DETECTING POSITION MEASUREMENT ERRORS IN AN ELECTRIC MOTOR SYSTEM
Systems and methods are disclosed for detecting position measurement errors for an electric motor. An exemplary system may include a position sensor configured to measure a position of a rotor of the electric motor. The system may also include an error detector configured to detect an offset between the position measured by the position sensor and an actual position of the rotor. The error detector may include a signal injector configured to inject a probing signal to a stator of the electric motor. The error detector may also include a signal sampler configured to sample a response signal from the stator of the electric motor. The error detector may be configured to derive the offset based on the response signal.
1 . A system for controlling an electric motor, the system comprising:
a position sensor configured to measure a position of a rotor of the electric motor;
an error detector configured to detect an offset between the position measured by the position sensor and an actual position of the rotor, the error detector including:
a signal injector configured to inject a probing signal to a stator of the electric motor, wherein the probing signal includes a high frequency current signal; and
a signal sampler configured to sample a response signal from the stator of the electric motor;
wherein the error detector is configured to derive the offset based on the response signal; and
a current regulator, wherein:
the signal injector is configured to inject the probing signal by inputting a current command in a reference frame to the current regulator; and
the signal sampler is configured to sample the response signal by receiving a voltage command in the reference frame from the current regulator.
2 . The system of claim 1 , wherein the error detector is configured to:
demodulate the response signal;
filter the demodulated response signal; and
apply a gain factor to the filtered and demodulated response signal to derive the offset.
3 . (canceled)
4 . The system of claim 1 , wherein the high frequency current signal has a frequency in a range between 300 Hz and 800 Hz.
5 . (canceled)
6 . The system of claim 1 , wherein the error detector is configured to detect the offset when the rotor of the electric motor is in a stall position.
7 . The system of claim 1 , wherein the error detector is configured to detect the offset when a speed of the rotor of the electric motor is below a predetermined threshold.
8 . The system of claim 1 , wherein the error detector is configured to supply the detected offset to the position sensor to correct the position measured by the position sensor.
9 . A method for detecting position measurement errors for an electric motor, the method comprising:
measuring, by a position sensor, a position of a rotor of the electric motor;
injecting a probing signal to a stator of the electric motor by inputting a current command in a reference frame to a current regulator, wherein the probing signal includes a high frequency current signal;
sampling a response signal from the stator of the electric motor by receiving a voltage command in the reference frame from the current regulator; and
deriving, based on the response signal, an offset between the position measured by the position sensor and an actual position of the rotor.
10 . The method of claim 9 , further comprising:
demodulating the response signal;
filtering the demodulated response signal; and
applying a gain factor to the filtered and demodulated response signal to derive the offset.
11 . (canceled)
12 . The method of claim 9 , wherein the high frequency current signal has a frequency in a range between 300 Hz and 800 Hz.
13 . (canceled)
14 . The method of claim 9 , wherein injecting the probing signal includes:
injecting the probing signal when the rotor of the electric motor is in a stall position.
15 . The method of claim 9 , wherein injecting the probing signal includes:
injecting the probing signal when a speed of the rotor of the electric motor is below a predetermined threshold.
16 . The method of claim 9 , further comprising:
supplying the offset to the position sensor to correct the position measured by the position sensor.
17 . A motor system, comprising:
an electric motor including a rotor and a stator; and
a motor control system configured to control the electric motor, the motor control system including:
a position sensor configured to measure a position of the rotor;
an error detector configured to detect an offset between the position measured by the position sensor and an actual position of the rotor, the error detector including:
a signal injector configured to inject a probing signal to the stator, wherein the probing signal includes a high frequency current signal; and
a signal sampler configured to sample a response signal from the stator;
wherein the error detector is configured to derive the offset based on the response signal; and
a current regulator, wherein:
the signal injector is configured to inject the probing signal by inputting a current command in a reference frame to the current regulator; and
the signal sampler is configured to sample the response signal by receiving a voltage command in the reference frame from the current regulator.
18 . The motor system of claim 17 , wherein the electric motor includes a synchronous electric motor.
19 . The motor system of claim 18 , wherein the electric motor includes an interior permanent magnet (IPM) motor.
20 . A chassis for a vehicle, the chassis comprising:
a propulsion system for providing motive torques to at least one wheel of the vehicle, the propulsion system comprising:
an energy storage device configured to store electric energy;
an electric motor including a rotor and a stator; and
a motor control system configured to control energy transfer between the energy storage device and the electric motor, the motor control system including:
a position sensor configured to measure a position of the rotor;
an error detector configured to detect an offset between the position measured by the position sensor and an actual position of the rotor, the error detector including:
a signal injector configured to inject a probing signal to the stator, wherein the probing signal includes a high frequency current signal; and
a signal sampler configured to sample a response signal from the stator;
wherein the error detector is configured to derive the offset based on the response signal; and
a current regulator, wherein:
the signal injector is configured to inject the probing signal by inputting a current command in a reference frame to the current regulator; and
the signal sampler is configured to sample the response signal by receiving a voltage command in the reference frame from the current regulator.