Power management of permanent magnet synchronous motor (PMSM) drive using machine current limiting
Technical solutions are described for controlling operation of an electric machine such as a permanent magnet synchronous motor (PMSM) drive or motor control system to protect against excessive machine current or voltage in a PMSM drive. Systems and methods employ a torque control algorithm for PMSMs that uses the constraints of both machine current and voltage capability in PMSM drives, and online torque command modification according to the maximum allowed torque under these machine current and voltage constraints.
1. A system comprising:
a permanent magnet synchronous machine (PMSM); and
a motor control system configured to limit machine current, the motor control system being configured to:
determine a torque command that is limited to within a maximum torque of the PMSM for a designated maximum DC link voltage and that does not exceed a designated maximum PMSM current limit value;
perform a maximum torque per ampere (MTPA) calculation using the torque command to determine current commands for PMSM control;
calculate a motor current value;
use the current commands when the calculated motor current value does not exceed a designated maximum motor phase current limit value;
when the calculated motor current value exceeds a designated maximum motor phase current limit value, determine current commands for motor control based on a selected current angle:
wherein the selected current angle is determined using a search operation for a motor current angle such that, when the calculated motor current exceeds the designated maximum motor phase current limit value, the magnitude of the calculated motor current is fixed at the designated maximum motor phase limit value and the selected current angel is swept from
π
2
towards 0 until a modified torque increases and becomes equal to the torque commanded by the torque control module and the voltage is lower than or equal to a designated maximum DC link voltage of the motor.
2. The system of claim 1 , wherein the motor control system is further configured to:
determine when a PMSM voltage exceeds a designated maximum DC link voltage of the system; and
use the current commands from the MTPA calculation for PMSM control when the PMSM voltage does not exceed the designated maximum DC link voltage.
3. The system of claim 2 , wherein, when the MTPV calculation determines that PMSM voltage exceeds the designated maximum DC link voltage, the motor control system is further configured to perform a MTPV calculation to determine:
current commands for PMSM control that achieve the maximum torque of the PMSM for the designated maximum DC link voltage, when the maximum torque of the PMSM is determined to be less than or equal to a given torque command; and
current commands for PMSM control that achieve the given torque command, when the maximum torque of the PMSM is determined to be greater than the given torque command.
4. The system of claim 3 , wherein, when the maximum torque of the PMSM is determined to be greater than the given torque command during the MTPV calculation, the motor control system is further configured to reduce the PMSM voltage until the maximum torque of the PMSM is substantially equal to the given torque command for a designated motor speed and then determine current commands for PMSM control.
5. A motor control system configured to limit supply current and regenerative current, the motor control system comprising:
a torque control module configured to:
determine a torque command that is limited to within a maximum torque of a motor;
perform a maximum torque per ampere (MTPA) calculation using the torque command to determine current commands for motor control; and
perform a maximum torque per voltage (MTPV) calculation that modifies the current commands as needed to satisfy a system voltage constraint; and
a motor current limiting module configured to:
calculate a motor current value;
use the current commands from the torque control module for motor control, when the calculated motor current value does not exceed a designated maximum motor phase current limit value; and
when the calculated motor current value exceeds the designated maximum motor phase current limit value, determine updated current commands for motor control based on a selected current angle;
wherein the selected current angle is determined using a search operation for a motor current angle such that, when the calculated motor current exceeds the designated maximum motor phase current limit value, the magnitude of the calculated motor current is fixed at the designated maximum motor phase limit value and the selected current angle is swept from
π
2
towards 0 until a modified torque increases and becomes equal to the torque commanded by the torque control module and the voltage is lower than or equal to a designated maximum DC link voltage of the motor.
6. The motor control system of claim 5 , wherein the search operation for the selected current angle comprises sweeping the current angle α obtain V dq and T e wherein
I d =I m,max cos α, and
I q =I m,max sin α,
are used to determine I dq with I m,max being the designated maximum motor phase current limit, and
V dq and T e are determined using I dq in the following equations
V d =RI d +ω e L q I q ,
V q =RI q +K e ω m −ω e L q I q ,
T e = 3/2 K e I q +¾ N p ( L q −L d ) I d I q ,
where R is motor circuit resistance (Ohm), L d is d-axis inductance (Henry), L q is q-axis inductance (Henry), K e is motor voltage constant (Volt/rad/s), ω m is mechanical motor velocity (rad/s), ω e is electrical motor velocity (rad/s) and N p is number of motor magnetic poles.
7. A method for limiting machine current and voltage in motor control system, comprising:
determine a torque command that is limited to within a maximum torque of the PMSM for a designated maximum DC link voltage and that does not exceed a designated maximum PMSM current limit value; and
perform a maximum torque per ampere (MTPA) calculation using the torque command to determine current commands for PMSM control;
calculate a motor current value;
use the current commands when the calculated motor current value does not exceed a designated maximum motor phase current limit value;
when the calculated motor current value exceeds a designated maximum motor phase current limit value, determine current commands for motor control based on a selected current angle;
wherein the selected current angle is determined using a search operation for a motor current angle such that, when the calculated motor current exceeds the designated maximum motor phase current limit value, the magnitude of the calculated motor current is fixed at the designated maximum motor phase limit value and the selected current angle is swept from π/2 towards 0 until a modified torque increases and becomes equal to the torque commanded by the torque control module and the voltage is lower than or equal to a designated maximum DC link voltage of the motor.
8. The system of claim 7 , wherein the motor control system is further configured to:
determine when a PMSM voltage exceeds a designated maximum DC link voltage of the system; and
use the current commands from the MTPA calculation for PMSM control when the PMSM voltage does not exceed the designated maximum DC link voltage.
9. The system of claim 7 , wherein, when the MTPV calculation determines that PMSM voltage exceeds the designated maximum DC link voltage, the motor control system is further configured to perform a MTPV calculation to determine:
current commands for PMSM control that achieve the maximum torque of the PMSM for the designated maximum DC link voltage, when the maximum torque of the PMSM is determined to be less than or equal to a given torque command; and
current commands for PMSM control that achieve the given torque command, when the maximum torque of the PMSM is determined to be greater than the given torque command.
10. The system of claim 8 , wherein, when the maximum torque of the PMSM is determined to be greater than the given torque command during the MTPV calculation, the motor control system is further configured to reduce the PMSM voltage until the maximum torque of the PMSM is substantially equal to the given torque command for a designated motor speed and then determine current commands for PMSM control.
11. A method for limiting supply current and regenerative current, the motor control system comprising:
determining a torque command that is limited to within a maximum torque of a motor;
performing a maximum torque per ampere (MTPA) calculation using the torque command to determine current commands for motor control;
performing a maximum torque per voltage (MTPV) calculation that modifies the current commands as needed to satisfy a system voltage constraint;
calculating a motor current value;
using the current commands for motor control when the calculated motor current value does not exceed a designated maximum motor phase current limit value; and
when the calculated motor current value exceeds the designated maximum motor phase current limit value, determining updated current commands for motor control based on a selected current angle;
wherein the selected current angle is determined using a search operation for a motor current angle such that, when the calculated motor current exceeds the designated maximum motor phase current limit value, the magnitude of the calculated motor current is fixed at the designated maximum motor phase limit value and the selected current angle is swept from π/2 towards 0 until a modified torque increases and becomes equal to the torque commanded by the torque control module and the voltage is lower than or equal to a designated maximum DC link voltage of the motor.
12. The motor control system of claim 11 , wherein the search operation for the selected current angle comprises sweeping the current angle α obtain V dq and T e wherein
I d =I m,max cos α, and
I q =I m,max sin α,
are used to determine I dq with I m,max being the designated maximum motor phase current limit, and
V dq and T e are determined using I dq in the following equations
V d =RI d +ω e L q I q ,
V q =RI q +K e ω m −ω e L q I q ,
T e = 3/2 K e I q +¾ N p ( L q −L d ) I d I q ,
where R is motor circuit resistance (Ohm), L d is d-axis inductance (Henry), L q is q-axis inductance (Henry), K e is motor voltage constant (Volt/rad/s), ω m is mechanical motor velocity (rad/s), ω e is electrical motor velocity (rad/s) and N p is number of motor magnetic poles.