Abstract:
A vehicle includes one or more inverter-fed electric machines such as permanent magnet synchronous motors. In response to a torque request, a controller issues commands to an inverter calculated to cause the motor to produce the requested torque. A method of operating the inverter may determine the commands based on the ratio of rotor speed to inverter input voltage, reducing the approximation error associated with multi-dimensional lookup tables. When the speed and voltage vary while maintaining a constant ratio and constant torque request, the issued commands produce a winding current in the electrical machine with constant direct and quadrature components.

Description:
TECHNICAL FIELD 
       [0001]    This disclosure relates to control of electric motors. 
       BACKGROUND 
       [0002]    Permanent magnet synchronous motors (PMSMs) are utilized in various applications because they have generally favorable efficiency characteristics relative to other types of motors. Typically, PMSMs have three separate electrical windings within the stator which are each powered by alternating current (AC) voltages V a , V b , and V c . In operation, the winding currents I a , I b , and I c  each oscillate at a frequency proportional to the rotor speed and are separated by 120 degrees in phase from one another. These winding currents induce a rotating magnetic field which may be out of phase with the rotor. The resulting shaft torque depends upon both the magnitude of the magnetic field and the phase angle relative to the rotor. 
         [0003]    For convenience, the winding voltages and currents may be represented by vectors with respect to a rotating reference frame that rotates with the rotor. The mapping between rotor position and the rotating reference frame depends upon the number of poles in the motor. The voltage vector has a direct component V d  and a quadrature component V q . Similarly, the current has a direct component I d  and a quadrature component I q . V d , V q , I d , and I q  do not oscillate based on rotor position. 
         [0004]    In certain applications, such as electric vehicles and hybrid electric vehicles, electrical power is available from a non-oscillating direct current (DC) voltage source such as a battery. Therefore, inverters are utilized to convert the non-oscillating voltage V dc  into three oscillating voltages. Inverters contain a discrete number of switching devices and are therefore capable of supplying only a discrete number of voltage levels at each of the three motor terminals. For a 2-level inverter, at any moment in time, the switching devices are set to electrically connect each of the three AC motor terminals to either the positive or the negative DC terminal. Thus, eight switching states are available. Two of these switching states, in which all three AC terminals are connected to the same DC terminal, are called zero states. In the remaining six states, one AC terminal is connected to one of the DC terminals and the other two AC terminals are connected to the opposite DC terminal. The inverter is capable of switching rapidly among these eight states. 
         [0005]    Some general characteristics of typical inverter-fed PMSMs are illustrated in  FIG. 1 . In this Figure, the horizontal axis represents rotor speed and the vertical axis represents rotor torque. The operating region depends upon the DC voltage V dc . The positive speed, positive torque operating region at a reference DC voltage may be bounded as illustrated by solid lines  110 ,  112 , and  114 . At low speeds, the maximum available torque may be limited by a maximum winding current as indicated by line  110 . Line  112  indicates a maximum available torque at higher speeds which is limited by the voltage. At point  116 , called the corner point, both current and voltage are at their respective maximums. Dotted line  118  indicates the corresponding limit at a higher DC voltage above the reference DC voltage. Line  114  indicates an overall maximum rated speed. 
         [0006]    PMSMs may generate either positive or negative torque and may rotate in either positive or negative directions. In the positive speed, negative torque quadrant, a PMSM acts as a generator converting mechanical energy into electrical energy. In this quadrant, the characteristics are similar to that shown in  FIG. 1 , although the minimum torque curve corresponding to the voltage limit may not be a minor image of line  112 . The negative speed region closely tracks the positive speed region rotated 180 degrees about the origin. 
         [0007]      FIG. 2  illustrates typical characteristics of an inverter-fed PMSM with respect to the winding current in the rotor reference frame. In this Figure, the direct component I d  is represented by the horizontal axis and the quadrature component I q  is represented by the vertical axis. Curve  210  represents different combinations of I d  and I q  that would produce a particular output torque. Curves  212 ,  214 , and  216  represent the combinations for progressively higher output torques. Although every point along each of these curves produces the same output torque, some combinations will be associated with higher losses than others. Line  218  represents the most efficient operating point for each level of torque. However, it is not always possible to operate at this condition. Point  220  represents the current that would be induced in the windings by the permanent magnets in the rotor as the rotor spins at a particular speed. The voltage applied by the inverter alters the winding current from this condition. Curve  222  represents the boundary of the conditions that are achievable by the inverter at a particular rotor speed and bus voltage level. At higher bus voltages or lower rotor speeds, the boundary expands as shown by dashed curve  224 . 
       SUMMARY OF THE DISCLOSURE 
       [0008]    In a first embodiment, a method of operating an inverter to control the torque output of an electric machine is disclosed. The method computes a normalized speed by dividing a rotor speed of the electric machine by a voltage of an electrical bus. A torque determining setting is computed based on the normalized speed and a torque request. The torque determining setting may be, for example, a target voltage phase angle as used in six-step torque control. Alternatively, the torque determining setting may be, as another example, the direct and quadrature components of the winding current as used in PWM torque control. The torque determining setting may be computed using a table lookup. 
         [0009]    In another embodiment, a vehicle includes an inverter, an electric machine such as a permanent magnet synchronous motor, and a controller. The inverter is connected to DC terminals of an electrical bus and to AC terminals of the electric machine. The controller is configured to issue commands to the inverter to control a winding current in the electric machine with a direct component and a quadrature component. For a given torque in the field weakening region, the direct component and the quadrature component are generally constant as speed and voltage vary with a constant ratio of speed to voltage. The controller may, for example, command the inverter to cycle among six non-zero inverter states for each electrical revolution of the motor. Alternatively, the controller may, as another example, command the inverter to switch among inverter states spending a specified fraction of time in particular states. In some embodiments, the voltage of the electrical bus may be regulated by a dc-to-dc converter which establishes a bus voltage distinct from the voltage of a battery. 
         [0010]    In another embodiment, a vehicle includes an inverter, an electrical machine such as a permanent magnet synchronous motor, and a controller. The inverter is connected to the electric machine by three AC terminals and connected to an electrical bus by two DC terminal. The inverter is configured to provide six states in which each of the AC terminals is connected to one of the DC terminals and at least one of the AC terminals is connected to each of the DC terminals. The controller commands the inverter to cycle among these six states once per electrical revolution of the rotor. The rotor position at which the inverter switches states defines a phase angle. For a given torque request. The phase angle is generally constant as rotor speed and bus voltage vary with a constant ratio of rotor speed to bus voltage. In some embodiments, the voltage of the electrical bus may be regulated by a dc-to-dc converter which establishes a bus voltage distinct from the voltage of a battery. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0011]      FIG. 1  is a graph of general characteristics of permanent magnet synchronous motors in terms of rotor speed and rotor torque; 
           [0012]      FIG. 2  is a graph of general characteristics of permanent magnet synchronous motors in terms of the direct and quadrature components of the winding current; 
           [0013]      FIG. 3  is a schematic diagram of an exemplary hybrid electric powertrain; 
           [0014]      FIG. 4  is a controller schematic in an exemplary hybrid electric powertrain; 
           [0015]      FIG. 5  is a flow chart for the control method for permanent magnet synchronous motors; 
           [0016]      FIG. 6  is a flow chart for determining which control algorithm, six-step or PWM, should be utilized to set the motor torque; 
           [0017]      FIG. 7  is a flow chart for determining inverter state using six-step control; and 
           [0018]      FIG. 8  is a flow chart for determining inverter states and duty cycles using PWM control. 
       
    
    
     DETAILED DESCRIPTION 
       [0019]    Embodiments of the present disclosure are described herein. It is to be understood, however, that the disclosed embodiments are merely examples and other embodiments can take various and alternative forms. The figures are not necessarily to scale; some features could 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. As those of ordinary skill in the art will understand, various features illustrated and described with reference to any one of the figures can be combined with features illustrated in one or more other figures to produce embodiments that are not explicitly illustrated or described. The combinations of features illustrated provide representative embodiments for typical applications. Various combinations and modifications of the features consistent with the teachings of this disclosure, however, could be desired for particular applications or implementations. 
         [0020]    A schematic diagram of an exemplary hybrid electric powertrain is illustrated in  FIG. 3 . However, the claimed invention is not limited to this powertrain topology. Internal combustion engine  310  drives carrier  312  of planetary gear set  314 . The engine torque is divided by gear set  314  between sun gear  316  and ring gear  318 . The ring gear torque is transmitted mechanically to output shaft  320 . The sun gear torque is absorbed by generator  322 . Motor  324  is driveably connected to output shaft  320 . Throughout this description, the terms generator and motor are used merely as labels to identify these components. Both generator  322  and motor  324  are reversible electrical machines capable of both converting mechanical shaft power into electrical power and converting electrical power into mechanical shaft power. Control methods are described with respect to the motor but are equally applicable to the generator. The driveshaft is driveably connected to a differential  326  which divides the power between left and right wheels  328  while allowing slight differences in wheel speeds. Electrical power connections are illustrated by dashed lines with long dashes. Generator  322  and motor  324  are electrically powered by inverters  330  and  332  respectively via three phase power circuits. Inverters  330  and  332  draw power from or supply power to DC electrical bus  334 . Electrical power is stored in battery  336 . DC to DC Converter  338  converts the voltage level of battery  336  to the voltage level of DC bus  334 . The DC bus voltage may be either higher or lower than the battery voltage. Control signal connections are illustrated by dashed lines with short dashes. Controller  340  issues control signals to DC to DC converter  338  specifying the desired voltage for the DC electrical bus  334 . Controller  340  also issues control commands to engine  310  and inverters  330  and  332  to regulate the torque generated by the engine, generator  322 , and motor  324  respectively. If the torque actually delivered by motor  324  differs significantly from the requested torque, then vehicle acceleration will not match the driver&#39;s expectation. If the torque actually delivered by generator  322  differs significantly from the requested torque, then engine speed will depart from expected behavior. 
         [0021]    Controller  340  is illustrated schematically in more detail in  FIG. 4 . Vehicle system controller  410  receives signals indicating vehicle speed, the position of the accelerator pedal and brake pedal, and various other vehicle data. Based on this data, the vehicle system controller determines a target DC bus voltage and a target output shaft torque and issues torque requests T req     —     eng  to engine controller  412 , T reg gen  to generator controller  414 , and T req mot  to motor controller  416 . The output of generator controller  414  and motor controller  416  are switch states for switches within inverters  330  and  332  respectively. These controllers receive input signals indicating the angular position of the corresponding rotor, labeled Θ R , the voltage of DC bus  334 , labeled V dc , and the current in each winding, labeled I a , I b , and I c . Variable Voltage Controller  418  issues commands to DC to DC converter  338  to effectuate the target bus voltage. Controllers  410 ,  412 ,  414 ,  416 , and  418  may be implemented as a single micro-controller or as multiple communicating controllers. 
         [0022]    Two basic control methods are known for switching among inverter states to regulate torque output of a PMSM. In the six-step method, the inverter cycles through the six non-zero states once per cycle of the rotor, producing an oscillating voltage and current in each winding. A rotor cycle is defined relative to motor poles and does not necessarily correspond to a complete revolution. The amplitude of the AC voltage is dictated by the DC voltage. The torque is dictated by the DC voltage, the rotor speed, and the phase difference between these quasi-sinusoidal AC voltage signals and the rotor position. A controller issues commands to the inverter indicating when to switch to the next state in the sequence. In the PWM method, the inverter switches very rapidly among two of the non-zero states and one of the zero states. A controller specifies what fraction of the time should be spent in each of these three states by specifying pulse width modulation (PWM) duty cycles. The controller updates these duty cycles at regular intervals such that the frequency of updates is significantly higher than the frequency of the rotor rotation. 
         [0023]      FIG. 5  illustrates the computations for each update. At  510 , the controller computes a normalized speed, ω Norm , by dividing the rotor speed by the bus voltage. At  512 , the controller adjusts the torque request from the vehicle system controller if necessary to ensure that the requested torque is within the motor operating region for the current rotor speed and bus voltage. At  514 , the controller selects between PWM and six-step control methods based on the adjusted torque request and the normalized speed. If the six-step mode is selected, the controller computes inverter commands at  516  based on the six-step method. If the PWM mode is selected, the controller computes inverter commands at  518  based on the PWM method. 
         [0024]    The six-step method is preferred when the torque demand and rotor speed are high and the DC bus voltage is low. The PWM method is preferred for low torque demand, low rotor speed, high bus voltage conditions. Line  120  in  FIG. 1  indicates an exemplary boundary between these regions at a particular reference voltage. The six-step method is preferred in the region to the upper right of line  120  while the PWM method is preferred in the region to the lower left. Dotted line  122  shows how this boundary shifts when the bus voltage is increased. 
         [0025]    Controllers commonly use lookup tables to represent non-linear functions such as the boundary between the six-step region and the PWM region. Since the transition torque is a function of both the rotor speed w and the bus voltage V dc , a multi-dimensional look-up table, such as Table 1, would typically be used. If either of the independent variables, in this case rotor speed w and bus voltage V dc , fall between the tabulated values, the controller may select one of the neighboring values or interpolate between them. For a non-linear function, interpolation introduces some error relative to the underlying function. Typically, lookup tables are populated during vehicle calibration based on experimental data. Populating the table requires experimentation at a variety of voltage levels. Using a large number of different voltage levels reduces the approximation error but increases the effort required to populate the tables, the memory in the controller consumed by the tables, and the time required to look up a value. 
         [0000]    
       
         
               
               
               
               
               
             
               
               
               
               
               
               
             
           
               
                   
                 TABLE 1 
               
               
                   
                   
               
               
                   
                 V 1   
                 V 2   
                 V 3   
                 V m   
               
               
                   
                   
               
             
             
               
                   
               
             
          
           
               
                   
                 ω 1   
                 T 11   
                 T 12   
                 T 13   
                 T 1m   
               
               
                   
                 ω 2   
                 T 21   
                 T 22   
                 T 23   
                 T 2m   
               
               
                   
                 ω 3   
                 T 31   
                 T 32   
                 T 33   
                 T 3m   
               
               
                   
                 ω 4   
                 T 41   
                 T 42   
                 T 43   
                 T 4m   
               
               
                   
                 ω n   
                 T n1   
                 T n2   
                 T n3   
                 T nm   
               
               
                   
                   
               
             
          
         
       
     
         [0026]    An alternative to using a multi-dimensional look-up table is to use the single independent variable ω Norm  as calculated at  510  in  FIG. 5 . Table 2 illustrates a table of transition torque vs. normalized speed. Using a table with a single independent variable reduces the approximation error and the calibration effort. The single independent variable look-up table may be used to improve PMSM performance while reducing the controller memory used. 
         [0000]    
       
         
               
               
               
             
           
               
                   
                 TABLE 2 
               
               
                   
                   
               
             
             
               
                   
                 ω Norm     —     1   
                 T 1   
               
               
                   
                 ω Norm     —     2   
                 T 2   
               
               
                   
                 ω Norm     —     3   
                 T 3   
               
               
                   
                 ω Norm     —     4   
                 T 4   
               
               
                   
                 ω Norm     —     5   
                 T 5   
               
               
                   
                 ω Norm     —     n   
                 T n   
               
               
                   
                   
               
             
          
         
       
     
         [0027]      FIG. 6  illustrates a method used at  514  in  FIG. 5  to determine which control algorithm, six-step or PWM, should be utilized to set the motor torque. Calibration tables store two functions of normalized speed, ω Norm . The first table, T lo     —     pos , is slightly below the ideal transition torque while the second table, T hi     —     pos , is slightly above the ideal transition torque. The mode changes from six-step to PWM when the operating point changes from above T lo     —     pos  to below T lo     —     pos . Similarly, the mode changes from PWM to six-step when the operating point changes from below T hi     —     pos  to below T hi     —     pos . If the operating point is between these two functions, the mode remains the same as the previous time step. This hysteresis avoids mode changes based on small changes in operating point when operating near the boundary. Similar tables, T lo     —     neg  and T hi     —     neg , characterize the mode boundary in the negative torque operating region. The negative speed region is accommodated by using a surrogate torque request T ref  which is set equal to T req adj  at  610  when the rotor speed is positive and −T req     —     adj  at  612  when the rotor speed is negative. If the controller was operating in six-step mode during the previous update, then it looks up the values at the current normalized speed at  614 . At  616 , the controller determines whether the operating point has moved into the region between the positive and negative torque boundaries. If so, it transitions to PWM mode, otherwise, it remains in six-step mode. If the controller was previously operating in PWM mode, it looks up the values at the current normalized speed at  618 . At  620 , the controller determines whether the operating point has moved outside the region between the positive and negative torque boundaries. If so, it transitions to six-step mode, otherwise, it remains in PWM mode. 
         [0028]    When a multi-dimensional table is used, if the rotor speed and bus voltage vary, the mode transition thresholds will vary even if the ratio of rotor speed to bus voltage remains constant. Consequently, mode transition will sometimes occur as speed and voltage vary at a constant ratio and the torque request remains constant. When the method of  FIG. 6  is used, if the rotor speed and bus voltage vary while maintaining a constant ratio of rotor speed to bus voltage, the mode transition thresholds will remain constant. Therefore, at a constant torque request and constant ratio of speed to voltage, no mode transitions will occur. 
         [0029]    In six-step mode, the components of the winding current, I d , and I q , are located on a curve such as curve  222  or  224  in  FIG. 2 . The curve is determined by the bus voltage V dc  and the rotor speed ω. The position along the curve is determined by the voltage angle, Θ V . The controller adjusts Θ V  by adjusting the timing at which it switches the inverter to the next non-zero inverter states. The target voltage angle Θ* V  is a non-linear function of the adjusted torque request, rotor speed, and bus voltage. Typically, a non-linear function of multiple parameters is represented in a controller by a multi-dimensional table. When the actual value of the independent parameters fall between the tabulated values, the controller can use the higher value, use the lower value, or interpolate between them. Each of these choices introduces error in Θ* V  which results in the motor torque departing from the adjusted torque request. For example, if the rotor speed and bus voltage vary while maintaining a constant ratio of rotor speed to bus voltage, Θ* V  and the motor torque output will vary. 
         [0030]      FIG. 7  illustrates a method of computing Θ* v  using a table with only two independent parameters, the adjusted torque request and the normalized speed, ω Norm . This table is populated during calibration based on testing to characterize the motor. The testing during calibration may occur at bus voltages that differ from the current bus voltage. For positive rotor speeds, the target voltage angle is determined at  710  with a single table lookup. For negative rotor speeds, the controller relies on the symmetry of motor behavior by looking up a target voltage angle for a corresponding positive speed operating point at  712  and adjusting it for the negative speed operating point at  714 . Due to the critical timing of the state switching, the switching is performed by functions that respond to interrupts. A first interrupt occurs at  716  whenever the rotor passes a reference position. At  718 , an interrupt handler computes the time at which the state change should occur based on Θ* V  and the rotor speed w and sets a timer. A second interrupt occurs at  720  when this timer expires. At  722 , an interrupt handler issues a command to the inverter to switch to the next non-zero state. When the method of  FIG. 7  is used, if the rotor speed and bus voltage vary while maintaining a constant ratio of rotor speed to bus voltage, Θ* V  will remain constant. 
         [0031]    In PWM mode, the components of the winding current, I d , and I q , are located in a region bounded by a curve such as curve  222  or  224  in  FIG. 2 . As with the six-step method, the curve is determined by the bus voltage V dc  and the rotor speed w, although the curve may be slightly inside the six-step curve for a particular V dc  and w. The controller adjusts I d  and I q  by adjusting V d  and V q  using closed loop control. The controller then translates V d  and V q  into PWM duty cycle commands to the inverter based on the rotor position Θ R . 
         [0032]    The target components of the winding current, I* d , and I* q , are non-linear functions of the adjusted torque request, rotor speed, and bus voltage. At low torque requests, low speeds, and high bus voltages, I* d  and I* q  are selected along the line  218  in  FIG. 2  to yield the most efficient operation. In this region, I* d  and I* q  are not sensitive to small changes in bus voltage or rotor speed. However, at high torque requests, high speeds, and low bus voltages, operation along line  218  is not possible. The most efficient achievable operating point is located along a curve, such as  222 , which represents the boundary of the operating region at the current rotor speed and bus voltage. This area of operation is called the field weakening region. In the field weakening region, I* d  and I* q  are both sensitive to changes in bus voltage or rotor speed. Furthermore, the relationship between I* d  and I* q  is important. 
         [0033]    As with voltage angle, I* d  and I* q  would typically be represented in a controller by a multi-dimensional table. When the actual value of the bus voltage falls between tabulated values, the conservative approach would be to use the lower tabulated value. This would result in a combination of I* d  and I* q  that produce the requested torque but fall well inside the region bounded curve  222  and therefore result in less efficient operation. If interpolation is used, the resulting combination of I* d  and I* q  may not produce the requested torque. Furthermore, it may be necessary to calibrate the tables conservatively in order to ensure that the resulting points fall within curve  222 , resulting in compromised efficiency. In either approach, if the rotor speed and bus voltage vary while maintaining a constant ratio of rotor speed to bus voltage, I* d  and I* q  will vary. 
         [0034]      FIG. 8  illustrates a method of computing I* d  and I* q  using tables with only two independent parameters, the adjusted torque request and the normalized speed, ω Norm . For positive rotor speeds, the controller looks up I q * and I d * in the tables at  810 . For negative rotor speeds, the controller looks up the values at  812  based on an opposite direction torque and then changes the sign of I q * at  814 . Next, the controller computes voltages in the rotor reference frame, V d  and V q , using closed loop control with measured values of I d  and I q  as feedback signals at  816 . When the magnitude of the vector sum of V d  and V q  is near V dc , over-modulation at  818  may be necessary in order to deliver the requested torque. At  820 , V d  and V q  are translated in the stationary reference frame based on the rotor position, Θ R . Each of the six non-zero inverter states corresponds to a vector in the stationary reference frame. These vectors separate the space into six 60° sectors. At  822 , the controller selects the two non-zero inverter states corresponding to the two vectors that bound the translated V d , V q  voltage vector. Then, it computes two duty cycles such that the sum of the two vectors weighted by the respective duty cycles is equal to the translated V d , V q  voltage vector. 
         [0035]    While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms encompassed by the claims. The words used in the specification are words of description rather than limitation, and it is understood that various changes can be made without departing from the spirit and scope of the disclosure. As previously described, the features of various embodiments can be combined to form further embodiments of the invention that may not be explicitly described or illustrated. While various embodiments could have been described as providing advantages or being preferred over other embodiments or prior art implementations with respect to one or more desired characteristics, those of ordinary skill in the art recognize that one or more features or characteristics can be compromised to achieve desired overall system attributes, which depend on the specific application and implementation. These attributes can include, but are not limited to cost, strength, durability, life cycle cost, marketability, appearance, packaging, size, serviceability, weight, manufacturability, ease of assembly, etc. As such, embodiments described as less desirable than other embodiments or prior art implementations with respect to one or more characteristics are not outside the scope of the disclosure and can be desirable for particular applications.