SYSTEM AND METHOD FOR CONTROLLING A MOTOR
Systems and methods are provided for controlling and simulating a motor. An electronic motor controller determines present motor information and a motor control parameter set based on the present motor information and a rotating reference frame of the motor. The rotating reference frame has independent input channels that decouple an intended output response in a stator D-axis component and a rotor field (R) component of a direct-quadrature-null-rotor (DQNR) reference frame. The electronic motor controller further controls the motor based on the motor control parameter set.
1 . A method for controlling a motor, the method comprising:
determining, by an electronic motor controller, present motor information based on sensor information obtained during operation of the motor;
determining, by the electronic motor controller, a motor control parameter set based on the present motor information and a rotating reference frame of the motor, wherein the rotating reference frame has axes, the axes defining independent input channels that decouple an intended output response in a stator D-axis component and a rotor field (R) component of a direct-quadrature-null-rotor (DQNR) reference frame of the motor, wherein the stator D-axis component corresponds to the stator and the rotor field (R) component corresponds to the rotor; and
controlling, by the electronic motor controller, during the operation of the motor, the motor based on the motor control parameter set.
2 . The method of claim 1 , wherein determining the present motor information comprises:
determining a rotor position angle of a rotor of the motor; and
determining, by the electronic motor controller, motor currents including a rotor field current of the rotor and stator currents through respective coils of a stator of the motor.
3 . The method of claim 2 , wherein the rotating reference frame of the motor is an MK reference frame having a magnetizing inductance axis (M-axis) and a leakage inductance axis (K-axis), wherein the M-axis represents magnetizing current in an equivalent circuit for the motor and the K-axis represents leakage current in the equivalent circuit.
4 . The method of claim 3 , wherein determining the motor control parameter set comprises:
determining, by the electronic motor controller, desired motor voltages of the motor control parameter set including a rotor voltage control for a rotor field voltage of the rotor and stator voltage controls for stator voltages across respective coils of the stator based on a magnetizing inductance current (I M ) of the MK reference frame, a leakage inductance current (I K ) of the MK reference frame, a quadrature current (I Q ) of the MK reference frame, and a null current (I Null ) of the MK reference frame determined based on the present motor information.
5 . The method of claim 3 , wherein, in the MK reference frame, leakage current between the stator and the rotor is presumed to be zero or a stator-to-rotor turns ratio is adjusted to equate the leakage current between the stator and the rotor to zero.
6 . The method of claim 2 , wherein the rotating reference frame of the motor is an SM/DM reference frame having a summation mode axis (SM-axis) and a difference mode axis (DM-axis), wherein the SM-axis represents a sum of the stator D-axis component and the rotor field (R) component and the DM-axis represents a difference of the stator D-axis component and the rotor field (R) component.
7 . The method of claim 6 , wherein determining the motor control parameter set comprises:
determining, by the electronic motor controller, desired motor voltages for the motor control parameter set including a rotor voltage control for a rotor field voltage of the rotor and stator voltage controls for stator voltages across respective coils of the stator based on a summation mode current (I SM ) of the SM/DM reference frame, a difference mode current (I DM ) of the SM/DM reference frame, a quadrature current (I Q ) of the SM/DM reference frame, and a null current (I Null ) of the SM/DM reference frame determined based on the rotor position angle and the motor currents.
8 . The method of claim 1 , wherein determining the motor control parameter set comprises:
accessing, by the electronic motor controller, a lookup table that maps the present motor information to the motor control parameter set, wherein the lookup table is populated based on a reference frame transform that transforms an input set of motor information to the rotational reference frame.
9 . The method of claim 1 , wherein determining the motor control parameter set comprises:
transforming the present motor information to the rotational reference frame to generate transformed present motor information;
determining a motor control for a control axis in the rotational reference frame based on the transformed present motor information; and
transforming the motor control from the rotational reference frame to the motor control parameter set.
10 . The method of claim 1 , wherein the motor is a wound field synchronous motor, a permanent magnet synchronous motor, or a hybrid permanent magnet-wound field synchronous motor.
11 . A motor system comprising:
an electronic motor controller including an electronic processor, the electronic motor controller configured to:
determine present motor information based on sensor information obtained during operation of a motor;
determine a motor control parameter set based on the present motor information and a rotating reference frame of a motor, wherein the rotating reference frame has axes, the axes defining independent input channels that decouple an intended output response in a stator D-axis component and a rotor field (R) component of a direct-quadrature-null-rotor (DQNR) reference frame of the motor, wherein the stator D-axis component corresponds to the stator and the rotor field (R) component corresponds to the rotor; and
generate one or more control signals, during the operation of the motor, to control the motor based on the motor control parameter set.
12 . The motor system of claim 11 , wherein, to determine the present motor information, the electronic motor controller is configured to:
determine a rotor position angle of a rotor of the motor; and
determine motor currents including a rotor field current of the rotor and stator currents through respective coils of a stator of the motor.
13 . The motor system of claim 12 , wherein the rotating reference frame of the motor is an MK reference frame having a magnetizing inductance axis (M-axis) and a leakage inductance axis (K-axis), wherein the M-axis represents magnetizing current in an equivalent circuit for the motor and the K-axis represents leakage current in the equivalent circuit.
14 . The motor system of claim 13 , wherein, to determine the motor control parameter set, the electronic motor controller is configured to:
determine desired motor voltages of the motor control parameter set including a rotor voltage control for a rotor field voltage of the rotor and stator voltage controls for stator voltages across respective coils of the stator based on a magnetizing inductance current (I M ) of the MK reference frame, a leakage inductance current (I K ) of the MK reference frame, a quadrature current (I Q ) of the MK reference frame, and a null current (I Null ) of the MK reference frame determined based on the present motor information.
15 . The motor system of claim 13 , wherein, in the MK reference frame, leakage current between the stator and the rotor is presumed to be zero or a stator-to-rotor turns ratio is adjusted to equate the leakage current between the stator and the rotor to zero.
16 . The motor system of claim 12 , wherein the rotating reference frame of the motor is an SM/DM reference frame having a summation mode axis (SM-axis) and a difference mode axis (DM-axis), wherein the SM-axis represents a sum of the stator D-axis component and the rotor field (R) component and the DM-axis represents a difference of the stator D-axis component and the rotor field (R) component.
17 . The motor system of claim 16 , wherein, to determine the motor control parameter set, the electronic motor controller is configured to:
determine desired motor voltages for the motor control parameter set including a rotor voltage control for a rotor field voltage of the rotor and stator voltage controls for stator voltages across respective coils of the stator based on a summation mode current (I SM ) of the SM/DM reference frame, a difference mode current (I DM ) of the SM/DM reference frame, a quadrature current (I Q ) of the SM/DM reference frame, and a null current (I Null ) of the SM/DM reference frame determined based on the rotor position angle and the motor currents.
18 . The motor system of claim 11 , wherein, to determine the motor control parameter set, the electronic motor controller is configured to:
access a lookup table that maps the present motor information to the motor control parameter set, wherein the lookup table is populated based on a reference frame transform that transforms an input set of motor information to the rotational reference frame.
19 . The motor system of claim 11 , wherein, to determine the motor control parameter set, the electronic motor controller is configured to:
transform the present motor information to the rotational reference frame to generate transformed present motor information;
determine a motor control for a control axis in the rotational reference frame based on the transformed present motor information; and
transform the motor control from the rotational reference frame to the motor control parameter set.
20 . The motor system of claim 11 , further comprising:
the motor; and
a motor drive circuit coupled to the motor and to the electronic motor controller, the motor drive circuit configured to receive the one or more control signals and to drive the motor.
21 . The motor system of claim 11 , wherein the motor is a wound field synchronous motor, a permanent magnet synchronous motor, or a hybrid permanent magnet-wound field synchronous motor.
22 .- 39 . (canceled)