Current regulator for double-wound synchronous motor drive

Abstract

A method of controlling a dual-winding synchronous motor (DWSM) includes determining a virtual current command based on a current command associated with each of two winding combinations of the DWSM, determining a virtual half motor current by applying a mathematical transformation to a measured output current, determining a half motor difference current based on a difference between the respective virtual current command and the virtual half motor current, calculating a forward path voltage command based on the respective difference current and using a first gain factor and a second gain factor, determining a feedback voltage command by applying a third gain factor and a fourth gain factor to the virtual half motor current, determining a virtual final voltage command based on the respective forward path and feedback voltage commands, determining a final voltage command by applying a second mathematical transformation to the virtual final voltage command, and commanding an inverter to apply respective voltages to the two winding combinations based on the final voltage command, thereby generating an output current.

Description

Background Technology

[0001] A two-wound synchronous motor, also known as a dual-winding synchronous motor, is a motor with two electrically independent sets of stator windings. This type of motor can be used as a motor, generator, or motor / generator. Each set of stator windings can operate independently as a corresponding half-motor and can be powered by a corresponding inverter. This type of motor is suitable for a variety of applications and can provide redundancy for safety-critical applications, allowing continued operation in the event of the loss of one of the multiple sets of stator windings and / or one of the multiple inverters.

[0002] Two-wound synchronous motors, including two-wound permanent magnet synchronous motors (DW-PMSM), inherently possess electromagnetic (inductive) coupling between their two sets of stator windings (i.e., coupling between circuits caused by the magnetic field induced by the current flowing through each of the two sets of stator windings). This induction results in a correlation of currents, and thus, the torque generated by the combination of the two windings of the two-wound motor. The degree or significance of this coupling depends on the specific design of the motor, particularly its specific features, including but not limited to the stator slots, rotor poles, magnet positions, and winding configuration.

[0003] Traditional applications using DW-PMSM typically do not consider the inductive coupling between the two half-motors to be significant, and the resulting motor drive system hardware topology and the control algorithms employed therein produce suboptimal performance.

[0004] Torque control in DW-PMSMs is typically performed indirectly via current control. This current control can be implemented as a closed-loop feedback current control system, which uses a current regulator to adjust the measured current value, or as a feedforward current control system using an inverse mathematical model of the motor. The impact of inductive coupling on the total current, torque, and control performance of the motor control system depends heavily on the choice of current control technology and the specific structure of the controller. This disclosure describes a current regulator structure for feedback current control of DW-PMSMs that considers electromagnetic coupling between winding combinations to achieve optimal current and torque control performance. Summary of the Invention

[0005] In one embodiment of the invention, a system for controlling a dual-wound synchronous motor (DWSM) having a first winding combination and a second winding combination is provided. The system includes a processor and a memory, the memory including instructions. When the instructions are executed by the processor, the processor: determines a positive virtual half-motor current command and a negative virtual half-motor current command based on a first motor current command associated with a first winding combination and a second motor current command associated with a second winding combination; determines a positive virtual half-motor current and a negative virtual half-motor voltage by applying a first mathematical transformation to the measured current in each winding combination of the first and second winding combinations, the positive virtual half-motor current corresponding to the positive virtual motor winding associated with the DWSM and the negative virtual half-motor current corresponding to the negative virtual motor winding associated with the DWSM; determines a positive virtual half-motor differential current based on the difference between the positive virtual half-motor current command and the positive virtual half-motor current; calculates a positive virtual half-motor forward path voltage command based on the positive virtual half-motor differential current and using a first set of gain factors; determines a negative virtual half-motor differential current based on the difference between the negative virtual half-motor current command and the negative virtual half-motor current; and calculates a negative virtual half-motor voltage command based on the negative virtual half-motor differential current and using a second set of gain factors. The forward path voltage command is defined as follows: The positive virtual half-motor feedback path voltage command is determined by applying a third set of gain factors to the positive virtual half-motor current; the negative virtual half-motor feedback path voltage command is determined by applying a fourth set of gain factors to the negative virtual half-motor current; the positive virtual half-motor final voltage command is determined based on the positive virtual half-motor forward path voltage command and the positive virtual half-motor feedback path voltage command; the negative virtual half-motor final voltage command is determined based on the negative virtual half-motor forward path voltage command and the negative virtual half-motor feedback path voltage command; the first final voltage command and the second final voltage command are determined by applying a second mathematical transformation to the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command; based on the first final voltage command, the first inverter is commanded to apply a first output voltage to the first winding combination, thereby generating a first output current in the first winding combination; and based on the second final voltage command, the second inverter is commanded to apply a second output voltage to the second winding combination, thereby generating a second output current in the second winding combination. The first output current and the second output current each have d-axis and q-axis components, and at least one of the first, second, third, or fourth gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0006] In another embodiment of the invention, a method for controlling a two-wound synchronous motor (DWSM) having a first winding combination and a second winding combination is provided. The method includes: determining a positive virtual half-motor current command and a negative virtual half-motor voltage command based on a first motor current command associated with the first winding combination and a second motor current command associated with the second winding combination; determining a positive virtual half-motor current and a negative virtual half-motor current by performing a first mathematical transformation on measured currents of each winding combination in the first and second winding combinations, the positive virtual half-motor current corresponding to a positive virtual motor winding associated with the DWSM and the negative virtual half-motor current corresponding to a negative virtual motor winding associated with the DWSM; determining a positive virtual half-motor differential current based on the difference between the positive virtual half-motor current command and the positive virtual half-motor current; calculating a positive virtual half-motor forward path voltage command based on the positive virtual half-motor differential current and using a first set of gain factors; determining a negative virtual half-motor differential current based on the difference between the negative virtual half-motor current command and the negative virtual half-motor current; and calculating a negative virtual half-motor forward path voltage command based on the negative virtual half-motor differential current and using a second set of gain factors. The following steps are taken: First, the positive virtual half-motor feedback path voltage command is determined by applying a third set of gain factors to the positive virtual half-motor current; second, the negative virtual half-motor feedback path voltage command is determined by applying a fourth set of gain factors to the negative virtual half-motor current; third, the positive virtual half-motor final voltage command is determined based on both the positive virtual half-motor forward path voltage command and the positive virtual half-motor feedback path voltage command; fourth, the negative virtual half-motor final voltage command is determined based on both the negative virtual half-motor forward path voltage command and the negative virtual half-motor feedback path voltage command; fifth, a first final voltage command and a second final voltage command are determined by applying a second mathematical transformation to both the positive and negative virtual half-motor final voltage commands; sixth, based on the first final voltage command, the first inverter is commanded to apply a first output voltage to the first winding combination, thereby generating a first output current in the first winding combination; and seventh, based on the second final voltage command, the second inverter is commanded to apply a second output voltage to the second winding combination, thereby generating a second output current in the second winding combination. The first output current and the second output current each have d-axis and q-axis components, and at least one of the first, second, third, or fourth gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0007] These and other advantages and features will become more apparent from the following description taken in conjunction with the accompanying drawings. Attached Figure Description

[0008] The subject matter considered to be the present invention is specifically pointed out and expressly claimed in the claims at the end of the specification. The above and other features and advantages of the invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0009] Figure 1 This is a schematic diagram of an electric power steering system based on the principles of this disclosure.

[0010] Figures 2A-2B This is a schematic diagram of a dual-wound motor drive system based on the principles of this disclosure.

[0011] Figures 3A-3C This is a schematic diagram of a dual-wound motor drive system based on the principles of this disclosure.

[0012] Figure 4 It is a block diagram representing a mathematical model of a dual-wound permanent magnet synchronous motor in a synchronous reference frame based on the principles of this disclosure.

[0013] Figure 5 It is a block diagram representing the mathematical transformation of decoupling the two half-motors of a dual-wound permanent magnet synchronous motor based on the principles of this disclosure.

[0014] Figure 6 This is a block diagram illustrating a mathematical model based on the principles of this disclosure, showing two virtual half-motors that generate a dual-wound permanent magnet synchronous motor by applying a decoupling transformation.

[0015] Figure 7 This is a block diagram illustrating a general electric motor current control system based on the principles of this disclosure.

[0016] Figure 8 This is a block diagram illustrating a motor current control system utilizing a state feedback decoupling control configuration according to the principles of this disclosure.

[0017] Figure 9 This is a block diagram illustrating a motor current control system configured with inverse decoupling control based on the principles of this disclosure.

[0018] Figures 10A-10B This is a block diagram illustrating the current control module for controlling the positive and negative virtual half-motors of a dual-wound motor using a state feedback decoupling control configuration based on the principles of this disclosure.

[0019] Figures 11A-11B This is a block diagram illustrating the current control module for controlling the positive and negative virtual half-motors of a dual-wound motor using an inverse decoupling control configuration based on the principles of this disclosure.

[0020] Figures 12A-12BThis is a block diagram illustrating a control module that uses object inverse decoupling and state feedback decoupling control configurations to control the positive and negative virtual half-motors of a dual-wound motor, based on the principles of this disclosure.

[0021] Figures 13A-13C A flowchart is shown illustrating a method for controlling a two-wound motor according to the principles of this disclosure. Detailed Implementation

[0022] The present disclosure will now be described with reference to the accompanying drawings, without limiting the specific embodiments. It is understood that the disclosed embodiments are merely examples of the present disclosure and may be embodied in different and alternative forms. The drawings are not necessarily drawn to scale; some features may be exaggerated or reduced to show details of particular components. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but merely as an representational basis for teaching those skilled in the art to use the present disclosure differently.

[0023] As used herein, the terms module and submodule refer to one or more processing circuits, such as application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated, or grouped) and memories executing one or more software or firmware programs, combinational logic circuits, and / or other suitable components that provide the said functionality. It will be understood that the submodules described below may be combined and / or further subdivided.

[0024] Figure 1 This is a schematic diagram of an electric power steering (EPS) system 40 applicable to implementing the disclosed technology. The EPS includes a steering mechanism 36, which includes a rack and pinion mechanism having a rack (not shown) located within a housing 50 and a pinion (also not shown) located below a gear housing 52. Upon operator input, referred to below as turning a steering wheel 26 (e.g., a handwheel), the upper steering shaft 29 rotates, and the lower steering shaft 51, connected to the upper steering shaft 29 via a universal joint 34, rotates the pinion. The rotation of the pinion moves the rack, which in turn moves a tie rod 38 (only one shown), which in turn moves a steering knuckle 39 (only one shown), thereby rotating the steering wheel 44 (only the other shown).

[0025] Electric power steering assistance is provided by a steering motion control system, typically designated by reference numeral 24, and includes a controller 16 and a motor, which may be a permanent magnet synchronous motor, hereinafter referred to as motor 19. The controller 16 is powered by the vehicle power supply 10 through power conductor 12. The controller 16 receives a vehicle speed signal 14 representing the vehicle speed from a vehicle speed sensor 17. The steering angle is measured by a position sensor 32, which may be an optically coded sensor, a variable resistance sensor, or any other suitable type of position sensor, and supplies a position signal 20 to the controller 16. The motor speed can be measured using a tachometer or any other device and transmitted to the controller 16 as a speed signal 21. The speed denoted as ω can be measured, calculated, or measured and calculated. m The speed of the electric motor. For example, the speed of the electric motor ω. m This can be calculated as the change in the motor position measured by position sensor 32 over a specified time interval. For example, the motor speed ω m The motor position θ can be determined. m The derivative with respect to time. Understandably, there are many well-known methods available for performing the function of the derivative.

[0026] When the steering wheel 26 is turned, the torque sensor 28 senses the torque applied to the steering wheel 26 by the vehicle operator. The torque sensor 28 may include a torsion bar (not shown) and a variable resistance sensor (also not shown), which outputs a torque signal 18 to the controller 16 relating to the amount of torsion on the torsion bar. Although this is a torque sensor, any other suitable torque sensing device utilizing known signal processing techniques may be used. In response to various inputs, the controller sends a command 22 to the electric motor 19, which supplies torque assistance to the steering system via a worm gear 47 and a worm wheel 48, providing torque assistance for vehicle steering.

[0027] It should be noted that although the disclosed embodiments are described with reference to motor control in electric steering applications, it should be understood that these references are merely exemplary, and the disclosed embodiments can be applied to any motor control application using an electric motor, such as steering, valve control, etc. Furthermore, the references and descriptions herein can be applied to various types of parameter sensors, including but not limited to torque, position, speed, etc. It should also be noted that the motors mentioned herein include, but are not limited to, electric motors; for the sake of brevity, only electric motors will be referred to below, but not limited to, electric motors.

[0028] In the described steering motion control system 24, controller 16 uses torque, position, and speed, among other factors, to calculate a command to provide the desired output power. Controller 16 is configured to communicate with various systems and sensors of the motor control system. Controller 16 receives signals from each system sensor, quantifies the received information, and provides an output command signal in response to the received information (e.g., to motor 19 in this example). Controller 16 is configured to generate a corresponding voltage from an inverter (not shown), which may optionally be integrated with controller 16, referred to herein as controller 16, to generate the desired torque or position when applied to motor 19. In one or more examples, controller 16 operates as a current regulator in a feedback control mode to generate command 22. Alternatively, in one or more examples, controller 16 operates in a feedforward control mode to generate command 22. Because these voltages relate to the position and speed of motor 19 and the desired torque, the rotor position and / or speed, as well as the torque applied by the operator, are determined. A position encoder is connected to steering shaft 51 to detect angular position θ. The encoder may sense rotational position based on optical detection, magnetic field changes, or other methods. Typical position sensors include potentiometers, rotary transformers, synchronizers, encoders, and combinations thereof, including at least one of the above. The position encoder outputs a position signal 20, which indicates the angular position of the steering shaft 51, and thereby indicates the angular position of the motor 19.

[0029] The desired torque can be determined by one or more torque sensors 28, which send a torque signal 18 indicating the applied torque. The torque sensor 28 and the torque signal 18 from the torque sensor can be a response to a corresponding torsion bar, spring, or similar device (not shown) configured to provide a response indicating the applied torque.

[0030] In one or more examples, temperature sensor 23 is located on motor 19. Preferably, temperature sensor 23 is configured to directly measure the temperature of the sensing portion of motor 19. Temperature sensor 23 sends a temperature signal 25 to controller 16 for processing and compensation as specified herein. Typical temperature sensors include thermocouples, thermistors, thermostats, etc., and combinations including at least one of the above sensors, which, when properly positioned, provide calibrable signals proportional to a specific temperature.

[0031] Position signal 20, speed signal 21, and torque signal 18, etc., are applied to controller 16. Controller 16 processes all input signals to generate values ​​corresponding to each signal, thereby producing rotor position values, motor speed values, and torque values ​​that can be used for processing in the algorithm specified herein. The measurement signals described above are typically also linearized, compensated, and filtered as needed to enhance the characteristics of the acquired signals or eliminate undesirable characteristics. For example, signals can be linearized to improve processing speed or to allow for a larger dynamic range of the processed signals. Furthermore, frequency- or time-based compensation and filtering can be used to eliminate noise or avoid undesirable spectral characteristics.

[0032] To perform its intended function and conduct the desired processing, and thereby perform calculations (e.g., motor parameter identification, control algorithms, etc.), controller 16 may include, but is not limited to, processors, computers, DSPs, memories, storage devices, registers, timers, circuit breakers, communication interfaces, and input / output signal interfaces, as well as combinations including at least one of the above. For example, controller 16 may include input signal processing and filtering to achieve accurate sampling, conversion, or acquisition of such signals from the communication interface.

[0033] As used in this article, variables with a tilde (~) above their symbol represent approximate values ​​that can be determined through mathematical calculations, lookup tables, etc. Variables with a bar above their symbol represent vector quantities. Variables with a superscript asterisk (*) represent commanded or desired setpoint values.

[0034] Figure 2A A first motion control system 56 is shown, which includes a first motor drive system 57 having a dual-wound permanent magnet synchronous motor (DW-PMSM), also referred to as a dual-wound motor 60, power converters 66a and 66b (each converter including a gate driver and a corresponding inverter), and a motor controller 70 (also referred to as a controller). The dual-wound motor 60 can be used in any number of applications, such as... Figure 1 The illustrated steering motion control system 24 includes an electric motor 19. Power converters 66a and 66b may include several switching devices, such as field-effect transistors (FETs) for switching high-current loads and gate drive circuitry for operating the switching devices. The motor controller 70 receives motor torque commands from the motion controller 80 (e.g., a power steering controller).

[0035] The motor controller 70 can be based on the motor torque command from the motion controller 80. Use any current control technique to generate voltage commands For example, the motor controller 70 may include a current command generator (not shown) to generate current commands using one or more optimizations and / or to make the first motion control system 56 satisfy one or more operational constraints, such as constraints on the voltage and / or current generated by or supplied to the first motor drive system 57. The current commands can then be used in conjunction with appropriate feedback current control techniques to generate voltage commands. Feedback current control techniques may include those provided in this disclosure, but other feedback current control techniques may also be used.

[0036] The two-wound motor 60 includes a first winding combination 62a and a second winding combination 62b, the second winding combination 62b being electrically independent of the first winding combination 62a. The two-wound motor 60 can generate electromagnetic torque by energizing one or both of the winding combinations 62a and 62b. Each of the two winding combinations 62a and 62b may each include three phases; therefore, each of the two winding combinations 62a and 62b may include a three-phase winding. Alternatively, each winding combination 62a and 62b may include any number of winding phases, such as five-phase or seven-phase. In some embodiments, the two-wound motor 60 is a multiphase permanent magnet synchronous motor (PMSM). However, the two-wound motor 60 can be any type of synchronous motor, such as a multiphase wound field synchronous motor. Furthermore, the two-wound motor 60 may have a salient pole configuration or a non-salient pole configuration, depending on the position of the permanent magnet or field windings on the rotor. Each winding combination 62a, 62b can function independently, and the dual-wound motor 60 can be operated by energizing one or both of the winding combinations 62a, 62b.

[0037] Power converters 66a and 66b are configured to supply alternating current (AC) voltage to winding assemblies 62a and 62b, respectively. Winding assemblies 62a and 62b are connected to their respective power converters 66a and 66b via phase leads 68a and 68b. This configuration provides redundancy, allowing the wound-rotor motor 60 to continue operating, even if one of the winding assemblies 62a and 62b, one of the motor leads 68a and 68b, and / or one of the power converters 66a and 66b completely fails or malfunctions. Additional redundancy is achieved through electrical isolation between power converters 66a and 66b.

[0038] Motor controller 70 based on motor torque command And based on the first phase current of the double-wound motor 60 Second phase current To generate voltage commands Voltage command It can include d-axis and q-axis components respectively. Each power converter 66a, 66b is based on voltage command. To apply an output voltage to one of the corresponding winding combinations 62a and 62b

[0039] The first current sensor 76a measures the first phase current generated by the first winding assembly 62a. The first current sensor 76a supplies a first measured current signal to the motor controller 70. The first measured current signal It can include d-axis and q-axis components respectively. The second current sensor 76b measures the second phase current generated by the second winding assembly 62b. The second current sensor 76b supplies a second measured current signal to the motor controller 70. The second measured current signal It can include d-axis and q-axis components respectively.

[0040] Figure 2A The main limitation of the mid-topology is that the motor controller 70 has only one voltage command. Therefore, power converters 66a and 66b must use the same voltage command to produce nearly identical voltage outputs applied to the two winding combinations 62a and 62b. The inductive coupling between the two winding combinations 62a and 62b makes it difficult to flexibly control the circuit to achieve "optimal" control performance. Despite the first phase current... Second phase current The measurement can be performed within a microcontroller, but since the outputs of each power converter 66a, 66b are "bonded" (i.e. identical), independent phase current measurements cannot be used to improve control performance.

[0041] Figure 2B A second motion control system 58 is shown, including a second electric motor drive system 59. The second electric motor drive system 59 is similar to or identical to the first electric motor drive system 57, except that it includes independent first electric motor controllers 72a and 72b instead of the single electric motor controller 70 of the first electric motor drive system 57. The first electric motor controllers 72a and 72b can be implemented using respective microcontrollers. In some embodiments, the motion controller 80 can be implemented by a single microcontroller, or similar or identical blocks can be used in two or more separate microcontrollers with appropriate scaling to ensure correct torque commands for the respective electric motor controllers 72a, 72b.

[0042] The first current sensor 76a supplies a first measured current signal to the first motor controller 72a. The second current sensor 76b supplies the second measured current signal to the second motor controller 72b.

[0043] The first motor controller 72a is based on motor torque commands. And based on the first phase current of the first winding combination 62a To generate the first voltage command First voltage command It can include d-axis and q-axis components respectively. The second motor controller 72b is based on motor torque commands. And based on the second phase current of the second winding combination 62b To generate the second voltage command Second voltage command It can include d-axis and q-axis components respectively. First voltage command and second voltage command The voltage is supplied to one of the corresponding power converters 66a and 66b, respectively, thereby allowing independent voltage control of the two winding combinations 62a and 62b.

[0044] Figure 2B A potential limitation of the topology shown is the phase current from each winding combination 62a, 62b. The measurements may not be usable for the individual microcontrollers implementing the two motor controllers 72a and 72b. Therefore, each of the motor controllers 72a and 72b may lack information about the other winding combination of the two winding combinations 62a and 62b, thus hindering the implementation of control schemes for inductive coupling between the two winding combinations 62a and 62b.

[0045] Figure 3A It shows the relationship with Figure 2A A schematic diagram of a first motion control system 56 that is similar to or identical to a dual-wound motor control system, except that the motor controller 70 generates first and second voltage commands. And supply first and second voltage commands to the corresponding power converters 66a, 66a Therefore, the dual-wound motor control system can provide independent voltage control for the two winding combinations 62a and 62b. The motor controller 70 can be based on motor torque commands. and two phase currents and Generate a first voltage command to be applied to the first winding assembly 62a via the first power converter 66a. The motor controller 70 can also similarly be based on the motor torque command. and two phase currents and To generate a second voltage command to be applied to the second winding assembly 62b via the second power converter 66b.

[0046] Figure 3B It shows the relationship with Figure 2B The second motion control system 58 is a schematic diagram of a similar or identical dual-wound motor control system, except for the first current signal. Second current signal In addition to the respective current sensors 76a and 76b supplying power to each of the first motor controller 72a and the second motor controller 72b, more specifically, Figure 3B The illustrated dual-wound motor driver includes each of a first current sensor 76a and a second current sensor 76b, which are directly connected to both the first motor controller 72a and the second motor controller 72b to supply current signals to them. The corresponding one in the middle.

[0047] Figure 3C It shows the relationship with Figure 2B The second motion control system 58 is a schematic diagram of a similar or identical dual-wound motor control system, except for the first current signal. Second current signal In addition to the current sensors 76a and 76b respectively, the current is supplied to each of the first motor controller 72a and the second motor controller 72b. Figure 3C The illustrated dual-wound motor driver includes a first motor controller 72a and a second motor controller 72b, which communicate with each other to share their respective current signals. First current signal The first current sensor 76a provides the first current signal to the first motor controller 72a, which in turn sends the first current signal to the first motor controller 72a. Send to the second motor controller 72b. Second current signal. The second current sensor 76b provides the second current information to the second motor controller 72b, which in turn sends the second current information to the second motor controller 72b. The current signal is sent to the first motor controller 72a. Communication can be made between the first motor controller 72a and the second motor controller 72b using what is known as “micro-communication,” as indicated by two half-arrows passing between the two motor controllers 72a and 72b. This is typically a digital communication setup so that the two motor controllers 72a, 72b can exchange information at the desired rate.

[0048] Prior to the development of the control algorithm for DW-PMSM, a negligible inductive coupling between the two half-motors was assumed. While the possibility of such coupling was anticipated, sufficient analytical or mathematical models to capture this effect had not yet been derived or proposed. Therefore, conventional control designs did not consider this coupling, and some current induction always inherently exists between the two sides of the DW motor. This paper presents a general mathematical model for DW-PMSM in synchronous or dq reference frames, applicable to both salient-pole and non-salient-pole configurations. A simplified model for salient-pole motors is also provided.

[0049] The general mathematical model of DW-PMSM is shown in the following equation (1).

[0050]

[0051] In this model, subscripts 1 and 2 are used to represent two sides or half of the motor, V d and V q These are the voltages of the d-axis motor and the q-axis motor, respectively. d and I q These are the d-axis motor current and the q-axis motor current, respectively. R is the phase resistance, and L... d and L q These are the d-axis inductance and q-axis inductance of each half-motor, respectively. M d and M q It represents the inductance term used to describe the coupling between two half-motors, ω. e It is the speed of the electric motor, λ m It is a permanent magnet (PM) flux linkage. Note that the motor speed is also called the motor's synchronous frequency, and is related to the mechanical motor speed ω. m Related, as shown below:

[0052] ω e =pω m (2)

[0053] Where p is the number of magnetic pole pairs.

[0054] Electromagnetic torque T e It is determined by the following equation (3):

[0055]

[0056] During normal operation of the two-wound motor 60, the parameters in equations (1)-(3) may change significantly. The resistance R will vary with the temperature of the windings of the two-wound motor 60, and may differ for the combination of the two windings. Due to magnetic saturation (via the current I... d1 I q1 I d2 I q2 (represented by the correlation), inductance L d L q M d M q They may change simultaneously, independently, and nonlinearly. PM magnetic flux λ m It may vary due to magnetic saturation and temperature.

[0057] The simplified mathematical model for a non-salient pole motor, assuming that the d-axis inductance and q-axis inductance are equal, is shown in the following equation (4).

[0058]

[0059] electromagnetic torque T of the salient pole e It can be represented by the following equation (5):

[0060] T e =pλ m (I q1 +I q2 (5)

[0061] The two diagonal matrices of equation (1) represent the mathematical model of a single winding combination, which is the same as the mathematical model of a traditional single-winding PMSM, while the non-diagonal matrix represents the coupling between two windings. Figure 4 The diagram shown is a block diagram 100 representing this general mathematical model of a double-wound motor 60.

[0062] Specifically, block diagram 100 includes a first winding model 102a and a second winding model 102b, wherein each winding model 102a, 102b represents the operation of a corresponding one of the winding combinations 62a, 62b of the two-wound motor 60. The first winding model 102a generates a first d-axis current and a q-axis current I. d1 I q1 The first output signal 104a is generated by the first winding combination 62a in response to a given first winding voltage signal 106a. Similarly, the second winding model 102b generates a current representing the second d-axis current and the q-axis current I. d2 I q2 The second output signal 104b is generated by the second winding assembly 62b in response to a given second winding voltage signal 106b.

[0063] The first winding model 102a receives a first d-axis voltage V applied to the first winding assembly 62a. d1 and the first q-axis voltage V q1 The matrix of values ​​is used as the first winding voltage signal 106a. This first winding voltage signal 106a is provided to the first adder block 108a, which subtracts the first back electromotive force (BEMF) signal 110a to generate a first composite signal 112a. The first composite signal 112a can represent the sum of voltages acting on the first winding combination 62a. The first BEMF signal 110a represents the BEMF generated by the first winding combination 62a. The first composite signal 112a is provided to the first converter block 114a, which generates a first output signal 104a based on the first composite signal 112a.

[0064] The second winding model 102b receives a second d-axis voltage V applied to the second winding assembly 62b. d1 Second q-axis voltage V q1 The matrix of values ​​is used as the second winding voltage signal 106b. This second winding voltage signal 106b is provided to the second adder block 108b, which subtracts the second BEMF signal 110b and generates a second composite signal 112b. The second composite signal 112b can represent the sum of voltages acting on the second winding combination 62b. The second BEMF signal 110b represents the BEMF generated by the second winding combination 62b. The second composite signal 112b is provided to the second converter block 114b, which generates a second output signal 104b based on the second composite information 112b.

[0065] The first winding model 102a also includes a first coupling transformation block 118a, which generates a first coupling voltage signal 116a based on the second output signal 104b. The first coupling voltage signal 116a represents the effect on the first winding assembly 62a caused by the current in the second winding assembly 62b. The first coupling voltage signal 116a is provided to a first adder block 108a, which subtracts the corresponding component value of the first coupling voltage signal 116a from each component of the first composite signal 112a.

[0066] Similarly, the second winding model 102b also includes a second coupling transformation block 118b, which generates a second coupling voltage signal 116b based on the first output signal 104a. The second coupling voltage signal 116b represents the effect on the second winding combination 62b caused by the current in the first winding combination 62a. The second coupling voltage signal 116b is provided to a second adder block 108b, which subtracts the corresponding component value of the second coupling signal 116b from each component of the second composite signal 112b.

[0067] Through the mathematical transformations shown in equations (6)-(8), winding models 102a and 102b can be converted from a control perspective into two decoupled virtual motors, such as... Figure 5 As shown.

[0068] X pn =[R f ]X 12 (6)

[0069] X 12 =[R b ]X pn (7)

[0070]

[0071] Where X pn Indicates the voltage or current supplied to the positive and negative half of the motor, X 12 R represents the voltage or current supplied to the corresponding combinations of winding combinations 62a and 62b of the double-wound motor 60. f Represents the forward transform, R b This represents the inverse transform. Furthermore, note that equation (8) shows that the inverse transform is the inverse of the forward transform. In some embodiments, the forward transform R... f It can be implemented in the form of output transform block 156. In some embodiments, the inverse transform R b It can be implemented using the form of input transformation block 152.

[0072] Figure 5 The diagram shows a block diagram 150 of a dual-winding PMSM model, where these mathematical transformations are applied to the voltage input and current output. Specifically, block diagram 150 includes an input transformation block 152, which generates a first winding voltage signal 106a and a second winding voltage signal 106b based on the positive virtual half-motor voltage signal 154a and the negative virtual half-motor voltage signal 154b. The positive half-motor voltage signal 154a is in the form of a 2x1 matrix, where the matrix value is the d-axis voltage V supplied to the positive half-motor. dp and q-axis voltage V qpSimilarly, the negative half-motor voltage signal 154b is in the form of a 2x1 matrix, and the matrix value is the d-axis voltage V supplied to the negative half-motor. dn and q-axis voltage V qn .

[0073] Block diagram 150 also includes an output conversion block 156, which generates a positive virtual half-motor current signal 158a and a negative virtual half-motor current signal 158b based on a first output signal 104a from a first winding model 102a and a second output signal 104b from a second winding model 102b. The positive virtual half-motor current signal 158a is in the form of a 2x1 matrix, with the matrix having a d-axis current I. dp and q-axis current I qp The value of . Similarly, the negative virtual half-motor current signal 158b is in the form of a 2x1 matrix, with the matrix having d-axis current I. dn and q-axis current I qn The value of .

[0074] By performing the transformation, the synthetic motor model shown in equation (9) can be obtained, as follows:

[0075]

[0076] Electromagnetic torque T obtained through mathematical transformation e This can be represented by equation (10), as shown below:

[0077] T e =p(λ m +((L q +M q )-(L d +M d ))I dp )I qp (10)

[0078] The block diagram representation of decoupling model 170 is as follows: Figure 6 As shown. This decoupling model 170 can also be called a virtual model of a dual-wound PMSM because it illustrates two independent mathematical models, thus consisting of mutually decoupled positive and negative virtual half-motor models. Note that once it is necessary to apply the transformation matrix R at the interface (not shown) of the control algorithm block... f R bWith appropriate related transformations, the control algorithm design can be carried out under the following assumptions: From the controller's perspective, the "effective" motor (object) is the decoupled model 170 of the two-wound motor 60, which includes mutually decoupled positive virtual half-motor windings and negative virtual half-motor windings 172a and 172b. Therefore, the decoupled model 170 includes positive virtual motor winding 172a and negative virtual motor winding 172b. Positive virtual motor winding 172a can also be called a positive virtual half-motor, and negative virtual motor winding 172b can also be called a negative virtual half-motor.

[0079] The positive virtual motor winding 172a receives the positive virtual half-motor voltage signal 154a and generates the positive virtual half-motor current signal 158a. The positive virtual motor winding 172a includes a positive half-motor transfer matrix 174a describing its dynamic behavior. The net voltage 176a generated by the input voltage overcoming the BEMF voltage 180a is represented by a differential operation performed by the subtraction module 178a and used as input to the positive half-motor transfer matrix 174a that generates the positive virtual half-motor current signal 158a. Note that the positive half-motor BEMF voltage signal 180a includes 2ω... e λ m This item is combined with the BEMF signals 110a and 110b of the first winding model and the second winding models 102a and 102b, respectively.

[0080] The negative virtual motor winding 172b receives the negative virtual half-motor voltage signal 154b and generates the negative virtual half-motor current signal 158b. The negative virtual motor winding 172b includes a negative half-motor transfer matrix 174b describing its dynamic behavior. The net voltage 176b generated by the input voltage overcoming the voltage represented by the negative half-motor BEMF voltage signal 180b is represented as the difference result of the subtraction module 178b and used as the input to the negative half-motor transfer matrix 174b that generates the negative virtual half-motor current signal 158b. Note that since the positive half-motor BEMF voltage signal 180a is combined with the BEMF signals 110a and 110b of the first winding model and the second winding models 102a and 102b respectively, the negative half-motor BEMF voltage signal 180b includes a zero matrix. In other words, unlike the positive virtual motor winding 172a, the negative virtual motor winding 172b does not include any BEMF compensation. The negative half motor transmission matrix 174b is similar to the positive half motor transmission matrix 174a, except that the sign of each element changes (from positive to negative).

[0081] By applying a transformation to the generalized model that generates the virtual motor windings 172a and 172b, the overall current regulation problem can be simplified to regulating the positive and negative virtual half-motor current signals 158a and 158b. The operation of the virtual motor windings 172a and 172b is essentially the same as that of a typical single-winding three-phase PMSM; therefore, enhanced current regulation techniques can be used to generate the corresponding half-motor voltage signals 154a and 154b.

[0082] The mathematical models of the positive and negative virtual half-motors can be summarized in a simplified form and written as the following equation (11):

[0083]

[0084] Where x can be replaced by p or n to represent a positive or negative virtual half-motor, and u is a scalar equal to 2 or 0 for the first and second virtual half-motors, respectively. The inductance terms of the two half-motors can be expressed in terms of the self-inductance and coupling inductance of the two-wound motor 60, as shown in equations (12)-(15), as follows:

[0085] L dp =L d +M d (12)

[0086] L qp =L q +M q (13)

[0087] L dn =L d -M d (14)

[0088] L qn =L q -M q (15)

[0089] Motor controllers 70, 72a, and 72b may include a current command generator, a current regulator, and a power conversion controller. The current command generator is configured to base its operation on a motor torque command. The current command generator can limit the generated torque based on machine performance and power management algorithms. The current regulator can implement closed-loop or feedback current control techniques to control the amount of current generated by the DW-PMSM. The current controller is a key aspect of this disclosure because it can implement the proposed techniques to account for the inductive coupling between the two half-motors of the DW-PMSM. The power conversion controller converts the d-axis and q-axis voltage commands from the current regulator into duty cycles, which are then sent to the gate driver and inverter, which in turn apply the desired voltages to the winding combinations 62a, 62b of the dual-wound motor 60.

[0090] Compensation modules 306, 308, and 310 form a matrix-valued (or multi-dimensional) proportional-integral (PI) controller for compensating command current. and measured current The difference current between To control the virtual motor windings 172a and 172b. Command current. This can be the corresponding positive virtual half-motor current command. Or negative virtual half motor current command For the winding combinations 62a and 62b of the dual-wound motor 60, a third mathematical transformation (not shown in the figure) can be used based on the first motor current command and the second motor current command. Command to calculate the current of the positive virtual half motor and negative virtual half motor current command The third mathematical transformation can be combined with Figure 5 The output converter block 156 of the block diagram 150 shown is similar to or the same. Positive virtual half-motor current command. Or negative virtual half motor current command Command torque can be used And apply the “traditional” current command, calculated according to equation (10).

[0091] Figure 7 This is a block diagram illustrating a general-purpose electric motor control system 270 with two degrees of freedom (2DOF) according to the principles of this disclosure. As shown, the electric motor control system 270 includes several sub-modules, namely, a BEMF compensation module 302, a proportional compensation module 306, an integral module 308, an integral gain module 310, a feedback compensator 320, a subtraction module 304, and addition modules 312, 314, and 316. The integral module 308 and the integral gain module 310 can be collectively referred to as integral compensation controllers 308 and 310. Figure 7It also includes virtual motor windings 172a and 172b, which include general virtual motor windings, such as virtual motor windings modeled through object model P. Virtual motor windings 172a and 172b also include disturbance voltages, such as the BEMF voltage, which is the rotor mechanical speed ω. m The function is modeled by the disturbance function D. The object model P represents the motor voltage. The difference between the voltage and the disturbance voltage is used as the input. For simplicity of explanation and description, Figure 7 The inverter 264 between the motor control system 270 and the virtual motor windings 172a and 172b is not shown in the figure.

[0092] Virtual motor windings 172a and 172b receive motor voltage And generate torque (i.e., extract or generate output current). The above reference Figure 1 and Figures 2A-2B The actual motor current is mentioned. The motor control system 270 constitutes a closed-loop system with specific frequency response characteristics. It can be understood that the frequency response of the closed-loop system is controlled by a set of model equations that define the input current command. Converted to output current The transfer function. In other words, the motor control system 270 sends commands based on the input current. The generated motor voltage To adjust the output current

[0093] The motor control system 270 is a closed-loop feedback controller. That is, it measures the output current of the virtual motor windings 172a and 172b. This feedback is then sent to the motor control system 270, which uses the feedback to adjust the output of the virtual motor windings 172a and 172b. The measured current... This can also be called the feedback current, represented by the feedback signal 305 generated by the current sensor (not shown). The measured current... Including output current In addition, some disturbances or noise currents ΔI may be introduced during the measurement.

[0094] The feedback compensator 320 will measure the current. As input, and using matrix H to generate the feedback path voltage command.

[0095] The BEMF compensation module 302 is configured to compensate for the dynamics (e.g., variations) of the BEMF voltage, which are slower than the dynamics of the current in the virtual motor windings 172a and 172b. Specifically, the BEMF compensation module 302 will adjust the rotor mechanical speed... As input, and output as a dynamic BEMF compensation voltage.

[0096] The feedback path voltage command is transmitted via the adder module 314. With BEMF compensation voltage and forward path voltage commands from proportional compensation module 306 and integral compensation controllers 308, 310. Combined to generate the final voltage command. The final voltage command causes the virtual motor windings 172a and 172b to draw current in a stable manner, unaffected by the resistance of the virtual motor windings 172a and 172b or any inaccurate estimation of the resistance. Adder module 316 combines the final voltage command and the disturbance voltage ΔV to generate the motor voltage supplied to the virtual motor windings 172a and 172b.

[0097] The proportional compensation module 306 calculates the differential current. (Determined by subtraction module 304) Generates proportional voltage command The integral compensation controllers 308 and 310 include an integral module 308 and an integral gain module 310, and generate an integral voltage command. Adder module 312 will send proportional voltage command and integral voltage command Combined, to generate forward path voltage commands Proportional voltage command With integral voltage command The combined forward path voltage command can be determined in the following way. When applied to the virtual motor windings 172a and 172b, the total current is ordered to have a specific desired sequence in the current transfer function. It is important to note that... and Each of them has a d-axis component and a q-axis component. Additionally, and It represents vector values ​​rather than scalar values.

[0098] The proportional compensation module 306 is a proportional controller, and the integral compensation controllers 308 and 310 are integral controllers. Besides providing a beneficial trade-off between the motor input disturbance transfer function behavior and the current measurement noise transfer function behavior, the proportional compensation module 306 (also known as C...) is used when a first-order response is required. K This aids in configuring the frequency response of the closed-loop system. When a higher-order transfer function (e.g., third-order) is required, a different configuration than that used for the PI controller is employed.

[0099] As used herein, the terms "module" or "submodule" refer to application-specific integrated circuits (ASICs), electronic circuitry, processors (shared, dedicated, or grouped) executing one or more software or firmware programs and memory, combinational logic circuitry, and / or other suitable components providing the said functionality. When implemented in software, a module or submodule can be embodied as memory, which serves as a non-transitory machine-readable storage medium readable by processing circuitry and storing instructions executable by the processing circuitry to perform methods. Furthermore, it can be combined and / or further divided. Figure 7 The modules and submodules shown.

[0100] Figure 8 This is a block diagram illustrating a state feedback motor control system 272 utilizing state feedback decoupling technology. The state feedback decoupling technology uses the parameters of the feedback compensator 320 to compensate for the mutual inductance effect between the virtual motor windings 172a and 172b. Therefore, the state feedback decoupling technology can control the dual-wound motor 60, where the d-axis and q-axis currents of each winding combination 62a and 62b are decoupled from each other and from the currents in other winding combinations 62a and 62b.

[0101] Figure 8 The state feedback motor control system 272 is similar to Figure 7 The motor control system 270 has additional details and parameters to implement state feedback decoupling control technology. The virtual motor windings 172a, 172b include a winding model 219, which is configured to respond to the voltage applied to the virtual motor windings 172a, 172b. To calculate the output current The output current is equal to or approximately equal to the measured current. It can have d-axis and q-axis components. For example, the measured current of a positive virtual motor winding 172a. This can be represented as the positive virtual half-motor current. The measured current of the negative virtual motor winding 172b This can be represented as the negative virtual half-motor current.

[0102] The applied voltage supplied to the winding model 219 is determined to be the motor voltage. The vector sum of the BEMF voltages generated by the windings 102a and 102b of the virtual half-motor, and expressed as a differential operation performed by the subtraction module 334. Motor voltage It can be equal to or approximately equal to the final voltage command. The BEMF voltage can be determined by the BEMF model 332 of the virtual motor windings 172a and 172b. In some embodiments, BEMF compensation can be applied only to one of the two virtual motor windings 172a and 172b used to control the dual-wound motor 60.

[0103] Winding model 219 can be used with object model P x (s) represents, as shown in equation (16):

[0104]

[0105] In this context, for the positive virtual motor winding 172a or the negative virtual motor winding 172b, x represents either p or n.

[0106] BEMF model 332 can be represented by the function D shown in equation (17). x This is represented as follows:

[0107]

[0108] In equation (17), the negative sign on the right side is represented by the difference operation performed by the subtraction module 334. The BEMF compensation module 302 can be implemented using the following equation (18):

[0109]

[0110] The matrix H of the feedback compensator 320 in the state feedback motor control system 272 can be realized using the following equation (19):

[0111]

[0112] Where x is p or n, corresponding to either the positive virtual motor winding 172a or the negative virtual motor winding 172b. The cross-diagram term of the state feedback matrix H. Used for decoupling, while the remaining terms are virtual resistors to enhance disturbance rejection and robustness.

[0113] The transfer function C can be used as shown in equations (20) and (21) below. K and C I To implement the proportional compensation module 306 and integral compensation controllers 308 and 310 in the state feedback motor control system 272:

[0114]

[0115]

[0116] Where x is p or n of either the positive virtual motor winding 172a or the negative virtual motor winding 172b. K and C I It includes a proportional-integral (PI) controller with selected gain to eliminate the poles of the modified "active" object (which is effectively decoupled), thereby causing both the d-axis and q-axis closed-loop current control loops to exhibit a first-order low-pass filter response with an adjustable cutoff frequency, which is determined by the target closed-loop bandwidth term ω. d and ω q express.

[0117] Figure 9 This is a block diagram illustrating an object-inverse decoupling motor control system 274 utilizing object-inverse decoupling technology. Object-inverse decoupling technology uses parameters from the proportional compensation module 306 and integral compensation controllers 308 and 310 to compensate for the mutual inductance effect between the two virtual motor windings 172a and 172b. Therefore, object-inverse decoupling technology can control a dual-wound motor 60 where the d-axis and q-axis currents of each winding combination 62a and 62b are decoupled from each other and from the currents in other winding combinations 62a and 62b. Figure 9 The object inverse decoupling motor control system 274 is similar to Figure 8 The state feedback motor control system 272 in the middle changes its parameters to realize the object inverse decoupling technology.

[0118] The matrix H of the feedback compensator 320 in the object inverse decoupling motor control system 274 can be implemented using the following matrix (22):

[0119]

[0120] The transfer function C can be used as shown in equations (23) and (24) below. K and C I To implement the proportional compensation module 306 and integral compensation controllers 308 and 310 in the object inverse decoupling motor control system 274:

[0121]

[0122]

[0123] Where x is p or n, which is the corresponding p in either the positive virtual motor winding 172a or the negative virtual motor winding 172b. Integral controller transfer function C I Cross-items and Used for decoupling. Additionally or alternatively, the proportional controller transfer function C K The terms can also be used for decoupling.

[0124] Figures 10A-10B This is a block diagram illustrating the positive and negative virtual motor windings 172a and 172b of the decoupled model 170 of the dual-wound motor 60, which are controlled by current control modules 280 and 282 using a state feedback decoupling control configuration. Specifically, Figure 10A A first current control module 280 controlling the positive virtual motor winding 172a is shown, whose matrix parameters of feedback compensator 320 are configured to implement state feedback decoupling technology. Figure 10B A second current control module 282 controlling the negative virtual motor winding 172b is shown, whose matrix parameters of feedback compensator 320 are configured to implement state feedback decoupling technology.

[0125] Figures 11A-11B This is a block diagram illustrating the third current control module 284 and the fourth current control module 286 that use an object inverse decoupling control configuration to control both the positive and negative virtual motor windings 172a and 172b of the decoupling model 170 of the dual-wound motor 60. Specifically, Figure 11A The third current control module 284 controlling the positive virtual motor winding 172a is shown, and the matrix parameters of its integral gain module 310 are configured to implement object inverse decoupling technology. Figure 11B The fourth current control module 286 controlling the negative virtual motor winding 172b is shown, and the matrix parameters of its integral gain module 310 are configured to implement object inverse decoupling technology.

[0126] Figures 12A-12B This is a block diagram showing the fifth current control module 288 and the sixth current control module 290, which use object inverse transformation and state feedback decoupling control configuration to control the positive and negative virtual motor windings 172a and 172b of the virtual model 170 representing the dual-wound motor 60, respectively. Figure 12A The fifth current control module 288 controlling the positive virtual motor winding 172a is shown, and the matrix parameters of its feedback compensator 320 are configured to implement state feedback decoupling technology. Figure 12B A sixth current control module 290 controlling the negative virtual motor winding 172b is shown, with the matrix parameters of its integral gain module 310 configured to implement object inverse decoupling technology. This is merely an example illustrating different decoupling techniques that can be used and combined in different arrangements for controlling the dual-wound motor 60.

[0127] Figures 13A-13C A flowchart illustrating a principle method 500 according to the present disclosure is shown, which is used to control a dual-wound synchronous motor (DWSM) (also referred to as a dual-wound motor 60) having a first winding combination 62a and a second winding combination 62b. According to some embodiments of the present disclosure, method 500 may be executed by a motor controller 70. It will be understood from the present disclosure that the sequence of operations in this method is not limited to... Figures 13A-13CThe execution may not be performed in the order shown, but may be performed in one or more orders different from those according to this disclosure.

[0128] At 502, method 500 is based on a first motor current command associated with the first winding combination 62a. and the second motor current command associated with the second winding assembly 62b Determine the positive virtual half motor current command With negative virtual half motor voltage command For example, the motor controller 70 can perform mathematical transformations to base a first motor current command associated with the first winding combination 62a. and the second motor current command associated with the second winding assembly 62b Each of the commands is used to calculate the current of the positive virtual half motor. and negative virtual half motor current command Used for commands based on the currents of the first and second motors Command to calculate the current of the positive virtual half motor and negative virtual half motor current command This mathematical transformation can be combined with Figure 5 The output transformation block 156 of the block diagram 150 shown is similar to or the same.

[0129] At 504, method 500 determines the positive virtual half-motor current by applying a first mathematical transformation to the measured current of each of the first winding combination 62a and the second winding combination 62b. and negative virtual half motor current The positive virtual half-motor current corresponds to the positive virtual motor winding associated with the DWSM, and the negative virtual half-motor current corresponds to the negative virtual motor winding associated with the DWSM. For example, the motor controller 70 can implement a first mathematical transformation that can be... Figure 5 The output conversion block 156 of the block diagram 150 shown is similar or identical to that of the first measured current signal representing the current in the first winding assembly 62a. and a second measured current signal representing the current in the second winding assembly 62b. To calculate the current of the positive virtual half motor and negative virtual half motor current

[0130] At position 506, method 500 is based on the positive virtual half-motor current command. Hezheng Virtual Half Motor Current The difference between them determines the differential current of the positive half motor. For example, refer to Figure 10AThe motor controller 70 can implement the subtraction module 304 to convert the differential current of the positive virtual half-motor. Confirmed as positive virtual half-motor current command Hezheng Virtual Half Motor Current The difference between them.

[0131] At point 508, method 500 is based on the differential current of the positive half-motor. The first set of gain factors is used to calculate the forward path voltage command of the positive virtual half motor. For example, refer to Figure 10A The motor controller 70 can implement the proportional compensation module 306 to apply at least a portion of the first set of gain factors to the positive virtual half-motor differential current. To calculate the proportional voltage command of the positive virtual half motor Alternatively or additionally, the motor controller 70 may implement the integral gain module 310 to generate a positive virtual half-motor integral voltage command by applying at least a portion of the first set of gain factors to the difference signal of the integral generated by the integral module 308. To calculate the integral voltage of the positive virtual half-motor command In some embodiments, such as Figure 10A As shown, the command to calculate the forward path voltage of the positive virtual half-motor is... It may also include a motor controller 70 to implement the adder module 312 to generate a positive virtual half-motor forward path voltage command. As a positive virtual half-motor proportional voltage command Hezheng Virtual Half Motor Integral Voltage Command The sum. However, in some other embodiments, the positive virtual half-motor forward path voltage command. It can include only the positive virtual half-motor proportional voltage command. Or positive virtual half-motor integral voltage command one of the.

[0132] At 510, method 500 is based on the negative virtual half-motor current command. and negative virtual half motor current The difference between them determines the differential current of the negative half motor. For example, refer to Figure 10B The motor controller 70 can implement the subtraction module 304 to reduce the negative virtual half-motor differential current. The command to determine the negative virtual half-motor current is... and negative virtual half motor current The difference between them.

[0133] At position 512, method 500 is based on the negative half-motor differential current. The negative virtual half-motor forward path voltage command is calculated using the second set of gain factors. For example, refer to Figure 10B The motor controller 70 can implement the proportional compensation module 306 to apply at least a portion of the second set of gain factors to the negative virtual half-motor differential current. To calculate the proportional voltage command of the negative virtual half motor Alternatively or additionally, the motor controller 70 may implement the integral gain module 310 to generate a negative virtual half-motor integral voltage command by applying at least a portion of a second set of gain factors to the difference signal of the integral generated by the integral module 308. Command to calculate the integral voltage of the negative virtual half-motor In some embodiments, such as Figure 10B As shown, the command to calculate the forward path voltage of the negative virtual half-motor is... It may also include a motor controller 70 to implement the adder module 312 to generate a negative virtual half-motor forward path voltage command. As a negative virtual half-motor proportional voltage command and negative virtual half motor integral voltage command The sum. However, in some other embodiments, the negative virtual half-motor forward path voltage command. It can include only the negative virtual half-motor proportional voltage command. Or negative virtual half-motor integral voltage command one of the.

[0134] At 514, method 500 applies a third set of gain factors to the positive virtual half-motor current. Command to determine the feedback path voltage of the positive virtual half motor For example, refer to Figure 10A The motor controller 70 can implement the feedback compensator 320 to apply a third set of gain factors to the positive virtual half-motor current. Command to calculate the feedback path voltage of the positive virtual half-motor

[0135] At 516, method 500 determines the negative virtual half-motor feedback path voltage command by applying a fourth set of gain factors to the negative virtual half-motor current. For example, refer to Figure 10B The motor controller 70 can implement the feedback compensator 320 to apply a fourth set of gain factors to the negative virtual half-motor current. Command to calculate the feedback path voltage of the negative virtual half-motor

[0136] At point 518, method 500 is based on the positive virtual half-motor forward path voltage command. and voltage command based on positive virtual half-motor feedback path Determine the final voltage command of the positive virtual half motor For example, refer to Figure 10A The motor controller 70 can implement the adder module 314 to input the final voltage command of the positive virtual half motor. Calculate the forward path voltage command for the positive virtual half-motor Hezheng Virtual Half Motor Feedback Path Voltage Command The sum of.

[0137] At 520, method 500 is based on the negative virtual half-motor forward path voltage command. and the negative virtual half-motor feedback path voltage command Determine the final voltage command of the negative virtual half motor For example, refer to Figure 10B The motor controller 70 can implement the adder module 314 to input the final voltage command of the negative virtual half motor. Calculate the forward path voltage command for the negative virtual half-motor and negative virtual half motor feedback path voltage command The sum of.

[0138] At 522, method 500 applies a second mathematical transformation to the final voltage command of the positive virtual half-motor. and negative virtual half motor final voltage command Determine the first final voltage command Second final voltage command For example, the motor controller 70 can apply a second mathematical transformation, which can be combined with... Figure 5 The input transformation block 152 of the block diagram 150 shown is similar or identical to that of the input transformation block 152, so as to be based on the final voltage command of the positive virtual half motor. and negative virtual half motor final voltage command Determine the first final voltage command Second final voltage command

[0139] At 524, method 500 is based on the first final voltage command. To command the first inverter to apply the first output voltage to the first winding combination 62a Thus, a first output current is generated in the first winding combination 62a. For example, the motor controller 70 can generate a first final voltage command. And provide it to the first power converter 66a, thereby commanding the first inverter of the first power converter 66a to output the first voltage. A first output current is generated in the first winding assembly 62a by applying a first winding combination 62a.

[0140] At 526, method 500 is based on the second final voltage command. This commands the second inverter to apply a second output voltage to the second winding assembly 62b. This generates a second output current in the second winding assembly 62b. For example, the motor controller 70 can generate a second final voltage command. And provide it to the second power converter 66b, thereby commanding the second inverter of the second power converter 66b to output the second voltage. A second output current is generated in the second winding assembly 62b by applying a second current to the second winding assembly 62b.

[0141] In some embodiments, the first output current Second output current They have d-axis components and q-axis components respectively. d1 I q1 I d2 I q2 And at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is configured to make the first output current d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes. For example, any combination of one or more groups of gain factors from the first group to the fourth group of gain factors, or two or more groups of gain factors from the first group to the fourth group of gain factors, may cause the first output current to change. d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes.

[0142] In some embodiments, at least one set of gain factors from the first set of gain factors, the second set of gain factors, the third set of gain factors, or the fourth set of gain factors is further configured to cause the first output current to... d-axis component I d1With the first output current q-axis component I q1 Decoupling of changes.

[0143] In some embodiments, based on the positive half-motor differential current at step 508 Command to calculate the forward path voltage of the positive virtual half motor This also includes directly applying at least a portion of the first set of gain factors to the differential current of the positive half of the motor. For example, the motor controller 70 can implement a proportional compensation module 306 to adjust the differential current. To calculate the proportional voltage command The first set of gain factors may include one or more gain factors applied by the proportional compensation module 306 to calculate the proportional voltage command. The motor controller 70 can also be based on proportional voltage commands. Command to determine the forward path voltage of a positive virtual half-motor For example, the motor controller 70 can implement the adder module 312 to perform a proportional voltage command based on the positive virtual half-motor. Command to generate forward path voltage of positive virtual half motor

[0144] In some embodiments, method 500 applies differential current to the positive half of the motor. Integrating is performed to generate the integral difference signal, and the difference current based on the positive half of the motor is used at step 508. Command to calculate the forward path voltage of the positive virtual half motor This also includes applying at least a portion of the first set of gain factors to the integral difference signal. For example, the motor controller 70 can implement an integral compensation controller 308, 310 including an integral module 308 to generate the integral difference signal. The motor controller 70 can also implement an integral gain module 310 to generate a positive virtual half-motor integral voltage command by applying at least a portion of the first set of gain factors to the integral difference signal generated by the integral module 308. To calculate the integral voltage of the positive virtual half-motor command In some embodiments, such as Figure 10A As shown, the command to calculate the forward path voltage of the positive virtual half-motor is... It may also include a motor controller 70 to implement an adder module 312 to input the forward path voltage command of the positive virtual half-motor. Generate a positive virtual half-motor proportional voltage command Hezheng Virtual Half Motor Integral Voltage Command The sum of.

[0145] In some embodiments, at least one of the third or fourth gain factors is configured to make the first output current... d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes.

[0146] In some embodiments, the third group of gain factors and the fourth group of gain factors together affect the first output current. d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes. An example of this arrangement is as follows: Figures 10A-10B The block diagram is shown below.

[0147] In some embodiments, at least one of the first set of gain factors or the second set of gain factors is configured to make the first output current... d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes.

[0148] In some embodiments, the first set of gain factors and the second set of gain factors together make the first output current d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes. An example of this arrangement is as follows: Figures 11A-11B The block diagram is shown below.

[0149] In some embodiments, method 500 calculates a back electromotive force (BEMF) compensation voltage configured to compensate for the dynamics of the BEMF in at least one of the positive and negative virtual half-motors. In some embodiments, the final voltage command of the positive virtual half-motor is... and negative virtual half motor final voltage command At least one of them is also based on the BEMF compensation voltage. For example, reference Figure 10A The motor controller 70 can implement the BEMF compensation module 302 to calculate the BEMF compensation voltage based on the estimated BEMF of the positive virtual motor winding 172a. It also compensates for the dynamics of the estimated BEMF voltage. The motor controller 70 can also implement the adder module 314 to apply the positive virtual half-motor final voltage command. Calculate the forward path voltage command for the positive virtual half-motor Positive virtual half-motor feedback path voltage command and BEMF compensation voltage The sum of.

[0150] In some embodiments, the positive virtual half-motor final voltage command and negative virtual half motor final voltage command Only one of them is based on BEMF compensation voltage. For example, refer to Figures 10A-10B , Figure 10B The second current control module 282's BEMF compensation module 302 includes a zero matrix, thereby enabling the negative virtual half-motor BEMF compensation voltage... It is a zero value. In other words, in some embodiments, such as Figures 10A-10B As shown, only the final voltage command of the virtual half-motor is displayed. BEMF compensation voltage based on virtual half motor Negative virtual half-motor final voltage command No BEMF compensation is included.

[0151] In some embodiments, the first output current Second output current It can have d-axis components and q-axis components respectively. d1 I q1 I d2 I q2 And at least one of the first group of gain factors or the second group of gain factors can be configured to make the first output current d-axis component I d1 and q-axis component I q1 With the d-axis component I of the second output current d2 and q-axis component I q2 Decoupling of changes. For example, a first set of gain factors, a second set of gain factors, or a combination of a first set of gain factors and a second set of gain factors can decouple the first output current. d-axis component I d1 and q-axis component I q1 With the second output current d-axis component I d2 and q-axis component I q2 Decoupling of changes.

[0152] In some embodiments, at least one of the first set of gain factors or the second set of gain factors is further configured to make the first output current d-axis component I d1 With the first output current q-axis component I q1 Decoupling of changes. For example, a first set of gain factors, a second set of gain factors, or a combination of a first set of gain factors and a second set of gain factors can decouple the first output current. d-axis component I d1 With the first output current q-axis component I q1 Decoupling of changes.

[0153] In some embodiments, a system for controlling a two-wound synchronous motor (DWSM) having a first winding combination and a second winding combination includes a processor and a memory including instructions. When the instructions are executed by the processor, the processor causes the processor to: determine a positive virtual half-motor current command and a negative virtual half-motor current command based on a first motor current command associated with the first winding combination and a second motor current command associated with the second winding combination; determine a positive virtual half-motor current and a negative virtual half-motor voltage by applying a first mathematical transformation to the measured currents in each of the first and second winding combinations, the positive virtual half-motor current corresponding to the positive virtual motor winding associated with the DWSM and the negative virtual half-motor current corresponding to the negative virtual motor winding associated with the DWSM; determine a positive virtual half-motor differential current based on the difference between the positive virtual half-motor current command and the positive virtual half-motor current; calculate a positive virtual half-motor forward path voltage command based on the positive virtual half-motor differential current and using a first set of gain factors; determine a negative virtual half-motor differential current based on the difference between the negative virtual half-motor current command and the negative virtual half-motor current; and calculate a negative virtual half-motor forward path voltage command based on the negative virtual half-motor differential current and using a second set of gain factors. The process involves: determining the forward path voltage command of the motor; determining the feedback path voltage command of the positive virtual half-motor by applying a third set of gain factors to the positive virtual half-motor current; determining the feedback path voltage command of the negative virtual half-motor by applying a fourth set of gain factors to the negative virtual half-motor current; determining the final voltage command of the positive virtual half-motor based on the forward path voltage command and the feedback path voltage command of the positive virtual half-motor; determining the final voltage command of the negative virtual half-motor based on the forward path voltage command and the feedback path voltage command of the negative virtual half-motor; determining the first final voltage command and the second final voltage command by applying a second mathematical transformation to the final voltage commands of the positive and negative virtual half-motors; based on the first final voltage command, instructing the first inverter to apply a first output voltage to the first winding combination, thereby generating a first output current in the first winding combination; and based on the second final voltage command, instructing the second inverter to apply a second output voltage to the second winding combination, thereby generating a second output current in the second winding combination. In some embodiments, the first output current and the second output current have d-axis components and q-axis components, respectively, and at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is configured to decouple the changes in the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

[0154] In some embodiments, at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is further configured to decouple the d-axis component of the first output current from the variation of the q-axis component of the first output current.

[0155] In some embodiments, the command to calculate the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor includes applying at least a portion of the first set of gain factors directly to the differential current of the positive half-motor.

[0156] In some embodiments, the instructions further cause the processor to integrate the differential current of the positive half-motor to generate an integrated difference signal, and the command to calculate the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor includes applying at least a portion of a first set of gain factors to the integrated difference signal.

[0157] In some embodiments, at least one of the third or fourth gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations in the d-axis and q-axis components of the second output current.

[0158] In some embodiments, the third group of gain factors and the fourth group of gain factors together decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0159] In some embodiments, at least one of the first set of gain factors or the second set of gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0160] In some embodiments, the first set of gain factors and the second set of gain factors together decouple the d-axis and q-axis components of the first output current from the variations in the d-axis and q-axis components of the second output current.

[0161] In some embodiments, the instructions further cause the processor to calculate the back electromotive force (BEMF) compensation voltage based on the estimated BEMF of the positive virtual half-motor, and at least one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

[0162] In some embodiments, only one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

[0163] In some embodiments, a method for controlling a two-wound synchronous motor (DWSM) having a first winding combination and a second winding combination includes: determining a positive virtual half-motor current command and a negative virtual half-motor current command based on a first motor current command associated with the first winding combination and a second motor current command associated with the second winding combination; determining a positive virtual half-motor current and a negative virtual half-motor current by applying a first mathematical transformation to measured currents of each winding combination in the first and second winding combinations, the positive virtual half-motor current corresponding to a positive virtual motor winding associated with the DWSM and the negative virtual half-motor current corresponding to a negative virtual motor winding associated with the DWSM; determining a positive half-motor differential current based on the difference between the positive virtual half-motor current command and the positive virtual half-motor current; calculating a positive virtual half-motor forward path voltage command based on the positive virtual half-motor differential current and using a first set of gain factors; determining a negative half-motor differential current based on the difference between the negative virtual half-motor current command and the negative virtual half-motor current; and calculating a positive virtual half-motor forward path voltage command based on the negative half-motor differential current and using a first set of gain factors. The second set of gain factors is used to calculate the forward path voltage command of the negative virtual half-motor; the third set of gain factors is applied to the current of the positive virtual half-motor to determine the feedback path voltage command of the positive virtual half-motor; the fourth set of gain factors is applied to the current of the negative virtual half-motor to determine the feedback path voltage command of the negative virtual half-motor; based on the forward path voltage command and the feedback path voltage command of the positive virtual half-motor, the final voltage command of the positive virtual half-motor is determined; based on the forward path voltage command and the feedback path voltage command of the negative virtual half-motor, the final voltage command of the negative virtual half-motor is determined; the first final voltage command and the second final voltage command are determined by applying a second mathematical transformation to the final voltage commands of the positive and negative virtual half-motors; based on the first final voltage command, the first inverter is commanded to apply a first output voltage to the first winding combination, thereby generating a first output current in the first winding combination; and based on the second final voltage command, the second inverter is commanded to apply a second output voltage to the second winding combination, thereby generating a second output current in the second winding combination. In some embodiments, the first output current and the second output current each have d-axis components and q-axis components, and at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0164] In some embodiments, at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is further configured to decouple the d-axis component of the first output current from the variation of the q-axis component of the first output current.

[0165] In some embodiments, the command to calculate the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor includes applying at least a portion of the first set of gain factors directly to the differential current of the positive half-motor.

[0166] In some embodiments, the method further includes: integrating the differential current of the positive half-motor to generate an integrated difference signal, and calculating the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor. The command includes applying at least a portion of a first set of gain factors to the integrated difference signal.

[0167] In some embodiments, at least one of the third or fourth gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations in the d-axis and q-axis components of the second output current.

[0168] In some embodiments, the third group of gain factors and the fourth group of gain factors together decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0169] In some embodiments, at least one of the first set of gain factors or the second set of gain factors is configured to decouple the d-axis and q-axis components of the first output current from the variations of the d-axis and q-axis components of the second output current.

[0170] In some embodiments, the first set of gain factors and the second set of gain factors together decouple the d-axis and q-axis components of the first output current from the variations in the d-axis and q-axis components of the second output current.

[0171] In some embodiments, the method further includes calculating a back electromotive force (BEMF) compensation voltage configured to compensate for the dynamics of the BEMF in at least one of the positive virtual half-motor and the negative virtual half-motor, and at least one of the final voltage command of the positive virtual half-motor and the final voltage command of the negative virtual half-motor is also based on the BEMF compensation voltage.

[0172] In some embodiments, only one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

[0173] The foregoing discussion is intended to illustrate the principles and various embodiments of the invention. Once the foregoing disclosure is fully understood, various changes and modifications will be apparent to those skilled in the art. The following claims are intended to be construed as encompassing all such changes and modifications.

[0174] The term “example” as used herein refers to something used as an example, instance, or illustration. Any aspect or design described herein as an “example” is not necessarily to be construed as preferred or superior to other aspects or designs. Rather, the use of the term “example” is intended to present concepts in a specific manner. As used herein, the term “or” is intended to mean inclusive “or” rather than exclusive “or.” That is, unless otherwise specified or the context clearly indicates, “X comprises A or B” is intended to mean any naturally inclusive permutation and combination. In other words, if X comprises A; X comprises B; or X comprises A and B, then “X comprises A or B” is satisfied in any of the foregoing cases. Furthermore, “a” and “an” as used in this application and the appended claims should be interpreted as “one or more” unless otherwise specified or the context clearly indicates the singular form. Additionally, unless so described, the use of the terms “implementation” or “an embodiment” throughout the document is not intended to refer to the same embodiment or implementation.

[0175] The systems, algorithms, methods, instructions, etc., described herein can be implemented in hardware, software, or any combination thereof. Hardware may include, for example, a computer, intellectual property (IP) core, application-specific integrated circuit (ASIC), programmable logic array, optical processor, programmable controller, microcode, microcontroller, server, microprocessor, digital signal processor, or any other suitable circuit. In the claims, the term "processor" should be understood to include any of the foregoing hardware, whether alone or in combination. The terms "signal" and "data" are used interchangeably.

[0176] As used herein, the term "module" can include packaged functional hardware units designed for use with other components, sets of controller-executable instructions (e.g., processor-executed software or firmware), processing circuitry configured to perform specific functions, and individual hardware or software components that interface with a larger system. For example, a module can include application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), circuits, digital logic circuits, analog circuits, combinations of discrete circuits, gates, and other types of hardware or combinations thereof. In other embodiments, a module can include memory storing controller-executable instructions to implement features of the module.

[0177] Furthermore, in one aspect, for example, the system described herein may be implemented using a general-purpose computer or processor having a computer program that, when executed, performs any of the corresponding methods, algorithms, and / or instructions described herein. Alternatively, for example, a special-purpose computer / processor may be used, which may include additional hardware for performing any of the methods, algorithms, or instructions described herein.

[0178] Furthermore, all or part of the embodiments of the present invention may take the form of a computer program product, for example, accessible from a computer-usable or computer-readable medium. A computer-usable or computer-readable medium can be any device, for example, capable of tangibly containing, storing, communicating, or transmitting a program for use by or in connection with any processor. For example, the medium may be an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media may also be used.

[0179] The embodiments, implementations, and aspects described above have been provided to facilitate understanding of the invention and do not limit the invention. Rather, the invention is intended to cover various modifications and equivalent arrangements within the scope of the appended claims, which should be interpreted in the broadest possible sense to cover all such modifications and equivalent structures permitted by law.

Claims

1. A system for controlling a dual-wound synchronous motor (DWSM) having a first winding combination and a second winding combination, the system comprising: A processor and a memory including instructions, which, when executed by the processor, cause the processor to: Based on the first motor current command associated with the first winding combination and the second motor current command associated with the second winding combination, a positive virtual half-motor current command and a negative virtual half-motor current command are determined. By applying a first mathematical transformation to the measured current in each of the first and second winding combinations, a positive virtual half-motor current and a negative virtual half-motor current are determined, the positive virtual half-motor current corresponding to the positive virtual motor winding associated with the DWSM and the negative virtual half-motor current corresponding to the negative virtual motor winding associated with the DWSM. The positive half-motor differential current is determined based on the difference between the positive virtual half-motor current command and the positive virtual half-motor current; The forward path voltage command of the positive virtual half motor is calculated based on the differential current of the positive half motor and using the first set of gain factors. The negative half-motor differential current is determined based on the difference between the negative virtual half-motor current command and the negative virtual half-motor current; The forward path voltage command of the negative virtual half-motor is calculated based on the differential current of the negative half-motor and using the second set of gain factors. The positive virtual half-motor feedback path voltage command is determined by applying a third set of gain factors to the positive virtual half-motor current. The negative virtual half-motor feedback path voltage command is determined by applying the fourth set of gain factors to the negative virtual half-motor current. The final voltage command of the positive virtual half-motor is determined based on the positive virtual half-motor forward path voltage command and the positive virtual half-motor feedback path voltage command. The final voltage command of the negative virtual half-motor is determined based on the forward path voltage command of the negative virtual half-motor and the feedback path voltage command of the negative virtual half-motor. The first final voltage command and the second final voltage command are determined by applying a second mathematical transformation to the final voltage command of the positive virtual half-motor and the final voltage command of the negative virtual half-motor. Based on the first final voltage command, the first inverter is commanded to apply a first output voltage to the first winding combination, thereby generating a first output current in the first winding combination; as well as Based on the second final voltage command, the second inverter is commanded to apply a second output voltage to the second winding combination, thereby generating a second output current in the second winding combination. Wherein, the first output current and the second output current each have d-axis components and q-axis components, and at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors or the fourth group of gain factors is configured to decouple the changes of the d-axis components and q-axis components of the first output current from the changes of the d-axis components and q-axis components of the second output current.

2. The system according to claim 1, wherein, At least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is further configured to decouple the d-axis component of the first output current from the q-axis component of the first output current.

3. The system according to claim 1, wherein, The command to calculate the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor includes directly applying at least a portion of the first set of gain factors to the differential current of the positive half-motor.

4. The system according to claim 1, wherein, The instruction also causes the processor to integrate the differential current of the positive half-motor to generate an integrated difference signal, and The command to calculate the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor includes applying at least a portion of the first set of gain factors to the differential signal of the integral.

5. The system according to claim 1, wherein, At least one of the third or fourth gain factors is configured to decouple the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

6. The system according to claim 5, wherein, The third and fourth gain factors together decouple the changes in the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

7. The system according to claim 1, wherein, At least one of the first group of gain factors or the second group of gain factors is configured to decouple the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

8. The system according to claim 7, wherein, The first set of gain factors and the second set of gain factors together decouple the changes in the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

9. The system according to claim 1, wherein, The instructions also cause the processor to calculate the BEMF compensation voltage based on the estimated back electromotive force (BEMF) of the positive virtual half-motor, and Wherein, at least one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

10. The system according to claim 9, wherein, Only one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

11. A method for controlling a dual-wound synchronous motor (DWSM) having a first winding combination and a second winding combination, the method comprising: Based on the first motor current command associated with the first winding combination and the second motor current command associated with the second winding combination, a positive virtual half-motor current command and a negative virtual half-motor current command are determined. By applying a first mathematical transformation to the measured current in each of the first and second winding combinations, a positive virtual half-motor current and a negative virtual half-motor current are determined, the positive virtual half-motor current corresponding to the positive virtual motor winding associated with the DWSM and the negative virtual half-motor current corresponding to the negative virtual motor winding associated with the DWSM. The positive half-motor differential current is determined based on the difference between the positive virtual half-motor current command and the positive virtual half-motor current; The forward path voltage command of the positive virtual half motor is calculated based on the differential current of the positive half motor and using the first set of gain factors. The negative half-motor differential current is determined based on the difference between the negative virtual half-motor current command and the negative virtual half-motor current; The forward path voltage command of the negative virtual half-motor is calculated based on the differential current of the negative half-motor and using the second set of gain factors. The positive virtual half-motor feedback path voltage command is determined by applying a third set of gain factors to the positive virtual half-motor current. The negative virtual half-motor feedback path voltage command is determined by applying the fourth set of gain factors to the negative virtual half-motor current. The final voltage command of the positive virtual half-motor is determined based on the positive virtual half-motor forward path voltage command and the positive virtual half-motor feedback path voltage command. The final voltage command of the negative virtual half-motor is determined based on the forward path voltage command of the negative virtual half-motor and the feedback path voltage command of the negative virtual half-motor. The first final voltage command and the second final voltage command are determined by applying a second mathematical transformation to the final voltage command of the positive virtual half-motor and the final voltage command of the negative virtual half-motor. Based on the first final voltage command, the first inverter is commanded to apply a first output voltage to the first winding combination, thereby generating a first output current in the first winding combination; as well as Based on the second final voltage command, the second inverter is commanded to apply a second output voltage to the second winding combination, thereby generating a second output current in the second winding combination. Wherein, the first output current and the second output current each have d-axis components and q-axis components, and at least one of the first group of gain factors, the second group of gain factors, the third group of gain factors or the fourth group of gain factors is configured to decouple the changes of the d-axis components and q-axis components of the first output current from the changes of the d-axis components and q-axis components of the second output current.

12. The method according to claim 11, wherein, At least one of the first group of gain factors, the second group of gain factors, the third group of gain factors, or the fourth group of gain factors is further configured to decouple the d-axis component of the first output current from the q-axis component of the first output current.

13. The method of claim 11, wherein calculating the forward path voltage command of the positive virtual half-motor based on the differential current of the positive half-motor comprises directly applying at least a portion of the first set of gain factors to the differential current of the positive half-motor.

14. The method of claim 11, further comprising integrating the differential current of the positive half-motor to generate an integrated differential signal, and in, The command to calculate the forward path voltage of the positive virtual half-motor based on the differential current of the positive half-motor includes applying at least a portion of the first set of gain factors to the integral differential signal.

15. The method according to claim 11, wherein, At least one of the third or fourth gain factors is configured to decouple the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

16. The method according to claim 15, wherein, The third and fourth gain factors together decouple the changes in the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

17. The method according to claim 11, wherein, At least one of the first group of gain factors or the second group of gain factors is configured to decouple the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

18. The method according to claim 17, wherein, The first set of gain factors and the second set of gain factors together decouple the changes in the d-axis and q-axis components of the first output current from the changes in the d-axis and q-axis components of the second output current.

19. The method of claim 11, further comprising calculating a back electromotive force (BEMF) compensation voltage, said compensation voltage being configured to compensate for the dynamics of the BEMF in at least one of the positive and negative virtual half-motors, and in, At least one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

20. The method according to claim 19, wherein, Only one of the positive virtual half-motor final voltage command and the negative virtual half-motor final voltage command is also based on the BEMF compensation voltage.

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