Granted Patent B2

US 12,199,482 · App. 18/606,620 · Granted Jan 14, 2025

Inventors: Walter Wesley Pennington, III (Menlo Park, CA); Matthew J. Rubin (Indianapolis, IN); Gregory Gordon Stevenson (San Carlos, CA); Michael Parker Owen (St. Augustine, FL); Ethan Bagget Swint (Redwood City, CA); Matthias Preindl (New York, NY)

Assignee: Tau Motors, Inc.

H02K21/042H02K1/223H02P21/22H02P25/098

Abstract

Claims (59)

1. A wound field rotor synchronous machine, comprising:

a stator defining multiple stator poles with associated stator windings;

a rotor defining multiple rotor poles, the rotor configured to rotate synchronously with the stator, the rotor comprising rotor windings associated with each of the rotor poles, the rotor windings configured to be energized by a magnetic field produced by the stator windings, wherein the energized rotor windings produce a rotor field; and

a controller configured to:

energize the stator windings with a stator current having a magnitude and a phase angle measured relative to a closest one of the rotor poles; and

achieve a target operational output of the wound field rotor synchronous machine by:

determining a rotor performance that achieves the target operational output of the wound field rotor synchronous machine;

adjusting a first one of the phase angle of the stator current or the magnitude of the stator current to achieve the target operational output of the wound field rotor synchronous machine;

receiving a signal indicative of a current operational output of the wound field rotor synchronous machine;

comparing the current operational output of the wound field rotor synchronous machine to the target operational output of the wound field rotor synchronous machine; and

adjusting a second one of the phase angle of the stator current or the magnitude of the stator current to achieve the target operational output of the wound field rotor synchronous machine.

2. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to modulate a frequency of the stator current responsive to the target operational output of the wound field rotor synchronous machine.

3. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to adjust the phase angle on only one axis of the wound field rotor synchronous machine.

4. The wound field rotor synchronous machine of claim 3 , wherein the one axis comprises one of a D-axis or a Q-axis of the wound field rotor synchronous machine.

5. The wound field rotor synchronous machine of claim 4 , wherein the controller is further configured to:

determine a target rotor motion corresponding to the target operational output of the wound field rotor synchronous machine;

modulate current on the D-axis to control rotor torque ripple while the rotor is performing the target rotor motion; and

achieve the target operational output of the wound field rotor synchronous machine.

6. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to select adjustments to at least one of the phase angle or the magnitude to control rotor torque ripple while achieving the target operational output of the wound field rotor synchronous machine.

7. The wound field rotor synchronous machine of claim 1 , wherein the controller is configured to adjust the magnitude of the stator current independent from the phase angle of the stator current based on the target operational output of the wound field rotor synchronous machine.

8. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to:

determine a target rotor motion corresponding to the target operational output of the wound field rotor synchronous machine.

9. The wound field rotor synchronous machine of claim 8 , wherein the controller is configured to:

calculate a vector control modulation applied to the stator that elicits the target rotor motion; and

adjust the phase angle of the stator current based on the vector control modulation to cause the rotor to perform the target rotor motion and achieve the target operational output of the wound field rotor synchronous machine.

10. The wound field rotor synchronous machine of claim 9 , wherein the controller is further configured to:

modulate at least one of the magnitude or a frequency of the stator current based on the vector control modulation.

11. The wound field rotor synchronous machine of claim 8 , wherein the controller is further configured to:

adjust at least one of a frequency or the magnitude of the stator current to cause the rotor to perform the target rotor motion; and

achieve the target operational output of the wound field rotor synchronous machine or control rotor torque ripple when the rotor is performing the target rotor motion and achieve the target operational output of the wound field rotor synchronous machine.

12. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to:

increase the phase angle of the stator current along a winding of the stator ahead of a pole of a rotor to deliver an increased torque to achieve the target operational output of the wound field rotor synchronous machine.

13. The wound field rotor synchronous machine of claim 12 , wherein the controller is further configured to:

increase the magnitude of the stator current while simultaneously increasing the phase angle of the stator current to control rotor torque ripple.

14. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to:

increase the phase angle of the stator current to deliver a decreased torque with an increased speed of the rotor to achieve the target operational output of the wound field rotor synchronous machine.

15. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to:

cause the phase angle of the stator current to be negative to deliver a braking function of the rotor to achieve the target operational output of the wound field rotor synchronous machine.

16. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to:

send the stator current through the stator at the phase angle,

wherein the phase angle is ahead of a rotor pole in a direction of movement or measured from a closet one of the rotor poles.

17. The wound field rotor synchronous machine of claim 1 , wherein the controller is further configured to:

produce a stator magnetic field within the stator by the energized stator windings;

produce a corresponding rotor magnetic field within a ferromagnetic material within a rotor of the wound field rotor synchronous machine by the stator magnetic field;

generate a force tangential to the rotor by a shift in the stator magnetic field;

move the rotor by the generated force tangential to the rotor; and

resist a decay of a magnetic flux within the rotor by current within rotor coils in response to the shift in the stator magnetic field.

18. The wound field rotor synchronous machine of claim 1 , wherein the stator windings comprise distributed windings, and

wherein the rotor comprises: concentrated windings, salient windings, non-overlapping windings, or permanent magnets.

19. The wound field rotor synchronous machine of claim 18 , wherein the rotor comprises permanent magnets, and the permanent magnets are substantially aligned with the rotor poles.

20. A method of controlling a wound field rotor synchronous machine, the method comprising:

energizing stator windings of a stator with a stator current having a magnitude and a phase angle measured relative to a closest one of rotor poles of a rotor, wherein the rotor is maintained in synchronicity with a stator magnetic field produced by the stator during operation of the wound field rotor synchronous machine; and

achieving a target operational output of the wound field rotor synchronous machine by:

determining a rotor performance that achieves the target operational output of the wound field rotor synchronous machine;

adjusting a first one of the phase angle of the stator current or the magnitude of the stator current to achieve the target operational output of the wound field rotor synchronous machine;

receiving a signal indicative of a current operational output of the wound field rotor synchronous machine;

comparing the current operational output of the wound field rotor synchronous machine to the target operational output of the wound field rotor synchronous machine; and

adjusting a second one of the phase angle of the stator current or the magnitude of

the stator current to achieve the target operational output of the wound field rotor synchronous machine.

Assignments (5)

Continuity (4)

References Cited (59)