# Patent

## Title
Vehicular electrical system and method for controlling an inverter during motor deceleration

## Abstract

Methods and systems for operating an inverter coupled to an electric motor are provided. The inverter has a plurality of high switches and a plurality of low switches coupled to the electric motor. An event indicative of deceleration of the electric motor is detected. The inverter is alternated between a first mode of operation and a second mode of operation during the deceleration of the electric motor. In the first mode of operation, each of the plurality of high switches is activated and each of the plurality of low switches is deactivated. In the second mode of operation, each of the plurality of low switches is activated and each of the plurality of high switches is deactivated.

## Background
TECHNICAL FIELD
The present invention generally relates to vehicular electrical systems. More specifically, the present invention relates to vehicular electrical systems and methods for controlling an inverter during deceleration of a motor connected to the inverter.
BACKGROUND OF THE INVENTION
In recent years, advances in technology, as well as ever-evolving tastes in style, have led to substantial changes in the design of automobiles. One of the changes involves the complexity of the electrical systems within automobiles, particularly alternative fuel (or propulsion) vehicles that utilize voltage supplies, such as hybrid and battery electric vehicles. Such alternative fuel vehicles typically use one or more electric motors, often powered by batteries perhaps in combination with another actuator to drive the wheels.
During motor deceleration, such as after a collision or an electrical fault, it is desirable to slow the motor (e.g., by applying a braking torque) as rapidly as possible. The amount of braking torque than can be applied to the motor is in part dictated by the voltage across the electrodes of the voltage supply (i.e., the DC link voltage). Generally, there is a tendency for this voltage to increase during deceleration of the motor, particularly when a braking torque is being applied.
Accordingly, it is desirable to provide a vehicular electrical system and method that allows for improved management of the DC link voltage during deceleration of the motor. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background.
SUMMARY OF THE INVENTION
In one embodiment, a method for operating an inverter coupled to an electric motor is provided. The inverter has a plurality of high switches and a plurality of low switches coupled to the electric motor. An event indicative of deceleration of the electric motor is detected. The inverter is alternated between a first mode of operation and a second mode of operation during the deceleration of the electric motor. In the first mode of operation, each of the plurality of high switches is activated and each of the plurality of low switches is deactivated. In the second mode of operation, each of the plurality of low switches is activated and each of the plurality of high switches is deactivated.
In another embodiment, a method for operating an inverter coupled to an automotive traction motor is provided. The inverter has a plurality of pairs of switches. Each of the plurality of pairs of switches includes a high switch and a low switch. An event indicative of deceleration of the automotive traction motor is detected. The inverter is alternated between a first mode of operation and a second mode of operation during the deceleration of the electric motor for approximately equal durations. In the first mode of operation, each of the high switches of the plurality of pairs of switches is activated and each of the low switches of the plurality of pairs of switches is deactivated. In the second mode of operation, each of the low switches of the plurality of pairs of switches is activated and each of the high switches of the plurality of pairs of switches is deactivated.
In a further embodiment, an automotive propulsion system is provided. The automotive propulsion system includes an electric motor including a plurality of windings, a direct current-to-alternating current (DC/AC) power inverter comprising a plurality of pairs of power switching devices coupled to the plurality of windings, each pair of power switching devices including a high power switching device and a low power switching device, and a processing system in operable communication with the electric motor and the DC/AC power inverter. The processor is configured to detect an event indicative of deceleration of the electric motor, and alternate operation of the DC/AC power inverter between a first mode of operation and a second mode of operation during the deceleration of the electric motor. In the first mode of operation, the high power switching devices of the plurality of pairs of power switching devices is activated and the low power switching devices of the plurality of pairs of switches is deactivated. In the second mode of operation, the low power switching devices of the plurality of pairs of power switching devices is activated and the high power switching devices of the plurality of pairs of power switching devices is deactivated.



DESCRIPTION OF THE DRAWINGS
The present invention will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and
FIG. 1 is a schematic view of an exemplary automobile according to an embodiment;
FIG. 2 is a block diagram of an inverter control system within the automobile of FIG. 1, according to an embodiment; and
FIG. 3 is a schematic of a power inverter, a voltage supply, and an electric motor within the automobile of FIG. 1, according to an embodiment.



DESCRIPTION OF AN EXEMPLARY EMBODIMENT
The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description. Additionally, although the schematic diagrams shown herein depict example arrangements of elements, additional intervening elements, devices, features, or components may be present in an actual embodiment. It should also be understood that FIGS. 1-3 are merely illustrative and may not be drawn to scale.
The following description refers to elements or features being “connected” or “coupled” together. As used herein, “connected” may refer to one element/feature being mechanically joined to (or directly communicating with) another element/feature, and not necessarily directly. Likewise, “coupled” may refer to one element/feature being directly or indirectly joined to (or directly or indirectly communicating with) another element/feature, and not necessarily mechanically. However, it should be understood that although two elements may be described below, in one embodiment, as being “connected,” in alternative embodiments similar elements may be “coupled,” and vice versa. Thus, although the schematic diagrams shown herein depict example arrangements of elements, additional intervening elements, devices, features, or components may be present in an actual embodiment.
FIG. 1 to FIG. 3 illustrate systems for operating an inverter coupled to an electric motor. The inverter has a plurality of high switches and a plurality of low switches coupled to the electric motor. An event indicative of deceleration of the electric motor is detected. The inverter is alternated between a first mode of operation and a second mode of operation during the deceleration of the electric motor. In the first mode of operation, each of the plurality of high switches is activated and each of the plurality of low switches is deactivated. In the second mode of operation, each of the plurality of low switches is activated and each of the plurality of high switches is deactivated.
FIG. 1 is a schematic view a vehicle (or “automobile” or automotive propulsion system) 10, according to an embodiment. The automobile 10 includes a chassis 12, a body 14, four wheels 16, and an electronic control system 18. The body 14 is arranged on the chassis 12 and substantially encloses the other components of the automobile 10. The body 14 and the chassis 12 may jointly form a frame. The wheels 16 are each rotationally coupled to the chassis 12 near a respective corner of the body 14.
The automobile 10 may be any one of a number of different types of automobiles, such as, for example, a sedan, a wagon, a truck, or a sport utility vehicle (SUV), and may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD), or all-wheel drive (AWD). The automobile 10 may also incorporate any one of, or combination of, a number of different types of engines, such as, for example, a gasoline or diesel fueled combustion engine, a “flex fuel vehicle” (FFV) engine (i.e., using a mixture of gasoline and alcohol), a gaseous compound (e.g., hydrogen and/or natural gas) fueled engine, a combustion/electric motor hybrid engine (i.e., such as in a hybrid electric vehicle (HEV)), and an electric motor.
The automobile 10 in FIG. 1 is an HEV, and further includes an actuator assembly 20, a battery (e.g., a high voltage battery) 22, and a power electronics assembly (e.g., an inverter or inverter assembly) 24. The actuator assembly 20 is mechanically coupled to at least some of the wheels 16 through drive shafts 26 and includes a combustion engine 28 and an electric motor/generator (or traction motor) 30. The combustion engine 28 and/or the electric motor 30 are integrated such that one or both are mechanically coupled to the drive shafts 26 through a transmission (not shown). The battery 22 may be, for example, a lithium ion battery and may include an integrated voltmeter.
In an embodiment, the automobile 10 is a “series HEV,” in which the combustion engine 28 is not directly coupled to the transmission, but coupled to a generator (not shown), which is used to power the electric motor 30. In another embodiment, the automobile 10 is a “parallel HEV,” in which the combustion engine 28 is directly coupled to the transmission by, for example, having the rotor of the electric motor 30 rotationally coupled to the drive shaft of the combustion engine 28.
The electronic control system 18 is in operable communication with the actuator assembly 20, the battery 22, and the inverter 24. Although not shown in detail, the electronic control system 18 includes various sensors and automotive control modules, or electronic control units (ECUs), such as an inverter control module, a motor controller, and a vehicle controller, and at least one processor (or processing system) and/or a memory having instructions stored thereon (or in another computer-readable medium) for carrying out the processes and methods as described below.
Referring to FIG. 2, an inverter control system 34, in accordance with an exemplary embodiment of the present invention, is shown. The inverter control system 34 includes a controller (or processor) 36 in operable communication with a Pulse Width Modulation (PWM) modulator 38 (or a pulse width modulator) and the inverter 24 (at an output thereof). The PWM modulator 38 is coupled to a gate driver 39, which in turn has an output coupled to an input of the inverter 24. The inverter 24 has a second output coupled to the motor 30. The controller 36 and the PWM modulator 38 may be integral with the electronic control system 18 shown in FIG. 1.
FIG. 3 schematically illustrates the battery (and/or DC voltage source) 22, the inverter 24, and the motor 30 of FIGS. 1 and 2 in greater detail. In the depicted embodiment, the inverter 24 includes a three-phase circuit coupled to the motor 30. More specifically, the inverter 24 includes a switch network having a first input coupled to the battery 22 (i.e., a voltage source or supply (VDC)) and an output coupled to the motor 30. Although a single voltage source is shown, a distributed DC link with two or more series sources may be used.
As will be appreciated by one skilled in the art, the electric motor 30, in one embodiment, is a permanent magnet electric motor and includes a stator assembly 40 and a rotor assembly 42. The stator assembly 40 includes a plurality (e.g., three) conductive coils or windings 44, 46, and 48, each of which is associated with one of the three phases of the electric motor 30, as is commonly understood. The rotor assembly 42 includes a plurality of magnets 50 and is rotatably coupled to the stator assembly 40, as is commonly understood. The magnets 50 may include multiple (e.g., sixteen) electromagnetic poles, as is commonly understood. It should be understood that the description provided above is intended only as an example of one type of electric motor that may be used.
The switch network comprises three pairs of series power switching devices (or switches or components) with antiparallel diodes (i.e., antiparallel to each switch) corresponding to each of the phases of the motor 30. Each of the pairs of series switches comprises a first switch, or transistor, (i.e., a “high” switch) 52, 54, and 56 having a first terminal coupled to a positive electrode 63 of the voltage source 22 and a second switch (i.e., a “low” switch) 58, 60, and 62 having a second terminal coupled to a negative electrode 65 of the voltage source 22 and a first terminal coupled to a second terminal of the respective first switch 52, 54, and 56. Thus, the first terminal of the high switches 52, 54, and 56 and the second terminals of the low switches 58, 60, and 62 are connected across the DC link of the voltage source 22 (i.e., across the positive and negative electrodes 63 and 65 of the voltage source 22).
As is commonly understood, each of the switches 52-62 may be in the form of individual semiconductor devices such as insulated gate bipolar transistors (IGBTs) within integrated circuits formed on semiconductor (e.g. silicon) substrates (e.g., die). As shown, a diode 64 is connected in an antiparallel configuration (i.e., a “flyback” or “freewheeling” diode) to each of the switches 52-62. As such, each of the switches 52-62 and the respective diode 64 may be understood to form a switch-diode pair or set, six of which are included in the embodiment shown. The inverter 24 also includes current sensors (e.g., Hall Effect sensors) 66 to detect the flow of current through the switches 52-62 and/or the windings 44, 46, and 48.
Still referring to FIG. 3, the inverter 24 further includes a voltage disconnect switch (or battery contactor) 68 and a DC link capacitor 70. The battery contactor 68 may be similar to switches 52-62 and connected to the positive terminal of the voltage source (i.e., the battery) 22. In other embodiments, the voltage disconnect switch may be a mechanically derived contactor such as a relay. The DC link capacitor 70 is connected across the DC link of the system (i.e., across the positive and negative terminals of the voltage source 22).
Referring to FIG. 1, during normal operation (i.e., driving), the automobile 10 is operated by providing power to the wheels 16 with the combustion engine 28 and the electric motor 30 in an alternating manner and/or with the combustion engine 28 and the electric motor 30 simultaneously. In order to power the electric motor 30, DC power is provided from the battery 22 (and, in the case of a fuel cell automobile, a fuel cell) to the inverter 24, which converts the DC power into AC power, before the power is sent to the electric motor 30. As will be appreciated by one skilled in the art, the conversion of DC power to AC power is substantially performed by operating (i.e., repeatedly switching) the switches 52-62 within the inverter 24 at an operating (or switching) frequency, such as, for example, 12 kilohertz (kHz).
Referring to FIG. 2, generally, the controller 36 produces a Pulse Width Modulation (PWM) signal for controlling the switching action of the inverter 24. The inverter 24 then converts the PWM signal to a modulated voltage waveform for operating the motor 30. The inverter control system 34 of FIG. 2 consists of multiple operations during normal operation including, but not limited to, receiving a torque command, converting the torque command to current commands based on present speed and available voltage, and performing regulation on such current commands. The output of the current regulator (not shown) is the output voltage needed to produce the requested currents. The PWM modulator 38 and the gate driver 39 generate the necessary gate pulses (or duty cycles) which are sent to the inverter 24 to control the electric motor 30 to the desired speed and/or torque.
As will be appreciated by one skilled in the art, the operation of the switches 52-62 (FIG. 3) causes current to flow through the windings 44, 46, and 48 in the motor 30. The interaction of this current with the magnetic fields generated by the magnets 50 causes a Lorentz force to be generated, thus causing the rotor 42 to rotate relative to the stator 40.
According to one aspect of the invention, upon detecting an “unexpected” event (e.g., not normal braking) indicative of a deceleration of the motor 30 (and/or the automobile 10 as a whole), the inverter 24 alternates between a “high short” mode of operation and a “low short” mode of operation. In the high short mode, each of the high switches 52, 54, and 56 is activated, while the low switches 58, 60, and 62 are deactivated. In the low short mode, each of low switches 58, 60, and 62 is activated, while the high switches 52, 54, and 56 are deactivated. This switching operation may allow the voltage across the DC link to decrease in a relatively rapid manner while the motor 30 continues to spin freely (i.e., the rotor 42 continues to rotate relative to the stator 40).
In one embodiment, a method for controlling the inverter 24 may begin with the inverter control module (within the electronic control system 18) detecting an event that indicates a deceleration of the motor 30. Examples include the automobile 10 being involved in a collision (e.g., detected by the vehicle controller) or an electrical fault (e.g., a winding short or an overvoltage situation associated with the motor 30 detected by the inverter control module). The battery 22 may be disconnected from the motor 30 such that the motor 30 (i.e., the rotor 42) is “free spinning” (and slowly decelerating) and/or a braking torque is applied by the inverter 24 in order to slow the rotor 42.
The voltage source (e.g., the battery) 22 is then disconnected from the inverter 24, and thus the motor 30. The disconnection is performed by deactivating (or opening or turning OFF) the battery contactor 68.
Next, the inverter control module repeatedly alternates the inverter 24 between first and second modes of operation. The mode switching may effectively involve applying approximately a 50% duty cycle to each of the switches 52-62 in a synchronized manner such that the inverter 24 alternates between applying a “high short” and a “low short” to the motor 30. Specifically, in the first mode of operation, all of the high switches 52-56 are activated (or closed or turned ON), and all of the low switches are 58-62 are deactivated (or opened or turned OFF). In the second mode of operation, all of the low switches 58-62 are activated, and all of the high switches 52-56 are deactivated.
In one embodiment, this switching is performed at the switching frequency (e.g., 12 kHz) such that the time the inverter 24 is in the first mode is approximately equal to the time in the second mode (i.e., 50% duty cycle). This switching operation may reduce, or regulate, the voltage across the DC link, which otherwise may become undesirably high while the motor 30 continues to decelerate. The reduction, or management, of the DC link voltage may be caused in part by the “switching losses” inherent with the operation of the switches 52-62, as will be appreciated by one skilled in the art.
A dead-time compensation algorithm may be applied to the switching operation in order to further increase the rate of reduction of, or otherwise adjust, the DC link voltage. As is commonly understood, dead-time compensation algorithms are often used during normal, active operation of automotive traction motors to compensate for the relative delays in current flow caused by the time required for the switches (e.g., switches 52-62) to transfer between states of operation.
In one embodiment, the dead-time compensation algorithm may adjust the switching operation during deceleration such that the duty cycles of both the high switches 52-56 and the low switches 58-62 vary, for example, between 47% and 53% (still maintaining approximately a 50/50 split between the first and second modes of operation). The adjustments made to the switching operation may be in response to the detected DC link voltage, which may be monitored by the inverter control module (or the electronic control system), as it may be desirable to reduce the DC link voltage at a particular rate.
The method may end when, for example, the DC link voltage is reduced below a predetermined threshold, which may be between 60 and 70 volts, or the motor stops spinning.
One advantage of the system and method described above is that the DC link voltage may be regulated during deceleration of the motor. As a result, a braking torque may still be applied to the motor, while still reducing the DC link voltage to a desirable level.
Other embodiments may utilize source devices other than DC/AC inverters, such as DC/DC power converters, and load devices other than electric motors, such as batteries (e.g., lithium ion batteries). The system described above may be implemented in systems other than automobiles, such as watercraft and aircraft. The electric motor and the power inverter may have different numbers of phases, such as two or four. Other forms of power sources may be used, such as current sources and loads including diode rectifiers, thyristor converters, fuel cells, inductors, capacitors, and/or any combination thereof. It should be noted that the numerical ranges provided above are intended to serve only as examples and not intended to limit the use of the system described above.
While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing the exemplary embodiment or exemplary embodiments. It should be understood that various changes can be made in the function and arrangement of elements without departing from the scope of the invention as set forth in the appended claims and the legal equivalents thereof.

## Claims

1. A method for operating an inverter having a plurality of high switches and a plurality of low switches coupled to an electric motor, the method comprising:
detecting an event indicative of deceleration of the electric motor; and
alternating the inverter between a first mode of operation and a second mode of operation during the deceleration of the electric motor,
wherein in the first mode of operation, each of the plurality of high switches is activated and each of the plurality of low switches is deactivated, and in the second mode of operation, each of the plurality of low switches is activated and each of the plurality of high switches is deactivated.

2. The method of claim 1, wherein the alternating the inverter between the first mode of operation and the second mode of operation comprises
deactivating each of the plurality of high switches; and
activating each of the plurality of low switches after the deactivating of each of the plurality of high switches.

3. The method of claim 2, wherein alternating the inverter between the first mode of operation and the second mode of operation further comprises:
deactivating each of the plurality of low switches; and
activating each of the plurality of high switches after the deactivating of each of the plurality of low switches.

4. The method of claim 2, wherein the plurality of high switches and the plurality of low switches jointly comprise a plurality of pairs of switches, each pair of switches comprising one of the plurality of high switches and one of the plurality of low switches.

5. The method of claim 4, wherein each of the plurality of high switches and each of the plurality of low switches comprises a first terminal and a second terminal, and within each of the plurality of pairs of switches, the second terminal of the respective high switch is connected to the first terminal of the respective low switch.

6. The method of claim 5, wherein the inverter and the electric motor are configured such that the alternating of the inverter between the first and second modes of operation causes a decrease of a voltage across the first terminals of the plurality of high switches and the second terminals of the plurality of low switches.

7. The method of claim 6, further comprising:
monitoring the voltage across the first terminals of the plurality of high switches and the second terminals of the plurality of low switches; and
adjusting the alternating of the inverter between the first and second modes of operation based on the monitoring of the voltage across the first terminals of the plurality of high switches and the second terminals of the plurality of low switches and a dead-time compensation algorithm.

8. The method of claim 6, wherein the alternating of the inverter between first and second modes of operation comprises operating the inverter in the first and second modes of operation for approximately equal durations.

9. The method of claim 6, wherein the electric motor comprises a plurality of windings, each of the plurality of windings being electrically connected between the second terminal of the high switch and the first terminal of the low switch of a respective one of the plurality of pairs of switches.

10. The method of claim 6, wherein the inverter further comprises a plurality of diodes, each of the plurality of diodes being in an antiparallel configuration with a respective one of the plurality of high switches and the plurality of low switches.

11. A method for operating an inverter having a plurality of pairs of switches, each of the plurality of pairs of switches comprising a high switch and a low switch, coupled to an automotive traction motor, the method comprising:
detecting an event indicative of deceleration of the automotive traction motor; and
alternating the inverter between a first mode of operation and a second mode of operation during the deceleration of the electric motor for approximately equal durations,
wherein in the first mode of operation, each of the high switches of the plurality of pairs of switches is activated and each of the low switches of the plurality of pairs of switches is deactivated, and in the second mode of operation, each of the low switches of the plurality of pairs of switches is activated and each of the high switches of the plurality of pairs of switches is deactivated.

12. The method of claim 11, wherein each of the high switches and each of the low switches of the plurality of pairs of switches comprises a first terminal and a second terminal, and within each of the plurality of pairs of switches, the second terminal of the respective high switch is connected to the first terminal of the respective low switch.

13. The method of claim 12, wherein the inverter and the electric motor are configured such that the alternating of the inverter between the first and second modes of operation causes a decrease of a voltage across the first terminals of the high switches of the plurality of pairs of switches and the second terminals of the low switches of the plurality of pairs of switches.

14. The method of claim 13, further comprising:
monitoring the voltage across the first terminals of the high switches of the plurality of pairs of switches and the second terminals of the low switches of the plurality of pairs of switches; and
adjusting the alternating of the inverter between the first and second modes of operation based on the monitoring of the voltage across the first terminals of the high switches of the plurality of pairs of switches and the second terminals of the low switches of the plurality of pairs of switches.

15. The method of claim 14, wherein the inverter further comprises a plurality of diodes, each of the plurality of diodes being in an antiparallel configuration with a respective one of the high switches of the plurality of pairs of switches and the low switches of the plurality of pairs of switches.

16. An automotive propulsion system comprising:
an electric motor comprising a plurality of windings;
a direct current-to-alternating current (DC/AC) power inverter comprising a plurality of pairs of power switching devices coupled to the plurality of windings, each pair of power switching devices comprising high power switching device and a low power switching device;
a processing system in operable communication with the electric motor and the DC/AC power inverter, the processor being configured to
detect an event indicative of deceleration of the electric motor; and
alternate operation of the DC/AC power inverter between a first mode of operation and a second mode of operation during the deceleration of the electric motor,
wherein in the first mode of operation, the high power switching devices of the plurality of pairs of power switching devices is activated and the low power switching devices of the plurality of pairs of operation, the low power switching devices of the plurality of pairs of power switching devices is activated and the high power switching devices of the plurality of pairs of power switching devices is deactivated.

17. The automotive propulsion system of claim 16, wherein the processing system is configured such that the alternating of the operation of the DC/AC power inverter between the first mode of operation and the second mode of operation comprising operating the DC/AC power inverter in the first mode of operation and the second mode of operation for approximately equal durations.

18. The automotive propulsion system of claim 17, wherein each of the high power switching devices and each of the low power switching devices of the plurality of pairs of power switching devices comprises a first terminal and a second terminal, and within each of the plurality of pairs of power switching devices, the second terminal of the respective high power switching device is connected to the first terminal of the respective low power switching device, and wherein the DC/AC power inverter and the electric motor are configured such that the alternating of the inverter between the first and second modes of operation causes a decrease of a voltage across the first terminals of the high power switching devices of the plurality of pairs of power switching devices and the second terminals of the low power switching devices of the plurality of pairs of power switching devices.

19. The automotive propulsion system of claim 18, wherein the processing system is further configured to:
monitor the voltage across the first terminals of the high power switching devices of the plurality of pairs of power switching devices and the second terminals of the low power switching devices of the plurality of pairs of power switching devices; and
adjust the alternating of the inverter between the first and second modes of operation based on the monitoring of the voltage across the first terminals of the high power switching devices of the plurality of pairs of power switching devices and the second terminals of the low power switching devices of the plurality of pairs of power switching devices.

20. The automotive propulsion system of claim 19, wherein the DC/AC power inverter further comprises a plurality of diodes, each of the plurality of diodes being in an antiparallel configuration with a respective one of the high power switching devices and the low power switching devices of the plurality of pairs of power switching devices.