Sensorless position estimation for interior permanent magnet synchronous motor
A sensorless position estimation and control system and method for a permanent magnet electric motor of a powertrain system of a vehicle involve determining a reference torque to be achieved by the electric motor based on a set of vehicle operating parameters, determining a reference current magnitude to achieve the determined reference torque using a lookup table, determining current commands for the electric motor based on the determined reference current magnitude and a fixed reference current angle, injecting a high frequency voltage into a voltage control loop for the electric motor and estimating, by the controller, a position of a rotor of the electric motor thereafter, and controlling a current provided to the electric motor based on the determined current commands and the estimated rotor position.
1. A powertrain system for a vehicle, the powertrain system comprising:
a permanent magnet electric motor configured to generate drive torque for propulsion of the vehicle; and
a controller configured to:
perform sensorless position estimation on the permanent magnet electric motor across all load/torque operating regions by:
(i) determining a reference torque to be achieved by the electric motor based on a set of vehicle operating parameters,
(ii) determining a reference current magnitude to achieve the determined reference torque using a first maximum torque per amperage (MTPA) table,
(iii) selecting a fixed reference current angle that simultaneously satisfies stability and MTPA tracking constraints, wherein the fixed reference current angle provides for a smaller sized first MTPA table and eliminates estimation/control strategy transitions across different load/torque operating regions,
(iv) determining current commands for the electric motor based on the determined reference current magnitude and the fixed reference current angle, and
(v) injecting a high frequency voltage into a voltage control loop for the electric motor and estimating a position of a rotor of the electric motor thereafter; and
control a current provided to the electric motor based on the determined current commands and the estimated rotor position.
2. The system of claim 1 , wherein the controller determines the current commands for the electric motor to achieve the determined reference torque without utilizing a larger and more complex second MTPA table.
3. The system of claim 1 , wherein the controller obtains a compensation value that is applied to an estimated rotor position error without utilizing multiple complex look-up tables (LUTs).
4. The system of claim 1 , wherein the determining of the reference current magnitude and the current commands based on the determined reference current magnitude and the fixed reference current angle are performed across all possible values of the determined reference torque so as to not require an estimation/control strategy transition.
5. The system of claim 1 , wherein the controller does not utilize a position sensor to measure an actual position of the rotor.
6. A sensorless position estimation and control method for a permanent magnet electric motor of a powertrain system of a vehicle, the method comprising:
performing, by a controller of the powertrain system, sensorless position estimation on the permanent magnet electric motor across all load/torque operating regions by:
determining, by the controller, a reference torque to be achieved by the electric motor based on a set of vehicle operating parameters;
determining, by the controller, a reference current magnitude to achieve the determined reference torque using a first maximum torque per amperage (MTPA) table;
selecting, by the controller, a fixed reference current angle that simultaneously satisfies stability and MTPA tracking constraints, wherein the fixed reference current angle provides for a smaller sized first MTPA table and eliminates estimation/control strategy transitions across different load/torque operating regions;
determining, by the controller, current commands for the electric motor based on the determined reference current magnitude and the fixed reference current angle; and
injecting, by the controller, a high frequency voltage into a voltage control loop for the electric motor and estimating, by the controller, a position of a rotor of the electric motor thereafter; and
controlling, by the controller, a current provided to the electric motor based on the determined current commands and the estimated rotor position.
7. The method of claim 6 wherein determining the current commands for the electric motor to achieve the determined reference torque is performed without utilizing a larger and more complex second MTPA table.
8. The method of claim 6 , wherein obtaining a compensation value that is applied to an estimated rotor position error is performed without utilizing multiple complex look-up tables (LUTs).
9. The method of claim 6 , wherein the determining of the reference current magnitude and the current commands based on the determined reference current magnitude and the fixed reference current angle are performed across all possible values of the determined reference torque so as to not require an estimation/control strategy transition.
10. The method of claim 6 , wherein the controller does not utilize a position sensor to measure an actual position of the rotor.