Gearless wheel motor drive system
Methods and apparatus are provided for an electric vehicle embodying an axial flux traction motor directly coupled to a wheel thereof. The traction motor comprises a stator having coils for producing a magnetic field, an annular rotor magnetically coupled to the stator and mechanically to an output shaft. Permanent magnets of alternating polarity are mounted on the annular rotor. Magnetic shunts bridge a portion of the stator slots above the coils. The magnets are arranged in groups with group-to-group spacing exceeding magnet-to-magnet spacing. Adjacent edges of the magnets diverge. The method comprises, looking up d- and q-axis currents to provide the requested torque and motor speed for the available DC voltage, combining at least one of the d- and q-axis currents with a field weakening correction term, converting the result from synchronous to stationary frame and operating an inverter therewith to provide current to the coils of the motor.
1. A method of operating a permanent magnet axial flux motor, comprising:
obtaining from an optimized current command table, commanded d-and q-axis currents nominally sufficient to provide the requested torque and motor speed consistent with the available DC voltage;
combining at least one of the commanded d- and q-axis currents with a field weakening correction term to provide a corrected output to a current controller, wherein the combining step comprises for M*index<Mlow, omitting the field weakening correction, and for Mlow<M*index<Mhigh, setting Mref=M*index, and for M*index>Mhigh, setting Mref=Mhigh;
converting the corrected output from synchronous to stationary current frame of reference; and
operating an inverter based on the stationary frame output to provide current to coils of the motor, thereby causing the motor to operate substantially at the requested torque and motor speed.
2. A method of operating a permanent magnet axial flux motor, comprising:
obtaining from an optimized current command table, commanded d-and q-axis currents nominally sufficient to provide the requested torque and motor speed consistent with the available DC voltage;
combining at least one of the commanded d- and q-axis currents with a field weakening correction term to provide a corrected output to a current controller, wherein the combining step comprises adding or subtracting an incremental d-axis current to accommodate differences between the data stored in the optimized current command table and actual behavior of the motor;
converting the corrected output from synchronous to stationary current frame of reference; and
operating an inverter based on the stationary frame output to provide current to coils of the motor, thereby causing the motor to operate substantially at the requested torque and motor speed.