Method and apparatus for controlling an electric motor

Abstract

A system for controlling an electric motor includes a controller module including a controller portion, a regulator portion, and an integrator portion. The regulator portion includes a sequence of communicatively coupled regulator modules. Each regulator module is configured to receive a respective input signal indicative of a target value or a selected value from the controller portion or an immediately preceding regulator module in the sequence, determine respective selectable values, select one of the respective selectable values and the value indicated by the received input signal, and provide the selected value as an output signal to a next regulator module in the sequence or to the integrator module. The integrator module is configured to receive the output signal from the last regulator module in the sequence, calculate a final demand value based on the received signal, and provide an output signal indicative of the final demand value.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to U.S. nonprovisional patent application No. 17 / 375,234, filed July 14, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a control device and method for controlling an electric motor, and more specifically, to controlling the output of an inverter-driven electric motor. Background Technology

[0004] Traditional power systems manage the power supplied from power sources (such as electric motors and generators) to electrical loads. In a non-limiting example of an aircraft, a gas turbine engine is used to propel the aircraft and typically provides mechanical power that ultimately powers many different accessories, such as generators, starters / generators, electric motors, permanent magnet alternators (PMAs), fuel pumps, and hydraulic pumps—for example, devices used for desired functions on the aircraft rather than propulsion. Modern aircraft, for instance, require power to supply avionics, electric motors, and other electrical equipment. Generators coupled to the gas turbine engine convert the engine's mechanical power into electrical energy, which is distributed throughout the aircraft via electrical connection nodes in the power distribution system.

[0005] An inverter (sometimes called a variable frequency drive (VFD) or adjustable speed drive) is an electronic device that converts DC (direct current) to AC (alternating current). Traditional inverters are increasingly used to control the speed or torque output of motors and generators. Traditional inverters provide an adjustable output signal to the motor, allowing for precise control of the motor's speed or torque. Attached Figure Description

[0006] The complete and effective disclosure of this specification, including its best mode, is set forth in the description with reference to the accompanying drawings, for those skilled in the art, wherein:

[0007] Figure 1 A schematic diagram of an electric motor control system according to various aspects described herein is shown;

[0008] Figure 2 This is a schematic diagram of the regulator module based on the various aspects described in this article;

[0009] Figure 3 This is a flowchart of a method for controlling an electric motor based on the various aspects described in this article. Detailed Implementation

[0010] The aspects of this disclosure can be implemented in any environment, device, system, or circuit method, regardless of the function performed by the circuit.

[0011] As used herein, the term "group" or a "set" of elements can refer to any number of elements, including a single element. Furthermore, while terms such as "voltage," "current," and "power" may be used herein, it will be apparent to those skilled in the art that these terms can be associated with each other in describing aspects of a circuit or its operation.

[0012] Unless otherwise stated, connection references (e.g., attachments, couplings, connections, and joints) are to be interpreted broadly and may include intermediate components between sets of components and relative movement between components. Therefore, a connection reference does not necessarily imply that two components are directly connected and have a fixed relationship with each other. In a non-limiting example, connections or disconnections can be selectively constructed to provide, enable, disable, etc., electrical connections between corresponding components. Non-limiting example: A power distribution bus connection or disconnection can be enabled or operated by a switch, bus connection logic, or any other connector configured to enable or disable the energization of electrical loads applied to the bus. Furthermore, as used herein, "electrical connection" or "electrical coupling" can include wired or wireless connections. Exemplary drawings are for illustrative purposes only, and the dimensions, positions, orders, and relative sizes reflected in the accompanying drawings may vary.

[0013] As used herein, a “controller” (e.g., a “controller module,” “regulator module,” “integrator module”) may include components configured or adapted to provide instructions, control, operation, or any form of communication for operating components to influence their operation. Such a controller or module may include any known processor, microcontroller, or logic device, including but not limited to: field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), application-specific integrated circuits (ASICs), full-authority digital engine control (FADECs), proportional controllers (P), proportional-integral controllers (PI), proportional-derivative controllers (PD), proportional-integral-derivative controllers (PID), hardware-accelerated logic controllers (e.g., for encoding, decoding, transcoding, etc.), and combinations thereof. Although described herein as including individual elements, in a non-limiting respect, such controllers and modules may be incorporated into one or more devices, including general-purpose devices (e.g., a single processor or microcontroller). Non-limiting examples of such controllers or modules may be configured or adapted to run, operate, or otherwise execute program code to achieve operational or functional results, including performing various methods, functions, processing tasks, calculations, comparisons, sensing, or measurement values, etc., to enable or implement the technical operations or actions described herein. The result of an operation or function may be based on one or more inputs, stored data values, sensed or measured values, true or false indications, etc. While "program code" is described, non-limiting examples of an operable or executable set of instructions may include routines, programs, objects, components, data structures, algorithms, etc., that have the technical effect of performing a particular task or implementing a particular abstract data type. In another non-limiting example, a controller module, regulator module, or integrator module may also include processor-accessible data storage components, including memory, whether transient memory, volatile or non-transient memory, or non-volatile memory. Additional non-limiting examples of memory may include random access memory (RAM), read-only memory (ROM), flash memory, or one or more different types of portable electronic memory, such as discs, DVDs, CD-ROMs, flash drives, universal serial bus (USB) drives, etc., or any suitable combination of these types of memory. In one example, program code may be stored in memory in a machine-readable format accessible to the processor. Furthermore, as described herein, memory may store various types of data, sensed or measured data values, inputs, generated or processed data, etc., accessible to the processor when providing instructions, control, or operations to affect the function or operable result.

[0014] The exemplary drawings are for illustrative purposes only, and the dimensions, positions, order, and relative sizes reflected in the accompanying drawings may vary. Furthermore, the number and placement of the various components depicted in the figures are also non-limiting examples of aspects relating to this disclosure. For instance, although various components have been shown with their relative positions, etc., aspects of this disclosure are not so limited, and the components are not so limited based on their schematic description.

[0015] Electric motors (such as electric motors or generators) are used for energy conversion. In the aircraft industry, the use of electric motors and generators is common in a variety of critical applications. For example, in some aircraft with gas turbine engines, an electric motor can be used to power a turbocompressor. In other cases, an electric motor can combine electric motor and generator modes in the same unit, where the motor in electric motor mode is used to start the engine and, depending on the mode, it also functions as a generator. Regardless of the mode, an electric motor typically consists of a rotor and a stator, with the stator having windings that are driven to rotate the rotor. For some aircraft, the electric motor may include a gas turbine engine. In some cases, the electric motor is physically capable of generating or inputting more power than expected or required. In these cases, the electric motor may employ control mechanisms or schemes to prevent excessive power from being delivered to or drawn from the turbocompressor or downstream load.

[0016] Traditional motor control devices and variable frequency drives utilize various control schemes to control the operation of AC motors. For example, a traditional proportional-integral-derivative (PID) controller employs a control loop mechanism to continuously calculate the error value as the difference between the desired setpoint (SP) and the measured processing variable (PV), and performs correction based on proportional, integral, and derivative terms. However, in some cases, especially when there is a large difference between SP and PV, the correction signal must be adjusted to avoid "overcorrection" or rapid step changes in motor excitation. Therefore, without precise adjustment of the correction signal, particularly when the difference between SP and PV is relatively large, an increase in the current supplied to the motor may exceed a predetermined current limit, or may cause sudden acceleration or speed exceeding predetermined operating constraints, such as motor acceleration, deceleration, torque, or speed limits. Furthermore, these predetermined operating constraints often have predetermined relative priorities, which must be considered when implementing a typical motor control system.

[0017] For example, an aircraft operating during flight may have a conventional motor operating in "motor mode" (e.g., with stator terminals connected to an AC power source, where the rotor rotates in the direction of the stator's rotating magnetic field) to power a turbocompressor. When operating at points where the pilot requires constant thrust, conventional controls may be configured to significantly increase the motor's "motor-driven" torque output level for reasons such as improving efficiency, saving fuel, or other reasons that could ultimately lead to a sharp reduction in engine fuel and potentially cause turbocombustion failure. As another example, an aircraft with conventional controls may provide corrective control signals to a motor operating in "generator mode" to significantly increase its "generator" torque output level, which could result in unstable engine operating cycles and consequently, irreversible engine surge.

[0018] As disclosed herein, a closed-loop regulation controller is provided that can be implemented in cooperation with an inverter to regulate a correction signal based on a series of regulators, each regulator being configured to adjust the correction signal relative to a corresponding preset parameter. Such an approach allows for simple implementation while enabling prioritization of regulation parameters.

[0019] Figure 1 A schematic configuration of an aspect of a motor control system 20 for controlling the operation of a motor 33, according to a non-limiting aspect of this disclosure, is shown. As shown, system 20 includes an inverter 24 and an electronic control unit 25 including a controller module 51. Controller module 51 may include a memory 52 and a control section or module 57, a regulator section or module 50, and an integrator section or module 53. Motor control system 20 may be coupled to a power source 30 (e.g., a battery or other power storage device) to receive power from there. Motor control system 20 may be communicatively coupled to motor 33, which is operable to provide power thereto generate motor torque. In a non-limiting aspect, motor 33 may be further coupled to a load 36. A set of sensors 55 may be communicatively coupled to electronic control unit 25. The set of sensors 55 may be configured to provide corresponding sensor signals 56 indicating predetermined parameters associated with the operation of motor 33. Electronic control unit 25 may be communicatively coupled to the set of sensors 55 to receive sensor signals 56. The electronic control unit 25 is configured to output control signals 26 to the inverter 24, in part based on the received sensor signals 56 and predetermined or desired performance characteristics of the motor 33. The inverter 24 is configured to control the operation of the motor 33, in part based on the control signals 26 provided by the electronic control unit 25, by controlling the power supplied to the motor 33 to cause the motor 33 to operate according to predetermined motor performance parameters (e.g., output torque or rotor speed).

[0020] The power for operating the motor 33 can be provided by a power source 30 via a first set of power transmission lines 32 (e.g., a DC power bus). In one aspect, the power source 30 may include a first set of power output terminals 34 connected to the inverter 24 via corresponding power transmission lines 32. In a non-limiting aspect, the power source 30 may be, for example, a lithium-ion rechargeable battery or a nickel-metal hydride battery. In other aspects, the power source 30 may include conventional DC power sources, including but not limited to batteries, photovoltaic panels, DC power supplies, any other known DC power sources, or combinations thereof.

[0021] In a non-limiting aspect, inverter 24 may be a DC-AC type inverter to convert DC power from power source 30 into AC power. Inverter 24 may include inverter input 21 configured to receive DC power from power source 30. Inverter 24 may also include inverter output 22 configured to provide AC power to motor 33. Inverter input 23 may be connected to power source 30 via a first set of power transmission lines 32 to receive DC power therefrom. Inverter output 22 may be connected via a second set of power transmission lines 39 (e.g., a set of cables) to a set of motor input terminals 31 of motor 33 to provide AC power thereto, thereby driving motor 33.

[0022] As shown, in a non-limiting aspect, the motor 33 can be constructed as a conventional synchronous alternating current (AC) motor having a rotor and a stator (not shown) operated by electromagnetic induction. In one aspect, the rotor may include a conventional permanent magnet type rotor, and the stator may include a wound stator (e.g., having three-phase coils wound thereon). The stator may be rotatably fixed within the motor housing. The motor 33 may be coupled (e.g., via the rotor) to a drive shaft 35, which in turn is rotatably coupled to a load 36. In such an aspect, AC current for operating the motor 33 may be supplied to the stator at the motor input terminal 31 via a second set of power transmission lines 39.

[0023] For ease of description and explanation, Figure 1 The non-limiting aspects shown depict motor 33 as an AC motor and inverter 24 as a DC-AC inverter. However, it should be understood that other aspects are not limited thereto. For example, in other non-limiting aspects, motor 33 may include a DC motor. In such an aspect, inverter 24 may alternatively include a DC-DC converter operable to convert and generate DC power at a predetermined second voltage received from power source 30 at a first DC voltage (e.g., 24V, 48V or higher) to operate DC motor 33.

[0024] Furthermore, other aspects are not limited to this, and the motor 33 may include any number or type of motor 33 or electric generator. For example, in a non-limiting aspect, the motor 33 may alternatively be configured to function as a generator 33. When the motor 33 operates as a generator, it can receive torque via drive shaft 35 to rotate the rotor, and generate AC output current at motor input terminal 31, which is therefore used as motor output terminal 31, to supply the generated AC power to a second set of power transmission lines 39 (e.g., a set of cables). In such an aspect, the inverter 24 may be arranged as a bidirectional inverter 24, enabling it to receive AC input power at inverter output 22 and generate DC power at inverter input 21 in response to control signals provided by electronic control unit 25. The DC power can be supplied to power source 30 via a first set of power transmission lines 32.

[0025] In addition, Figure 1 In a non-limiting aspect, the electronic control unit 25 is shown as a single integrated controller, but other aspects are not limited to this. For example, in other aspects, controller functions may be distributed among a group of electronic control units 25. In other non-limiting aspects, the electronic control unit 25 may be located in or above any desired location, such as the motor 33, the power supply 30, the inverter 24, or combinations thereof. Figure 1 The aspects shown are merely a non-limiting example of the motor control system 20, and many other possible aspects, constructions, etc., are contemplated in addition to the aspects and constructions shown. It should be understood that, although for ease of understanding... Figure 1 The simple arrangement shown illustrates aspects of this disclosure, depicting a single power source 30 and a single motor 33, but other aspects are not limited thereto, and the disclosure herein has been widely applied to power systems or motor control systems having any number of power sources or motors.

[0026] Inverter 24 is operable to provide AC current (e.g., excitation current) on the second set of power transmission lines 39, which is received by motor 33 at motor input terminal 31. The AC current operates the motor, thereby generating motor torque output. In a non-limiting aspect, inverter 24 may include a set of switching elements (shown as transistors T1 to T6) and a set of diodes (shown as diodes D1 to D6). Each diode D1-D6 is connected in parallel to a corresponding transistor T1-T6. Transistors T1-T6 may be arranged in pairs such that the two transistors in each pair serve as the source and sink, respectively, relative to a corresponding one of the power transmission lines 32.

[0027] In response to control signal 26 from electronic control unit 25, inverter 24 can control the operation of motor 33 by selectively operating the set of switching elements T1-T6 to control the AC current supplied to motor input 31 in response to control signal 26. For example, in a non-limiting aspect, motor 33 may comprise a three-phase AC motor, and corresponding phases of the three phases of motor 33 may be electrically connected to corresponding pairs of transistors T1-T6. Thus, when voltage is supplied to inverter input 21, electronic control unit 25 is configured to adjust or control the on-time rate of corresponding pairs of transistors T1-T6 to supply AC current to motor 33, thereby driving motor 33.

[0028] The electronic control unit 25 may include a controller module 51, such as a microprocessor or microcontroller. The electronic control unit 25 may also include a memory 52. ​​For example, the memory 52 may include a read-only memory (ROM) configured to store processing programs and a random access memory (RAM) configured to temporarily store data. The electronic control unit 25 may include a set of input / output (I / O) ports 54 to receive signals from the inverter 24 and transmit control signals 26 to the inverter 24. Additionally, the set of sensors 55 may be communicatively coupled to the electronic control unit 25 via the set of I / O ports 54. In various aspects, the set of sensors 55 may include any number of conventional sensors 55, which are arranged and configured as needed to measure, detect, or otherwise sense corresponding parameters and provide corresponding sensor signals 56 indicating the corresponding sensed parameters to the electronic control unit 25.

[0029] The electronic control unit 25 may also include a predetermined desired value or a first target value (designated "Tv1") of a first performance characteristic (designated "Pc1") of the electric motor 33. For example, the predetermined first target value Tv1 may be stored in memory 52. ​​In other aspects, the first target value Tv1 may be provided to the electronic control unit 25 as an input, for example, via I / O port 54 from an external source or a user (not shown). In a non-limiting aspect, the first performance characteristic Pc may be the rotational speed of the motor output, where the first target value Tv1 is the target rotor speed of the motor 33 in revolutions per minute (rpm). In other non-limiting aspects, the first performance characteristic Pc1 of the motor 33 may be the output torque of the motor shaft, where the first target value Tv1 is the target torque output (e.g., rotor torque) of the motor 33 in Newton-meters (nm). Other aspects are not limited thereto, and it is conceivable that, without departing from the scope of this disclosure, the first performance characteristic Pc1 may be any desired performance characteristic associated with the operation of the motor 33 having any first target value Tv1. In various aspects, without departing from the scope of this disclosure, the first target value Tv1 may be expressed, for example, in a conventional unit of speed, torque, current, voltage, power, or some other predetermined unit. In some aspects, the first target value Tv1 of the first performance characteristic Pc1 of the motor 33 may vary based on predetermined parameters or conditions. For example, the target value Tv1 of the first performance characteristic Pc1 of the motor 33 may vary based on the state or operating mode (e.g., starting mode, drive mode, etc.) of the motor 33 or the load 36.

[0030] The electronic control unit 25 may also include a predetermined desired value or a second target value (designated "Tv2") of a second performance characteristic (designated "Pc2") of the motor 33. The predetermined second target value Tv2 may be stored in memory 52. ​​Alternatively, the second target value Tv2 may be provided to the electronic control unit 25 as an input, for example, via I / O port 54 from an external source or a user (not shown). In a non-limiting aspect, the second performance characteristic Pc2 may be related to, associated with, or otherwise relating to the first performance characteristic Pc1. It should be understood that the predetermined second target value Tv2 may be related to a first target value TV1 of a particular motor 33 or load 36. For example, it may be known that a particular motor 33 driving a particular load 36 exhibits a desired motor speed when a predetermined target AC phase current is supplied to the motor 33. In such a non-limiting aspect, the first performance characteristic Pc1 can be the rotational speed output of the motor 33, where the first target value Tv1 can be a predetermined rotor speed in rpm, and the second performance characteristic Pc2 can be the corresponding phase current of the motor 33, where the second target value Tv2 can be a predetermined AC phase current supplied to the motor 33 in amperes (A). In another non-limiting example, it can be known that a particular motor 33 exhibits a desired motor speed at a particular torque output of the motor 33. In such a non-limiting aspect, the first performance characteristic Pc1 can be the rotational speed output of the motor 33, where the first target value Tv1 can be a predetermined rotor speed in rpm, and the second performance characteristic Pc2 can be a predetermined output torque of the motor 33, where the second target value Tv2 is a predetermined motor torque in nm. It should be understood that these examples are not intended to be limiting in any way, and in other respects, without departing from the scope of the disclosure herein, the first performance characteristic Pc1 and the second performance characteristic Pc2 can include any desired related performance characteristics associated with the operation of the motor 33 having any desired first and second target values ​​Tv1, Tv2.

[0031] The controller module 51 may be further configured to calculate or determine an error value (designated "Ev"). In a non-limiting aspect, Ev may be recorded (e.g., saved to memory 52). For example, the controller module 51 may determine the error value Ev based on a comparison between a first target value Tv1 and a measured value (designated "Mv"). The measured value Mv may be indicated, derived, or otherwise provided by one or more sensor signals 56. In a non-limiting aspect, the measured value Mv may be recorded (e.g., saved to memory 52). In various respects, without departing from the scope of this disclosure, the measured value Mv may be expressed, for example, in a conventional unit of one of speed, torque, current, voltage, power, or some other predetermined unit.

[0032] The electronic control unit 25 can receive sensor signals 56, which include information indicating predetermined parameters associated with the operation of the motor 33 or the motor control system 20, or both. For example, sensor signal 56 may provide information indicating a first target value Tv1 or a second target value Tv2, or both. In a non-limiting aspect, the corresponding sensor signals 56 provided from the set of sensors 55 may include, but are not limited to, information indicating: phase current from a set of current sensors 55 arranged to detect phase current of a corresponding phase of the motor 33; rotational position of the rotor of the motor 33 from a rotational position detection sensor (e.g., a resolver) 55; motor speed (e.g., the rotational speed of the rotor of the motor 33) from a speed sensor 55; motor torque output of the motor 33 from a torque sensor 55; voltage of the power supply 30 from a voltage sensor 55 placed between the terminals of the power supply 30; current of the power supply 30 from a current sensor 55 mounted to the output terminal of the power supply; inverter input voltage from a voltage sensor 55; or motor temperature from a temperature sensor 55 coupled to the motor 33, and combinations thereof. It should be understood that the above list of sensors 55 is given by way of example, and other aspects are not limited thereto. In various other aspects, without departing from the scope of the disclosure herein, any number of sensors 55 may be arranged and configured to provide the electronic control unit 25 with corresponding sensor signals 56 indicating any desired parameters.

[0033] In a non-limiting aspect, controller module 51 may be configured to calculate or determine an error value Ev based on a comparison of a first target value Tv with a corresponding measured value Mv of the first performance characteristic Pc1. Therefore, the error value Ev may indicate the difference between the corresponding first target value Tv1 and the measured value Mv of the first performance characteristic Pc1. Controller module 51 may be further configured to determine an initial or first required value (designated "Dv1") corresponding to the second performance characteristic Pc2 based on the determined error value Ev.

[0034] In a non-limiting aspect, controller module 51 may determine the first demand value Dv1 using a predetermined transfer function, algorithm, lookup table, or other methods configured to derive or determine the first demand value Dv1. For example, the predetermined transfer function may be based on the relationship between a specific error value Ev and a second performance characteristic Pc2 of a specific motor 33. For example, in a non-limiting aspect, the first demand value Dv1 may include "incremental torque," which is the difference between the desired torque output of motor 33 and the measured torque output of motor 33. The difference or incremental torque may represent the "error" between the measured value Mv of the torque output of reference motor 33 and the desired value. Controller module 51 may be further configured to provide an error signal 371 to regulator section 50, indicating the first demand value Dv1 as incremental torque. In other non-limiting aspects, the first demand value Dv1 may include "incremental current," which is the difference between the desired input current supplied to motor 33 and the measured current input to motor 33. The difference or incremental current may represent the "error" between the measured value and the desired value of the input current of reference motor 33. The controller module 51 may be further configured to provide an error signal 371 to the regulator section 50, the error signal 371 indicating a first demand value Dv1 as an incremental current. Other aspects are not limited thereto, and the first demand value Dv1 may include the difference between any measured and desired value of any predetermined parameter associated with the operation of the motor 33. Regardless of the predetermined parameter, the controller module 51 may also be configured to provide the regulator section 50 with the error signal 371 indicating the first demand value Dv1.

[0035] refer to Figure 2 It shows more details Figure 1Non-limiting aspects of the regulator section 350 of the electronic control unit 25. The regulator section 350 includes a set of regulator modules 360 communicatively connected in sequence. The regulator section 350 can receive an error signal 371 indicating a first demand value Dv1 from the controller module 51 as a first regulator input signal 371, and based on the first demand value Dv1, provide an integrator output signal 392 indicating a final demand value (designated "Dv5") to the control section 57 of the controller module 51. As shown, the set of regulator modules 360 may include a first regulator module 361, a second regulator module 362, and a third regulator module 363. Each regulator module 361, 362, 363 may include a corresponding memory 381, 382, ​​383 configured to store corresponding selectable values ​​384, 385, 386. For example, the first regulator module 361 may include a first memory 381 configured to store a first selectable value 384, the second regulator module 362 may include a second memory 382 configured to store a second selectable value 385, and the third regulator module 363 may include a third memory 383 configured to store a third selectable value 386. The selectable value 384 may be a predetermined discrete value. In a non-limiting aspect, the respective selectable values ​​384, 385, and 386 may vary based on the operating mode or state of the motor 33 or the load 36. In other non-limiting aspects, the respective selectable values ​​384, 385, and 386 may vary based on a predetermined rule for any desired set of values. For example, in a non-limiting aspect, controller module 51 may calculate corresponding selectable values ​​384, 385, 386 for each regulator module 361, 362, 363 based on the operating mode or state of motor 33 or load 36 and a set of predetermined rules, and save each corresponding selectable value 384, 385, 386 to corresponding memories 382, ​​383, 384. Regulator section 350 may also include integrator module 390, which is communicatively connected to the last regulator module 363 in the sequence to receive integrator input signal 391 from it. Integrator module 390 may include integrator module memory 393.

[0036] Each regulator module 361, 362, 363 is configured to receive a corresponding input signal and provide a corresponding output signal. As shown, the first regulator module 361 receives a first regulator input signal 371 and provides a first regulator output signal 374; the second regulator module 362 receives a second regulator input signal 372 and provides a second regulator output signal 375; and the third regulator module 363 receives a third regulator input signal 373 and provides a third regulator output signal 376. It should be understood that, as shown, the first regulator output signal 371 can be received by the second regulator module 362 as a second regulator input signal 372; the second regulator output signal 375 can be received by the third regulator module 363 as a third regulator input signal 373; and the third regulator output signal 376 can be received by the integrator module 390 as an integrator input signal 391. Each corresponding input signal 371, 372, 373, 391 can indicate a corresponding demand value (e.g., the change or adjustment value of the motor 33 torque output relative to a determined or measured motor 33 torque output). As shown in the figure, the first regulator input signal 371 indicates the first demand value Dv1, the second regulator input signal 372 indicates the second demand value (designated as "Dv2"), the third regulator input signal 373 indicates the third demand value (designated as "Dv3"), and the integrator input signal 391 indicates the fourth demand value (designated as "Dv4").

[0037] Each regulator module 361, 362, 363 can be configured to selectively change, adjust, modify, or otherwise regulate the demand values ​​Dv1, Dv2, Dv3 indicated by corresponding input signals 371, 372, 373 based on a set of corresponding predetermined rules or parameters, and provide corresponding output signals 374, 375, 376 indicating the selectively modified or regulated demand values ​​Dv2, Dv3, Dv4. For example, the first regulator module 361 in the sequence can be communicatively connected to the electronic control module 51 to receive signal 371 (i.e., indicating the first demand value Dv1) as a corresponding input signal 371. The first regulator module 361 can selectively regulate the first demand value Dv1 based on a set of corresponding predetermined rules or parameters and provide a first regulator output signal 374 indicating a second demand value Dv2. The first regulator output signal 374 can be received by the next adjacent regulator module in the sequence (i.e., the second regulator module 362) as a second regulator input signal 372. The second regulator module 362 can adjust the second demand value Dv2 based on a set of corresponding predetermined rules and provide a second regulator output signal 375 indicating a third demand value Dv3. The second regulator output signal 375 can be received by the next adjacent regulator module in the sequence (i.e., the third regulator module 363) as a third regulator input signal 373. The last regulator module in the sequence (i.e., the third regulator module 363) can adjust the third demand value Dv3 based on a set of corresponding predetermined rules and provide a third regulator output signal 376 indicating a fourth demand value Dv4. The third regulator output signal 376 provided by the third regulator module 363 (i.e., the last regulator module in the sequence) can be received by the integrator module 390 as an integrator input signal 391.

[0038] In a non-limiting aspect, the corresponding predetermined rules may include corresponding predetermined criteria for satisfying the operation of the motor 33. For example, in a non-limiting aspect, the corresponding predetermined criteria may include any one of the maximum acceleration, maximum deceleration limit, maximum speed, minimum speed, maximum current, maximum output torque, or minimum output torque of the motor 33, or may be any other desired parameter.

[0039] Additionally, for each of the regulator modules 361, 362, and 363, adjusting the corresponding demand values ​​Dv1, Dv2, and Dv3 based on a predetermined set of corresponding rules or parameters may include one of the following: selectively increasing the corresponding demand values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373; selectively decreasing the corresponding demand values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373; and selectively not changing or modifying the corresponding demand values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373. For example, specific regulator modules 361, 362, and 363 can be configured to selectively increase the required values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373 based on corresponding predetermined rules, but without decreasing the required values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373. Alternatively, another specific regulator module 361, 362, and 363 can be configured to selectively decrease the required values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373 based on corresponding predetermined rules, but without increasing the required values ​​Dv1, Dv2, and Dv3 of the received corresponding input signals 371, 372, and 373.

[0040] More specifically, in some aspects, each regulator module 361, 362, 363 can be configured to compare the corresponding demand values ​​Dv1, Dv2, Dv3, Dv4 (i.e., as indicated by the corresponding input signals 371, 372, 373) with the corresponding optional values ​​384, 385, 386. Based on this comparison, each regulator module 361, 362, 363 can be further configured to select the larger or smaller of the demand values ​​Dv1, Dv2, Dv3 and the corresponding optional values ​​384, 385, 386. That is, for the comparison between the demand values ​​Dv1, Dv2, Dv3 and the corresponding optional values ​​384, 385, 386, each regulator module 361, 362, 363 can be configured as a maximum value selection regulator or a minimum value selection regulator. For example, specific regulator modules 361, 362, and 363 configured as maximum value selection regulator modules 361, 362, and 363 can select the larger of the demand values ​​Dv1, Dv2, and Dv3 and the corresponding optional values ​​384, 385, and 386. Similarly, specific regulator modules 361, 362, and 363 configured as minimum value selection regulator modules 361, 362, and 363 can select the smaller of the demand values ​​Dv1, Dv2, and Dv3 and the corresponding optional values ​​384, 385, and 386.

[0041] In a non-limiting aspect, each regulator module 361, 362, 363 may be further configured to provide corresponding output signals 374, 375, 376 indicating the corresponding selected maximum or minimum value, as corresponding demand values ​​Dv2, Dv3, Dv4. That is, each regulator module 361, 362, 363 may be configured to selectively modify or adjust the corresponding received demand values ​​Dv1, Dv2, Dv3 (as indicated by the corresponding input signals 371, 372, 373) according to the corresponding selected maximum or minimum value. Then, each regulator module 361, 362, 363 can provide corresponding output signals 374, 375, 376 indicating the modified or adjusted demand values ​​Dv2, Dv3, Dv4.

[0042] It should be understood that the corresponding demand values ​​Dv2, Dv3, and Dv4 may include incremental differences or changes in the demand values ​​Dv1, Dv2, and Dv3 provided by the regulator modules 361, 362, and 363 immediately preceding them in the sequence. Thus, each regulator module 361, 362, and 363 in the sequence may have relative priority with respect to the other regulator modules 362, 362, and 363 in the sequence. In a non-limiting aspect, the regulator modules 361, 362, and 363 may be arranged in an order of increasing predetermined priority to meet the corresponding criteria of each regulator module 361, 362, and 363 (e.g., maximum acceleration, maximum deceleration limit, maximum speed, minimum speed, maximum current, maximum output torque, or minimum output torque of the motor 33).

[0043] Integrator module 390 may include a measured or sensed value Mv (e.g., a measured value of the motor output torque (designated "Tm")). As a non-limiting example, the latest measured or sensed value Mv of the motor 33 output torque Tm (i.e., from the set of sensors 55) may be stored in integrator module memory 393. In other non-limiting aspects, the measured value Mv may be stored in controller module memory 52 and provided to integrator module 390. Integrator module 390 may be configured to add, combine, sum, or otherwise integrate (i.e., via integrator input signal 391) the stored measured value Mv (e.g., motor output torque Tm) with a demand value Dv4 received from the last or final regulator module 360 ​​in the sequence. In some aspects, the final demand value Dv5 may be determined at least in part based on the demand value Dv4. For example, in a non-limiting aspect, the sum of the integrated measured value Mv (e.g., motor output torque Tm) stored in integrator module memory 393 and the demand value Dv4 may include the final demand value Dv5. The integrator module 390 can be further configured to provide an integrator output signal 392 indicating the final required value Dv5 to the control section 57 of the controller module 51.

[0044] In some aspects, the final demand value Dv5 can indicate the change or adjustment of the second performance characteristic Pc2 of the motor 33 relative to the sensed or measured value Mv. For example, in a non-limiting aspect, the final demand value Dv5 can include the value of an "incremental torque command" to the control section 57 of the controller module to indicate a target or desired adjustment to the torque output of the motor 33. In other non-limiting aspects, the final demand value Dv5 can include an "incremental current command" to the control section 57 of the controller module to indicate a target or desired adjustment to the output speed of the motor 33. Other aspects are not limited to this, and the final demand value Dv5 can include any desired value of any predetermined parameter associated with the operation of the motor 33.

[0045] The control section 57 of the controller module is configured to receive the integrator output signal 392 indicating the final demand value Dv5 and convert the final demand value Dv5 into a control signal 26. The control signal 26 can be provided to the inverter 24 by the electronic control unit 25. The control section 57 can use any desired conventional technique to map the final demand value Dv5 to the inverter control signal. For example, in a non-limiting aspect, the control section 57 can be configured to map the demand value to a predetermined pulse width modulation (PWM) schedule to control the operation and timing of the inverter switches or transistors T1-T6. In other aspects, a predefined algorithm can be defined to control the inverter operation based on the control signal 26.

[0046] Figure 3 A flowchart is shown illustrating a method 300 for controlling the operation of a motor 33 using aspects of an electronic control unit 25 as described herein. The electronic control unit 25 may include a controller module 51 having a memory 52 and a control section 57, a regulator section 50, and an integrator section 53. Method 300 begins at 301 by determining a target value. Determining the target value may include measuring a first performance characteristic Pc1 of the motor 33 at 303 to define a measured value Mv, and at 305 determining an error value Ev, indicating the difference between the target value of the first performance characteristic Pc1 and the measured value Mv of the first performance characteristic Pc1, using the electronic control unit 25. Determining the target value may further include determining a target value Tv2 for a second performance characteristic Pc2 of the motor 33 based on the error value Ev at 307. At 311, method 300 may include providing a first demand signal 59 from the electronic control unit 25 to the regulator section 350, indicating the target value of the second performance characteristic Pc2.

[0047] The regulator section may include a set of communicatively connected regulator modules 360 in sequence, each regulator module 361, 362, 363 configured to receive corresponding input signals 371, 372, 373 and provide corresponding output signals 374, 375, 376. Method 300 includes regulating a first demand signal at 320 using a first regulator module 361 in the sequence. Regulating the first demand signal using the first regulator module 361 in the sequence includes receiving a first demand signal 59 as a corresponding input signal 371 at 322 and determining a corresponding selectable value at 324, which is a component of a target value for the second performance characteristic Pc2. In a non-limiting aspect, the corresponding selectable value 384 may be a fixed predetermined value stored in memory. In other aspects, the corresponding selectable value 384 may vary based on predetermined conditions (e.g., the state or condition of the motor 33 or load 36). For example, in a non-limiting aspect, the controller module 51 may calculate the corresponding optional value 384 of the first regulator module 361 in the sequence based on the operating mode or state of the motor 33 or the load 36 and a set of predetermined rules, and save the corresponding optional value 384 to the memory 381.

[0048] Method 300 includes, at 326, comparing a corresponding selectable value with a target value for the second performance characteristic Pc2 via a first regulator module 361 in the sequence. Adjusting the first demand signal using the first regulator module 361 in the sequence includes, at 327, selecting one of the corresponding selectable value and the target value for the second performance characteristic Pc2 based on a predetermined selection criterion. Method 300 includes, at 328, providing a corresponding output signal 374 indicating the selected value to the next regulator module 362 in the sequence.

[0049] Method 300 includes, at 330, adjusting the demand signal using the remaining regulator modules 362, 363 in the sequence. Adjusting the demand signal using the remaining regulator modules 362, 363 in the sequence includes, at 333, receiving corresponding output signals 374, 375, 376 from the regulator modules 361, 362 immediately preceding them in the sequence as corresponding input signals 372, 373, and at 335 determining corresponding selectable values ​​385, 386 as components of the target value of the second performance characteristic Pc2. In a non-limiting aspect, the corresponding selectable values ​​385, 386 may be fixed predetermined values ​​stored in the memories 382, ​​383. In other aspects, the corresponding selectable values ​​385, 386 may vary based on predetermined conditions (e.g., the state or conditions of the motor 33 or the load 36). For example, in a non-limiting aspect, controller module 51 may calculate corresponding selectable values ​​385, 386 for the second regulator module 362 and the third regulator module 363 based on the operating mode or state of motor 33 or load 36 and a set of predetermined rules, and save the corresponding selectable values ​​385, 386 to memory 382, ​​383. Regulating the demand signal with the remaining regulator modules 362, 363 in the sequence includes comparing the corresponding selectable value with the value indicated by the corresponding input signals 372, 373 at 338. Then, at 341, one of the corresponding selectable value and the value indicated by the corresponding received input signals 372, 373 is selected based on the corresponding predetermined selection criteria, and at 345, the corresponding output signal 375, 376 indicating the selected value is provided to one of the next regulator module 386 and integrator module 390 in the sequence. A non-limiting aspect of method 300 may include determining the final demand value Dv5 with the integrator module at 350. In some aspects, determining the final demand value Dv5 may be based on a value indicated by an output signal 376 from the last regulator module 363 in the sequence. Determining the final demand value Dv5 may include receiving the corresponding output signal 376 from the last regulator module 363 in the sequence as an integrator input signal 391 at 353, and calculating the final demand value Dv5 based on the value indicated by the corresponding output signal 376. In some aspects, determining the final demand value Dv5 may include adding, summing, or otherwise integrating the value indicated by the integrator input signal 391 with a predetermined or measured value Mv stored in the integrator memory 383 at 355. Method 300 may include providing an integrator output signal 392 indicating the final demand value Dv5 at 357. Method 300 may also include controlling the operation of the motor 33 based on the final demand value Dv5 at 359.

[0050] The order described is for illustrative purposes only and is not intended to limit method 300 in any way, as it should be understood that parts of the method may be in a different logical order without departing from the described method, may include additional or intermediate parts, or the described part of the method may be divided into multiple parts, or the described part of the method may be omitted.

[0051] Within the scope not yet described, different features and structures of each aspect can be combined with each other as needed. A feature that cannot be shown in all aspects is not meant to be interpreted as being forbidden, but rather for the sake of brevity. Therefore, various features of different aspects can be mixed and matched as needed to form new aspects, whether or not the new aspects are explicitly described. The combination or arrangement of features described herein is covered by this disclosure.

[0052] Further details are provided by the following topics:

[0053] A system for controlling an electric motor, the system comprising: a controller module including a controller section, a regulator section, and an integrator section, the controller section being communicatively connected to the regulator section and configured to: determine an error value indicating a difference between an expected value of a first performance characteristic of the electric motor and a measured value of the first performance characteristic; determine a target value of a second performance characteristic of the electric motor based on the error value; and provide a first demand signal indicating the target value of the second performance characteristic to the regulator section; the regulator section including a set of regulator modules communicatively connected in sequence, each regulator module being configured to receive a corresponding input signal and provide a corresponding output signal; wherein a first regulator module in the sequence is configured to: receive the first demand signal as the corresponding input signal; determine a corresponding optional value based on a predetermined performance criterion, the corresponding optional value being a component of the target value of the second performance characteristic; compare the corresponding optional value with the target value of the second performance characteristic; and select one of the corresponding optional value and the target value of the second performance characteristic based on a predetermined selection criterion; and The corresponding output signal indicating the selected value is provided to the next regulator module in the sequence; wherein each subsequent regulator module in the sequence is configured to: receive the corresponding output signal from the immediately preceding regulator module in the sequence as the corresponding input signal, the corresponding output signal indicating the corresponding selected value of the immediately preceding regulator module in the sequence; determine a corresponding optional value based on a corresponding predetermined performance criterion, the corresponding optional value being a component of the target value of the second performance characteristic; compare the corresponding optional value with a value indicated by the received input signal; select one of the corresponding optional value and the value indicated by the corresponding received input signal based on a corresponding predetermined selection criterion; and provide the corresponding output signal indicating the corresponding selected value to one of the next regulator module in the sequence and the integrator section; the integrator section is configured to: receive the corresponding output signal from the last regulator module in the sequence, and calculate the final demand value based on the value indicated by the signal received from the last regulator module in the sequence; and provide an integrator output signal indicating the final demand value.

[0054] In any of the foregoing clauses, the integrator section provides the integrator output signal to the motor control section of the controller module.

[0055] According to any of the foregoing clauses, the first performance characteristic is one of motor speed, motor voltage, motor torque, and motor current.

[0056] According to any of the foregoing clauses, the second performance characteristic is one of the motor torque and the motor current.

[0057] According to any of the foregoing clauses, the predetermined selection criteria include selecting one of the corresponding optional values ​​and the value indicated by the corresponding input signal, having one of the larger and smaller values.

[0058] In any of the foregoing clauses, the integrator portion is further configured to store the final demand value in memory.

[0059] In any of the foregoing clauses, each of the set of regulator modules includes a relative priority with respect to the other regulator modules.

[0060] In any of the foregoing clauses, the regulator modules are communicatively connected in the sequence in ascending order of their respective relative priorities.

[0061] According to any of the foregoing clauses of the system, the corresponding optional value is one of a component and a multiple of a value indicated by the received input signal.

[0062] According to any of the foregoing clauses of the system, the corresponding optional value is further based on the operating state of the motor.

[0063] According to any of the foregoing clauses, the motor control section is configured to control the speed of the motor based on the final demand value.

[0064] A method for controlling an electric motor includes: measuring a first performance characteristic of the electric motor to define a measured value; determining an error value indicating a difference between an expected value of the first performance characteristic of the electric motor and the measured value of the first performance characteristic; determining a target value of a second performance characteristic of the electric motor based on the error value; providing a first demand signal indicating the target value of the second performance characteristic to the regulator portion, the regulator portion including a set of regulator modules communicatively connected in a sequence, each regulator module being configured to receive a corresponding input signal and provide a corresponding output signal; performing the following steps with a first regulator in the sequence: receiving the first demand signal as the corresponding input signal; determining a corresponding selectable value based on a predetermined performance criterion, the corresponding selectable value being a component of the target value of the second performance characteristic; comparing the corresponding selectable value with the target value of the second performance characteristic; selecting one of the corresponding selectable value and the target value of the second performance characteristic based on a predetermined selection criterion; and providing the corresponding output signal indicating the selected value to a next regulator module in the sequence; using the sequence Each subsequent regulator module in the sequence performs the following steps: receiving the corresponding output signal from the immediately preceding regulator module in the sequence as the corresponding input signal, the corresponding output signal indicating the corresponding selected value of the immediately preceding regulator module in the sequence; calculating a corresponding selectable value based on a corresponding predetermined performance criterion, the corresponding selectable value being a component of the target value of the second performance characteristic; comparing the corresponding selectable value with a value indicated by the received input signal; selecting one of the corresponding selectable value and the value indicated by the corresponding received input signal based on a corresponding predetermined selection criterion; and providing the corresponding output signal indicating the corresponding selected value to one of the next regulator module and integrator module in the sequence; the integrator module performs the following steps: receiving the corresponding output signal from the last regulator module in the sequence; determining a final demand value based on a value indicated by a signal received from the last regulator module in the sequence; and providing an integrator output signal indicating the final demand value to the motor controller module; and controlling the operation of the motor based on the final demand value.

[0065] According to any of the foregoing provisions of the method, the first performance characteristic is one of motor speed, motor voltage, motor torque, and motor current.

[0066] According to any of the foregoing clauses, the second performance characteristic is one of the motor torque and the motor current.

[0067] According to any of the foregoing provisions of the method, wherein the predetermined selection criterion includes selecting one of the corresponding optional values ​​and the value indicated by the received input signal, having one of the larger and smaller values.

[0068] The method according to any of the foregoing clauses further includes storing the final demand value in the memory of the integrator module.

[0069] According to any of the foregoing clauses, each regulator module in the set of regulator modules includes a relative priority with respect to the other regulator modules.

[0070] According to any of the foregoing provisions of the method, the regulator modules are communicatively connected in the sequence in ascending order of their respective relative priorities.

[0071] According to any of the foregoing clauses of the method, the corresponding optional value is one of a component and a multiple of the value indicated by the received input signal.

[0072] According to any of the foregoing provisions of the method, wherein the corresponding optional value is further based on the operating state of the motor.

Claims

1. A system for controlling an electric motor, characterized in that, The system includes: A controller module, comprising a control section, a regulator section, and an integrator section, wherein the control section is communicatively connected to the regulator section and is configured as follows: (a) Determine the error value of the difference between the expected value of a first performance characteristic indicating the electric motor and the measured value of the first performance characteristic; (b) Determine the target value of the second performance characteristic of the motor based on the error value. (c) A first demand signal indicating the target value of the second performance characteristic is provided to the regulator section; The regulator section includes a set of regulator modules that are communicatively connected in sequence, each regulator module being configured to receive a corresponding input signal and provide a corresponding output signal; The first regulator module in the sequence is constructed as follows: a) Receive the first demand signal as the corresponding input signal; b) Determine corresponding optional values ​​based on predetermined performance standards, wherein the corresponding optional values ​​are components of the target value of the second performance characteristic; c) Compare the corresponding optional value with the target value of the second performance characteristic; d) Select one of the corresponding optional value and the target value of the second performance characteristic based on the predetermined selection criteria; and e) Provide the corresponding output signal indicating the selected value to the next regulator module in the sequence; Each subsequent regulator module in the sequence is constructed as follows: a) Receive the corresponding output signal from the immediately preceding regulator module in the sequence as the corresponding input signal, the corresponding output signal indicating the corresponding selected value of the immediately preceding regulator module in the sequence; b) Determine corresponding optional values ​​based on the corresponding predetermined performance standards, wherein the corresponding optional values ​​are components of the target value of the second performance characteristic; c) Compare the corresponding optional value with the value indicated by the received input signal; d) Select one of the corresponding optional value and the value indicated by the corresponding received input signal based on the corresponding predetermined selection criteria; and e) Provide the corresponding output signal, indicating the corresponding selected value, to one of the next regulator module and the integrator section in the sequence; The integrator section is configured as follows: a) Receive the corresponding output signal from the last regulator module in the sequence, and b) Calculate the final demand value based on the value indicated by the signal received from the last regulator module in the sequence; and c) Provide an integrator output signal that indicates the final demand value.

2. The system according to claim 1, characterized in that, in, The integrator section provides the integrator output signal to the control section.

3. The system according to claim 1, characterized in that, in, The first performance characteristic is one of the motor speed, motor voltage, motor torque, and motor current.

4. The system according to claim 1, characterized in that, in, The second performance characteristic is either the motor torque or the motor current.

5. The system according to claim 1, characterized in that, in, The predetermined selection criteria include selecting one of the corresponding optional values ​​and the value indicated by the corresponding input signal, which has one of the larger and smaller values.

6. The system according to claim 1, characterized in that, in, The integrator portion is further configured to store the final demand value in memory.

7. The system according to claim 1, characterized in that, in, Each regulator module in the set of regulator modules includes a relative priority with respect to the other regulator modules.

8. The system according to claim 7, characterized in that, in, The regulator modules are communicatively connected in the sequence in ascending order of their respective relative priorities.

9. The system according to claim 1, characterized in that, in, The corresponding selectable value is one of the components and multiples of the value indicated by the received input signal.

10. The system according to claim 1, characterized in that, in, The corresponding selectable value is further based on the operating state of the motor.

11. The system according to claim 2, characterized in that, in, The motor control unit is configured to control the speed of the motor based on the final demand value.

12. A method for controlling an electric motor, characterized in that, include: The first performance characteristic of the electric motor is measured to define the measured values; Determine the error value between the expected value of the first performance characteristic indicating the motor and the measured value of the first performance characteristic. The target value of the second performance characteristic of the motor is determined based on the error value. A first demand signal indicating the target value of the second performance characteristic is provided to a regulator section, the regulator section comprising a set of regulator modules communicatively connected in sequence, each regulator module being configured to receive a corresponding input signal and provide a corresponding output signal; Perform the following steps using the first regulator in the sequence: The first demand signal is received as the corresponding input signal; Based on a predetermined performance standard, a corresponding optional value is determined, wherein the corresponding optional value is a component of the target value of the second performance characteristic; The corresponding optional value is compared with the target value of the second performance characteristic; Select one of the corresponding optional value and the target value of the second performance characteristic based on the predetermined selection criteria; as well as The corresponding output signal indicating the selected value is provided to the next regulator module in the sequence; Perform the following steps with each subsequent regulator module in the sequence: The corresponding output signal from the next preceding regulator module in the sequence is received as the corresponding input signal, the corresponding output signal indicating the corresponding selected value of the next preceding regulator module in the sequence; Based on the corresponding predetermined performance standard, a corresponding optional value is calculated, wherein the corresponding optional value is a component of the target value of the second performance characteristic; The corresponding selectable value is compared with the value indicated by the received input signal; Select one of the corresponding optional value and the value indicated by the corresponding received input signal based on the corresponding predetermined selection criteria; as well as The corresponding output signal indicating the corresponding selected value is provided to one of the next regulator module and integrator module in the sequence; Perform the following steps using the integrator module: Receive the corresponding output signal from the last regulator module in the sequence; The final demand value is determined based on the value indicated by the signal received from the last regulator module in the sequence; as well as The integrator output signal, indicating the final demand value, is provided to the motor controller module; and The operation of the motor is controlled based on the final demand value.

13. The method according to claim 12, characterized in that, in, The first performance characteristic is one of the motor speed, motor voltage, motor torque, and motor current.

14. The method according to claim 12, characterized in that, in, The second performance characteristic is either the motor torque or the motor current.

15. The method according to claim 12, characterized in that, in, The predetermined selection criteria include selecting one of the corresponding optional values ​​and the value indicated by the received input signal, which has one of the larger and smaller values.

16. The method according to claim 12, characterized in that, This further includes storing the final demand value in the memory of the integrator module.

17. The method according to claim 12, characterized in that, in, Each regulator module in the set of regulator modules includes a relative priority with respect to the other regulator modules.

18. The method according to claim 17, characterized in that, in, The regulator modules are communicatively connected in the sequence in ascending order of their respective relative priorities.

19. The method according to claim 12, characterized in that, in, The corresponding selectable value is one of the components and multiples of the value indicated by the received input signal.

20. The method according to claim 12, characterized in that, in, The corresponding selectable value is further based on the operating state of the motor.

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