Method of controlling a permanent magnet motor and corresponding system
A method for controlling a motor propulsion unit including a motor including a permanent magnet rotor and a stator, the method including regulating currents of the stator so that they attain their setpoints by virtue of control signals, the currents to be regulated and the control signals being expressed in a rotating reference frame including a plurality of axes. The regulating includes for each of the axes of the plurality of axes applying, to the current to be regulated on the respective axis, a linear operator differing as a function of a value of the current to be regulated with respect to its setpoint, the result of the application of the linear operator being a control signal on the respective axis.
1. A method for controlling a motor propulsion unit including an electric motor including a permanent magnet rotor and a stator, the method comprising:
regulating currents of the stator so that they attain setpoint current values by virtue of control signals of the electric motor, the currents to be regulated and the control signals being expressed in a rotating reference frame including a plurality of axes,
wherein the regulating comprises for each of respective axis of the plurality of axes applying, to the current to be regulated on the respective axis, a linear operator that differs as a function of a value of the current to be regulated with respect to the setpoint value thereof, the applying the linear operator providing a control signal value on the respective axis, and
wherein the linear operator comprises:
a first term minimizing or maximizing, as a function of the value of the current to be regulated with respect to the setpoint value thereof, a zero-order component of a control signal estimated on the respective axis as a function of the currents to be regulated, of speed of the rotor, and of limit values of value ranges estimating features of the motor propulsion unit, and
a second term proportional to the current to be regulated on the respective axis using a convergence factor.
2. The control method as claimed in claim 1 , wherein the value ranges comprise at least two estimations selected from:
an estimation of an equivalent resistance of the stator,
an estimation of an inductance of the motor propulsion unit on one of the axes,
an estimation of a flux generated by permanent magnets of the rotor.
3. The control method as claimed in claim 1 , further comprising smoothing the control signal on one of the respective axes as soon as a difference in absolute value between the current to be regulated on the respective axis and the setpoint value thereof is below a predetermined threshold.
4. The control method as claimed in claim 1 , wherein the motor propulsion unit is a motor propulsion unit of an electric or hybrid vehicle having an invariance of intrinsic features thereof through rotation of a quarter turn.
5. A system for controlling a motor propulsion unit including an electric motor including a permanent magnet rotor and a stator, the system comprising:
means for regulating currents of the stator so that they attain setpoint current values by virtue of control signals of the electric motor, the currents to be regulated and the control signals being expressed in a rotating reference frame comprising a plurality of axes,
wherein the regulation means comprises for each respective axis of the plurality of axes means for applying, to the current to be regulated on the respective axis, a linear operator that differs as a function of a value of the current to be regulated with respect to the setpoint value thereof, the means for applying the linear operator providing a control signal value on the respective axis, and
wherein the linear operator comprises:
a first term minimizing or maximizing, as a function of the value of the current to be regulated with respect to the setpoint value thereof, a zero-order component of a control signal estimated on the axis as a function of the currents to be regulated, of speed of the rotor, and of limit values of value ranges estimating features of the motor propulsion unit, and
a second term proportional to the current to be regulated on the axis using a convergence factor.
6. The system for controlling a motor propulsion unit as claimed in claim 5 , wherein the value ranges comprise at least two estimations selected from:
an estimation of an equivalent resistance of the stator,
an estimation of an inductance of the motor propulsion unit on one of the axes, and
an estimation of a flux generated by permanent magnets of the rotor.
7. The system for controlling a motor propulsion unit as claimed in claim 6 , further comprising means for smoothing the control signal on one of the axes as soon as a difference in absolute value between the current to be regulated on the respective axis and the setpoint value thereof is below a predetermined threshold.