System and method for real-time permanent magnet synchronous motor control

Abstract

A system and method for real-time permanent magnet synchronous motor control is provided, the method including calculating a voltage constraint for a motor and calculating a supply current constraint and a regeneration current constraint for the motor. The method also includes calculating a motor current constraint for the motor and determining a first operating torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. The method also includes at least one of selectively controlling the motor based on the first operating torque and generating information associated with the first operating torque.

Description

[0001] Cross Reference to Related Applications

[0002] This patent application claims priority to U.S. Provisional Patent Application Serial No. 63 / 242,711, filed September 10, 2021, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to permanent magnet synchronous machines, and in particular, to systems and methods for real-time permanent magnet synchronous machine control. BACKGROUND

[0004] Vehicles, such as cars, trucks, sport utility vehicles, crossovers, vans, boats, airplanes, all-terrain vehicles, recreational vehicles, or other suitable forms of vehicles, increasingly include driver assist features, such as advanced driver assist systems (ADAS), driver assist systems (DAS), and the like. Such systems can include adaptive cruise control features, lane keep features, autonomous or semi-autonomous steering features, automatic braking features, and the like.

[0005] Generally, vehicles having ADAS and DAS systems include system architectures that can utilize complex local path planning algorithms. Such algorithms can consider or account for various vehicle dynamics models and various vehicle kinematics models to determine an optimal path for the vehicle. SUMMARY

[0006] The present disclosure relates generally to permanent magnet synchronous machines.

[0007] One aspect of the disclosed embodiments includes a method for motor control. The method includes calculating a voltage constraint for a motor and calculating a supply current constraint for the motor. The method also includes calculating a motor current constraint for the motor and determining a first operational torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. The method further includes at least one of selectively controlling the motor based on the first operational torque and generating information associated with the first operational torque.

[0008] Another aspect of the disclosed embodiments includes a system for motor control. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to calculate a voltage constraint for a motor, calculate a supply current constraint for the motor, calculate a motor current constraint for the motor, determine a first operational torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint, and at least one of selectively control the motor based on the first operational torque and generate information associated with the first operational torque.

[0009] Another aspect of the disclosed embodiments includes a method for determining motor capabilities. The method includes determining a voltage constraint for a motor based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor. The method also includes determining a supply current constraint and a regeneration current constraint for the motor based on the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor. The method also includes determining a motor current constraint for the motor based on the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor. The method also includes determining a first operating torque for the motor based on the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint. The method also includes at least one of selectively controlling the motor based on the first operating torque and generating information associated with the first operating torque.

[0010] Another aspect of the disclosed embodiments includes a system for determining motor capabilities. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to determine a voltage constraint for a motor based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor, determine a supply current constraint and a regeneration current constraint for the motor based on the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor, determine a motor current constraint for the motor based on the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor, determine a first operating torque for the motor based on the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint, and at least one of selectively controlling the motor based on the first operating torque and generating information associated with the first operating torque.

[0011] Another aspect of the disclosed embodiments includes an apparatus for determining motor capability. The apparatus includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: determine one or more motor constraints based on at least one of: a d-axis voltage component associated with a motor, a q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, a resistance associated with the motor, and a motor current associated with the motor; determine a first operational torque based on the one or more motor constraints; and at least one of: selectively control the motor based on the first operational torque and generate information associated with the first operational torque.

[0012] These and other aspects of the present disclosure are disclosed in the following detailed description of embodiments, claims, and figures. BRIEF DESCRIPTION OF DRAWINGS

[0013] The present disclosure is best understood when the following detailed description of the embodiments, claims, and figures is read with reference to the accompanying drawings, in which:

[0014] Figure 1 A vehicle according to the principles of the present disclosure is generally shown.

[0015] Figure 2 A control system including a controller according to the principles of the present disclosure is generally shown.

[0016] Figures 3A-3B A real-time permanent magnet synchronous motor control method according to the principles of the present disclosure is generally shown.

[0017] Figures 3C-3D An alternative real-time permanent magnet synchronous motor control method according to the principles of the present disclosure is generally shown.

[0018] Figure 4 A diagram of a real-time permanent magnet synchronous motor control method according to the principles of the present disclosure is generally shown.

[0019] Figure 5 A flowchart of an alternative real-time permanent magnet synchronous motor control method according to the principles of the present disclosure is generally shown. DETAILED DESCRIPTION

[0020] The following discussion is directed to various embodiments of the present disclosure. While one or more of these embodiments can be preferred, the disclosed embodiments should not be interpreted, or otherwise used, as limiting the scope of the present disclosure including the claims. Additionally, those skilled in the art will recognize that the following description has broad applicability and the discussion of any embodiment is meant only to be exemplary of implementations of the applications that could be made by the methods and / or devices taught below.

[0021] As described, vehicles, such as cars, trucks, crossovers, SUVs, minivans, boats, airplanes, ATVs, recreational vehicles, or other suitable forms of vehicles, are increasingly including driver assist features, such as advanced driver assist systems (ADAS), driver assist systems (DAS), etc. Such systems can include adaptive cruise control features, lane keep features, autonomous or semi-autonomous steering features, automatic braking features, etc.

[0022] Generally, vehicles having ADAS and DAS systems include system architectures that can utilize complex local path planning algorithms. Such algorithms can take into account or account for various vehicle dynamics and various vehicle kinematic models to determine optimal paths for the vehicle.

[0023] Additionally or alternatively, vehicles can include steering systems, such as electric power steering systems (EPS), steer-by-wire (SbW) steering systems, etc. Generally, EPS systems and SbW systems can execute commands necessary to achieve desired maneuvers and / or paths. To generate and / or execute such commands, constraints and / or real-time mechanical capabilities of one or more components of the steering system, such as motors or other suitable components associated with the steering system, can be accounted for or considered for optimal maneuvering and / or path planning.

[0024] Generally, controllers associated with the steering system can use the steering system to provide maximum achievable steering wheel angles, speeds, and torques. For example, the controller can provide a maximum achievable motor torque and a maximum corresponding motor speed. Such steering systems are increasingly including equation-based power limiting strategies. However, such strategies can fail to account for constraints of various motors or other components.

[0025] Accordingly, systems and methods such as those described herein can be desirable that are configured to provide achievable real-time capability motor torque and corresponding maximum motor speed given an equation-based strategy used by a steering system including an EPS system or an SbW system. In some embodiments, the systems and methods described herein can be configured to utilize a suitable number of constraints (e.g., such as one constraint, two constraints, three constraints, four constraints, or other suitable number of constraints) to calculate a maximum achievable torque based on operating conditions such as motor speed, permanent magnet synchronous motor (PMSM) motor parameters, and / or other suitable operating conditions.

[0026] In some embodiments, the constraints can include an inverter bridge voltage (e.g., which can be referred to as a bridge voltage constraint), a supply current limit, a motor current limit, a regenerative supply current limit, other suitable constraints, or combinations thereof. In some embodiments, the constraints can be defined according to:

[0027] Voltage constraint:

[0028]

[0029] Supply current / regenerative current constraint:

[0030]

[0031] Motor current constraint:

[0032]

[0033] where Vdrepresents a d-axis component of an armature voltage of each phase of the motor, Idrepresents a d-axis component of a corresponding current of each phase of the motor, Vqrepresents a q-axis component of the armature voltage of each phase of the motor, Iqrepresents a q-axis component of the corresponding current of each phase of the motor, Imotorrepresents a motor current of the motor, and R represents an armature resistance of each phase of the motor. Additionally, Vsource d represents a source voltage of the motor (e.g., such as a direct current voltage measurement of the motor), and Rsource d is a resistance of an electronic circuit between the source voltage and the inverter. q q m DC DC

[0034] In some embodiments, and as Figure 3A ​​​​​Generally shown in the middle, the systems and methods described herein can be configured to utilize an iterative solver 200 to identify the maximum real-time capability mechanical speed of a motor, such as a PMSM or other suitable machine or motor. The systems and methods described herein can be configured to calculate the maximum motor torque achievable under stall conditions to arbitrate with a motor torque reference. In some embodiments, the iterative solver 200 can specify initialization of the starting point and ending point of the iterative solver 200. It should be understood that the systems and methods described herein are capable of using any suitable starting point and ending point of the iterative solver 200. The systems and methods described herein can be configured to use the iterative solver 200 or any suitable iterative solver to identify an approximately optimal solution for a motor speed under a specified motor torque capability of the motor. It should be understood that the systems and methods described herein can be used for all four motor quadrants.

[0035] In some embodiments, and as Figure 3B Generally shown in the middle, the systems and methods described herein can be configured to utilize an iterative solver 210 to identify the maximum real-time capability mechanical speed of a motor. The systems and methods described herein can be configured to allow for prediction and / or compensation of voltage drop across a wire harness to improve accuracy of the capability signal. The systems and methods described herein can be configured to provide an interface to allow input from one or more sources that can be used to predict the harness resistance.

[0036] In some embodiments, the systems and methods described herein can be configured to account for a change in available voltage at the inverter based on the amount of current drawn due to voltage drop across the harness when predicting the speed capability of the motor. The available voltage can be a function of the supply voltage and / or any direct current (DC) resistance in the circuit before the inverter. For the available voltage, the predicted inverter voltage when running at the predicted capability can be defined as follows:

[0037] V Cpby = V DC -I s *PwrCircR

[0038] where the power circuit resistance (PwrCircR) includes the resistance between the source voltage (V DC ) and the inverter, and V Cpby corresponds to the available voltage at the inverter when running at the predicted maximum capability. Due to the dependency on available voltage, supply current, and capability, it is challenging to predict and / or compensate for voltage drop. Accordingly, the systems and methods described herein can be configured to use the iterative solver 210 to adjust the available bridge voltage at each iteration. The systems and methods described herein can be configured to use the available voltage as a component of the convergence criteria. The systems and methods described herein can be configured to calculate IsCalc protection for sqrt(x<0) is provided (e.g., because I d,prev ).

[0039] The systems and methods described herein can be configured to range limit V Cpby such that V Cpby is not lower than a calibratable value (e.g., such as 4 volts or other suitable value) to avoid a relatively high supply current that can result in slower convergence and / or less accurate results. The systems and methods described herein can be configured to slew limit V Cpby and ω e(min) by calibration. The systems and methods described herein can be configured to disable the voltage regulation function (e.g., and use the measured voltage). The systems and methods described herein can be configured to initialize the adjusted voltage to a more accurate value by calculating the minimum power (e.g., requested torque times mid-point speed).

[0040] The systems and methods described herein can be configured to iteratively solve for an approximately optimal solution for maximum motor speed capability, taking into account various constraints. Figure 4 A graph is generally shown that plots motor envelope values versus motor capability values.

[0041] In some embodiments, the systems and methods described herein can be configured to determine a maximum operating speed that is achievable within the capability of the motor and a supply current and / or motor current constraint. In some embodiments, the systems and methods described herein can be configured to calculate a voltage constraint for the motor. In some embodiments, the motor comprises a permanent magnet synchronous motor or other suitable machine or motor. In some embodiments, the motor is associated with a steering system (e.g., an EPS system, a SbW system, etc.) of a vehicle. The vehicle can comprise an autonomous vehicle or a semi-autonomous vehicle. The vehicle can comprise an ADAS system, a DAS system, etc.

[0042] The systems and methods described herein can be configured to calculate a supply current constraint for the motor. The systems and methods described herein can be configured to calculate a motor current constraint for the motor. The systems and methods described herein can be configured to determine a first operating torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. In some embodiments, the first operating torque corresponds to an upper limit of an operating torque range associated with the motor. For example, the first operating torque can correspond to a maximum operating torque or other suitable torque.

[0043] The systems and methods described herein can be configured to at least one of: selectively control the motor based on the first operational torque, and generate information associated with the first operational torque. In some embodiments, selectively controlling the motor based on the first operational torque includes selecting control of the motor based on the first operational torque without stalling the motor. In some embodiments, the systems and methods described herein can be configured to plan a path for a vehicle associated with the motor based on at least the first operational torque. In some embodiments, selectively controlling the motor based on the first operational torque includes selecting control of the motor based on the first operational torque without stalling the motor. In some embodiments, generating information associated with the first operational torque can include generating one or more signals indicative of a value associated with the first operational torque (e.g., including a maximum operational torque or speed associated with the motor), and communicating the one or more signals to one or more controllers, computing devices, processors, etc. (e.g., associated with the vehicle or positioned away from the vehicle).

[0044] In some embodiments, the systems and methods described herein can be configured to determine a voltage constraint for the motor based on a d-axis voltage component associated with the motor, and a q-axis voltage component associated with the motor. The systems and methods described herein can be configured to determine a supply current constraint and a regeneration current constraint for the motor based on: the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor. The systems and methods described herein can be configured to determine a motor current constraint for the motor based on: the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor. The systems and methods described herein can be configured to determine a first operational torque for the motor based on: the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint. The systems and methods described herein can be configured to at least one of: selectively control the motor based on the first operational torque, and generate information associated with the first operational torque.

[0045] Figure 1A vehicle 10 according to the principles of the present disclosure is generally shown. The vehicle 10 can include any suitable vehicle, such as a car, truck, sport utility vehicle, van, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although the vehicle 10 is shown as a passenger vehicle having wheels and for use on a road, the principles of the present disclosure can be applied to other vehicles, such as an airplane, boat, train, drone, or other suitable vehicle.

[0046] The vehicle 10 includes a vehicle body 12 and a hood 14. A passenger compartment 18 is at least partially defined by the vehicle body 12. Another portion of the vehicle body 12 defines an engine compartment 20. The hood 14 can be movably attached to a portion of the vehicle body 12 such that the hood 14 provides access to the engine compartment 20 when the hood 14 is in a first or open position, and the hood 14 covers the engine compartment 20 when the hood 14 is in a second or closed position. In some embodiments, the engine compartment 20 can be disposed in a rearward portion of the vehicle 10 (as compared to what is generally shown).

[0047] The passenger compartment 18 can be disposed rearward of the engine compartment 20, but in embodiments in which the engine compartment 20 is disposed in a rearward portion of the vehicle 10, the passenger compartment 18 can be disposed forward of the engine compartment 20. The vehicle 10 can include any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., an electric vehicle), one or more fuel cells, a hybrid propulsion system including a combination of an internal combustion engine, one or more electric motors (e.g., a hybrid vehicle), and / or any other suitable propulsion system.

[0048] In some embodiments, the vehicle 10 can include a gasoline-fueled engine or a gasoline-fueled engine, such as a spark-ignition engine. In some embodiments, the vehicle 10 can include a diesel-fueled engine, such as a compression-ignition engine. The engine compartment 20 houses and / or encloses at least some components of the propulsion system of the vehicle 10. Additionally or alternatively, propulsion control devices (e.g., accelerator actuators (e.g., accelerator pedal), brake actuators (e.g., brake pedal), steering wheel, and other such components) are disposed in the passenger compartment 18 of the vehicle 10. The propulsion control devices can be actuated or controlled by a driver of the vehicle 10 and can be directly respectively connected to corresponding components of the propulsion system, such as throttle, brakes, axles, vehicle transmission, etc. In some embodiments, the propulsion control devices can communicate signals to a vehicle computer (e.g., drive-by-wire), which in turn can control corresponding propulsion components of the propulsion system. As such, in some embodiments, the vehicle 10 can be an autonomous vehicle.

[0049] In some embodiments, the vehicle 10 includes a transmission in communication with the crankshaft via a flywheel or clutch or fluid coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. In the case of a combustion engine or hybrid vehicle, the vehicle 10 can include one or more pistons that operate in conjunction with the crankshaft to generate a force that is transferred through the transmission onto one or more axles, which causes the wheels 22 to turn. When the vehicle 10 includes one or more electric motors, a vehicle battery and / or a fuel cell provides energy to the electric motor(s) to cause the wheels 22 to turn.

[0050] The vehicle 10 can include an automatic vehicle propulsion system, such as a cruise control, an adaptive cruise control, an automatic braking control, other automatic vehicle propulsion systems, or combinations thereof. The vehicle 10 can be an autonomous or semi-autonomous vehicle, or other suitable type of vehicle. The vehicle 10 can include additional features or fewer features than those generally shown and / or disclosed herein.

[0051] In some embodiments, the vehicle 10 can include an Ethernet component 24, a controller area network (CAN) bus 26, a media oriented systems transport component (MOST) 28, a FlexRay component 30 (e.g., a line control braking system, etc.), and a local interconnect network component (LIN) 32. The vehicle 10 can use the CAN bus 26, the MOST 28, the FlexRay component 30, the LIN 32, other suitable network or communication systems, or combinations thereof, to communicate various information from, for example, sensors inside or outside the vehicle, to various processors or controllers inside or outside the vehicle. The vehicle 10 can include additional features or fewer features than those generally shown and / or disclosed herein.

[0052] In some embodiments, vehicle 10 can include a steering system, such as an EPS system, a steer-by-wire steering system, or other suitable steering system (e.g., which can include or be in communication with one or more controllers that control components of the steering system without requiring a mechanical connection between a steering wheel of vehicle 10 and wheels 22). The steering system can include an open loop feedback control system or mechanism, a closed loop feedback control system or mechanism, or a combination thereof. The steering system can be configured to receive various inputs, including but not limited to steering wheel position, input torque, one or more wheel positions, other suitable inputs or information, or a combination thereof. Additionally or alternatively, the inputs can include steering wheel torque, steering wheel angle, motor speed, vehicle speed, estimated motor torque command, other suitable inputs, or a combination thereof. The steering system can be configured to provide steering functionality and / or control to vehicle 10. For example, the steering system can generate an assist torque based on the various inputs. The steering system can be configured to selectively control a motor of the steering system using the assist torque to provide steering assist to an operator of vehicle 10.

[0053] In some embodiments, vehicle 10 can include a controller, such as controller 100 generally shown in Figure 2 In some embodiments, vehicle 10 can include a controller, such as controller 100 generally shown in

[0054] The controller 100 can receive one or more signals from various measurement devices or sensors 106 indicative of sensed or measured characteristics of the vehicle 10. The sensors 106 can include any suitable sensors, measurement devices, and / or other suitable mechanisms. For example, the sensors 106 can include one or more torque sensors or devices, one or more steering wheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, other suitable sensors or devices, or combinations thereof. The one or more signals can be indicative of steering wheel torque, steering wheel angle, motor speed, vehicle speed, other suitable information, or combinations thereof.

[0055] In some embodiments, the controller 100 can determine a maximum operational speed that can be achieved within the motor’s capability and the supply current and / or motor current constraints. For example, the controller 100 can calculate a voltage constraint for the motor. As described, the motor can include a PMSM or other suitable machine or motor and can be associated with a steering system of the vehicle 10.

[0056] The controller 100 can calculate a supply current constraint for the motor. The controller 100 can calculate a motor current constraint for the motor. It should be understood that the controller 100 can calculate any suitable constraint or set of constraints associated with the motor. The controller 100 can determine a first operational torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. The first operational torque can correspond to an upper limit of an operational torque range associated with the motor. For example, the first operational torque can correspond to a maximum operational torque or other suitable torque.

[0057] As described, the controller 100 can selectively control the motor and / or generate information associated with the first operational torque based on the first operational torque. For example, the controller 100 can selectively control the motor without stalling the motor based on the first operational torque. In some embodiments, the systems and methods described herein can be configured to plan a path for the vehicle associated with the motor based on at least the first operational torque. In some embodiments, selectively controlling the motor based on the first operational torque includes selecting control of the motor without stalling the motor based on the first operational torque.

[0058] In some embodiments, the controller 100 can determine a voltage constraint for the motor based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor. The controller 100 can determine a supply current constraint and a regeneration current constraint for the motor based on the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor. The controller 100 can determine a motor current constraint for the motor based on the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor. The controller 100 can determine a first operating torque for the motor based on the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint. The controller 100 can selectively control the motor based on the first operating torque and / or generate information associated with the first operating torque.

[0059] In some embodiments, the controller 100 can perform the methods described herein. However, the methods described herein as performed by the controller 100 are not meant to be limiting, and any type of software executing on a controller or processor 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.

[0060] Figure 5 is a flowchart generally showing a real-time permanent magnet synchronous motor control method 300 in accordance with the principles of the present disclosure. At 302, the method 300 calculates a voltage constraint for a motor. For example, as described herein, the controller 100 can calculate a voltage constraint for a motor.

[0061] At 304, the method 300 calculates a supply current constraint for the motor. For example, as described herein, the controller 100 can calculate a supply current constraint for a motor. Additionally or alternatively, as described, the controller 100 can calculate a regeneration current constraint.

[0062] At 306, the method 300 calculates a motor current constraint for the motor. For example, as described, the controller 100 can calculate a motor current constraint for a motor.

[0063] At 308, the method 300 determines a first operating torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. For example, the controller 100 can determine the first operating torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. Additionally or alternatively, the controller 100 can also determine the first operating torque based on the regeneration current constraint.

[0064] At 310, the method 300 at least one of: selectively controls the motor based on the first operating torque, and generates information associated with the first operating torque. For example, the controller 100 can selectively control the motor based on the first operating torque and / or generate information associated with the first operating torque.

[0065] In some embodiments, a method for motor control includes calculating a voltage constraint for a motor, and calculating a supply current constraint for the motor. The method also includes calculating a motor current constraint for the motor, and determining a first operating torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint. The method further includes at least one of: selectively controlling the motor based on the first operating torque, and generating information associated with the first operating torque.

[0066] In some embodiments, the motor includes a permanent magnet synchronous motor. In some embodiments, the motor is associated with a steering system of a vehicle. In some embodiments, the steering system includes an electric power steering system. In some embodiments, the steering system includes a steer-by-wire steering system. In some embodiments, the motor is associated with an advanced driver assistance system. In some embodiments, the motor is associated with an autonomous vehicle. In some embodiments, the method further includes planning a path for the vehicle associated with the motor based at least on the first operating torque. In some embodiments, the first operating torque corresponds to an upper limit of an operating torque range associated with the motor. In some embodiments, selectively controlling the motor based on the first operating torque includes selecting to control the motor without stalling the motor based on the first operating torque.

[0067] In some embodiments, a system for motor control includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: calculate a voltage constraint for a motor; calculate a supply current constraint for the motor; calculate a motor current constraint for the motor; determine a first operating torque for the motor based on the voltage constraint, the supply current constraint, and the motor current constraint; and at least one of: selectively control the motor based on the first operating torque, and generate information associated with the first operating torque.

[0068] In some embodiments, the motor comprises a permanent magnet synchronous motor. In some embodiments, the motor is associated with a steering system of a vehicle. In some embodiments, the steering system comprises an electric power steering system. In some embodiments, the steering system comprises a steer-by-wire steering system. In some embodiments, the motor is associated with an advanced driver assistance system. In some embodiments, the motor is associated with an autonomous vehicle. In some embodiments, the instructions further cause the processor to plan a path for a vehicle associated with the motor based at least on the first operating torque. In some embodiments, the first operating torque corresponds to an upper limit of an operating torque range associated with the motor. In some embodiments, the instructions further cause the processor to select to control the motor without stalling the motor based on the first operating torque.

[0069] In some embodiments, a method for determining motor capabilities comprises determining a voltage constraint for a motor based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor. The method further comprises determining a supply current constraint and a regeneration current constraint for the motor based on the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor. The method further comprises determining a motor current constraint for the motor based on the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor. The method further comprises determining a first operating torque for the motor based on the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint. The method further comprises at least one of selectively controlling the motor based on the first operating torque and generating information associated with the first operating torque.

[0070] In some embodiments, the motor comprises a permanent magnet synchronous motor. In some embodiments, the motor is associated with a steering system of a vehicle. In some embodiments, the steering system comprises an electric power steering system. In some embodiments, the steering system comprises a steer-by-wire steering system. In some embodiments, the motor is associated with an advanced driver assistance system. In some embodiments, the motor is associated with an autonomous vehicle. In some embodiments, the method further comprises planning a path for a vehicle associated with the motor based at least on the first operating torque. In some embodiments, the first operating torque corresponds to an upper limit of an operating torque range associated with the motor. In some embodiments, selectively controlling the motor based on the first operating torque comprises selecting to control the motor without stalling the motor based on the first operating torque.

[0071] In some embodiments, a system for determining motor capabilities includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: determine a voltage constraint for a motor based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor; determine a supply current constraint and a regeneration current constraint for the motor based on: the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor; determine a motor current constraint for the motor based on: the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor; determine a first operational torque for the motor based on: the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint; and at least one of: selectively control the motor based on the first operational torque, and generate information associated with the first operational torque.

[0072] In some embodiments, the motor includes a permanent magnet synchronous motor. In some embodiments, the motor is associated with a steering system of a vehicle. In some embodiments, the steering system includes an electric power steering system. In some embodiments, the steering system includes a steer-by-wire steering system. In some embodiments, the motor is associated with an advanced driver assistance system. In some embodiments, the motor is associated with an autonomous vehicle. In some embodiments, the instructions further cause the processor to plan a path for the vehicle associated with the motor based on at least the first operational torque. In some embodiments, the first operational torque corresponds to an upper limit of an operational torque range associated with the motor.

[0073] In some embodiments, an apparatus for determining motor capabilities includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: determine one or more motor constraints based on at least one of: a d-axis voltage component associated with a motor, a q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, a resistance associated with the motor, and a motor current associated with the motor; determine a first operational torque based on the one or more motor constraints; and at least one of: selectively control the motor based on the first operational torque, and generate information associated with the first operational torque.

[0074] The above discussion is meant to be illustrative of the principles and various embodiments of the present application. Numerous variations and modifications will become apparent to those skilled in the art once the above disclosure is fully appreciated. It is intended that the following claims be construed as including all such variations and modifications.

[0075] The word "example" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "example" is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, use of the word "example" is intended to present concepts in a concrete fashion. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from context, "X includes A or B" is intended to mean any of the natural inclusive permutations. That is, if X includes A; X includes B; or X includes both A and B, then "X includes A or B" is satisfied under any of the foregoing instances. In addition, the articles "a" and "an" as used in this application and the appended claims should generally be construed to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form. Moreover, use of the term "an implementation" or "one implementation" throughout is not intended to mean the same implementation or implementation unless so described.

[0076] Implementations of the systems, algorithms, methods, and instructions described herein can be realized in hardware, software, or any combination thereof. The hardware can include, for example, computers, intellectual property (IP) cores, application-specific integrated circuits (ASICs), programmable logic arrays, optical processors, programmable logic controllers, microcode, microcontrollers, servers, microprocessors, digital signal processors or any other suitable circuit. In the claims, the term "processor" should be understood as encompassing any of the foregoing hardware, either alone or in combination. The terms "signal" and "data" are used interchangeably.

[0077] As used herein, the term module can 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 specified function, and a self-contained hardware or software component that is configured to perform a specific function, integrated with a larger system. For example, a module can 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, a gate array, and other types of hardware or combinations thereof. In other embodiments, a module can include a memory storing instructions executable by a controller to implement features of the module.

[0078] Further, in an aspect, for example, a system described herein can be implemented using a general purpose computer or general purpose processor with a computer program that, when executed, carries out any of the respective methods, algorithms and / or instructions described herein. Additionally or alternatively, for example, a special purpose computer / processor can be utilized which can include other hardware for carrying out any of the methods, algorithms, or instructions described herein.

[0079] Further, all or a portion of implementations of the present disclosure can take the form of a computer program product accessible from, for example, computer-usable or computer-readable medium. A computer-usable or computer-readable medium can be, for example, any apparatus that can contain, store, communicate, or transport the program for use by or in connection with any processor. The medium can be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor apparatus or device. Other suitable mediums, however, can be used as desired.

[0080] The above-described embodiments, implementations and aspects have been described to allow easy understanding of the application and are not limiting of the application. Rather, the application is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures.

Claims

1. A method for determining motor capabilities, the method comprising: determining, for a motor, a voltage constraint based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor; determining, for the motor, a supply current constraint and a regeneration current constraint based on the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor; determining, for the motor, a motor current constraint based on the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor; determining, for the motor, a first operational torque based on the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint; and at least one of selectively controlling the motor based on the first operational torque and generating information associated with the first operational torque.

2. The method of claim 1, wherein, The motor comprises a permanent magnet synchronous motor.

3. The method of claim 1, wherein, The motor is associated with a steering system of a vehicle.

4. The method of claim 3, wherein, The steering system comprises an electric power steering system.

5. The method of claim 3, wherein, The steering system comprises a steer-by-wire steering system.

6. The method of claim 1, wherein, The motor is associated with an advanced driver assistance system.

7. The method of claim 1, wherein, The motor is associated with an autonomous vehicle.

8. The method of claim 1, further comprising planning a path for a vehicle associated with the motor based at least on the first operational torque.

9. The method of claim 1, wherein, The first operational torque corresponds to an upper limit of an operational torque range associated with the motor.

10. The method of claim 1, wherein, Selectively controlling the motor based on the first operational torque comprises selectively controlling the motor based on the first operational torque without stalling the motor.

11. A system for determining motor capabilities, the system comprising: a processor; and a memory comprising instructions that, when executed by the processor, cause the processor to: determine, for a motor, a voltage constraint based on a d-axis voltage component associated with the motor and a q-axis voltage component associated with the motor; determine, for the motor, a supply current constraint and a regeneration current constraint based on the d-axis voltage component associated with the motor, the q-axis voltage component associated with the motor, a d-axis current component associated with the d-axis voltage component associated with the motor, a q-axis current component associated with the q-axis voltage component associated with the motor, a supply voltage associated with the motor, a supply current associated with the supply voltage associated with the motor, and a resistance associated with the motor; determine, for the motor, a motor current constraint based on the d-axis current component associated with the d-axis voltage component associated with the motor, the q-axis current component associated with the q-axis voltage component associated with the motor, and a motor current associated with the motor; determine a motor current constraint for the motor based on the d-axis current component associated with a d-axis voltage component associated with the motor, the q-axis current component associated with a q-axis voltage component associated with the motor, and a motor current associated with the motor; determine a first operational torque for the motor based on the voltage constraint, the supply current constraint, the regeneration current constraint, and the motor current constraint; and at least one of selectively control the motor based on the first operational torque and generate information associated with the first operational torque.

12. The system of claim 11, wherein, The motor includes a permanent magnet synchronous motor.

13. The system of claim 11, wherein, The motor is associated with a steering system of a vehicle.

14. The system of claim 13, wherein, The steering system includes an electric power steering system.

15. The system of claim 13, wherein, The steering system includes a steer-by-wire steering system.

16. The system of claim 11, wherein, The motor is associated with an advanced driver assistance system.

17. The system of claim 11, wherein, The motor is associated with an autonomous vehicle.

18. The system of claim 11, wherein, The instructions further cause the processor to plan a path for a vehicle associated with the motor based at least on the first operational torque.

19. The system of claim 11, wherein, The first operational torque corresponds to an upper limit of an operational torque range associated with the motor.

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