Position estimation for permanent magnet synchronous machines via rotor flux space vector identification

Abstract

A method of controlling a permanent magnet synchronous motor (PMSM) includes determining an estimated back electromotive force (BEMF) generated in a winding of the PMSM based on an estimated voltage applied to the winding of the PMSM, an estimated motor current of the PMSM, an estimated motor circuit resistance, and an estimated synchronous inductance of the PMSM. The method also includes determining an estimated permanent magnet (PM) flux linkage in the PMSM based on the estimated motor current of the PMSM, determining a BEMF correction term based on the estimated PM flux linkage, and determining an estimated rotor flux space vector based on the estimated BEMF and the BEMF correction term.

Description

Technical Field

[0001] This disclosure relates to permanent magnet synchronous motors (PMSMs), and more specifically to estimating the rotor position of a PMSM. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) (such as electric motors and motor / generators) are commonly used in many applications within vehicles such as cars, trucks, SUVs, crossovers, minivans, ships, aircraft, all-terrain vehicles, recreational vehicles, or other suitable vehicles. For example, a vehicle may include one or more PMSMs to control various aspects of the vehicle's steering system.

[0003] Accurate rotor position determination is crucial for high-performance torque control of a PMSM. Rotor position is typically measured by dedicated sensors such as encoders or resolvers. Alternatively or additionally, rotor position can be estimated using other available signal measurements, including motor current and voltage. For safety-critical applications, high-fidelity rotor position estimation is required across the entire operating range. This high-fidelity rotor position estimation can be used to control the motor and / or diagnose measurements from position sensors. Summary of the Invention

[0004] This disclosure generally relates to the operation of controlling a permanent magnet synchronous motor using a motor driver.

[0005] One aspect of the disclosed embodiments includes a method for controlling a permanent magnet synchronous motor (PMSM). The method includes: determining an estimated back-electromotive force (BEMF) generated in the windings of the PMSM based on an estimated voltage applied to the windings of the PMSM, an estimated motor current of the PMSM, an estimated motor circuit resistance, and an estimated synchronization inductance of the PMSM; determining an estimated permanent magnet (PM) flux linkage in the PMSM based on the estimated motor current of the PMSM; determining a BEMF correction term based on the estimated PM flux linkage; and determining an estimated rotor flux space vector based on the estimated BEMF and the BEMF correction term.

[0006] One aspect of the disclosed embodiments includes a control system for controlling a permanent magnet synchronous motor (PMSM). The control system includes an inverter having a plurality of switches operable to supply alternating current to the PMSM. The control system also includes a controller configured to: determine an estimated back electromotive force (BEMF) generated in the windings of the PMSM based on an estimated voltage applied to the windings of the PMSM, an estimated motor current of the PMSM, an estimated motor circuit resistance, and an estimated synchronization inductance of the PMSM; determine an estimated permanent magnet (PM) flux linkage in the PMSM based on the estimated motor current of the PMSM; determine a BEMF correction term based on the estimated PM flux linkage; and determine an estimated rotor flux space vector based on the estimated BEMF and the BEMF correction term.

[0007] These and other aspects of this disclosure are disclosed in the following detailed description of the embodiments, the appended claims and the accompanying drawings. Attached Figure Description

[0008] This disclosure can be best understood from the following detailed description when read in conjunction with the accompanying drawings. It should be emphasized that, by convention, the various features in the drawings are not drawn to scale. Instead, for clarity, the dimensions of the various features have been arbitrarily enlarged or reduced.

[0009] Figure 1 A block diagram of a first motor control system according to various aspects of this disclosure is shown.

[0010] Figure 2 A block diagram of a motor position estimator for a motor control system based on the principles of this disclosure is shown.

[0011] Figure 3 A block diagram of a flux linkage estimator for a motor control system according to various aspects of this disclosure is shown.

[0012] Figure 4 A block diagram of a motor circuit resistance estimator for a motor control system according to various aspects of this disclosure is shown.

[0013] Figure 5 A block diagram of a synchronous inductance estimator for a motor control system according to various aspects of this disclosure is shown.

[0014] Figure 6 A block diagram of a second motor control system according to various aspects of this disclosure is shown.

[0015] Figure 7 A block diagram of a third motor control system according to various aspects of this disclosure is shown.

[0016] Figure 8 A block diagram illustrating the hardware components of a motor control system according to various aspects of this disclosure is shown.

[0017] Figures 9A to 9C A flowchart based on the principles of this disclosure is shown, generally illustrating a method for controlling a permanent magnet synchronous motor. Detailed Implementation

[0018] The following discussion pertains to various embodiments of this disclosure. While one or more of these embodiments may be preferred, the disclosed embodiments should not be construed as or otherwise used to limit the scope of this disclosure, including the claims. Furthermore, those skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is intended merely to be illustrative of that embodiment and is not intended to imply that the scope of this disclosure (including the claims) is limited to that embodiment.

[0019] As described, vehicles such as automobiles, trucks, SUVs, crossovers, minivans, ships, aircraft, all-terrain vehicles, recreational vehicles, or other suitable means of transport typically include one or more permanent magnet synchronous motors (PMSMs), such as electric motors. For example, a vehicle may include one or more PMSMs configured to control various aspects of the vehicle's steering system.

[0020] Many PMSM control schemes require accurate rotor position information for precise and rapid torque control. A common torque control method used in PMSMs is field-oriented control (FOC), where rotor position is used for the transformation of three-phase variables into a rotating reference frame. The rotating reference frame includes a d-axis, which is typically aligned with the rotor flux space vector. This is usually accomplished by calibrating the motor position sensor so that the adjusted motor position estimate is aligned with the rotor flux space vector.

[0021] The rotor position determined according to this disclosure can be used in PMSM control schemes other than FOC, for which the rotor position is required.

[0022] Typical systems use dedicated sensors (such as encoders or resolvers) to measure rotor position. However, such typical systems can be prohibitively expensive (e.g., due to the cost associated with dedicated sensors) and / or prone to sensor failure. Accordingly, systems and methods configured to determine rotor position without using dedicated sensors (such as those described herein) are desirable. For example, alternative methods for determining or estimating rotor position can be used to verify the operation of dedicated sensors and to detect faults in dedicated sensors. This disclosure provides a method for estimating the rotor position of a PMSM using motor voltage and current signals and motor parameters. This approach can contribute to lower system costs, higher reliability, and greater safety. Some or all of the values ​​used to estimate the rotor position can be known or determined using information already available within existing motor controllers used to control the operation of the PMSM.

[0023] According to one aspect of this disclosure, rotor flux space vector estimation can be used to obtain the rotor flux vector position, representing the angular position of the rotor, across the entire operating speed range of the PMSM. The rotor position determined according to this disclosure can be used as an alternative to a motor position sensor signal used to control the PMSM. In some embodiments, the rotor position determined according to this disclosure can also be used in various motor position-related, diagnostic, or arbitration techniques other than sensor signals.

[0024] The systems and methods disclosed herein may include estimating the rotor position of a PMSM. Some or all of these methods may be implemented as a program executed by a processor. The systems and methods disclosed herein may provide several advantages over conventional methods for determining rotor position. These advantages may include lower system cost, higher reliability, improved diagnostics and fault detection, and enhanced safety. The systems and methods disclosed herein may provide a single algorithm to determine the rotor position over a wide range of motor speeds. A single algorithm may provide the rotor position for any speed within the operating range of the PMSM. The systems and methods disclosed herein may provide the rotor speed without mixing the outputs of two or more different algorithms used for different speeds.

[0025] The systems and methods disclosed herein can be used to determine the rotor position of a PMSM without magnetic saliency, a characteristic typically exhibited by PMSMs with surface-mounted permanent magnets. The systems and methods disclosed herein can also be used to determine the rotor position of a PMSM with salient polarity, such as a PMSM with internally mounted permanent magnets.

[0026] The systems and methods disclosed herein include a control system for controlling the operation of a PMSM. The control system includes an inverter having multiple switches, the inverter being operable to apply an alternating current (AC) voltage to the PMSM.

[0027] The systems and methods disclosed herein can determine or estimate the rotor flux space vector based on information regarding PMSM back electromotive force (BEMF), stator current, and rotor flux magnitude compensation. The angle of the rotor flux space vector can be used as a substitute for position sensor signals used in various functions within PMSM control. Alternatively or additionally, the angle of the rotor flux space vector can be used in various motor position-related and / or arbitration methods, such as those for operational safety of motor control systems. Using permanent magnet (PM) flux values ​​to estimate rotor position can provide high accuracy for both very low-speed and high-speed operation, even when one or more motor parameters have high uncertainty. Note that PM flux (also known as PM linkage) represents the BEMF constant of the motor. More specifically, the BEMF constant is equal to the PM flux scaled by the number of pole pairs of the motor.

[0028] According to one aspect of this disclosure, a voltage-model-based rotor flux vector estimator exhibits good position accuracy at very low PMSM speeds. This disclosure provides an algorithm that improves the accuracy of rotor flux space vector angle estimation using an accurate estimation of the rotor PM flux. The estimated signal phase shift can be reduced by using a pure integrator of the back-EMF signal. The systems and methods of this disclosure provide a single solution for rotor position estimation over a wide range of motor operating speeds without requiring any switching and / or mixing of different algorithms for different motor operating speeds.

[0029] Generally, techniques for rotor position estimation in PMSMs can be categorized into two types: basic model-based estimators and signal injection estimators based on motor salient polarity. Basic model-based estimators can be further divided into three categories: state observers, BEMF estimators, and stator or rotor flux estimators. Stator or rotor flux estimators can be implemented using current models or voltage models, which are different representations of the mathematical model of the PMSM. This disclosure provides a technical solution using a voltage model rotor flux estimator.

[0030] Due to the inherent characteristics of the integrator used in voltage-model flux estimators, voltage-model rotor flux estimators are typically used in the medium to high speed range of PMSMs. Pure integrators are prone to drift problems, which can be caused by integrator initial conditions, non-ideal stator voltage representations, inaccurate and / or distorted current measurements, and errors in motor resistance estimation. Several known methods exist to limit the effects of integrator drift. These methods include, for example, low-pass filter approximations of the integrator (consisting of integrators in series with a high-pass filter). The cutoff frequency of the low-pass filter can be scheduled as a function of motor speed or other signals. The integrator can be used to obtain the PM flux from the motor BEMF, while the high-pass filter can be used to eliminate integrator drift, which may be caused by inaccuracies in the initial integrator state. However, these methods still cannot provide the necessary position estimation accuracy at zero to low PMSM speeds.

[0031] The electric motor 102 may include a multiphase motor or other suitable machine. In some embodiments, as generally shown, the electric motor 102 may include a three-phase motor. Additionally or alternatively, the electric motor 102 and the inverter 104 may include any suitable number of phases.

[0032] This disclosure provides a voltage-model-based rotor flux vector estimator that provides accurate estimates of the motor's electrical position from zero to low PMSM speeds. The systems and methods disclosed herein may include using known values ​​of the nominal PMSM rotor flux or back-EMF constant in a feedback control system to estimate rotor flux space vector compensation. This disclosure provides feedback control of the proportional controller type, but various other types of linear or nonlinear controllers can be used for rotor flux space vector control compensation.

[0033] The voltage model-based rotor flux vector estimator disclosed herein can use a pure integrator to integrate the back electromotive force signal, which can reduce the phase shift of the obtained estimated signal.

[0034] Figure 1 A block diagram of a first motor control system 100 for performing torque control via feedback current control of an electric motor 102 is generally shown. The first motor control system 100 may also be referred to as an electric motor drive system. The electric motor 102 may be a PMSM. All or part of the first motor control system 100 may be implemented as program instructions executed by a controller. Alternatively or additionally, some or all of the first motor control system 100 may be executed by other hardware and / or by program instructions executed elsewhere. A motor position sensor 108 measures the rotor position θ. r The measured rotor position θr It can be used to control the operation of the electric motor 102. For example, the measured rotor position θ r This can be used for vector control of the electric motor 102. The motor position calculator 114 receives the measured rotor position information from the motor position sensor 108 to calculate the motor's electrical position.

[0035] The first motor control system 100 includes a current regulator 112 responsible for performing motor current tracking. Motor current tracking involves minimizing the command current of the electric motor 102. Compared with the estimated motor current The error between them. Command current. It can be commanded by the direct (d-) axis current. and orthogonal (q–) axis current command The composition can be determined using widely adopted techniques for the maximum torque current ratio (MTPA) and maximum torque voltage ratio (MTPV) (not shown), which calculate the optimal current command that simultaneously ensures the generation of the command current. The required voltage does not exceed the available voltage, and the total required current is optimized to best meet the commanded torque, thereby ensuring minimal losses. The current regulator 112 can use, for example, a proportional-integral-derivative (PID) controller to minimize current error. However, other control techniques, such as a proportional-integral (PI) controller, can be used. The estimated motor current... The motor current estimator 116 uses the well-known phase current I based on the stationary reference frame. abc Measurement results and calculated motor electrical position The calculation is performed by transforming the reference frame.

[0036] Current regulator 112 generates motor voltage commands This voltage command is used by the inverter commutator 106, which operates the switching signal. This switch signal It is also used by the pulse width modulator 107 (also known as the gate driver) to command the inverter 104 to turn on and off, thereby generating the motor voltage V. abc This is then applied to the windings of the electric motor 102. Note that the inverter commutator 106 may contain logic for calculating inverter voltage output commands and / or for switching techniques relating to the desired on-time and off-time of each individual switch for the inverter 104. The applied motor voltage V abc This causes the electric motor 102 to generate a phase current I. abc And the actual electromagnetic torque T e .

[0037] Figure 1 The first motor control system 100 includes a motor position estimator 118. The motor position estimator 118 estimates the motor electrical position via rotor flux identification calculation. The rotor flux indicator utilizes motor voltage commands. Estimated motor current And the estimation of motor drive parameters (by...) (Joint statement).

[0038] Estimating motor drive parameters involves using mathematical models that express the variations of various parameters as functions of operating conditions, particularly the temperature and magnetic saturation levels of different components of the system.

[0039] Figure 2 A block diagram of a motor position estimator 118 is shown, which is configured to estimate the phase current. and the estimated phase voltage supplied to the electric motor 102 To determine the estimated rotor flux space vector Estimated phase current This can represent the current generated in the windings of the electric motor 102, while the estimated phase voltage... This can represent the voltage applied to the windings of the electric motor 102. The estimated phase current... and estimated phase voltage One or two of these can be determined based on measurements from a sensor connected to one or more conductors between the inverter 104 and the electric motor 102. Alternatively or additionally, the estimated phase current... and estimated phase voltage One or two of these can be determined based on other measurement results and / or on commands or actual operating devices (e.g., switching transistors) within the inverter 104.

[0040] The motor position estimator 118 is configured to be based on several motor drive parameters of the electric motor 102. To determine the estimated rotor flux space vector Motor drive parameters It may include one or more of the following: estimated synchronous inductance Estimated motor circuit resistance and feedforward estimation of PM flux Estimated rotor flux space vector This can be expressed in polar coordinates as the estimated rotor flux angle. and estimated rotor flux Estimated rotor flux angle Equivalent to estimated motor electrical position

[0041] The motor position estimator 118 includes a rotor flux space vector estimator 150, which is based on an estimated BEMF generated in the windings of the electric motor 102. and BEMF correction item To calculate the estimated rotor flux space vector The motor position estimator 118 includes a BEMF voltage calculator 152, which is configured to calculate the estimated BEMF generated in the windings of the electric motor 102. The motor position estimator 118 also includes a rotor flux space vector compensator 154, which is configured to calculate the BEMF correction term.

[0042] Estimated rotor flux space vector It has a flux linkage λ equal to that of a permanent magnet (PM). r Size The vector of the PM magnetic flux λ r This represents the magnetic field strength of the rotor magnet in the electric motor 102, and varies due to magnetic saturation, which is most common under high current, and also due to changes in magnet temperature. Magnetic flux linkage λ r It can be defined by the following equation (1):

[0043]

[0044] in, It is the value of PM magnetic flux at the nominal temperature Ω0, κ λ It is a proportional factor α that varies with the motor current to account for magnetic saturation. m It is the temperature coefficient of the permanent magnet in the rotor of the electric motor 102, and Ω m It is the actual temperature of the permanent magnet in the rotor of the electric motor 102.

[0045] In some embodiments, and as Figure 2 As shown, the rotor flux space vector estimator 150 can express the rotor flux space vector in polar coordinates. Generate the estimated rotor flux angle and estimated rotor flux Estimated rotor flux angle Equivalent to estimated motor electrical position Alternatively or additionally, the rotor flux space vector estimator 150 can generate the rotor flux space vector in another form. It can then be converted to polar coordinates to generate an estimated motor electrical position.

[0046] The BEMF voltage calculator 152 is configured to calculate the estimated BEMF generated in the windings of the electric motor 102 based on the following: Estimated motor circuit resistance of electric motor 102 Estimated phase current Estimated phase voltage And estimated synchronous inductance

[0047] BEMF voltage calculator 152 includes a first reference frame converter 156, which is configured to base on estimated phase voltages. To calculate the estimated α-β voltage in the α-β reference frame (also known as the rotor reference frame). BEMF voltage calculator 152 also includes a second reference frame converter 158, which is configured to base its calculations on the estimated phase current. Calculate the estimated α-β current in the stationary reference frame. Either or both of the reference frame converters 156 and 158 can perform the corresponding calculations using a three-phase to two-phase stationary reference frame transformation.

[0048] BEMF voltage calculator 152 also includes an impedance compensator 160 configured to operate based on the α-β voltage of the electric motor 102. α-β current Estimated synchronous inductance and estimated motor circuit resistance Calculate the estimated BEMF

[0049] The rotor flux space vector compensator 154 includes a flux compensation regulator 162 configured to be based on the PM flux difference. Calculate the BEMF correction term The PM flux difference represents the open-loop or feedforward estimated permanent magnet (PM) flux. Compared with the estimated rotor flux magnitude The difference between them, such as Figure 2 As shown. The rotor flux space vector compensator 154 also includes a differential block 164, which is configured to estimate the permanent magnet (PM) flux linkage based on open-loop or feedforward estimation. and estimated rotor flux Calculate flux difference

[0050] Figure 3 A block diagram of a flux linkage estimator 170 is shown, which is configured to estimate motor current based on the flux linkage estimator 170. To determine the permanent magnet (PM) flux linkage for feedforward estimation The flux linkage estimator 170 can be included within the motor position estimator 118, although it can be implemented separately. The estimated motor current used by the flux linkage estimator 170... This can include d-axis and q-axis currents, although the flux linkage estimator 170 can use another form of estimated motor current, such as the estimated α-β current. Or estimated phase current

[0051] like Figure 3 As shown, the flux linkage estimator 170 includes a magnetic saturation factor estimator 172, which is configured to estimate the motor current. To determine the estimated magnetic saturation factor of electric motor 102 The flux linkage estimator 170 also includes a feedforward flux linkage estimator 174, which is configured to estimate the temperature based on the rotor magnet within the electric motor 102. and estimated magnetic saturation factor Determine the PM flux for feedforward estimation

[0052] The feedforward estimated PM flux can be calculated using the following equation (2).

[0053]

[0054] The emphasis symbol (^) indicates an estimate of the corresponding actual quantity. Note the magnetic saturation factor. It is a mapping of a scalar close to 1, which is represented as the d-axis current I. d and q-axis current I q The mapping varies as a function of the electric motor 102. This mapping can be determined using a high-fidelity finite element model of the electric motor 102 or through experiments.

[0055] Figure 4 A block diagram of a motor circuit resistance estimator 180 is shown, which is configured to determine an estimated motor circuit resistance of an electric motor 102. The motor circuit resistance estimator 180 may be included within the motor position estimator 118, although it may be implemented separately. The motor circuit resistance estimator 180 includes a feedforward resistance estimator 182 (also referred to as an open-loop resistance estimator) configured to operate based on an estimated winding temperature of the windings of the electric motor 102. The estimated switching temperature of the switching circuit within inverter 104 Determine the feedforward estimation resistance The inverter 104 supplies power to the electric motor 102. Estimated winding temperature. and / or estimated switching temperature One or two of these can be determined based on one or more temperature measurements. Alternatively or additionally, the estimated winding temperature... and / or estimated switching temperature One or two of these can be determined based on other factors, such as the power supplied to the electric motor 102 over time.

[0056] The motor circuit resistance R is determined by the respective temperatures of the windings (Ω). w and the corresponding temperature Ω of the switch i stator winding resistance R w The resistance R of the inverter switch i It consists of the sum of the two.

[0057] The resistance R of the motor circuit can be expressed by the following equation (3):

[0058]

[0059] in, and These are the nominal values ​​of the stator resistance and the switching resistance, respectively, α w and α i These represent the temperature coefficients of the stator winding and the inverter switch, respectively.

[0060] Therefore, feedforward estimation of resistance The following equation (4) can be used to calculate:

[0061]

[0062] like Figure 4 As shown, the motor circuit resistance estimator 180 also includes a resistance correction estimator 184, which is configured to determine a resistance correction term. (Also known as feedback estimation resistor). The resistance correction estimator 184 is based on the motor voltage command used to control the inverter 104 to supply power to the electric motor 102. Determine the resistance correction item Motor voltage command This can represent the desired voltage generated by inverter 104 to power electric motor 102. Motor voltage command. It may include one or more signals, which are generated by the current regulator 112 and used by the inverter commutator 106 to calculate switching signals for controlling the switching of the inverter 104. The resistance correction estimator 184 is also based on the feedforward voltage. (Also known as the estimated winding voltage of electric motor 102) Determine the resistance correction term.

[0063] The motor circuit resistance estimator 180 also includes a voltage model 186 configured to determine the feedforward voltage of the electric motor 102 based on one or more parameters of the electric motor. For example, such as Figure 4 As shown, voltage model 186 can determine the feedforward voltage of electric motor 102 based on the following terms. Feedforward estimation of PM flux of electric motor 102 Feedforward estimation resistance And estimated synchronous inductance

[0064] The motor circuit resistance estimator 180 also includes a resistance summing block 188, which is configured to sum the estimated motor circuit resistance. Determined as feedforward estimation resistance and resistance correction item sum.

[0065] Figure 5 A block diagram of a synchronous inductance estimator 190 is shown, which is configured to determine an estimated synchronous inductance for an electric motor 102. Synchronous inductance estimator 190 may be included within motor position estimator 118, although it may be implemented separately. Synchronous inductance estimator 190 includes inductance scaling factor calculator 191, which is configured to calculate based on the estimated motor current. Determine the inductance scaling factor The estimated motor current This can represent an estimate of the current generated in the windings of the electric motor 102. The synchronous inductance estimator 190 also includes a feedforward inductance estimator 192, which is configured to be based on an inductance scaling factor. and the nominal inductance L based on the electric motor 102 0 Determine the feedforward estimation inductance

[0066] The synchronous inductance L changes due to magnetic saturation, determined by the scaling factor κ, which is a function of the motor current. l It can be expressed as follows, and can be expressed by the following equation (5):

[0067] L = κ l L 0 (5)

[0068] Using this model, the feedforward inductance estimator 192 can determine the feedforward estimated inductance using the following equation (6).

[0069]

[0070] like Figure 5 As shown, the synchronous inductance estimator 190 also includes an inductance correction estimator 194, which is configured to determine an inductance correction term. (Also known as feedback estimation inductance). The inductance correction estimator 194 is based on the command current supplied to the current regulator 112 to control the electric motor 102. Determine the inductance correction term The inductance correction estimator 194 is also based on the reconstructed current. Determine the inductance correction item The reconstructed current It can represent the calculation of motor current based on a mathematical model (called the current model) of electric motor 102.

[0071] The synchronous inductance estimator 190 also includes a current model 196 configured to determine the reconfigured current based on one or more parameters of the electric motor. For example, such as Figure 5 As shown, current model 196 can determine the reconfiguration current of electric motor 102 based on the following terms. Feedforward estimation of PM flux of electric motor 102 Feedforward estimation of inductance and estimated motor circuit resistance

[0072] Synchronous inductance estimator 190 also includes an inductance summing block 198 configured to sum the estimated synchronous inductance of electric motor 102. Determined as feedforward estimation inductance and inductance correction item sum.

[0073] Figure 6 A block diagram of a second motor control system 200 is shown. The second motor control system 200 can be connected with... Figure 1 The first motor control system 100 is similar or identical, but with the addition of a motor position verifier 202, which is configured to verify the calculated motor electrical position by comparison. and the estimated motor electrical position from the motor position estimator 118 To verify the rotor position θ r The measurement results, in which the calculated motor electrical position It is based on the rotor position information measured from the motor position sensor 108. The motor position verifier 202 can be based on the calculated motor electrical position. The estimated motor electrical position from the motor position estimator 118 The difference between them is used to determine the angle deviation signal.

[0074] If the calculated motor electrical position and estimated motor electrical position If the difference exceeds a predetermined amount, the motor position verifier 202 can determine the rotor position θ. r The measurement results are incorrect. The second motor control system 200 can be configured to respond to determining the rotor position θ. r If the measurement results are incorrect, one or more corrective actions may be taken. For example, the second motor control system 200 may take corrective actions based on the calculated motor electrical position. Designated as unreliable and / or unusable. The second motor control system 200 may use alternative sources of motor position data (such as estimated motor electrical position). ) and / or a backup motor position sensor (not shown). Alternatively or additionally, the second motor control system 200 may respond to determining the rotor position θ r The measurement results are incorrect, and messages (such as diagnostic fault codes D) are generated, stored, and / or transmitted. θ ).

[0075] Figure 7 A block diagram of a third motor control system 220 is shown. The third motor control system 220 can be connected with... Figure 1 The first motor control system 100 is similar to or identical to the first motor control system 100, but with some variations described herein. The third motor control system 220 does not include a motor position sensor. All functions of the rotor position of the electric motor 102 can alternatively use the estimated motor electrical position from the motor position estimator 118. For example, each of the inverter commutator 106 and the motor current estimator 116 can use the estimated motor electrical position from the motor position estimator 118. Instead of calculating the motor's electrical position To perform their respective functions.

[0076] Figure 8 A block diagram illustrating the hardware components of a motor control system is shown. (As shown) Figure 8As shown, the motor control system includes a controller 300. The controller 300 may include any suitable controller. In some embodiments, the controller 300 may be configured to perform various calculations and other functions and / or operations of the vehicle. In some embodiments, the controller 300 may be configured to control the operation of an electric motor 102 (which may include a PMSM). In some embodiments, the controller 300 may be configured to use various motor control applications, such as various closed-loop control applications or other suitable control applications. The controller 300 may be configured to control aspects of, for example, a motion control system (such as an electric power steering system). The controller 300 may include a processor 302 and a memory 304.

[0077] Processor 302 may include any suitable processor, such as those described herein. Additionally or alternatively, controller 300 may also include any suitable number of processors, which may be processors other than processor 302 or processors different from processor 302. Memory 304 may include a single disk or multiple disks (e.g., hard disk drives) and includes a storage management module that manages one or more partitions within memory 304. In some embodiments, memory 304 may include flash memory, semiconductor (solid-state) memory, etc. Memory 304 may include random access memory (RAM), read-only memory (ROM), or a combination thereof. Memory 304 may include instructions that, when executed by processor 302, cause processor 302 to control at least various functions of the vehicle. Figure 8 As shown, the processor 302 can communicate functionally with the inverter 104 to control the operation of the motor control system.

[0078] Figures 9A to 9C A flowchart illustrating the principles of this disclosure is shown, generally illustrating a method 400 for controlling a PMSM. Method 400 can be implemented using one or more motor control systems 100, 200, 220, and particularly using one or more motor control systems having an electric motor 102 including a PMSM. According to some embodiments of this disclosure, one or more steps of method 400 can be performed by a controller 300. As will be understood from this disclosure, the order of operations in this method is not limited to... Figures 9A to 9C The sequential execution shown may be performed in one or more different available orders according to this disclosure.

[0079] At 402, method 400 uses an estimated voltage applied to the PMSM winding, an estimated motor current of the PMSM, an estimated motor circuit resistance, and an estimated synchronization inductance of the PMSM to determine the estimated back electromotive force (BEMF) generated in the winding of the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing a BEMF voltage calculator 152 to calculate the estimated BEMF generated in the winding of the electric motor 102 based on the following: Estimated synchronous inductance of electric motor 102 Estimated phase voltage Estimate phase current and estimated motor circuit resistance

[0080] At 404, method 400 determines the estimated permanent magnet (PM) flux linkage in the PMSM based on the estimated motor current of the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing flux linkage estimator 170, which is configured to base the flux linkage estimator on the estimated motor current. To determine the permanent magnet (PM) flux linkage for feedforward estimation

[0081] In some embodiments, step 404 may include determining an estimated magnetic saturation scaling factor based on the estimated motor current from the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing magnetic saturation factor estimator 172 to determine the estimated magnetic saturation scaling factor based on the estimated motor current. To determine the estimated magnetic saturation factor of electric motor 102

[0082] In some embodiments, step 404 may include determining the estimated PM flux linkage based on the estimated magnetic saturation scaling factor. For example, controller 300 may include one or more hardware and / or software components implementing feedforward flux linkage estimator 174 to determine the PM flux linkage based on the estimated magnetic saturation scaling factor. Determine the feedforward estimation PM flux In some embodiments, step 404 may further include determining the estimated PM flux linkage based on the estimated temperature of the rotor magnet within the PMSM. For example, the feedforward flux linkage estimator 174 may also use the estimated temperature of the rotor magnet within the electric motor 102. Determine the feedforward estimation PM flux Estimated temperature It can be based on one or more measurements. Alternatively or additionally, the estimated temperature Other data (e.g., as a function of the power supplied to the electric motor 102 over time) can be used to calculate or otherwise determine.

[0083] At 406, method 400 determines the BEMF correction term based on the estimated PM flux linkage. For example, controller 300 may include one or more hardware and / or software components implementing rotor flux space vector compensator 154, which is configured to perform the correction based on the estimated PM flux linkage. Calculate the BEMF correction term

[0084] In some embodiments, step 406 may include determining the difference between the estimated PM flux linkage and the estimated rotor flux space vector. For example, controller 300 may include implementing difference block 164 and one or more hardware and / or software components to perform calculations based on open-loop or feedforward estimated permanent magnet (PM) flux linkage. and estimated rotor flux Calculate flux linkage difference In some embodiments, step 406 may further include determining a BEMF correction term based on the difference between the estimated PM flux linkage and the estimated rotor flux space vector. For example, controller 300 may include one or more hardware and / or software components implementing flux compensation regulator 162 to determine the BEMF correction term based on the PM flux linkage difference. Calculate the BEMF correction term

[0085] At 408, method 400 determines the estimated rotor flux space vector based on the estimated BEMF and BEMF correction term. For example, controller 300 may include one or more hardware and / or software components implementing rotor flux space vector estimator 150 to determine the estimated BEMF based on the estimated BEMF generated in the windings of electric motor 102. and BEMF correction item To calculate the estimated rotor flux space vector

[0086] At step 410, method 400 determines the estimated motor electrical position of the PMSM based on the estimated rotor flux space vector. Step 410 may include determining the angle of the estimated rotor flux space vector, which represents the estimated motor electrical position. For example, controller 300 may include one or more hardware and / or software components configured to use the estimated rotor flux space vector... The conversion to polar coordinates includes the estimated rotor flux magnitude. and estimated rotor flux angle The estimated rotor flux angle Equivalent to estimated motor electrical position

[0087] At 411, method 400 determines the calculated motor electrical position of the PMSM based on the measured rotor position of the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing motor position calculator 114 to calculate the motor electrical position based on the measured rotor position information from motor position sensor 108.

[0088] At 412, method 400 verifies the measured rotor position of the PMSM by comparing the calculated motor electrical position with the estimated motor electrical position. For example, controller 300 may include one or more hardware and / or software components implementing motor position verifier 202 to verify the measured rotor position of the PMSM by comparing the calculated motor electrical position with the estimated motor electrical position. The estimated motor electrical position from the motor position estimator 118 To verify the rotor position θ r The measurement results.

[0089] At 414, method 400 controls the PMSM based on the estimated motor electrical position of the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing the third motor control system 220, wherein each of inverter commutator 106 and motor current estimator 116 is configured to utilize the estimated motor electrical position of the electric motor 102 from motor position estimator 118.

[0090] At 416, method 400 determines the feedforward estimation resistance based on the estimated temperature of the PMSM windings and the estimated temperature of the switching circuitry within the inverter, wherein the inverter is configured to power the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing feedforward resistance estimator 182 to determine the feedforward estimation resistance based on the estimated winding temperature of the motor 102 windings. And the estimated switching temperature of the switching circuit within the inverter 104 configured to power the electric motor 102. Determine the feedforward estimation resistance

[0091] At 418, method 400 determines the estimated motor circuit resistance based on the feedforward estimated resistance. For example, controller 300 may include one or more hardware and / or software components implementing resistance summation block 188 to calculate the estimated motor circuit resistance. Determined as feedforward estimation resistance and resistance correction item sum.

[0092] At 420, method 400 determines the estimated winding voltage of the PMSM based on the following: the estimated feedforward resistance, the estimated synchronization inductance of the PMSM, and the estimated PM flux linkage. For example, controller 300 may include one or more hardware and / or software components implementing voltage model 186 to determine the estimated winding voltage of the electric motor 102 as the feedforward voltage based on the following: Feedforward estimation of PM flux of electric motor 102 Feedforward estimation resistance And estimated synchronous inductance

[0093] At 422, method 400 determines a resistance correction term based on an estimated winding voltage of the PMSM windings and a motor voltage command used to control the inverter to supply power to the PMSM. In some embodiments, step 418 may include further determining an estimated motor circuit resistance based on the resistance correction term. For example, controller 300 may include one or more hardware and / or software components implementing resistance correction estimator 184 to base the resistance correction on the feedforward voltage. (This can also be referred to as the estimated winding voltage of the electric motor 102) and the motor voltage command based on the control inverter 104 to supply power to the electric motor 102. Determine the resistance correction item

[0094] At 424, method 400 determines the inductance scaling factor based on the estimated motor current. For example, controller 300 may include one or more hardware and / or software components implementing inductance scaling factor calculator 191 to determine the inductance scaling factor based on the estimated motor current. Determine the inductance scaling factor

[0095] At 426, method 400 determines the feedforward estimated inductance based on the inductance scaling factor and the nominal inductance of the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing feedforward inductance estimator 192 to determine the feedforward estimated inductance based on the inductance scaling factor. and the nominal inductance based on the electric motor 102 Determine the feedforward estimation inductance

[0096] At 428, method 400 determines the estimated synchronous inductance based on the feedforward estimated inductance. For example, controller 300 may include one or more hardware and / or software components implementing inductance summation block 198 to estimate the inductance based on the feedforward. To determine the estimated synchronous inductance of electric motor 102 In some embodiments, the estimated synchronization inductance is also determined based on an inductance correction term. For example, inductance summation block 198 calculates the estimated synchronization inductance of electric motor 102. Determined as feedforward estimation inductance and inductance correction item sum.

[0097] At 430, method 400 determines the reconfigured motor current based on the following: the feedforward estimated inductance, the estimated motor circuit resistance, and the estimated PM flux linkage. For example, controller 300 may include one or more hardware and / or software components implementing current model 196 to determine the reconfigured current based on the following: (It can also be called the reconstructed motor current): Feedforward estimation of PM flux linkage for electric motor 102 Feedforward estimation of inductance and estimated motor circuit resistance

[0098] At 432, method 400 determines the inductance correction term based on the reconstructed motor current and the command current supplied to the current regulator to control the PMSM. For example, controller 300 may include one or more hardware and / or software components implementing inductance correction estimator 194 to determine the inductance correction term based on the reconstructed current. The command current supplied to the current regulator 112 to control the electric motor 102 determines the inductance correction term.

[0099] This disclosure provides a method for controlling a permanent magnet synchronous motor (PMSM) with windings. The method includes: determining an estimated back electromotive force (BEMF) generated in the windings of the PMSM based on an estimated voltage applied to the windings of the PMSM, an estimated motor current of the PMSM, an estimated motor circuit resistance, and an estimated synchronization inductance of the PMSM; determining an estimated permanent magnet (PM) flux linkage in the PMSM based on the estimated motor current of the PMSM; determining a BEMF correction term based on the estimated PM flux linkage; and determining an estimated rotor flux space vector based on the estimated BEMF and the BEMF correction term.

[0100] In some embodiments, the method further includes: determining an estimated motor electrical position of the PMSM based on the estimated rotor flux space vector, including determining the angle of the estimated rotor flux space vector, wherein the angle of the estimated rotor flux space vector represents the estimated motor electrical position.

[0101] In some embodiments, the method further includes: determining a calculated motor electrical position of the PMSM based on the measured rotor position of the PMSM; and verifying the measured rotor position of the PMSM by comparing the calculated motor electrical position with the estimated motor electrical position.

[0102] In some embodiments, the method further includes: an estimated motor electrical position control PMSM based on the PMSM.

[0103] In some embodiments, determining the BEMF correction term further includes: determining the difference between the estimated PM flux linkage and the estimated rotor flux space vector; and determining the BEMF correction term based on the difference between the estimated PM flux linkage and the estimated rotor flux space vector.

[0104] In some embodiments, determining the estimated PM flux linkage further includes: determining an estimated magnetic saturation scaling factor based on the estimated motor current of the PMSM; and determining the estimated PM flux linkage based on the estimated magnetic saturation scaling factor.

[0105] In some embodiments, the determination of the estimated PM flux is also based on the estimated temperature of the rotor magnet of the PMSM.

[0106] In some embodiments, the method further includes: determining a feedforward estimation resistance based on an estimated temperature of the windings of the PMSM and an estimated temperature of a switching circuit within an inverter configured to power the PMSM; and determining an estimated motor circuit resistance based on the feedforward estimation resistance.

[0107] In some embodiments, the method further includes: determining an estimated winding voltage of the PMSM based on the following: an estimated feedforward resistance, an estimated synchronous inductance of the PMSM, and an estimated PM flux linkage; and determining a resistance correction term based on the estimated winding voltage of the PMSM winding and a motor voltage command for controlling the inverter to supply power to the PMSM, wherein determining the estimated motor circuit resistance is also based on the resistance correction term.

[0108] In some embodiments, the method further includes: determining an inductance scaling factor based on an estimated motor current; determining a feedforward estimated inductance based on the inductance scaling factor and the nominal inductance of the PMSM; and determining an estimated synchronization inductance based on the feedforward estimated inductance.

[0109] In some embodiments, the method further includes: determining a reconfigured motor current based on: a feedforward estimated inductance, an estimated motor circuit resistance, and an estimated PM flux linkage; and determining an inductance correction term based on the reconfigured motor current and a command current supplied to a current regulator to control the PMSM, wherein determining the estimated synchronization inductance is also based on the inductance correction term.

[0110] A system for controlling a permanent magnet synchronous motor (PMSM) is provided. The system includes: an inverter having a plurality of switches operable to supply alternating current to the PMSM; and a controller. In some embodiments, the controller is configured to: determine an estimated back electromotive force (BEMF) generated in the windings of the PMSM based on an estimated voltage applied to the windings of the PMSM, an estimated motor current of the PMSM, an estimated motor circuit resistance, and an estimated synchronization inductance of the PMSM; determine an estimated permanent magnet (PM) flux linkage in the PMSM based on the estimated motor current of the PMSM; determine a BEMF correction term based on the estimated PM flux linkage; and determine an estimated rotor flux space vector based on the estimated BEMF and the BEMF correction term.

[0111] In some embodiments, the controller is further configured to: determine an estimated motor electrical position of the PMSM based on the estimated rotor flux space vector, including determining the angle of the estimated rotor flux space vector, wherein the angle of the estimated rotor flux space vector represents the estimated motor electrical position.

[0112] In some embodiments, the controller is further configured to use the estimated motor electrical position of the PMSM for at least one of the following: verifying the measured rotor position of the PMSM by comparing the measured rotor position with the estimated motor electrical position, or transforming one or more signals between the time domain and the dq reference frame based on the estimated motor electrical position of the PMSM.

[0113] In some embodiments, the controller is further configured to: determine the difference between the estimated PM flux linkage and the estimated rotor flux space vector; and determine a BEMF correction term based on the difference between the estimated PM flux linkage and the estimated rotor flux space vector.

[0114] In some embodiments, the controller is further configured to: determine an estimated magnetic saturation scaling factor based on the estimated motor current of the PMSM; and determine an estimated PM flux linkage based on the estimated magnetic saturation scaling factor and the estimated temperature of the rotor magnet of the PMSM.

[0115] In some embodiments, the controller is further configured to: determine a feedforward estimation resistance based on an estimated temperature of the windings of the PMSM and an estimated temperature of a switching circuit within an inverter configured to supply power to the PMSM; and determine an estimated motor circuit resistance based on the feedforward estimation resistance.

[0116] In some embodiments, the controller is further configured to: determine an estimated winding voltage of the PMSM based on: an estimated feedforward resistance, an estimated synchronous inductance of the PMSM, and an estimated PM flux linkage; and determine a resistance correction term based on the estimated winding voltage of the PMSM winding and a motor voltage command for controlling the inverter to supply power to the PMSM, wherein the determination of the estimated motor circuit resistance is also based on the resistance correction term.

[0117] In some embodiments, the controller is further configured to: determine an inductance scaling factor based on an estimated motor current; determine a feedforward estimated inductance based on the inductance scaling factor and the nominal inductance of the PMSM; and determine an estimated synchronization inductance based on the feedforward estimated inductance.

[0118] In some embodiments, the controller is further configured to: determine the reconfigured motor current based on: the feedforward estimated inductance, the estimated motor circuit resistance, and the estimated PM flux linkage; and determine an inductance correction term based on the reconfigured motor current and the command current supplied to the current regulator to control the PMSM, wherein determining the estimated synchronization inductance is also based on the inductance correction term.

[0119] The foregoing discussion is intended to illustrate the principles and various embodiments of this disclosure. Once fully understood, many variations and modifications will become apparent to those skilled in the art. The following claims are intended to be construed as encompassing all such variations and modifications.

[0120] The word “example” is used herein to mean used as an example, illustration, or illustration. No aspect or design described herein as an “example” is necessarily to be construed as being more preferred or advantageous than other aspects or designs. Rather, the use of the word “example” is intended to present a concept in a specific form. As used in this application, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise stated or clearly apparent from the context, “X comprises A or B” is intended to mean any natural inclusive arrangement. That is, if X comprises A; X comprises B; or X comprises both A and B, then “X comprises A or B” is satisfied in any of the foregoing cases. Additionally, unless specifically stated or clearly apparent from the context, the indefinite articles “a” and “an” used in this application and the appended claims should generally be interpreted as meaning “one or more.” Furthermore, unless so described, the terms “one embodiment” or “an implementation” used throughout are not intended to refer to the same embodiment or implementation.

[0121] 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 logic controller, microcode, microcontroller, server, microprocessor, digital signal processor, or any other suitable circuitry. In the claims, the term "processor" should be understood to include any one of the foregoing hardware or a combination of the foregoing hardware. The terms "signal" and "data" are used interchangeably.

[0122] As used herein, the term "module" can include a packaged functional hardware unit designed for use with other components, an instruction set executable by a controller (e.g., software or firmware executed by a processor), processing circuitry configured to perform a specific function, and a self-contained hardware or software component that interfaces 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 instructions executable by a controller to implement the features of the module.

[0123] Furthermore, in one aspect, for example, the system described herein can be implemented using a general-purpose computer or general-purpose processor with 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 utilized, which may contain other hardware for performing any of the methods, algorithms, or instructions described herein.

[0124] Furthermore, all or part of the embodiments of the present invention may take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium can be any means capable of, for example, tangibly containing, storing, communicating, or transmitting a program used by or in conjunction with any processor. The medium can be, for example, an electrical, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available.

[0125] The above embodiments, implementations, and aspects have been described to allow for easy understanding of this disclosure and do not limit it. Rather, this disclosure is intended to cover various modifications and equivalent arrangements included 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 method for controlling a permanent magnet synchronous motor having windings, comprising: Based on the estimated voltage applied to the windings of the permanent magnet synchronous motor, the estimated motor current of the permanent magnet synchronous motor, the estimated motor circuit resistance, and the estimated synchronization inductance of the permanent magnet synchronous motor, the estimated back electromotive force generated in the windings of the permanent magnet synchronous motor is determined. Based on the estimated motor current of the permanent magnet synchronous motor, the estimated permanent magnet flux linkage in the permanent magnet synchronous motor is determined. Based on the estimated permanent magnet flux linkage, a back electromotive force correction term is determined; as well as Based on the estimated back EMF and the back EMF correction term, the estimated rotor flux space vector is determined; The determination of the back electromotive force correction term also includes: Determine the difference between the estimated permanent magnet flux linkage and the estimated rotor flux space vector; and The back electromotive force correction term is determined based on the difference between the estimated permanent magnet flux linkage and the estimated rotor flux space vector.

2. The method according to claim 1, further comprising: Based on the estimated rotor flux space vector, the estimated motor electrical position of the permanent magnet synchronous motor is determined, including determining the angle of the estimated rotor flux space vector, wherein the angle of the estimated rotor flux space vector represents the estimated motor electrical position.

3. The method according to claim 2, further comprising: Based on the measured rotor position of the permanent magnet synchronous motor, the calculated motor electrical position of the permanent magnet synchronous motor is determined; as well as The measured rotor position of the permanent magnet synchronous motor is verified by comparing the calculated motor electrical position with the estimated motor electrical position.

4. The method according to claim 2, further comprising: The permanent magnet synchronous motor is controlled based on the estimated motor electrical position.

5. The method according to claim 1, wherein, Determining the estimated permanent magnet flux linkage further includes: Based on the estimated motor current of the permanent magnet synchronous motor, an estimated magnetic saturation scaling factor is determined; and Based on the estimated magnetic saturation ratio factor, the estimated permanent magnet flux linkage is determined.

6. The method according to claim 5, wherein, The estimated permanent magnet flux linkage is also determined based on the estimated temperature of the rotor magnet of the permanent magnet synchronous motor.

7. The method according to claim 1, wherein, The method further includes: Based on the estimated temperature of the permanent magnet synchronous motor windings and the estimated temperature of the switching circuitry within the inverter, a feedforward estimation resistor is determined, and the inverter is configured to supply power to the permanent magnet synchronous motor; and Based on the feedforward estimated resistance, the estimated motor circuit resistance is determined.

8. The method according to claim 7, wherein, The method further includes: The estimated winding voltage of the permanent magnet synchronous motor is determined based on the following: the estimated motor current, the estimated feedforward resistance, the estimated synchronization inductance of the permanent magnet synchronous motor, and the estimated permanent magnet flux linkage; and Based on the estimated winding voltage of the permanent magnet synchronous motor and the motor voltage command used to control the inverter to supply power to the permanent magnet synchronous motor, a resistance correction term is determined. The estimated motor circuit resistance is further determined based on the resistance correction term.

9. The method according to claim 1, wherein, The method further includes: Based on the estimated motor current, the inductance scaling factor is determined; Based on the inductance scaling factor and the nominal inductance of the permanent magnet synchronous motor, determine the feedforward estimated inductance; and Based on the feedforward estimated inductance, the estimated synchronous inductance is determined.

10. The method according to claim 9, wherein, The method further includes: The reconfigured motor current is determined based on the following: the feedforward estimated inductance, the estimated motor circuit resistance, and the estimated permanent magnet flux linkage; and Based on the reconstructed motor current and the command current supplied to the current regulator for controlling the permanent magnet synchronous motor, an inductance correction term is determined. The estimated synchronous inductance is further determined based on the inductance correction term.

11. A system for controlling a permanent magnet synchronous motor, comprising: An inverter with multiple switches, the inverter being operable to supply AC power to the permanent magnet synchronous motor; as well as The controller is configured as follows: Based on the estimated voltage applied to the windings of the permanent magnet synchronous motor, the estimated motor current of the permanent magnet synchronous motor, the estimated motor circuit resistance, and the estimated synchronization inductance of the permanent magnet synchronous motor, the estimated back electromotive force generated in the windings of the permanent magnet synchronous motor is determined. Based on the estimated motor current of the permanent magnet synchronous motor, the estimated permanent magnet flux linkage in the permanent magnet synchronous motor is determined. Based on the estimated permanent magnet flux linkage, a back electromotive force correction term is determined; as well as Based on the estimated back EMF and the back EMF correction term, the estimated rotor flux space vector is determined; The controller is further configured as follows: Determine the difference between the estimated permanent magnet flux linkage and the estimated rotor flux space vector; as well as The back electromotive force correction term is determined based on the difference between the estimated permanent magnet flux linkage and the estimated rotor flux space vector.

12. The system according to claim 11, wherein, The controller is further configured to: determine an estimated motor electrical position of the permanent magnet synchronous motor based on the estimated rotor flux space vector, including determining the angle of the estimated rotor flux space vector, wherein the angle of the estimated rotor flux space vector represents the estimated motor electrical position.

13. The system according to claim 12, wherein, The controller is also configured to use the estimated motor electrical position of the permanent magnet synchronous motor for at least one of the following: The measured rotor position of the permanent magnet synchronous motor is verified by comparing the measured rotor position with the estimated motor electrical position. Based on the estimated motor electrical position of the permanent magnet synchronous motor, one or more signals are transformed between the time domain and the dq reference frame.

14. The system according to claim 11, wherein, The controller is also configured to: Based on the estimated motor current of the permanent magnet synchronous motor, an estimated magnetic saturation scaling factor is determined; and Based on the estimated magnetic saturation ratio factor and the estimated temperature of the rotor magnet of the permanent magnet synchronous motor, the estimated permanent magnet flux linkage is determined.

15. The system according to claim 11, wherein, The controller is also configured to: Based on the estimated temperature of the windings of the permanent magnet synchronous motor and the estimated temperature of the switching circuit in the inverter, a feedforward estimation resistor is determined, and the inverter is configured to supply power to the permanent magnet synchronous motor. as well as Based on the feedforward estimated resistance, the estimated motor circuit resistance is determined.

16. The system according to claim 15, wherein, The controller is also configured to: The estimated winding voltage of the permanent magnet synchronous motor is determined based on the following: the estimated motor current, the estimated feedforward resistance, the estimated synchronization inductance of the permanent magnet synchronous motor, and the estimated permanent magnet flux linkage. as well as Based on the estimated winding voltage of the permanent magnet synchronous motor and the motor voltage command used to control the inverter to supply power to the permanent magnet synchronous motor, a resistance correction term is determined. The estimated motor circuit resistance is further determined based on the resistance correction term.

17. The system according to claim 11, wherein, The controller is also configured to: The inductance scaling factor is determined based on the estimated motor current. Based on the inductance scaling factor and the nominal inductance of the permanent magnet synchronous motor, determine the feedforward estimated inductance; and Based on the feedforward estimated inductance, the estimated synchronous inductance is determined.

18. The system according to claim 17, wherein, The controller is also configured to: The reconfigured motor current is determined based on the following: the feedforward estimated inductance, the estimated motor circuit resistance, and the estimated permanent magnet flux linkage; and Based on the reconstructed motor current and the command current supplied to the current regulator to control the permanent magnet synchronous motor, an inductance correction term is determined. The estimated synchronous inductance is further determined based on the inductance correction term.

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