Abstract:
A system for controlling a vehicle, the vehicle including a permanent magnet (PM) synchronous motor, includes a controller. The controller is configured to control the motor with a motor current. In the presence of a predetermined condition, the motor current results in increased winding loss and reduced torque ripple with respect to optimal motor current for minimal winding loss.

Description:
TECHNICAL FIELD 
     The invention relates to torque ripple reduction in interior permanent magnet (PM) machines via control angle manipulation. 
     BACKGROUND 
     Hybrid electric vehicles (HEVs) use batteries as an energy storage system. The plug-in hybrid electric vehicle (PHEV) is an extension of existing hybrid electric vehicle (HEV) technology. A PHEV utilizes a larger capacity battery pack than a standard hybrid electric vehicle, and adds the capability to recharge the battery from a standard electrical outlet to decrease fuel consumption and to further improve the fuel economy in an electric driving mode or in a blended driving mode. There are also battery electric vehicle (BEV) applications where an electric machine completely replaces the internal combustion engine. 
     The HEV, PHEV, and BEV each include an electric motor drive system, which may include a permanent magnet (PM) synchronous motor. A PM synchronous motor includes a rotor having permanent magnets mounted on the rotor periphery or buried inside the rotor. The electric motor drive system generates torque ripples. The motor output torque contains torque ripples caused by the magnetic force variations depending on the rotor position of the motor. 
     In an existing approach to reducing torque ripple in interior permanent magnet (PM) machines, torque ripple is minimized via machine design. 
     Background information may be found in U.S. Pub. No. 2008/0246425A1 and in JP2009195049A. 
     SUMMARY 
     In one embodiment of the invention, a system for controlling a vehicle, the vehicle including a permanent magnet (PM) synchronous motor, includes a controller. The controller is configured to control the motor with a motor current. In the presence of a predetermined condition, the motor current results in increased winding loss and reduced torque ripple with respect to optimal motor current for minimal winding loss. 
     The controller may be further configured to establish a motor speed, and determine the presence of the predetermined condition based on whether the motor speed falls within a predetermined speed range. The presence of the predetermined condition may be further based on whether a torque command exceeds a predetermined value. 
     In one possible feature, in the presence of the predetermined condition, the motor current results in decreased control angle of at least 5 degrees with respect to optimal motor current for minimal winding loss. 
     In another embodiment of the invention, a method of controlling a vehicle including a permanent magnet (PM) synchronous motor is provided. The motor is calibrated such that for each torque command, there are corresponding direct axis (d-axis) and quadrature axis (q-axis) current commands. The method comprises establishing a torque command; determining d-axis and q-axis current commands Id and Iq, respectively, corresponding to the torque command; and controlling the motor based on Id, Iq. In the presence of a predetermined condition, Id and Iq result in increased winding loss and reduced torque ripple with respect to optimal Id and Iq for minimal winding loss. 
     Embodiments of the invention may include one or more of various additional features. In one feature, in the absence of the predetermined condition, Id and Iq result in reduced winding loss and increased torque ripple with respect to optimal Id and Iq for minimal torque ripple. In another feature, the method further comprises establishing a motor speed, and determining the presence of the predetermined condition based on whether the motor speed falls within a predetermined speed range. In another feature, the method further comprises determining the presence of the predetermined condition further based on whether the torque command exceeds a predetermined value. 
     In one possible feature, in the presence of the predetermined condition, Id and Iq result in increased peak current with respect to optimal Id and Iq for minimal winding loss. 
     In another possible feature, in the presence of the predetermined condition, Id and Iq result in decreased control angle of at least 5 degrees with respect to optimal Id and Iq for minimal winding loss. 
     In another embodiment, a system for controlling a vehicle including a permanent magnet (PM) synchronous motor is provided. The motor is calibrated such that for each torque command, there are corresponding direct axis (d-axis) and quadrature axis (q-axis) current commands. The system comprises a controller configured to establish a torque command; determine d-axis and q-axis current commands Id and Iq, respectively, corresponding to the torque command; and control the motor based on Id, Iq. In the presence of a predetermined condition, Id and Iq result in increased winding loss and reduced torque ripple with respect to optimal Id and Iq for minimal winding loss. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic representation of a powersplit powertrain system configuration; 
         FIG. 2  is a schematic representation, in block diagram form, of a powertrain system power flow diagram; 
         FIG. 3  illustrates an electric motor device, including a motor controller and a permanent magnet (PM) synchronous motor; 
         FIG. 4  illustrates controlling a vehicle including a permanent magnet (PM) synchronous motor in a an embodiment of the invention; 
         FIG. 5  illustrates average torque and torque harmonics produced by an 8 pole 48 slots interior PM machine at 300 A peak current as a function of the control angle (theta); 
         FIG. 6  illustrates a comparison of torque waveforms obtained with control angle optimized for minimal loss (theta=40 deg.) and for minimal torque ripple (theta=26 deg.); and 
         FIG. 7  illustrates a method of reducing torque ripple in an embodiment of the invention. 
     
    
    
     DETAILED DESCRIPTION 
     As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention that may be embodied in various and alternative forms. The figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention. 
     The invention includes various aspects of controlling torque ripple in interior permanent magnet (PM) machines via control angle manipulation. Motor controllers are typically tuned to minimize losses and maximize fuel efficiency. In accordance with the invention, motor controllers may be tuned to minimize torque ripple in certain conditions, for example, at certain motor speed and torque levels. In more detail, at a specific speed and torque level, the machine can be operated with control parameters that minimize ripple instead of loss. 
     Embodiments of the invention may be implemented in a variety of applications. One example is a hybrid electric vehicle powertrain. 
     A hybrid electric vehicle powertrain is shown in  FIG. 1 . A vehicle system controller (VSC)  10 , a battery and battery energy control module (BECM)  12 , and a transmission  14 , together with a motor-generator subsystem, comprise a control area network (CAN). An internal combustion engine  16 , controlled by VSC  10 , distributes torque through torque input shaft  18  to transmission  14 . 
     The transmission  14  includes a planetary gear unit  20 , which comprises a ring gear  22 , a sun gear  24 , and a planetary carrier assembly  26 . The ring gear  22  distributes torque to step ratio gears comprising meshing gear elements  28 ,  30 ,  32 ,  34 , and  36 . A torque output shaft  38  for the transmission  14  is drivably connected to vehicle traction wheels  40  through a differential and axle mechanism  42 . 
     Gears  30 ,  32 , and  34  are mounted on a countershaft, with gear  32  engaging a motor-driven gear  44 . Electric motor  46  drives gear  44 , which acts as a torque input for the countershaft gearing. 
     The battery delivers electric power to the motor through power flow path  48 ,  54 . Generator  50  is connected electrically to the battery and to the motor  46  in a known fashion as shown at  52 . 
     The powersplit powertrain system of  FIG. 1  may be operated in a variety of different modes as is appreciated by those skilled in the art. As shown, there are two power sources for the driveline. The first power source is a combination of the engine and generator subsystems, which are connected together using the planetary gear unit  20 . The other power source involves the electric drive system including the motor  46 , the generator  50 , and the battery, where the battery acts as an energy storage medium for the generator  50  and the motor  46 . 
     In general, VSC  10  calculates the total engine power needed to meet the drive wheel power demand plus all accessory loads, and independently schedules the engine speed and load operating point, with or without feedback of actual engine performance, to meet the total power demand. This type of approach is typically used to maximize fuel economy and may be used in other types of powertrain systems that have such VSCs. 
     The power flow paths between the various elements of the powersplit powertrain diagram shown in  FIG. 1  are illustrated in  FIG. 2 . Fueling is scheduled based on driver and other inputs. Engine  16  delivers power to the planetary gear unit  20 . The available engine brake power is reduced by accessory loads. Power is delivered by the planetary ring gear to the countershaft gears  30 ,  32 ,  34 . Power output from the transmission drives the wheels. 
     Generator  50 , when acting as a motor, can deliver power to the planetary gearing. When acting as a generator, generator  50  is driven by the planetary gearing. Similarly, power distribution between the motor  46  and the countershaft gears  30 ,  32 ,  34  can be distributed in either direction. 
     As shown in  FIGS. 1 and 2 , engine power output can be split into two paths by controlling generator  50 . In operation, the system determines the driver&#39;s demand for torque and achieves the optimum split of power between the two power sources. 
       FIG. 3  illustrates an electric motor  70 . Electric motor  70  includes motor controller  72  and permanent magnet (PM) synchronous motor  74 . Electric motor  70  may be controlled in accordance with an embodiment of the invention. Embodiments of the invention are useful in hybrid and electric vehicles that use PM synchronous motors. For example, motor  46  or generator  50  ( FIGS. 1 and 2 ) may be implemented as a PM synchronous motor, and electric motor  70  may represent motor  46  or generator  50 . Embodiments of the invention are also useful in other applications, and electric motor  70  may represent some other electric motor. 
     In general, electric motor  70 , in this example, operates by providing a torque command to the motor controller  72  which controls PM synchronous motor  74  and attempts to provide the commanded torque output. Motor controller  72  may receive other inputs such as, for example, available voltage and current motor speed, as appreciated by those skilled in the art. 
     In more detail,  FIG. 4  illustrates an example method of controlling PM synchronous motor  74 . The electric motor is calibrated such that for each average torque command and motor speed, there are corresponding direct-axis (d-axis) and quadrature axis (q-axis) currents Id_cmd and Iq_cmd, respectively, as depicted at look-up table or map  80 . 
     PM synchronous motor  74  is controlled based on Id_cmd and Iq_cmd by current regulator  90 . In more detail, current regulator  90  produces d-axis voltage command Vd_cmd and q-axis voltage command Vq_cmd. In turn, feedback d-axis and q-axis currents Id_fdb and Iq_fdb, respectively, are measured in a known manner. Current regulator  90  receives Id_fdb and Iq_fdb. 
       FIG. 4  is an example of controlling PM synchronous motor  74 ; other control techniques are possible. 
     Embodiments of the invention allow motor control to be tuned to minimize torque ripple in certain conditions, for example, at certain motor speed and torque levels. In more detail, look-up table  80  contains control parameters for operating the motor at the various torque/speed pairs. At most torque/speed pairs, control parameters Id current command Id_cmd and Iq current command Iq_cmd may be tuned to minimize losses and maximize fuel efficiency. However, at certain torque/speed pairs, control parameters Id_cmd and Iq_cmd may be tuned to minimize ripple instead of loss, as further explained below with reference to  FIGS. 5-7 . 
     Torque ripple is the undesired oscillation of the torque produced by an electric machine around its steady state torque. Torque ripple may cause undesirable noise and vibration. Embodiments of the invention reduce torque ripple by altering the control angle (atan(Id/Iq)). Advantageously, this approach to reducing torque ripple allows noise and vibration concerns to be addressed in an existing electric machine design. 
     In an existing motor controller, the motor control is tuned or programmed to automatically apply, for a given torque request, the control parameters (Id_cmd, Iq_cmd) that minimize motor losses. In accordance with the invention, the motor control is tuned or programmed to reduce torque ripple at certain torque/speed pairs. 
     The torque harmonics are a strong function of the control angle (atan(Id/Iq)).  FIG. 5  illustrates average torque and torque harmonics produced by an 8 pole 48 slots interior PM machine at 300 A peak current as a function of the control angle (theta). The average torque is generally indicated at  100 . The optimal control angle from a loss minimization standpoint is theta=40 deg. and is depicted at  102 . The optimal control angle for minimal harmonics is theta=26 deg. and is depicted at  104 . The 24th harmonic torque is generally indicated at  110 . The 48th harmonic torque is generally indicated at  120 . As shown, the 24th and 48th harmonics increase dramatically as the control angle approaches the optimal value from a loss minimization standpoint. In HEV, PHEV, BEV traction applications, it is not desirable to continuously operate with control parameters that do not minimize loss. However, if there is a specific motor speed at which there are noise and vibration concerns, applying a new control strategy for that specific operating point will allow torque ripple to be reduced considerably without a significant impact on the vehicle fuel economy. 
     With continuing reference to  FIG. 5 , in this example, the machine can produce 122 Nm with phase currents of 300 A and control angle theta=40 deg. The same machine can produce the same torque of 122 Nm with phase currents of 350 A and control angle theta=26 deg. as shown in  FIG. 6 .  FIG. 6  illustrates a comparison of torque waveforms obtained with control angle optimized for minimal loss (theta=40 deg.) and for minimal torque ripple (theta=26 deg.). The torque waveform  140  has control angle theta=40 deg. for minimal loss. The torque waveform  150  has control angle theta=26 deg. for minimal torque ripple. The latter control strategy (theta=26 deg.) yields 36% higher winding losses, but reduces the 24th and 48th harmonics to 56.6% and 47.5%, respectively. The first control angle (theta=40 deg.) should be chosen whenever the torque harmonics can be tolerated, the reduced ripple, higher loss control angle (theta=26 deg.) can be chosen to address specific noise and vibration concerns. 
     The comparison of torque waveforms obtained with control angle optimized for minimal loss (theta=40 deg.) and for minimal torque ripple (theta=26 deg.) is shown in the following table. 
     
       
         
               
               
               
               
               
             
               
               
               
               
               
             
           
               
                 TABLE 1 
               
               
                   
               
               
                   
                   
                 theta = 40 deg. 
                 theta = 26 deg. 
                 ratio 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                 Current 
                 (Apk) 
                 300 
                 350 
                 116.70% 
               
               
                 Winding loss 
                 (%) 
                 100% 
                 136% 
                 136.00% 
               
               
                 Tave 
                 (Nm) 
                 122.6 
                 121.7 
                 99.30% 
               
               
                 H_24th 
                 (Nm) 
                 4.22 
                 2.39 
                 56.60% 
               
               
                 H_48th 
                 (Nm) 
                 1.38 
                 0.66 
                 47.50% 
               
               
                   
               
             
          
         
       
     
       FIG. 7  illustrates a method of reducing torque ripple in an embodiment of the invention. In this example, a hybrid vehicle has an undesired vibration that occurs when the electric traction motor runs at speed Sp_crit=300 rpm and produces an output torque greater than torque T_crit=120 Nm. To avoid the vibration, the motor controller will have to detect that the motor speed and torque are approaching the critical values. One way to do this is to detect when the speed is between a first speed Sp — 1=Sp_crit−delta and a second speed Sp — 2=Sp_crit+delta, where delta is a certain amount determined to increase the method robustness, and to detect when the torque is greater than T_crit. When these conditions are detected, the motor controller switches to a special operating mode where the control angle is selected based on reducing ripple rather than minimizing loss. After the speed and torque levels have returned to values that are distant from the critical values, the normal control strategy may be resumed. 
     In  FIG. 7 , flow starts at block  160 . At block  162 , the torque and speed commands are obtained from the vehicle system controller (VSC). At block  164 , the motor speed is checked to see if the motor speed is approaching the critical value Sp_crit. At block  166 , the torque is checked to see if the torque is approaching the critical torque value T_crit. When it is determined that the motor speed and torque are approaching the critical values, flow proceeds to block  168  and the motor controller uses the I_d and I_q map optimized for low torque ripple. Otherwise, flow proceeds to block  170  and the motor controller uses the I_d and I_q map optimized for fuel economy. 
     It is appreciated that I_d and I_q commands for low torque ripple may be implemented in a variety of ways. In a first example, a single look-up table or map contains the I_d and I_q commands, and specific portions of the map may contain control parameters I_d and I_q for minimizing ripple instead of loss, while the remainder of the map may contain control parameters I_d and I_q for minimizing loss. In another example, a first look-up table contains control parameters I_d and I_q for minimizing loss; a second look-up table contains control parameters I_d and I_q for minimizing ripple. The speed and torque values are used to select which look-up table is used. 
     While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms of the invention. Rather, the words used in the specification are words of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the invention. Additionally, the features of various implementing embodiments may be combined to form further embodiments of the invention.