Patent ID: 9663139
Date: 2017-05-30
CPC Classifications: B62D,H02P

Claim:
1. A motor control system, comprising: a motor configured to operate at a rotational velocity; and a control module in communication with the motor, the control module configured to: receive a torque command indicating a desired amount of torque to be generated by the motor: obtain a rotational velocity of the motor; receive a desired phase advance angle for driving the motor; and generate a voltage command indicating a voltage magnitude to be applied to the motor based on the rotational velocity of the motor, the motor torque command, and the desired phase advance angle by using a plurality of dynamic inverse motor control model equations that (i) allow the desired phase advance angle to exceed an impedance angle of the motor and (ii) specify that the voltage magnitude is a function of a voltage magnitude of a previous voltage command, wherein the plurality of equations include: wherein V is the voltage magnitude applied to the motor, V V δ is the phase advance angle, which is an angle of the applied voltage relative to the BEMF in radians; L R is a motor circuit resistance in Ohms, including a motor stator and controller hardware, K (ω (ω I I T s is a Laplace operator.