Feedback compensation of current harmonics caused by parameter imbalance in synchronous motor drives

Abstract

A method for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive includes: reading an output current signal, and extracting a feature of the parameter imbalance corresponding to the synchronous motor drive based on the output current signal. The method also includes: using a feedback path to compensate for the current harmonics caused by the parameter imbalance based on the feature in a closed loop.

Description

Technical Field

[0001] The present disclosure relates to electric motors, and in particular to systems and methods for feedback or closed-loop compensation of current harmonics caused by parameter imbalances in synchronous motor drives. Background Art

[0002] A vehicle such as an automobile, truck, sport utility vehicle, crossover, minivan, or other suitable vehicle may include an electric power steering (EPS) system. Such an EPS system typically includes an electric motor for providing steering assistance during operation of the vehicle. To provide such steering assistance, the EPS system may drive the electric motor according to a torque control method. Typically, electric motor drive applications utilizing synchronous motors may be susceptible to parameter imbalance during manufacturing and / or during operation. During operation of the synchronous motor drive, such inter-phase parameter imbalance may result in the generation of undesirable current harmonics.

[0003] In order to reduce and / or minimize inter-phase parametric imbalances, some requirements and / or regulations specify that such motors meet minimum part-to-part variations. This is particularly true for high performance motion control applications that are sensitive to noise, vibration, and harshness, particularly applications involving mass production, such as EPS. Specifying a machine to meet stringent requirements for minimum part-to-part variations can be expensive. This necessitates the need to develop control techniques that can mitigate current harmonics generated in response to parametric imbalances in synchronous motors. Summary of the invention

[0004] The present disclosure generally relates to feedback compensation of current harmonics caused by parameter imbalance in synchronous motor drives.

[0005] One aspect of the disclosed embodiment includes a system for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive. The system includes a synchronous motor controlled by a synchronous motor drive, a processor, and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: read an output current signal; extract a feature of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal; and compensate for current harmonics caused by the parameter imbalance based on the feature in a closed loop using a feedback path.

[0006] Another aspect of the disclosed embodiment includes a method for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive. The method includes reading an output current signal and extracting a characteristic of the parameter imbalance corresponding to the synchronous motor drive based on the output current signal. The method also includes using a feedback path to compensate for the current harmonics caused by the parameter imbalance based on the characteristic in a closed loop.

[0007] Another aspect of the disclosed embodiment includes a system for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive. The system includes a processor and a memory. The method includes instructions that, when executed by the processor, cause the processor to: read an output current signal; extract a feature of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal; compensate for current harmonics caused by the parameter imbalance based on the feature in a closed loop using a feedback path by generating a correction voltage command item; and apply the correction voltage command item to a basic voltage command to output a final voltage command to a pulse width modulator of an inverter operating the synchronous motor drive.

[0008] These and other advantages and features will become more apparent from the following description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The subject matter regarded as the present invention is particularly pointed out and distinctly claimed in the claims appended hereto. The foregoing and other features and advantages of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0010] Figure 1 A synchronous motor drive system with feedback compensation for current harmonics caused by parameter imbalance according to the principles of the present disclosure is generally shown.

[0011] Figure 2A-2B A block diagram of feedback compensation for current harmonics caused by parameter imbalance according to the principles of the present disclosure is generally shown.

[0012] Figure 3 A controller system according to the principles of the present disclosure is generally shown.

[0013] Figure 4 is a flow chart generally illustrating a method for closed-loop compensation of current harmonics caused by parameter imbalance in a synchronous motor drive according to the principles of the present disclosure. DETAILED DESCRIPTION

[0014] The following discussion is directed to various embodiments of the disclosed subject matter. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used as limiting the scope of the present disclosure, including the claims. In addition, it will be understood by those skilled in the art that the following description has broad application, and the discussion of any embodiment is intended only to be an exemplary discussion of that embodiment, and is not intended to imply that the scope of the present disclosure, including the claims, is limited to that embodiment.

[0015] As described, a vehicle such as an automobile, truck, sport utility vehicle, crossover, minivan, or other suitable vehicle may include an electric power steering (EPS) system. Such an EPS system typically includes an electric motor for providing steering assistance during operation of the vehicle. In order to provide such steering assistance, the EPS system may drive the electric motor according to a torque control method. Typically, electric motor drive applications utilizing synchronous motors may be susceptible to parameter imbalance during manufacturing and / or during operation. During operation of the synchronous motor drive, such inter-phase parameter imbalance may result in the generation of undesirable current harmonics.

[0016] In order to reduce and / or minimize phase-to-phase parametric imbalances, some requirements and / or regulations specify that such motors meet minimum part-to-part variations. This is particularly true for high-performance motion control applications that are sensitive to noise, vibration, and harshness, especially those involving large-scale production, such as EPS. Specifying a machine to meet stringent requirements for minimum part-to-part variations can be expensive. This necessitates the need to develop control techniques that can mitigate current harmonics generated in response to parametric imbalances in synchronous motors.

[0017] As will be described, motion control applications utilizing synchronous motor drives (e.g., vehicles, ships, aircraft, drones, power equipment, field equipment, pumps, compressors, etc.) may be susceptible to parameter imbalance during manufacturing and / or during operation. For example, motor drives, converters, and / or other circuits may be subject to parameter imbalance.

[0018] High performance motion control system applications, particularly those involving mass production, such as electric power steering (EPS), may be sensitive to noise, vibration, and harshness (NVH) and may specify minimum part-to-part variations. Uncorrected parameter imbalance(s) in such systems may result in degradation of overall system performance. However, enforcing strict tolerances on allowable parameter imbalances on the manufacturing and / or production side of synchronous motors may be expensive. In addition, degradation in overall system performance may reduce the life of the synchronous motor, and / or may reduce the likelihood that a customer will purchase an EPS system that includes a synchronous motor. Therefore, it is desirable to compensate for or correct the current harmonics generated in response to such parameter imbalances.

[0019] Certain nonlinear effects (e.g., temperature or failure modes) can cause significant changes in machine behavior. These nonlinear effects can manifest as parameter imbalances in synchronous motor drives. Compensation for such nonlinear effects can be beneficial to improve the performance of motor drive systems employing such machines.

[0020] Therefore, systems and methods such as those described herein may be configured to address the above-mentioned issues by providing techniques for feedback or closed-loop compensation of current harmonics caused by parametric imbalances in synchronous motor drives.

[0021] In some embodiments, the systems and methods described herein may be configured to provide techniques for real-time compensation of inter-phase parameter imbalances in a synchronous motor drive.

[0022] In some embodiments, the systems and methods described herein can be configured to perform preventive measures based on the magnitude of the correction term generated by the closed-loop parametric imbalance compensator. The preventive measures can include disabling parametric imbalance compensation, shutting down the motor drive system, and / or other suitable preventive measures.

[0023] The systems and methods described herein are configured to provide at least the benefit of detecting and identifying any type of parameter imbalance in a synchronous motor. The systems and methods described herein are applicable to a variety of synchronous machine configurations (e.g., permanent magnet or wound rotor synchronous motors, non-salient pole or salient pole motors, multi-phase motors, etc.). In addition, the systems and methods described herein can be implemented by a processor to correct current harmonics caused by parameter imbalance in real time while the synchronous motor is being operated.

[0024] Figure 1 Generally, a synchronous motor drive system 100 with feedback compensation for current harmonics caused by parameter imbalance according to the principles of the present disclosure is shown. The system 100 may include a current command generator 112, a current regulator 114, a parameter imbalance compensation controller 120 (e.g., which may be referred to as controller 120), a pulse width modulator 106, an inverter 104, an alternating current (AC) motor 102, a current sensor 110, a current estimator 118, a position estimator 116, and a position sensor 108.

[0025] In some embodiments, the current regulator 114, the pulse width modulator 106, the inverter 104, the motor 102, the current sensor 110, and the current estimator 118 form a closed-loop current control system. The depicted system 100 also includes another closed loop within the current control system. For example, the current regulator 114, the controller 120, the current sensor 110, and the current estimator 118 form a closed-loop current harmonic compensation system. It should be noted that fewer or more components may be included in the system 100 to perform the techniques disclosed herein as needed, and the depicted components are for illustrative purposes.

[0026] In some embodiments, the closed-loop current harmonic compensation system can function as follows. The current regulator 114 receives a command or reference current and outputs a corresponding output voltage command signal. The controller 120 receives the output voltage signal. The position sensor 108 can be configured to sense the position of the motor 102. The position sensor 108 can communicate the sensed position to the position estimator 116. The position estimator 116 can estimate one or more positions of the motor 102 based on the position sensed by the position sensor 108.

[0027] With the foregoing description, additional details and operation of the system 100 will now be discussed. The motor 102 can generate a rotational force or a linear force for providing assistance to a machine, such as those described herein. The motor 102 can include a constant speed motor or other suitable motor. The system 100 can selectively control the electrical energy provided to the motor 102. The system 100 can provide electrical energy to the motor 102 in varying amounts and varying frequencies, thereby indirectly controlling the speed and torque of the motor 102.

[0028] The current sensor 110 may include any suitable current sensor configured to sense or measure current in a circuit. The current sensor 110 may provide a signal indicating the current to the current estimator 118. The current sensor 110 may be configured to receive the signal indicating the current and measure the amount of current output by the motor 102 (e.g., based on the current indicated by the signal). The current estimator 118 may be configured to either transmit the stationary frame current of the motor 102 or convert the measured current to a synchronous reference frame using a position estimate from the position estimator 116 of the motor 102.

[0029] The current command generator 112 may receive a torque command The current command generator 112 may generate a commanded current based on the torque command The current command can be composed of the direct axis (d axis) current component and the orthogonal axis (q axis) current component The current regulator 114 can receive the commanded current and output a voltage command signal The voltage command can be composed of the d-axis component and the q-axis component The pulse width modulator 106 can control the ratio of the time that the output voltage signal is high compared to the time that it is low within a constant time period, which can control the direction of the motor 102. The inverter 104 can include a voltage source inverter or other suitable inverter, and can be configured to change the frequency of the supply power provided to the motor 102 to control the speed of the motor 102. The motor 102 can receive the output voltage signal V abc (For example, it may include V a 、V b and V c ) as input. The motor 102 can use the input to generate a certain amount of current I abc (For example, it may include I a ,I b and I c ) as output, which current can be equal to the commanded current or different from the commanded current (for example, when current harmonics are present).

[0030] The current I output from the motor 102 abc The current estimator 118 may receive the measured current and determine an estimated current. The current estimator 118 estimates the current The output is to the current regulator 114. Thus, as depicted, the system 100 uses a closed loop. However, as discussed, in some cases, due to circuit degradation, drift, etc., the measured current may be incorrect.

[0031] The current regulator 114 may receive the estimated current and compare it to the commanded current. If there is any change, the current regulator 114 may deliver a current that will cause the estimated With the command current Tightly matched output voltage command signals Thus, due to the command current is constant (or slowly varying), and the estimated current Equal to the commanded current So the estimated current When current harmonics exist in the current measurement system, the current regulator 114 can output the voltage command signal The pulsating component is included.

[0032] The controller 120 reads the output current signal from the current estimator 118. The controller 120 may include a reference coordinate system transformation 202, a feedback compensator 204, and an inverse reference coordinate system transformation 206. As will be described, the controller 120 may use a mathematical model to extract characteristics of current harmonics in the output current signal. The controller 120 may identify the characteristics of the current harmonics as a pulsation frequency of a second electrical order in the output current signal.

[0033] In some embodiments, the controller 120 can use an adaptive bandpass filter to extract the pulsation component. The adaptive bandpass filter can be configured to perform pre-filtering in a synchronous frame before transformation, or use an adaptive low-pass filter in a pseudo-stationary framed that is adjusted (adaptively) according to a pulsation frequency equal to twice the synchronous frequency (i.e., of the second electrical order). In some embodiments, the controller 120 can perform direct sinusoidal error extraction on the output current signal.

[0034] In some embodiments, the controller 120 may perform demodulation to convert the sinusoidal portion of the output current signal into a DC signal and then perform low pass filtering.

[0035] As will be described, the reference frame transform 202 can receive the signature and generate a base current harmonic correction using an adaptive resonator for a sinusoidal signature or using a conventional integrator for a DC signature. Figure 2A and 2B As shown, the reference coordinate system transformation 202 receives the estimated position from the position estimator 116 and the estimated d / q current ΔI d and ΔI q The reference coordinate system transformation 202 may utilize an electrical position that is related to the estimate The reference coordinate system transformation will estimate the d / q current ΔI d and ΔI q Transformed into a synchronous reference frame, the estimated electrical position Can be limited to:

[0036]

[0037] The feedback compensator may receive the transformed current (eg, ΔI u and ΔI v ). The feedback compensator 204 can compensate the current harmonics using the transformed current according to:

[0038]

[0039] in, represents the discrete time implementation of the derivative operator. The feedback compensator 204 can convert the compensated voltage value ( and ) is output to the inverse reference coordinate system transformation 206. The inverse reference coordinate system transformation 206 may also receive the estimated position The inverse reference coordinate system transformation 206 may transform the voltage value into an inverse synchronous reference coordinate system according to:

[0040]

[0041] The inverse reference coordinate system transformation 206 converts the reference coordinate system values and The outputs are respectively sent to the adding module 122A and the adding module 122B. The adding module 122A combines and And output Addition module 122B combination and And output

[0042] Figure 3 A controller system 300 according to the principles of the present disclosure is generally shown. The controller system 300 includes a parameter imbalance feedback compensation controller 120 communicatively coupled to a memory 302. The parameter imbalance feedback compensation controller 120 may include a processor. The processor may include any suitable processor, such as those described herein. The memory 302 may include a single disk or multiple disks (e.g., a hard disk drive), and includes a storage management module that manages one or more partitions in the memory 302. In some embodiments, the memory 302 may include flash memory, semiconductor (solid-state) memory, etc. The memory 302 may include a random access memory (RAM), a read-only memory (ROM), or a combination thereof. The memory 302 may include instructions that, when executed by the processor, cause the processor to perform at least the techniques disclosed herein.

[0043] In some embodiments, the controller 120 can be configured to perform closed-loop compensation for current harmonics caused by parameter imbalance. For example, the controller 120 can receive and read the output current signal. The current estimator 118 can generate the output current signal and communicate the signal to the controller 120. The output voltage signal corresponding to the output current signal can include a constant portion with a negligible sinusoidal portion, and the output current signal can include a constant portion and a sinusoidal portion.

[0044] The controller 120 may determine whether the output current signal includes a constant portion and a sinusoidal portion. If the controller 120 determines that the output current signal includes only a constant portion, there may be no parameter imbalance because the sinusoidal portion of the output current signal represents current harmonics that are characteristic of parameter imbalance in a synchronous motor.

[0045] In contrast, if the controller 120 determines that the output current signal includes a constant portion and a sinusoidal portion, the controller 120 extracts the sinusoidal portion as a feature of parameter imbalance. The controller 120 may determine that the synchronous motor drive 100 has parameter imbalance based on the extracted feature of parameter imbalance.

[0046] The controller 120 can compensate for the current harmonics caused by the parameter imbalance based on the feature. For example, the controller 120 can use the feedback path to compensate for the current harmonics caused by the parameter imbalance in a closed loop. As the synchronous motor drive 100 operates the synchronous motor 102, the controller 120 can compensate for the parameter imbalance in real time (e.g., in less than 2 seconds).

[0047] In some embodiments, the controller 120 may be configured to generate a correction term that compensates for the current harmonics. The controller 120 may apply the correction term to the estimated current to output the compensated estimated current to the current regulator 114. The controller 120 may verify that a subsequent output voltage command signal received from the current regulator 114 via the feedback path does not include current harmonics. In some embodiments, the controller 120 uses the feedback path in a closed loop to compensate for current harmonics caused by parameter imbalance based on the feature by generating a correction voltage command term.

[0048] The controller 120 may apply the correction voltage command term to the basic voltage command to output a final voltage command to the pulse width modulator 106. The pulse width modulator 106 operates the inverter 104 so that the voltage applied to the synchronous motor 102 causes current harmonics caused by parameter imbalance to be suppressed and / or eliminated from the output current signal.

[0049] In some embodiments, the controller 120 may input the extracted features into an adaptive resonator to output a correction term. The controller 120 may compensate for current harmonics in the synchronous reference frame by transforming the correction term and adding it to the estimated synchronous frame current.

[0050] In some embodiments, the controller 120 may extract the characteristic of the parameter imbalance from the output current signal by converting the characteristic to a DC signal. The controller 120 may compensate for the current harmonics based on the characteristic by converting the DC signal to a conventional integrator to output a DC correction term. In some embodiments, the instructions further cause the processor to apply the DC correction term to the current estimated in the synchronous reference frame to compensate for the current harmonics directly in the synchronous reference frame.

[0051] In some embodiments, the system 300 can perform the methods described herein. However, the methods described herein as being performed by the system 300 are not meant to be limiting, and any type of software executed on a controller can perform the methods described herein without departing from the scope of the present disclosure. For example, a controller such as a processor executing software within a computing device can perform the methods described herein.

[0052] Figure 4 4 is a flow chart generally illustrating a method 400 for closed-loop compensation of current harmonics caused by parameter imbalance in a synchronous motor drive according to the principles of the present disclosure. At 402, the method 400 reads an output current signal. For example, the controller 120 reads the output current signal. The current estimator 118 may generate the output current signal.

[0053] At 404, the method 400 extracts a characteristic of the parameter imbalance from the output current signal. For example, the controller 120 extracts the characteristic of the parameter imbalance from the output current signal. The controller 120 can determine that the synchronous motor drive 100 has a parameter imbalance based on the extracted characteristic.

[0054] In some embodiments, the output voltage signal may include only a constant portion, while the sinusoidal portion may be negligible, and in some embodiments, the output current signal may include a constant portion and a sinusoidal portion. If the output current signal includes only a constant portion, there may be no parameter imbalance, because the sinusoidal portion of the output current signal represents current harmonics, which represent the characteristics of parameter imbalance in the synchronous motor. Therefore, when the output current signal includes a constant portion and a sinusoidal portion, the sinusoidal portion is extracted as a characteristic of parameter imbalance.

[0055] At 406, the method 400 uses a feedback path to compensate for current harmonics caused by parameter imbalance based on the feature in a closed loop. For example, the controller 120 uses a feedback path to compensate for current harmonics caused by parameter imbalance based on the feature in a closed loop. In some embodiments, as the synchronous motor drive 100 operates the synchronous motor 102, the controller 120 compensates for the parameter imbalance in real time (e.g., in less than 2 seconds). In some embodiments, the controller 120 uses the feedback path to compensate for current harmonics caused by parameter imbalance based on the feature in a closed loop by generating a corrective voltage command term, applying the corrective voltage command term to a base voltage command to output a final voltage command to a pulse width modulator 106. The pulse width modulator 106 operates the inverter 104 so that the voltage applied to the synchronous motor 102 causes current harmonics caused by parameter imbalance to be suppressed and / or eliminated from the output current signal.

[0056] In some embodiments, a system for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive includes a synchronous motor controlled by the synchronous motor drive, a processor, and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: read an output current signal; extract a feature of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal; and compensate for the current harmonics caused by the parameter imbalance based on the feature in a closed loop using a feedback path.

[0057] In some embodiments, the instructions further cause the processor to: generate a correction term to compensate for the current harmonics; apply the correction term to the estimated current to output the compensated estimated current to the current regulator; and verify that a subsequent output voltage command signal received from the current regulator via the feedback path does not include current harmonics. In some embodiments, the compensation for current harmonics is performed in real time as the synchronous motor drive controls the synchronous motor. In some embodiments, the instructions further cause the processor to: extract a sinusoidal component at twice the synchronous frequency from an output voltage command signal corresponding to the output current signal. In some embodiments, the instructions further cause the processor to: input the feature into an adaptive resonator to output the correction term. In some embodiments, the instructions further cause the processor to: compensate for current harmonics in a synchronous reference frame by transforming the correction term and adding it to the estimated synchronous reference frame current. In some embodiments, the instructions further cause the processor to: extract a feature of parameter imbalance from the output current signal by converting the feature to a DC signal. In some embodiments, the instructions further cause the processor to: compensate for current harmonics based on the feature by converting the DC signal to a conventional integrator to output a DC correction term. In some embodiments, the instructions further cause the processor to: apply the DC correction term to the current estimated by the synchronous reference frame to compensate for current harmonics directly in the synchronous reference frame.

[0058] In some embodiments, a method for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive includes reading an output current signal and extracting a characteristic of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal. The method also includes compensating for the current harmonics caused by the parameter imbalance based on the characteristic in a closed loop using a feedback path.

[0059] In some embodiments, the method further includes: generating a correction term to compensate for the current harmonics; applying the correction term to the estimated current to output the compensated estimated current to the current regulator; and verifying that a subsequent output voltage command signal received from the current regulator via the feedback path does not include current harmonics. In some embodiments, the compensation of the current harmonics is performed in real time as the synchronous motor drive controls the synchronous motor. In some embodiments, the method further includes: extracting a sinusoidal component at twice the synchronous frequency from the output voltage command signal corresponding to the output current signal. In some embodiments, the method further includes: inputting the feature into the adaptive resonator to output the correction term. In some embodiments, the method further includes: compensating for the current harmonics in the synchronous reference frame by transforming the correction term and adding it to the estimated synchronous reference frame current. In some embodiments, the method further includes: extracting a feature of parameter imbalance from the output current signal by transforming, the method further includes: compensating for the current harmonics based on the feature by converting the DC signal to a conventional integrator to output the DC correction term. In some embodiments, the method further includes: applying the DC correction term to the current estimated in the synchronous reference frame to compensate for the current harmonics directly in the synchronous reference frame.

[0060] In some embodiments, a system for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive includes a processor and a memory. The method includes instructions that, when executed by the processor, cause the processor to: read an output current signal; extract a feature of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal; compensate for current harmonics caused by parameter imbalance based on the feature in a closed loop using a feedback path by generating a correction voltage command item; and apply the correction voltage command item to a basic voltage command to output a final voltage command to a pulse width modulator of an inverter operating the synchronous motor drive.

[0061] In some embodiments, compensating for current harmonics is performed in real time as the synchronous motor drive controls the synchronous motor.

[0062] The above discussion is intended to illustrate the principles and various embodiments of the present invention. Once the above disclosure is fully understood, many changes and modifications will become apparent to those skilled in the art. It is intended that the claims be interpreted to include all such changes and modifications.

[0063] The word "example" is used herein to mean used as an example, instance or illustration. Any aspect or design described as an "example" herein is not necessarily to be interpreted as being more preferred or advantageous than other aspects or designs. On the contrary, the use of the word "example" is intended to present the concept in a specific way. As used in this application, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clearly seen from the context, "X includes A or B" is intended to represent any natural inclusive arrangement. That is, if X includes A; X includes B; or X includes both A and B, then "X includes A or B" is satisfied in any of the foregoing cases. In addition, the article "a / an" used in this application and the claims should generally be interpreted as meaning "one or more", unless otherwise specified or clearly pointed to the singular form from the context. In addition, unless so described, the use of the term "embodiment" or "one embodiment" throughout the text is not intended to represent the same embodiment or embodiment.

[0064] The implementation of the systems, algorithms, methods, instructions, etc. described herein may be implemented in hardware, software, or any combination thereof. The hardware may include, for example, a computer, an intellectual property (IP) core, an application specific integrated circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuit. In the claims, the term "processor" shall be understood to include any of the foregoing hardware, alone or in combination. The terms "signal" and "data" are used interchangeably.

[0065] As used herein, the term module may include a packaged functional hardware unit designed for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), a processing circuit configured to perform a specific function, and a self-contained hardware or software component that interfaces with a larger system. For example, a module may include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gates, and other types of hardware, or a combination thereof. In other embodiments, a module may include a memory that stores instructions executable by a controller to implement the features of the module.

[0066] Furthermore, in one aspect, for example, the systems described herein may be implemented using a general purpose computer or general purpose processor with a computer program that, when executed, performs any corresponding method, algorithm, and / or instruction described herein. Additionally or alternatively, for example, a special purpose computer / processor may be utilized that may include other hardware for performing any method, algorithm, or instruction described herein.

[0067] In addition, all or part of the implementation of the present disclosure may take the form of a computer program product accessible from, for example, a computer usable or computer readable medium. A computer usable or computer readable medium may be, for example, any device that can tangibly contain, store, communicate, or transport a program for use by or in conjunction with any processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic device, or a semiconductor device. Other suitable media may also be used.

[0068] The above embodiments, implementations and aspects have been described to allow easy understanding of the invention and not to limit the invention. On the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope should be given the broadest interpretation to cover all such modifications and equivalent structures permitted by law.

Claims

1. A system for compensating current harmonics caused by parameter imbalance in a synchronous motor drive, the system comprising: a synchronous motor controlled by the synchronous motor driver; processor; as well as a memory comprising instructions which, when executed by the processor, cause the processor to: Read the output current signal; extracting characteristics of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal; and compensating the current harmonics caused by parameter imbalance based on the characteristics in a closed loop using a feedback path, The instructions further cause the processor to: extracting a characteristic of the parametric imbalance from the output current signal by converting the characteristic into a direct current signal; compensating for the current harmonics based on the characteristic by converting the DC signal to a conventional integrator to output a DC correction term; as well as The DC correction term is applied to the current estimated in the synchronous reference frame to directly compensate for the current harmonics in the synchronous reference frame.

2. The system according to claim 1, wherein: The instructions further cause the processor to: generating correction terms to compensate for the current harmonics; applying the correction term to the estimated current to output a compensated estimated current to the current regulator; as well as Verifying that a subsequent output voltage command signal received from the current regulator via the feedback path does not include the current harmonics.

3. The system according to claim 1, wherein: As the synchronous motor drive controls the synchronous motor, compensating for the current harmonics occurs in real time.

4. The system according to claim 1, wherein: The instructions further cause the processor to extract a sinusoidal component at twice a synchronous frequency from an output voltage command signal corresponding to the output current signal.

5. The system according to claim 4, wherein: The instructions further cause the processor to: input the characteristic into an adaptive resonator to output a correction term.

6. The system according to claim 5, wherein: The instructions further cause the processor to compensate for the current harmonics in a synchronous reference frame by transforming and adding the correction term to the estimated synchronous frame current.

7. A method for compensating current harmonics caused by parameter imbalance in a synchronous motor drive, the method comprising: Read the output current signal; extracting a characteristic of a parameter imbalance corresponding to the synchronous motor drive based on the output current signal; as well as compensating the current harmonics caused by parameter imbalance based on the characteristics in a closed loop using a feedback path, Wherein, the method further comprises: extracting a characteristic of the parametric imbalance from the output current signal by converting the characteristic into a direct current signal; compensating for the current harmonics based on the characteristic by converting the DC signal to a conventional integrator to output a DC correction term; and The DC correction term is applied to the current estimated in the synchronous reference frame to directly compensate for the current harmonics in the synchronous reference frame.

8. The method according to claim 7, further comprising: generating correction terms to compensate for the current harmonics; applying the correction term to the estimated current to output a compensated estimated current to the current regulator; as well as Verifying that a subsequent output voltage command signal received from the current regulator via the feedback path does not include the current harmonics.

9. The method according to claim 7, wherein: As the synchronous motor drive controls the synchronous motor, compensation of the current harmonics occurs in real time.

10. The method according to claim 7, further comprising: A sinusoidal component is extracted at twice the synchronous frequency from an output voltage command signal corresponding to the output current signal.

11. The method according to claim 10, further comprising: The feature is input into an adaptive resonator to output a correction term.

12. The method according to claim 11, further comprising: The current harmonics are compensated in a synchronous reference frame by transforming and adding the correction term to the estimated synchronous frame current.

13. A system for compensating for current harmonics caused by parameter imbalance in a synchronous motor drive, the system comprising: processor; as well as a memory comprising instructions which, when executed by the processor, cause the processor to: Read the output current signal; extracting characteristics of parameter imbalance corresponding to the synchronous motor drive based on the output current signal; compensating for the current harmonics caused by parameter imbalance based on the characteristics in a closed loop using a feedback path by generating a correction voltage command term; as well as applying the correction voltage command item to a basic voltage command to output a final voltage command to a pulse width modulator of an inverter operating the synchronous motor drive, The instructions further cause the processor to: extracting a characteristic of the parametric imbalance from the output current signal by converting the characteristic into a direct current signal; compensating for the current harmonics based on the characteristic by converting the DC signal to a conventional integrator to output a DC correction term; as well as The DC correction term is applied to the current estimated in the synchronous reference frame to directly compensate for the current harmonics in the synchronous reference frame.

14. The system according to claim 13, wherein: As the synchronous motor drive controls the synchronous motor, compensation of the current harmonics occurs in real time.

Images