Closed loop torque compensation for compressor applications
Embodiments of the present disclosure include a motor controller with a processor and a machine readable medium. The medium includes instructions that, when loaded and executed by the processor, cause the processor to receive an estimated or sensed speed of a motor, extract a mechanical frequency component from the estimated or sensed speed, transform the mechanical frequency into direct quadrature (DQ) domain at the mechanical frequency, control the mechanical frequency to zero, and generate a dampening signal for torque based upon the controlled mechanical frequency.
1. A motor controller, comprising:
a processor; and
a machine readable medium, the medium comprising instructions that, when loaded and executed by the processor, cause the processor to:
receive an estimated or sensed speed of a motor;
extract a mechanical frequency component from the estimated or sensed speed, the estimated or sensed speed including a combination of an expected speed and the mechanical frequency;
transform the mechanical frequency component into direct quadrature (DQ) domain at the mechanical frequency to obtain a DQ domain value for the mechanical frequency;
control the DQ domain value for the mechanical frequency to zero; and
generate a dampening signal for torque based upon the controlled DQ domain value for the mechanical frequency.
2. The motor controller of claim 1 , further including instructions for causing the processor to:
generate the dampening signal by converting the controlled DQ domain value for the mechanical frequency at zero to DQ domain at an electrical frequency.
3. The motor controller of claim 2 , further including instructions for causing the processor to feed forward the converted DQ domain value for the mechanical frequency at zero to DQ domain at an electrical frequency to a next iteration of control.
4. The motor controller of claim 1 , further including instructions for causing the processor to feed the controlled DQ domain value for the mechanical frequency forward to a next iteration of control.
5. The motor controller of claim 1 , further including instructions for causing the processor to extract the mechanical frequency component from the estimated or sensed speed by applying a notch filter.
6. The motor controller of claim 1 , further including instructions for, upon feedback of speed and position of the motor, removing the mechanical frequency component from the speed and position of the motor for a next execution of motor control.
7. The motor controller of claim 1 , further including instructions for causing the processor to calculate the compensation by performing a proportional-integrative (PI) loop over an extracted ripple in DQ domain.
8. The motor controller of claim 1 , wherein the expected speed and the mechanical frequency are separate measurements.
9. The motor controller of claim 1 , further including instructions for causing the processor to:
separate the expected speed component and the mechanical frequency component;
route the expected speed component for feedback comparison against a speed reference; and
route the mechanical frequency component to transform the mechanical frequency into the DQ domain at a mechanical frequency of the mechanical frequency component.
10. An article of manufacture, comprising a machine-readable medium, the medium including instructions that, when loaded and executed by a processor, cause the processor to:
receive an estimated or sensed speed of a motor;
extract a mechanical frequency component from the estimated or sensed speed, the estimated or sensed speed including an expected speed and the mechanical frequency;
transform the mechanical frequency component into direct quadrature (DQ) domain at the mechanical frequency to obtain a DQ domain value for the mechanical frequency;
control the DQ domain value for the mechanical frequency to zero; and
generate a dampening signal for torque based upon the controlled DQ domain value for the mechanical frequency.
11. The article of claim 10 , further including instructions for causing the processor to:
generate the dampening signal by converting the controlled DQ domain value for the mechanical frequency at zero to DQ domain at an electrical frequency.
12. The article of claim 11 , further including instructions for causing the processor to feed forward the converted DQ domain value for the mechanical frequency at zero to DQ domain at an electrical frequency to a next iteration of control.
13. The article of claim 10 , further including instructions for causing the processor to feed the controlled DQ domain value for the mechanical frequency forward to a next iteration of control.
14. The article of claim 10 , further including instructions for causing the processor to extract the mechanical frequency component from the estimated or sensed speed by applying a notch filter.
15. The article of claim 10 , further including further including instructions for, upon feedback of speed and position of the motor, removing the mechanical frequency component from the speed and position of the motor for a next execution of motor control.
16. The article of claim 10 , further including instructions for causing the processor to calculate the compensation by performing a proportional-integrative (PI) loop over an extracted ripple in DQ domain.
17. A method for compensation of torque in a motor, comprising:
receiving an estimated or sensed speed of the motor;
extracting a mechanical frequency component from the estimated or sensed speed, the estimated or sensed speed including an expected speed and the mechanical frequency;
transforming the mechanical frequency component into direct quadrature (DQ) domain at the mechanical frequency to obtain a DQ domain value for the mechanical frequency;
controlling the DQ domain value for the mechanical frequency to zero; and
generating a dampening signal for torque based upon the controlled DQ domain value for the mechanical frequency.
18. The method of claim 17 , further including generating the dampening signal by converting the controlled DQ domain value for the mechanical frequency at zero to DQ domain at an electrical frequency.
19. The method of claim 18 , further including feeding forward the converted DQ domain value for the mechanical frequency at zero to DQ domain at an electrical frequency to a next iteration of control.
20. The method of claim 17 , further including feeding the controlled DQ domain value for the mechanical frequency forward to a next iteration of control.
21. The method of claim 17 , further including extracting the mechanical frequency component from the estimated or sensed speed by applying a notch filter.
22. The method of claim 17 , further including, upon feedback of speed and position of the motor, removing the mechanical frequency component from the speed and position of the motor for a next execution of motor control.