Three-phase motor current measurement
Methods and apparatus for controlling a three-phase electric motor by determining a duration of current measurement windows within a first pulse width modulation period for measuring motor current using a single shunt coupled to the motor. A duration of a first one of the current measurement windows can be adjusted by a time delta value to meet a minimum time to measure the motor current. A next PWM period can include compensation for the time delta value. In embodiments window adjustments are made by modifying the high state of a middle phase signal for phase signals to switches that energize the motor.
1. A method, comprising:
controlling, using a field-oriented control (FOC) system, a three-phase electric motor by:
determining a duration of current measurement windows within a first pulse width modulation period for measuring motor current using a single shunt coupled to the motor;
adjusting a duration of a first one of the current measurement windows by a time delta value to meet a minimum time to measure the motor current, wherein the minimum time to measure the motor current includes a sum of a current acquisition settling time (CAS) and an ADC sampling time.
2. The method according to claim 1 , wherein the motor current is measured for only two of the three motor phases during the first pulse width modulation period.
3. The method according to claim 2 , wherein the motor current measurement is not performed in compensation periods for the adjusted duration of the first one of the current measurement windows.
4. The method according to claim 2 , further including adjusting a second one of the pulse width modulation periods by the time delta value to compensate for adjusting the duration of the first one of the current measurement windows in the first one of the pulse width modulation periods, wherein the second one of the pulse width modulation periods occurs after the first one of the pulse width modulation periods.
5. The method according to claim 1 , wherein controlling a three-phase electric motor includes controlling driver switches for driving the motor phase including controlling a high side (HS) switch ON state duration having a zone of maximum phase Z, a zone of middle phase Y, and a zone of minimum phase X.
6. The method according to claim 5 , wherein the zone of maximum phase Z is above a maximum time t_max, and the zone of minimum phase X is below a minimum time t_min, and the zone of middle phase Y is between the minimum time t min and the maximum time t max.
7. The method according to claim 6 , further including changing minimum and maximum duration times of the ON state of the upper transistor in the middle phase Y when a duration of a given PWM period changes.
8. The method according to claim 7 , further including modifying a duration of the middle phase Y from a reference Y signal to adjust the duration of the first one of the current measurement windows by the time delta value to meet the minimum time to measure the motor current.
9. The method according to claim 8 , further including modifying a duration of the middle phase Y from a reference Y signal by the time delta value in a second one of the pulse width modulation periods to compensate for adjusting the duration of the first one of the current measurement windows in the first one of the pulse width modulation periods, wherein the second one of the pulse width modulation periods occurs after the first one of the pulse width modulation periods.
10. The method according to claim 9 , wherein the middle phase Y does not transition during the second one of the pulse width modulation periods.
11. The method according to claim 4 , wherein the FOC system includes i and q current regulators, and wherein the i and q current regulators do not influence the adjustment of the second one of the pulse width modulation periods.
12. A system, comprising:
a field oriented control (FOC) motor controller having circuity configured to control a three-phase electric motor by:
determining a duration of current measurement windows within a first pulse width modulation period for measuring motor current using a single shunt coupled to the motor;
adjusting a duration of a first one of the current measurement windows by a time delta value to meet a minimum time to measure the motor current, wherein the minimum time to measure the motor current includes a sum of a current acquisition settling time (CAS) and an ADC sampling time.
13. The system according to claim 12 , wherein the motor current is measured for only two of the three motor phases during the first pulse width modulation period.
14. The system according to claim 13 , wherein the motor current measurement is not performed in compensation periods for the adjusted duration of the first one of the current measurement windows.
15. The system according to claim 13 , wherein the motor controller is further configured to adjust a second one of the pulse width modulation periods by the time delta value to compensate for adjusting the duration of the first one of the current measurement windows in the first one of the pulse width modulation periods, wherein the second one of the pulse width modulation periods occurs after the first one of the pulse width modulation periods.
16. The system according to claim 12 , wherein controlling the three-phase electric motor includes controlling driver switches for driving the motor phase including controlling a high side (HS) switch ON state duration having a zone of maximum phase Z, a zone of middle phase Y, and a zone of minimum phase X.
17. The system according to claim 16 , wherein the zone of maximum phase Z is above a maximum time t_max, and the zone of minimum phase X is below a minimum time t_min, and the zone of middle phase Y is between the minimum time t_min and the maximum time t_max.
18. The system according to claim 17 , wherein the motor controller is further configured to change minimum and maximum duration times of the ON state of the upper transistor in the middle phase Y when a duration of a given PWM period changes.
19. The system according to claim 18 , wherein the motor controller is further configured to modify a duration of the middle phase Y from a reference Y signal to adjust the duration of the first one of the current measurement windows by the time delta value to meet the minimum time to measure the motor current.
20. The system according to claim 19 , wherein the motor controller is further configured to modify a duration of the middle phase Y from a reference Y signal by the time delta value in a second one of the pulse width modulation periods to compensate for adjusting the duration of the first one of the current measurement windows in the first one of the pulse width modulation periods, wherein the second one of the pulse width modulation periods occurs after the first one of the pulse width modulation periods.
21. The system according to claim 20 , wherein the middle phase Y does not transition during the second one of the pulse width modulation periods.
22. The system according to claim 15 , wherein the FOC system includes i and q current regulators, and wherein the i and q current regulators do not influence the adjustment of the second one of the pulse width modulation periods.