as the 320A, 320B, 320C, 320D and 320E weighting points. Similarly, it is important to measure the 345 current signal at the 325A, 325B, 325D and 325E weighting points.
[00124] However, when a current perception instant is earlier than the current weighting instant with ripple, different effects can be demonstrated in each of the braking mode and the motorized mode. In motorized mode, a higher magnitude can be measured, which can lead to a higher magnitude in a current feedback system and a lower magnitude in actual current. Conversely, in braking mode, a lower magnitude of current can be measured, which can lead to a lower magnitude value in the current feedback system and a higher magnitude in the actual current.
[00125] Instead, when the current perception instant is later than the ripple current weighting instant, the results are inverted. In motorized mode, a lower magnitude of current can be measured, which can lead to a lower magnitude in a current feedback system and a higher magnitude in actual current. Alternatively, in braking mode, a higher magnitude of current can be measured, which can lead to a higher magnitude value in the current feedback system and a lower magnitude in the actual current.
[00126] These features and/or characteristics of the system can provide a way to calibrate the current perception instant. The method of FIG. 4 provides a way to calibrate the current perception instant using these characteristics.
[00127] The method of FIG. 4 can start at block 402 where a current sense instant to which a sensed current signal is serialized can be identified.
[00128] In block 404, a current command can be provided to a motor 117 to control motor 117 while the motor is operating in a motorized mode at one shaft speed. The current command can be, for example, a current command that includes a current magnitude at a Gamma angle. Motor 117 can be operated at a defined and/or determined shaft speed.
[00129] In block 406, an actual current can be monitored and/or measured from motor 117 when the motor is controlled by the current command and operates in a motorized mode. For example, an actual weighted rms current magnitude of a three-phase motor 117 operating in motorized mode in response to the current command can be sensed and/or monitored at the current sense instant identified in block 402. Monitoring and/or the measurement can be done using an energy analyzer, oscilloscope, Labview or other monitoring or measuring devices.
[00130] In block 408, it is possible to power, transmit and/or otherwise execute a corresponding, equal and/or identical current command. The corresponding current command can, for example, include the same current magnitude at the same Gamma angle. The corresponding current command can be sent to the same motor 117 which operates in braking mode at the same shaft speed. In some systems, the braking mode can be an operation of the motor at the same shaft speed but in a rotational direction opposite to the motorized mode.
[00131] In block 410, an actual current can be monitored and/or measured from motor 117 when the motor is controlled by the current command and operates in a braking (or generating) mode. For example, a second real-weighted rms current magnitude of a three-phase motor 117 operating in braking mode in response to the same current command can be sensed and/or monitored at the current sense instant identified in block 402. and/or the measurement can be done using an energy analyzer, oscilloscope, Labview or other monitoring or measuring devices.
[00132] Although the method of FIG. 4 shows the execution of blocks 404 and 406 before blocks 408 and 410, you can change the order of the method to perform blocks 408 and 410 before blocks 404 and 406, or perform these blocks simultaneously.
[00133] In block 412, the measured actual weighting current of motor 117 in motorized mode at the current time can be compared with the measured actual weighting current of motor 117 in brake mode at the current time.
[00134] The best, ideal and/or correct current perception instant may be when the measured actual weighting currents of motor 117 are the same when the motor is in motorized mode and in braking mode. In this way, when these actual measured or observed weighting currents are equal, the method can proceed to block 414, where the current perception instant can be considered calibrated and/or used by all subsequent engine operations with confidence of that the current sensing instant is accurately measuring and/or monitoring the current signal at the appropriate weighting instant.
[00135] If, alternatively, the measured or observed actual weighting currents of motor 117 are not the same in motorized mode as in brake mode, the method may proceed to block 416, where the identified current perception instant to from block 402 can be set. For example, an algorithm, lookup table, and/or rules or logic can compare the differences of the measured actual weight currents and can determine in which time direction to adjust the current perception instant. For example, an algorithm can adjust the current perception instant to measure a later instant when the measured actual weighting current of motor 117 in motorized mode is greater than the measured actual weighting current of motor 117 in braking mode, and vice versa. versa. This procedure can be referred to as tuning the current perception instant. In some methods, the current perception instant can be adjusted for each pulse width modulation cycle. Other methods and/or procedures are possible.
[00136] After block 416, the method can return to block 404, and proceed again through the method of FIG. 4 until block 412 is reached again. If, in block 412, the actual measured currents of motor 117 in motorized mode and in brake mode are the same, the method proceeds to block 414, and if not, the method returns to block 416 and the process repeats.
[00137] A modified version of the method of FIG. 4 can ignore blocks 402 and 416. In this modified version, the method can be initiated by executing a command through motor 117 in a motorized mode, by continuously sensing the current of motor 117. Similarly, the motor can be commanded by the same command, while operating at the same shaft speed, while motor 117 operates in a braking mode. Current can also be continuously felt during this operation. In this modified version of the method, block 412 can be replaced by a block for calculating the current perception instant based on the perceived current integral for each mode. For example, one can compare the two perceived current signals and identify an instant at which the values of the perceived current signals are equal. This, then, can be identified, in block 412, as the current perception instant.
[00138] The blocks of FIG. 4 can be, in whole or in part, performed by a processor, such as data processor 264, either by primary processing module 114 or by secondary processing module 116, or any other internal or external processors or modules. Alternatively, or in addition, an external diagnostics and routine calibration module or system can be implemented to calculate and/or calibrate the perceived instant of current.
[00139] At least in this way, by comparing the actual weighting current of motor 117 in motorized mode with the actual weighting current of motor 117 in braking mode, one can determine the points at which the actual weighting currents are equal . Then, the current perception instant can be identified and/or configured, so that current is perceived and/or serialized precisely at these points.
[00140] Additionally or alternatively, a correct current perception instant can be calibrated in other ways. In some methods, you can calculate a correction amount for each of the hardware phase delay, current sample processing delay, current read delay, and deadtime current phase delays individually. An example of a method similar to this is shown in FIG. 5.
[00141] The method of FIG. 5 can start at block 502 where a hardware circuit phase delay can be measured.
[00142] As mentioned, the control system may experience a hardware delay. A hardware delay may, for example, result from and/or be associated with a current transducer attached or otherwise coupled to motor 117. Alternatively, or in addition, hardware delays may result from the use of one or more filters , such as an anti-aliased low pass filter, and/or operational amplifiers, such as those used to adjust analog signal scaling and offset. Alternatively, or in addition, hardware delays can result from the use of an analog to digital converter, which can have and/or cause sampling and/or maintain delays.
[00143] Hardware delays from a filter, such as an anti-aliased low-pass filter, operational amplifiers, and an analog-to-digital converter may not require extensive testing, but instead may be easy to calculate and/or estimate by analytical analysis . In circumstances where a hardware delay is due to the current transducer, phase delay may not be explicit from a manufacturer's product spreadsheet and as a result may need to be manually tested, calibrated and/or determined.
[00144] Any hardware circuit phase delay can be measured in many ways. For example, in one way, a pair of metering devices and/or a metering device with two ports can be used. One measuring device can be connected to the motor and/or receive the signal immediately transmitted from the motor 117, and the second measuring device can be connected and/or receive the signal from the motor 117 after it has passed through the system hardware circuitry of the system, and/or just before it is received by a field-programmable gate array, such as the field-programmable gate array 870 discussed below, or other digital computing and storage device, such as as a complex programmable logic device (CPLD) or other device. Both signals can be displayed and/or compared to each other, and a delay in the second signal can be easily measured and/or calculated based on the comparison. Other methods of measuring this delay may be possible.
[00145] In block 504, a delay of processing or filtering current samples can be measured. The control system may experience delays associated with processing the current sample. Current sample processing delays can result, for example, from digital filters on samples, such as an FIR filter in a field-programmable gate array, which can be used to remove noise from the current signal. In some circumstances, this delay can be explicitly calculated based on filter design parameters and/or using software or other logic to account for all delays. This delay can be, for example, a software delay. Delays resulting from scaling and/or shifting a sampled digital current may not be likely to cause any insignificant delay.
[00146] This current sample processing or filtering delay can be precisely derived from mathematical equations performed by the software and/or the field programmable gate array or other type of digital computing and/or storage device. This delay can be a constant on some systems. Other calculation or estimation methods may be possible.
[00147] In block 506, the current reading delay can be estimated or calculated. A control system may experience delays associated with reading a current. Current reading delay can be caused by and/or result from, for example, controllers or other components, such as when current samples are commanded to be read in current regulation controller 111 for synchronism and/or transformation of current - position. For example, transferring a signal between a field-programmable gate arrangement and a digital signal processor, such as the field-programmable gate arrangement 870 and digital signal processor 850 discussed below in relation to FIG. 8, can be achieved by using a parallel bus between these components that connect them, and there can be a delay associated with sending the signal from one to the other. In some systems, only the latest current samples can be read by the current regulation controller 111. As such, these delays may have a time delay with little variation and/or small weighting effects to be considered. In some systems, when a reading from the current read command arrives, the latest current samples may be available or have only been available for one or a few clock cycles, depending on how fast the raw currents were sampled.
[00148] Because determining an exact current reading delay can be difficult and/or inefficient, and/or because the current reading delay can be reasonably accurately estimated, block 506 may merely estimate this delay. Compared to other delays, this delay can be quite small. Estimation of this delay, for example, may depend on the current signal sampling clock cycle. For example, a current reading can be instantaneous or it can be delayed by one sampling cycle, and this reading can depend on the sampling clock. An average of this delay can be, for example, half a sampling cycle.
[00149] In block 508, a dead time delay of the power switches can be measured. The control system may experience delays associated with power switching dead time. When the pulse width modulation generation module reaches a comparison value, insulated gate bipolar transistor (IGBT) switches may not be able to turn on or off immediately due to dead time protection. Neglecting the dead time effect, an instant of the counter at zero pulse width modulation will exactly match the weighting instant of the actual motor current ripple waveform 117. However, the dead time effect may not be negligible. In this way, the real current ripple weighting instant may have a time delay of one counter instant at zero PWM, such as about half the dead time duration, which may require adjusting the current perception instant of weighting.
[00150] The dead time can be set, for example, by hardware or software, such as the IGBT controller, to a very precise delay. The dead time delay can be measured, or it can be simply identified from the hardware and/or software definition. For example, the average deadtime delay can be half the deadtime defined by hardware and/or software.
[00151] Although blocks 502, 504, 506 and 508 are shown in FIG. 5 as performed in this order, in other methods, any of these blocks can be performed in any order.
[00152] In block 510, a total delay can be calculated and/or generated. The total delay can be calculated, for example, by adding the measured delays from blocks 502, 504 and 508 to the estimated delay of block 506. This can be done, for example, by a processor such as data processor 264 , either by primary processing module 114 or secondary processing module 116, or any other internal or external processors or modules. Other methods of obtaining the total delay may be possible.
[00153] In block 512, a current sensing instant can be set to account for the total calculated delay. For example, an instant of current perception can be defined to occur at an instant that may occur in a lapse of time after the start of a PWM cycle for signal generation on motor 117, where the lapse of time can equal the total delay. In this way, the current perception instant can be set to correct and/or appropriately consider each delay that the control system may encounter.
[00154] In block 514, then, the current perception instant can be used, as in block 414 of FIG. 4, to appropriately measure subsequent current sensing instants from the current signals generated by motor 117.
[00155] Because it can be difficult, uneconomical and/or demand many resources to perfectly define the current perception instant, some deviation from the ideal and/or better current perception instant may be permissible. For example, a delay or lead on the order of 1 microsecond may be acceptable. Other amounts and/or delays may be acceptable. Additionally, it may be useful to place an appropriate offset on the current transducer readings before calibrating the current sense instant, which can remove any offset error in current sense.
[00156] Once the current sense instant is tuned for a specific drive design, it may not change much with respect to the hardware component parameter derivation. Additionally, even when current sensing and position sensing non-synchronization exists, such as when a generated torque deviates from a desired value due to an incorrect dq geometric axis used in a 111 current regulation controller, this may not directly affect the magnitudes of current regulation, as long as the instant of current perception is properly tuned. In this way, in some systems, the instant of current perception can be tuned once, with the tuning being carried out before the complete operation of the control system.
[00157] In addition to determining an appropriate current perception instant, the proper functioning of a control system of FIG. 1 may also require proper calibration of current transducers (CTs) used in measuring the current of a motor 117. In particular, it may be beneficial to calibrate one or more CT scaling ratios, which may also be referred to as CT scaling ratios .
[00158] CT scaling coefficients can be, for example, stored in a lookup table, which can be used to apply the coefficients to a signal coming from a current transducer. Such coefficients can be used, for example, to account for various system effects, such as a temperature and a current magnitude, which, in other circumstances, can lead to inaccurate current signals and/or readings.
[00159] A CT scaling coefficient may not be constant but may vary widely, for example with a current magnitude. In this way, a CT can be calibrated using CT scaling coefficients for various current magnitudes, which can be referred to when an actual current magnitude is measured by the current transducer.
[00160] There may be one or more ways to calibrate a current transducer. For example, you can calibrate a current transducer using a direct current (DC) current calibration and/or you can calibrate a current transducer using an alternating current (AC) current calibration. In other examples, you can calibrate a current transducer using a DC current calibration, and then you can verify the calibration using an AC current calibration.
[00161] For example, FIG. 6 shows a method for calculating scaling coefficients (or scaling ratios) used to calibrate current transducers and/or adjust current signals and/or measured current commands for proper operation and/or control of a motor 117.
[00162] The method of FIG. 6 starts at block 602 where a known magnitude of the dc current can be identified. For dc current calibration, a direct current (dc) power supply can be attached, connected, coupled and/or communicated with the motor 117 and/or the control system. In some systems, the dc power supply may have a high current-limiting capability, such as up to or exceeding 500 amps (A). Other energy supplies can be used.
[00163] In block 604, the DC current from the DC power supply can be commanded through the motor 117 and/or the machine windings.
[00164] In block 606, an actual current (feedback) can be measured from motor 117, such as using a Danfysic high performance current transducer measurement or using a shunt resistor to measure actual dc current.
[00165] In block 608, the feedback current of the inverter or controller can be compared to the actual DC current that was supplied from the DC power supply.
[00166] As a result of the comparison in block 608, in block 610, a scaling coefficient or scaling ratio can be derived and/or calculated. The scaling coefficient may correspond to the magnitude of the actual measured dc current supplied from the dc power supply and carried through the motor 117. For example, a scaling coefficient may be the magnitude of the dc current known by the actual feedback current received, or it could be the reverse of it.
[00167] In some methods, known DC current may also be conducted through the machine and/or motor 117 in an opposite direction. In some systems, another scaling ratio can also be calculated in the opposite direction. Then, the scaling ratio for the given DC current and/or the measured current can be calculated by taking the average of the scaling ratios. In some of these systems and methods, some or all of the FIG. 6 may be repeated separately after the method is completed for all currents in a first direction, or may be completed for each DC current immediately after the scaling coefficient is determined for the specified DC current.
[00168] In block 611, the scaling coefficient generated in block 610 can be verified using an alternating current calibration. For example, a specific current magnitude at a Gamma angle, such as a moderate 45 degree Gamma angle, can be commanded through motor 117, an actual average three-phase current from motor 117 can be received, and a true average three-phase current can be compared to the specific commanded current. Block 611 may also or alternatively be conducted in a manner consistent with the AC current calibration procedure identified below.
[00169] Block 611 can be repeated at a plurality of shaft speeds and/or with different electrical frequencies. Block 611 may be optional. Alternatively, check block 611 may occur after block 614 of this method, as described below.
[00170] In block 612, the scaling coefficient may be stored in a lookup table. The lookup table may be a part of, being in communication with, connected to, attached to, and/or otherwise linked with the electronic data processing system 120, a data processor such as the data processor. data 264, and/or various components of the control system, such as primary processing module 114, secondary processing module 116, or other components. The stored scaling coefficient may also be associated and/or affiliated with the DC current magnitude of the current driven through motor 117 or the machine winding.
[00171] In block 614, the method can look to check when the lookup table has a sufficient number of scaling coefficient entries. For example, the lookup table might require a certain number of inputs, or it might require one input for each current range, such as for each additional ampere of DC current. In other methods, this block can be manually performed and/or it can be deleted. In some of these methods, block 602 may instead include a complete list of known dc current magnitudes that may require a scaling ratio calculation, and block 612 may instead simply check the list to see if all scaling ratios were calculated.
[00172] If more calculations are needed, the method can move to block 618, where another magnitude of known dc current can be used to calculate the scaling coefficient, by moving to block 604 of the method.
[00173] The above-described DC current scaling process can be repeated one or more times, using one or more different known DC currents. Staging coefficients can be collected for each of the different known DC currents and/or measured motor currents 117.
[00174] The scaling coefficients can be saved and/or inserted into a table, such as a lookup table. The lookup table may be stored in and/or accessed by electronic data processing system 120 of Figures 1 and 2, data storage device 260, data processor 264, and/or other components of the control system.
[00175] The method of FIG. 6 may be driven prior to engine 117 operation in all commercial and/or designated tasks. If the lookup table is complete, the method can move to block 616, where the lookup table can be used. The lookup table can be used, for example, by receiving an actual measured current from motor 117 or by checking the current command applied to motor 117, and applying the scaling ratio and/or the scaling coefficient from the table. search on the actual measured current, obtaining an adjusted current. Other uses are possible.
[00176] The tables, data and/or lookup tables can subsequently be accessed any time the engine 117 is in operation. The data in the lookup tables can be used to schedule a read from the designated CT and/or can be used to alter an entry in the engine 117 based on the data in the lookup tables.
[00177] These processes can be performed for each of the current transducers used with the control system and/or motor 117. For example, when motor 117 is a three-phase motor, three current transducers can be included with the motor 117. Each of the current transducers may include a table and/or scaling data and ratios which it can subsequently base on for proper scaling of the data in relation to the current transducer. Calculated scaling ratios can be calibrated separately and stored for each phase of the three-phase motor. This dc current calibration procedure may be sufficient to properly determine and supply scaling data for a current transducer.
[00178] As mentioned, checking the scaling ratios in the lookup table using an AC current calibration, shown in block 611, can also be done after block 614.
[00179] An AC current calibration may utilize and/or require a prime mover. The prime mover can maintain a constant shaft speed, such as a base machine speed. Then, a known current command, which can have a current magnitude at a Gamma angle, can be supplied to motor 117. The Gamma angle can be, for example, 45 degrees.
[00180] The actual weighted three-phase currents of motor 117 can be monitored, sensed and/or otherwise observed. The observed current can be compared with the commanded value. A scaling coefficient or scaling ratio can be obtained, identified, calculated and/or determined from the comparison. The scaling coefficient can be compared to the scaling ratio of DC current calibration, where AC current calibration is used as a verification process. AC current calibration can simultaneously adjust a CT scaling coefficient for all three current transducers simultaneously, rather than any particular CT scaling coefficient for one of the current transducers. Additionally, in some systems, it can be used to ensure that an appropriate pulse width modulation switching frequency and/or PI gain is carefully tuned to achieve a sufficiently small percent imbalance before performing the AC current calibration.
[00181] As mentioned, CT scaling coefficients can be stored in a table, such as a lookup table. Upon subsequent three-phase current feedback readings, such as those current feedback signals sent from the analog to digital converter 122 to the secondary processing module 116, the current feedback readings can be adjusted and/or multiplied by the CT scaling coefficient . This can be better when three-phase current transducers have close scaling coefficients as a function of magnitudes.
[00182] An example of the use of the CT lookup table is shown in the circuit drawing of FIG. 7. In FIG. 7, a geometry axis current command of a q axis current command can be combined in block 710 using the equation in block 715 to achieve a total current command input 718 in CT 720 scaling search table The equation in block 715 can be:i* = square root ((id*)2 + (iq*)2).
[00183] Furthermore, the CT 720 scaling lookup table can also receive, as inputs, a current command vector 722 and a CT scaling vector 724. These vectors 722 and 724 can include information regarding to the CT scaling coefficient, as they relate to various magnitudes of the known DC current. For example, vector 722 can store known dc current magnitudes during a dc current calibration procedure and/or vector 734 can store corresponding calculated scaling ratios at each dc current magnitude. Other configurations are possible.
[00184] A scaling coefficient of current transducer 730 can be output from CT scaling lookup table 720 based on input current command 718. For example, the current entered in CT scaling lookup table 720 can be compared with the information in the lookup table, and an appropriate CT scaling coefficient can be selected based on the magnitude of the current command.
[00185] A phase current calculation block 725 can be used to calculate the three-phase current coming from motor 117 after filtering, processing, etc. appropriate. For example, step computation block 725 may be implemented in and/or comprise secondary processing module 116 of FIG. 1.
[00186] Then, each of the three phases of the current, identified as phase A current 727, phase B current 728, and phase C current 729, can be multiplied by the CT 730 scaling coefficient. phase A 727 can be multiplied by CT 730 scaling coefficient in multiplication block 740; phase B current 728 can be multiplied by CT 730 scaling coefficient in multiplication block 741; and the C phase current 729 can be multiplied by the CT 730 scaling coefficient in multiplication block 742. The results can be transmitted individually and/or combined in block 750 to obtain an output 760.
[00187] Although FIG. 7 shows a lookup table for all three phases of a three-phase current, in some other systems each of the phases and/or current transducers may have different lookup tables. For example, the CT 720 lookup table can only be used to multiply and/or adjust the current for a 727 phase A current in the 740 multiplication block, while a second CT lookup table (not shown) can be used to multiply and/or adjust the current to the B-phase current, etc. If CT scaling lookup tables are stored in boot book or EEPROM, they can be loaded into a controller for easy comparison.
[00188] When a current perception instant has been properly tuned, the above-described DC/AC current calibration procedure can achieve very accurate current regulation magnitudes, such as at 1% error. This can be possible across a full speed range and at various levels of current or torque.
[00189] FIG. 8 illustrates an example of the operation of some current sensing components in the control system after the current sensing instant and/or CT scaling ratios have been calibrated.
[00190] A field programmable gate array 870 can be attached, connected, coupled and/or communicated with an 880 external analog to digital converter used to sense motor 117 current. The 880 analog to external digital converter can be the 122 analog-to-digital converter or another analog-to-digital converter. The external analog to digital converter 880 can continuously sense a current signal and can produce a continuous stream or set of samples and/or digital signals from the sensed current signal, which can be sent to the programmable gate array in field 870. For example, a sampling rate at which the external analog-to-digital converter can re-sample is every 1 - 2 microseconds. Although the analog to digital converter 880 is shown in FIG. 8 as external, instead the programmable gate array in field 870 may have an internal analog to digital converter.
[00191] It should be noted that, although reference is made here to a programmable port arrangement in field 870, this component may, in some systems, be another type of digital storage and/or computing device, such as a logic device programmable complex (CPLD).
[00192] The programmable gate arrangement in field 870 can continuously receive digital current samples from the analog to external digital converter 880. The programmable gate arrangement in field 870 may, for example, include a temporary storage 890 that can be used to store the digital current samples received from the analog to digital converter 880.
[00193] In addition or alternatively, the programmable gate array in field 870 may include one or more filters. For example, the programmable gate array in field 870 may have an FIR filter that can be used to filter out noise from the received current signal.
[00194] A digital signal processor 850 may be attached, connected, coupled and/or communicated with the programmable gate arrangement in field 870. The digital signal processor 850 may, for example, access and/or store related data to the calibrated current perception instant. For example, digital signal processor 850 may have data relating to delays and/or current signals, and/or may monitor a PWM carrier signal generated by a generation module 112, such as signal 810.
[00195] According to the PWM carrier signal received from the generation module 112, as well as the data on the current perception instant, the digital signal processor 850 can calculate, estimate, identify and/or otherwise determine the appropriate time at which the received current signal is to be sampled. The appropriate time may be shown as the dotted line 806 and the dotted line 808 in the digital signal processor 850. In accordance with this determination, the digital signal processor may generate and/or transmit a digital pulse 830 to the programmable gate arrangement in the field 870. Digital pulse 830 may indicate a current sense instant at which a current value is serialized from a sensed current signal. Digital pulse 830 may be a digital pulse triggered by the rising edge and/or may represent the best and/or calibrated current perception instant. A rising or falling edge of the digital pulse 830 can be configured to match a weight point of the perceived current signal. Digital pulse 830 may be configured to provide a mark or to serialize a current value from the set of current signals such that it corresponds to a weighting point of a rising or falling current slope.
[00196] Digital signal processor 850 can generate digital pulse 830 in a number of ways. For example, the 850 digital signal processor can include and/or use up to six PWM modules or generators. In some digital signal processors 850, three of these PWM generators can be used to generate a voltage signal or pulse to be sent to motor 117, such as phase A, phase B, and phase C voltage signals. , for example, represent the combination of the three PWM carrier signals generated by these three PWM generators.
[00197] In addition or alternatively, a spare PWM generation module to generate an up-count carrier signal, such as pulse 820. In some systems, it is also possible to use other spare DSP components, such as a DSP module. enhanced capture (eCap), to generate the 820 digital pulse. The up-counting carrier signal may have a cycle that may start, for example, at a zero point, low point or period point corresponding to the three-phase generating signal 810, as indicated by dotted lines 802 and 804 in FIG. 8. The carrier signal of the spare PWM module 820 can be synchronized with the three other PWM module 810 generation carrier signals for phases A, B and C. The current perception instant can be calculated and/or stored in the processor of digital signal 850 in a number of ways. For example, the digital signal processor 850 can be configured so that a digital pulse 830 can be generated at a designated count or time after the start of the up count pulse 820. The time can be represented, for example, by the delay 809 By adjusting the delay 809 between the start of the up-count carrier signal 820 and the current sensing instant, the digital signal processor can be easily calibrated to properly generate the digital pulse 830 corresponding to the best current sensing instant.
[00198] Upon receipt of the transmitted digital pulse 830 from the digital signal processor 850, the programmable gate arrangement in field 870 can serialize, catalog, document and/or otherwise identify the three-phase current sent from the analog converter to external digital this instant. In particular, the programmable gate arrangement in field 870 may be configured to serialize a set of three-phase current values from the continuously sensed and filtered current signal at the current sense instant indicated by the rising or falling edge of the digital pulse. The set serialized three-phase current value can be, for example, the most recent set of phase current values in the programmable gate array temporary storage in field 870 at the time the digital pulse 830 is received.
[00199] Then, this serialized three-phase current signal 895 may be sent, transmitted, powered and/or otherwise sent to digital signal processor 850. Digital signal processor 850 may process received three-phase current signal 895. For example, digital signal processor 850 may perform a Park transform or other phase transform on the received three-phase signal, and may generate a geometry axis current signal from a geometry axis current signal q as a result. After the transform is performed, digital signal processor 850 may send, feed, transmit and/or otherwise output the resulting biphasic current signal, such as to current regulating controller 111.
[00200] Alternatively, the signal transform can be performed in the programmable gate array in field 870, and/or by it.
[00201] Although FIG. 8 show an external 880 analog to digital converter, more than one may be present. For example, the control system can use three external analog-to-digital converters, each of which is directed to one of the phases of the three-phase current. In systems such as this, the programmable gate array in field 870 can serialize a phase of the three-phase currents perceived from the stored digital current samples received from each of the external analog-to-digital converters. Other configurations are possible.
[00202] In some systems, one or both of the field-programmable gate array 870 and the digital signal processor 850 may be components of the secondary processing module 116. In other systems, one or both of the field-programmable gate array 870 and digital signal processor 850 may be components of electronic data processing system 120. In other systems, other configurations may be possible.
[00203] 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 (6)
[0001]
1. System for processing a sensed current signal from a motor (117), characterized in that the system comprises: a digital signal processor (850); a field-programmable gate arrangement (870) in communication with the digital signal processor (850); the digital signal processor (850) being configured to generate a digital pulse (830) that indicates a current sensing instant at which a current value is locked from a signal. current sensed from a motor, a rising or falling edge of the digital pulse being configured to correspond to a weight point of the sensed current signal; the field-programmable gate arrangement (870) being configured to receive a signal from three-phase current continuously sensed from a motor and to receive the digital pulse (830) from the digital signal processor (850), the field-programmable gate array (870) configured to lock a set of and three-phase current values from the continuously sensed current signal at the current sensing instant indicated by the rising or falling edge of the digital pulse (830), and transmitting the locked three-phase current values to the digital signal processor (850) .
[0002]
2. System according to claim 1, characterized in that the digital signal processor (850) is configured to perform a PARK transform on the received latched three-phase current value to generate a current signal from the geometric axis of a signal of current of the geometric axis q.
[0003]
3. System according to claim 2, characterized in that it further comprises a current regulation controller (111) configured to receive the axis current signal d and the axis current signal q from the digital signal processor (850).
[0004]
4. System according to claim 1, characterized in that the digital signal processor (850) comprises a pulse width modulation generator (112) dedicated to generating the digital pulse (830).
[0005]
5. System according to claim 1, characterized in that the field-programmable gate arrangement (870) receives the continuously sensed three-phase current signal either from an analog to digital converter (880) and external sensing circuit or from an analog to digital converter and internal sensor circuit.
[0006]
6. System according to claim 1, characterized in that the field-programmable gate arrangement (870) includes a filter that filters the continuously sensed three-phase current signal.

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法律状态:
2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-12-24| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-03-30| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-06-08| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 27/01/2012, 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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US13/036,966|2011-02-28|

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US13/036,966|US8531141B2|2011-02-28|2011-02-28|System for calibrating an electrical control system|

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PCT/US2012/022824|WO2012118578A2|2011-02-28|2012-01-27|System for calibrating an electrical control system|

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