Methods, systems and apparatus for controlling third harmonic voltage when operating a multi-phase machine in an overmodulation region
Methods, system and apparatus are provided for controlling third harmonic voltages when operating a multi-phase machine in an overmodulation region. The multi-phase machine can be, for example, a five-phase machine in a vector controlled motor drive system that includes a five-phase PWM controlled inverter module that drives the five-phase machine. Techniques for overmodulating a reference voltage vector are provided. For example, when the reference voltage vector is determined to be within the overmodulation region, an angle of the reference voltage vector can be modified to generate a reference voltage overmodulation control angle, and a magnitude of the reference voltage vector can be modified, based on the reference voltage overmodulation control angle, to generate a modified magnitude of the reference voltage vector. By modifying the reference voltage vector, voltage command signals that control a five-phase inverter module can be optimized to increase output voltages generated by the five-phase inverter module.
1. A method for overmodulating a reference voltage vector to optimize voltage command signals that control a five-phase inverter module to increase output voltages generated by the five-phase inverter module, the method comprising:
determining a magnitude and an angle of the reference voltage vector based on the voltage command signals;
determining whether the magnitude of the reference voltage vector is less than or equal to a threshold; and
generating a modified magnitude and a modified angle of the reference voltage vector based on the magnitude of the reference voltage vector and the angle of the reference voltage vector when the magnitude of the reference voltage vector is determined to be less than or equal to a threshold, wherein the modified angle of the reference voltage vector is a reference voltage overmodulation control angle when the reference voltage vector is determined to be within an overmodulation region.
2. A method according to claim 1 , wherein the step of determining whether the magnitude of the reference voltage vector is less than or equal to a threshold, comprises:
determining whether the magnitude of the reference voltage vector is less than or equal to a linear region voltage threshold for a linear modulation region to determine whether the reference voltage vector is within the linear modulation region.
3. A method according to claim 1 , wherein the step of determining a magnitude and an angle of the reference voltage vector based on voltage command signals comprises:
determining a magnitude and an angle of the reference voltage vector based on a synchronous reference frame d-axis voltage command signal and a synchronous reference frame q-axis voltage command signal.
4. A method for overmodulating a reference voltage vector to optimize voltage command signals that control a five-phase inverter module to increase output voltages generated by the five-phase inverter module, the method comprising:
determining a magnitude and an angle of the reference voltage vector based on the voltage command signals;
determining whether the magnitude of the reference voltage vector is less than or equal to a linear region voltage threshold for a linear modulation region to determine whether the reference voltage vector is within the linear modulation region;
when the magnitude of the reference voltage vector is determined to be greater than the linear region voltage threshold for the linear modulation region: determining whether the magnitude of the reference voltage vector is less than or equal to a first voltage threshold for a first overmodulation region to determine whether the reference voltage vector is within the first overmodulation region or a second overmodulation region; and when the magnitude of the reference voltage vector is determined to be greater than the first voltage threshold for the first overmodulation region and the reference voltage vector is determined to be within the second modulation region: generating a modified magnitude and a modified angle of the reference voltage vector based on the magnitude of the reference voltage vector and the angle of the reference voltage vector, wherein the modified angle of the reference voltage vector is a reference voltage overmodulation control angle.
5. A method according to claim 4 , when the magnitude of the reference voltage vector is determined to be less than or equal to the first voltage threshold for the first overmodulation region and the reference voltage vector is determined to be within the first overmodulation region, wherein the step of generating a modified magnitude and modified angle of the reference voltage vector comprises:
generating a modified magnitude of the reference voltage vector based on the magnitude of the reference voltage vector and a correction factor coefficient and a modified angle of the reference voltage vector that is equal to the angle of the reference voltage vector.
6. A method according to claim 4 , when the magnitude of the reference voltage vector is determined to be greater than the first voltage threshold for the first overmodulation region and the reference voltage vector is determined to be within the second overmodulation region, wherein the step of generating a modified magnitude and modified angle of the reference voltage vector comprises:
modifying the angle of the reference voltage vector to generate the reference voltage overmodulation control angle.
7. A method according to claim 6 , wherein the step of modifying the angle of the reference voltage vector to generate the reference voltage overmodulation control angle, comprises:
modifying the angle of the reference voltage vector, based on a reference angle speed modification coefficient, a third harmonic magnitude coefficient, and a third harmonic phase angle modification coefficient, to generate the reference voltage overmodulation control angle.
8. A method according to claim 6 , wherein the step of generating a modified magnitude and modified angle of the reference voltage vector comprises, further comprises:
modifying the magnitude of the reference voltage vector, based on the reference voltage overmodulation control angle, to generate the modified magnitude of the reference voltage vector.
9. A method according to claim 8 , wherein the step of modifying the magnitude of the reference voltage vector, based on the reference voltage overmodulation control angle, to generate the modified magnitude of the reference voltage vector, further comprises:
modifying the magnitude of the reference voltage vector, based on the reference voltage overmodulation control angle, a sector number and a voltage threshold for the linear modulation region, to generate the modified magnitude of the reference voltage vector.
10. A five-phase system, comprising:
a five-phase inverter module that generates an output voltages based on voltage command signals that control the five-phase inverter module;
a five-phase machine driven by the output voltages generated by the five-phase inverter module; and
an overmodulation processor designed to overmodulate a reference voltage vector to optimize the voltage command signals to increase the output voltages generated by the five-phase inverter module, wherein the overmodulation processor is designed to generate a modified angle of the reference voltage vector, based on an angle of a reference voltage vector when the reference voltage vector is determined to be within an overmodulation region, wherein the modified angle is a reference voltage overmodulation control angle.
11. A system according to claim 10 , wherein the overmodulation processor is designed to determine whether a magnitude of the reference voltage vector is less than or equal to a threshold, and generate a modified magnitude and a modified angle of the reference voltage vector based on the magnitude of the reference voltage vector and an angle of the reference voltage vector when the magnitude of the reference voltage vector is determined to be less than or equal to a threshold, wherein the modified angle of the reference voltage vector is the reference voltage overmodulation control angle when the reference voltage vector is determined to be within the overmodulation region.
12. A system according to claim 11 , wherein the overmodulation processor is designed to determine whether the magnitude of the reference voltage vector is less than or equal to a linear region voltage threshold for a linear modulation region to determine whether the reference voltage vector is within the linear modulation region.
13. A system according to claim 12 , when the magnitude of the reference voltage vector is determined to be greater than the linear region voltage threshold for the linear modulation region, wherein the overmodulation processor is designed to determine whether the magnitude of the reference voltage vector is less than or equal to a first voltage threshold for a first overmodulation region to determine whether the reference voltage vector is within the first overmodulation region or a second overmodulation region, wherein the overmodulation region is the second overmodulation region.
14. A system according to claim 13 , when the magnitude of the reference voltage vector is determined to be less than or equal to the first voltage threshold for the first overmodulation region and the reference voltage vector is determined to be within the first overmodulation region, wherein the overmodulation processor is designed to generate a modified magnitude of the reference voltage vector based on the magnitude of the reference voltage vector and a correction factor coefficient.
15. A system according to claim 13 , when the magnitude of the reference voltage vector is determined to be greater than the first voltage threshold for the first overmodulation region and the reference voltage vector is determined to be within the second overmodulation region, wherein the overmodulation processor is designed to generate a modified magnitude and a modified angle of the reference voltage vector.
16. A system according to claim 13 , when the magnitude of the reference voltage vector is determined to be greater than the first voltage threshold for the first overmodulation region and the reference voltage vector is determined to be within the second overmodulation region, wherein the overmodulation processor is designed to modify the angle of the reference voltage vector to generate the modified angle of the reference voltage vector that is the reference voltage overmodulation control angle.
17. A system according to claim 16 , wherein the overmodulation processor is designed to modify the angle of the reference voltage vector, based on a reference angle speed modification coefficient, a third harmonic magnitude coefficient, and a third harmonic phase angle modification coefficient, to generate the modified angle of the reference voltage vector that is a reference voltage overmodulation control angle.
18. A system according to claim 16 , wherein the overmodulation processor is designed to modify the magnitude of the reference voltage vector, based on the reference voltage overmodulation control angle, to generate the modified magnitude of the reference voltage vector.
19. A system according to claim 18 , wherein the overmodulation processor is designed to modify the magnitude of the reference voltage vector, based on the reference voltage overmodulation control angle, a sector number and a voltage threshold for the linear modulation region, to generate the modified magnitude of the reference voltage vector.
20. A system according to claim 10 , wherein the overmodulation processor is further designed to:
determine the magnitude and the angle of the reference voltage vector based on a synchronous reference frame d-axis voltage command signal and a synchronous reference frame q-axis voltage command signal.