MOTOR CONTROL

1 . A method for controlling a motor comprising:

applying a first reference torque generating current parameter during a start-up mode to a motor in a stationary state;

generating a demand torque generating voltage parameter based on the first reference torque generating current parameter;

determining a feedback torque generating current parameter based on measured motor current in the stationary state;

determining a phase resistance measurement of the motor based on the demand torque generating voltage parameter and the feedback torque generating current parameter; and

controlling the motor in a speed control mode based on the phase resistance measurement.

2 . The method of claim 1 , wherein applying the first reference torque generating current parameter to the motor comprises:

setting an electrical angle position setpoint of the motor to 90 degrees; and

applying the first reference torque generating current parameter to the motor to move the motor to the electrical angle position setpoint.

3 . The method of claim 1 , wherein determining the phase resistance measurement comprises:

dividing the demand torque generating voltage parameter by the feedback torque generating current parameter.

4 . The method of claim 1 , wherein:

generating the demand torque generating voltage parameter based on the first reference torque generating current parameter comprises:

generating the demand torque generating voltage parameter in a controller; and

controlling the motor comprises:

configuring a gain parameter of the controller based on the phase resistance measurement.

5 . The method of claim 1 , wherein controlling the motor comprises:

configuring a gain parameter of a controller based on the phase resistance measurement; and

generating a drive signal for the motor in the speed control mode using the controller configured with the gain parameter.

6 . The method of claim 1 , wherein controlling the motor comprises:

estimating a motor speed and a motor position based on the phase resistance measurement; and

generating a drive signal for the motor in the speed control mode based on the motor position and the motor speed.

7 . The method of claim 1 , comprising:

iterating the generating of the phase resistance measurement in the stationary state.

8 . The method of claim 1 , wherein determining the phase resistance measurement comprises:

generating a filtered value of the demand torque generating voltage parameter;

converting the filtered value of the demand torque generating voltage parameter to an analog demand torque generating voltage parameter;

generating a filtered value of the feedback torque generating current parameter;

converting the filtered value of the feedback torque generating current parameter to an analog feedback torque generating current parameter; and

determining the phase resistance measurement based on the analog demand torque generating voltage parameter and the analog feedback torque generating current parameter.

9 . A motor controller comprising:

a first controller configured to apply, in a start-up mode, a first reference torque generating current parameter to a motor in a stationary state;

a second controller configured to generate a demand torque generating voltage parameter based on the first reference torque generating current parameter during the start-up mode; and

a feedback unit configured to receive a three-phase motor current measurement responsive to the demand torque generating voltage parameter and transform the three-phase motor current measurement to determine a feedback torque generating current parameter, wherein:

the first controller is configured to determine a phase resistance measurement of the motor based on the demand torque generating voltage parameter and the feedback torque generating current parameter; and

the second controller is configured to control the motor in a speed control mode based on the phase resistance measurement.

10 . The motor controller of claim 9 , wherein:

the first controller is configured to:

set an electrical angle position setpoint of the motor to 90 degrees; and

apply the first reference torque generating current parameter to the motor to move the motor to the electrical angle position setpoint.

11 . The motor controller of claim 9 , wherein:

the first controller is configured to determine the phase resistance measurement by dividing the demand torque generating voltage parameter by the feedback torque generating current parameter.

12 . The motor controller of claim 9 , wherein:

the second controller is configured to employ a gain parameter configured based on the phase resistance measurement in the speed control mode.

13 . The motor controller of claim 9 , comprising:

a third controller configured to generate a demand flux generating voltage parameter for driving the motor based on a reference flux generating current parameter using a gain parameter configured based on the phase resistance measurement.

14 . The motor controller of claim 9 , comprising:

an estimator unit configured to estimate a motor speed and a motor position in the speed control mode based on the phase resistance measurement; and

a third controller configured to generate a second reference torque generating current parameter for the second controller in the speed control mode based on the motor position and the motor speed.

15 . The motor controller of claim 9 , wherein:

the first controller is configured to iterate the generating of the phase resistance measurement in the start-up mode.

16 . The motor controller of claim 9 , comprising:

a first low pass filter configured to generate a filtered value of the demand torque generating voltage parameter; and

a second low pass filter configured to generate a filtered value of the feedback torque generating current parameter, wherein:

the first controller is configured to:

convert the filtered value of the demand torque generating voltage parameter to an analog demand torque generating voltage parameter;

convert the filtered value of the feedback torque generating current parameter to an analog feedback torque generating current parameter; and

determine the phase resistance measurement based on the analog demand torque generating voltage parameter and the analog feedback torque generating current parameter.

17 . A system, comprising:

a motor;

a current sense unit connected to the motor and configured to measure a motor current and generate a motor current measurement; and

a motor controller, comprising:

a first controller configured to apply, in a start-up mode, a first reference torque generating current parameter to the motor;

a second controller configured to generate a demand torque generating voltage parameter based on the first reference torque generating current parameter during the start-up mode; and

a feedback unit configured to receive the motor current measurement responsive to the demand torque generating voltage parameter and transform the motor current measurement to generate a feedback torque generating current parameter, wherein:

the motor is stationary during the start-up mode;

the first controller is configured to determine a phase resistance measurement of the motor based on the demand torque generating voltage parameter and the feedback torque generating current parameter; and

the second controller is configured to control the motor in a speed control mode based on the phase resistance measurement.

18 . The system of claim 17 , wherein:

the second controller is configured to employ a gain parameter configured based on the phase resistance measurement in the speed control mode.

19 . The system of claim 17 , comprising:

a third controller configured to generate a demand flux generating voltage parameter for driving the motor based on a reference flux generating current parameter using a gain parameter configured based on the phase resistance measurement.

20 . The system of claim 17 , comprising:

an estimator unit configured to estimate a motor speed and a motor position in the speed control mode based on the phase resistance measurement; and

a third controller configured to generate a second reference torque generating current parameter for the second controller in the speed control mode based on the motor position and the motor speed.