Electronic power-assisted steering system

Abstract

The embodiment of the invention provides an electronic power steering system, and relates to the technical field of motor control. The electronic power-assisted steering system comprises a controller, a three-phase motor and at least two power supply lines. The power supply circuit comprises a first power supply circuit and a second power supply circuit; the first power supply line and the second power supply line are connected with a three-phase line of the three-phase motor; and the controller is used for distributing power for the first power supply line and the second power supply line according to the fault condition parameters of the first power supply line and the second power supply line. Even if one power supply line breaks down, the other power supply line can still be used for supplying power, the three-phase motor of the electronic power steering system can still work normally, and safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to an electronic power steering system. Background Art

[0002] In the field of electronic power steering units for steering wheels of new energy large SUVs, pickup trucks or small trucks, or rear wheel steering of traditional luxury cars, the electronic power steering system (Electric Power Steering, EPS for short) is often needed in the field of large rack power steering technology.

[0003] As the weight of new energy vehicles increases, they will inevitably require a more powerful steering control system to match them, while also meeting increasingly stringent safety requirements and increasingly stringent vehicle cost control requirements.

[0004] How to improve the safety of electronic power steering systems is a technical problem that needs to be solved. Summary of the invention

[0005] The purpose of the present application is to provide an electronic power steering system to solve the technical problem of how to improve the safety of the electronic power steering system in the prior art.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions.

[0007] The electronic power steering system includes a controller, a three-phase motor and at least two power supply lines; the power supply lines include a first power supply line and a second power supply line; The first power supply line and the second power supply line are both connected to the three-phase lines of the three-phase motor; The controller is used to allocate power to the first power supply line and the second power supply line according to fault condition parameters of the first power supply line and the second power supply line.

[0008] Optionally, the fault condition parameter includes voltage drop or internal resistance; The controller is used to allocate a larger proportion of power to a power supply line with a smaller voltage drop or internal resistance.

[0009] Optionally, the first power supply circuit includes a first inverter module; The second power supply circuit includes a second inverter module; The first inverter module and the second inverter module are both connected to the three-phase lines of the three-phase motor; The controller is used to allocate different duty cycles to the first inverter module and the second inverter module according to the voltage drop or internal resistance of the first power supply circuit and the second power supply circuit.

[0010] Optionally, the first power supply circuit includes a first power connection connector; The second power supply circuit includes a second power connection connector; The first power connection connector and the second power connection connector are used to connect to the same battery.

[0011] Optionally, the first power supply circuit includes a first power connection connector; The second power supply circuit includes a second power connection connector; The electronic power steering system further includes a first battery module and a second battery module; The first power connection connector is connected to the first battery module; The second power connection connector is connected to the second battery module.

[0012] Optionally, the controller includes a power management integrated circuit, an MCU, a first pre-drive circuit module and a second pre-drive circuit module; the number of the MCU is 1; The power management integrated circuit is connected to the MCU, and the power management integrated circuit is used to connect to a battery; The MCU is connected to the first pre-drive circuit module and the second pre-drive circuit module respectively; The MCU drives the first power supply line through the first pre-drive circuit module; The MCU drives the second power supply circuit through the second pre-driving circuit module.

[0013] Optionally, the first power supply circuit includes a first power connection connector; The second power supply circuit includes a second power connection connector; The electronic power steering system further includes a first anti-reverse transistor and a second anti-reverse transistor; The first power connection connector is connected to the controller via the first anti-reverse transistor; The second power connection connector is connected to the controller via the second anti-reverse transistor.

[0014] Optionally, the first power supply circuit includes a first power connection connector, a first inverter module and a third anti-reverse transistor; The second power supply circuit includes a second power connection connector, a second inverter module and a fourth anti-reverse transistor; The first inverter module and the second inverter module are both connected to the three-phase lines of the three-phase motor; The first power connection connector is connected to the first inverter module through the third anti-reverse transistor; The second power connection connector is connected to the second inverter module via the fourth anti-reverse transistor; The controller is used to allocate different duty cycles to the first inverter module and the second inverter module according to the voltage drop or internal resistance of the first power supply circuit and the second power supply circuit.

[0015] Optionally, the two-phase circuits in the first inverter module are provided with current sampling resistors; The two-phase circuits in the second inverter module are provided with current sampling resistors.

[0016] Optionally, the three-phase motor is a permanent magnet synchronous motor.

[0017] Optionally, a filter component is provided in the first power supply line and / or the second power supply line, and the filter component includes a common mode inductor and / or capacitor.

[0018] Compared with the prior art, this application has the following beneficial effects: The electronic power steering system provided in the embodiment of the present application has at least two power supply lines to form redundancy. Even if one line fails, the other line can still be used for power supply, and the three-phase motor of the electronic power steering system can still work normally, thereby improving safety. Moreover, the power of different lines can be allocated according to circuit parameters, which is conducive to improving the life of the lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of an electronic power steering system provided in an embodiment of the present application; Figure 2 A block diagram of a controller 10 provided in an embodiment of the present application; Figure 3 A schematic diagram of an electronic power steering system provided in an embodiment of the present application, wherein a first power supply circuit includes a first inverter module, and a second power supply circuit includes a second inverter module; Figure 4 A schematic diagram of a first power connection connector and a second power connection connector provided in an embodiment of the present application for connecting the same battery; Figure 5 A diagram showing a first power connection connector and a second power connection connector provided in an embodiment of the present application for connecting different batteries; Figure 6 A schematic diagram of an implementation scheme provided in an embodiment of the present application with no redundancy and only one power supply line; Figure 7 A schematic diagram of a two-way inverter module forming inverter module redundancy provided in an embodiment of the present application; Figure 8 A schematic diagram of a structure with inverter module redundancy and controller redundancy provided in an embodiment of the present application; Fig. 9 A schematic diagram of an embodiment of the present application that uses only one controller, one MCU and has power supply line redundancy is provided. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described in the drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0023] In the description of this application, it should be noted that: Relational terms such as first and second, etc., are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations; “Connection” should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0024] Regarding the power steering system, the current solutions for new energy large SUVs, pickup trucks or small trucks mainly use the Electro Hydraulic Power Steering (EHPS). However, EHPS is already an outdated technical solution and is currently mainly used in large commercial vehicles with fuel engines. Since new energy vehicles have no engine, no idle condition, and no stable vacuum source, if they want to continue to use this solution, they need to add a vacuum source system, as well as the cumbersome hydraulic system itself, which is clearly on the verge of being eliminated.

[0025] Traditional high-power single-bridge non-redundant EPS electronic control cannot currently cover all of the above models because the power of the single H-bridge is too high in the 12V vehicle power system, and the bus power supply and power device MOSFET work stress are too high. In addition, with the increase in cruising range, the weight of the battery, and the size of the vehicle, it is gradually becoming stretched and cannot cover all the above models.

[0026] Increasing the power supply voltage of the whole vehicle can solve this problem, such as the 24V level system of traditional large commercial vehicles and the latest 48V level system of Tesla. However, for small and medium-sized vehicles, the cost will be increased passively due to the increase in voltage level, and these increased costs do not improve the user experience for end users. At the same time, the redevelopment of a large area of ​​all components due to the voltage increase will bring many uncertainties and extend the new car launch cycle. Currently, very few car manufacturers are practicing this. Therefore, the following electronic power EPS solution can be adopted: dual or multi-channel 12V power supply, which reduces the working pressure of the bus and improves reliability. There is no need to increase the power supply voltage level of the whole vehicle, and continue to use the 12V power supply level system to meet the needs of high-power EPS.

[0027] like Figure 1 The electronic power steering system includes a controller, a three-phase motor and at least two power supply lines, the power supply lines include a first power supply line and a second power supply line. The three-phase motor can be a permanent magnet synchronous motor (PMSM).

[0028] The first power supply line and the second power supply line have the following connection relationship: the first power supply line and the second power supply line are both connected to the three-phase lines of the three-phase motor.

[0029] Since there are at least two power supply lines, the power supply of the three-phase motor is redundant. Even if one power supply line fails, it can still be powered by another power supply line. The three-phase motor of the electronic power steering system can still work normally, improving safety.

[0030] The controller functions as follows: allocating power to the first power supply line and the second power supply line according to fault condition parameters of the first power supply line and the second power supply line.

[0031] The fault condition parameters of the power supply line may be the temperature, voltage drop or internal resistance of the power supply line. The controller may allocate different powers to different lines according to the fault condition parameters, which is beneficial to prolonging the life of the line.

[0032] The power of the two power supply lines can be distributed as follows. The following takes voltage drop as an example. The voltage drop can also be replaced by internal resistance or temperature: Assuming that the voltage drop at a set point in the first power supply line is a, and the voltage drop at a set point in the second power supply line is b, the power ratio of the first power supply line to the second power supply line can be b:a, and the power can be distributed according to this ratio. For example, if the voltage drop ratio of the first power supply line to the second power supply line is detected to be 2:3, the power ratio of the first power supply line to the second power supply line can be 3:2.

[0033] If there are more power supply lines, then the following algorithm can be used: assuming that the voltage drop at a set point in the first power supply line is a, the voltage drop at a set point in the second power supply line is b, the voltage drop at a set point in the third power supply line is c, and the sum of the voltage drops at set points in all power supply lines is s, then the power ratio of the first power supply line and the second power supply line can be (sa): (sb): (sc).

[0034] For example, for a circuit with a large voltage drop or internal resistance, if it carries a large power, it will generate higher heat, affecting the life of the circuit and its surrounding components. Excessive voltage drop or internal resistance may also mean that the circuit is faulty. A fault judgment threshold can be set. When it is detected that the voltage drop or internal resistance of the set part of all power supply lines is less than the fault judgment threshold, the power is allocated according to the proportional algorithm. When it is detected that the voltage drop or internal resistance of the set part of one of the power supply lines is less than the fault judgment threshold, the power allocated to the faulty power supply line is 0, and the controller can allocate 100% of the power of the faulty power supply line to the normal power supply line. Therefore, the controller allocates a larger proportion of power to the power supply line with a smaller voltage drop or internal resistance, which is beneficial to the performance of the motor while protecting the components.

[0035] like Figure 2 , Figure 2 A block diagram of a controller 10 is shown. The controller 10 includes a memory 11 and a processor 12.

[0036] The memory 11 and the processor 12 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The memory 11 stores computer programs or instructions, and the processor 12 executes various functional applications and data processing by running software programs and modules stored in the memory 11, that is, to allocate different powers to different lines according to fault condition parameters.

[0037] Understandably, Figure 2 The structure shown is for illustration only. The controller 10 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0038] like Figure 3 The first power supply line may include a first inverter module, and the second power supply line includes a second inverter module. The first inverter module and the second inverter module are both connected to the three-phase line of the three-phase motor; the controller may allocate different duty cycles to the switch tubes in the first inverter module and the second inverter module according to the voltage drop or internal resistance of the first power supply line and the second power supply line, thereby allocating different powers to different power supply lines.

[0039] Different power supply lines can be connected to the same battery or different batteries.

[0040] For example, the first power supply circuit includes a first power connection connector, and the second power supply circuit includes a second power connection connector: like Figure 4 , the first power connection connector and the second power connection connector are used to connect to the same battery; Or Figure 5 The first power connection connector and the second power connection connector are used to connect different batteries.

[0041] When different power supply lines are connected to different batteries, the controller can be configured with the function of detecting battery failure. Even if a battery fails along the way, the controller can completely allocate the power of the power supply line originally connected to the faulty battery to the power supply line connected to the normal battery, thereby maintaining good motor performance.

[0042] In contrast to the redundancy created by the two power connection connectors mentioned above, Figure 6 An implementation with no redundancy and only one power supply line is shown. Figure 7 An implementation of a two-way inverter module is shown. Figure 6In the embodiment, the power supply VBAT1 is connected to the inverter module through the power connection connector J1, the first anti-reverse transistor Q1, and the common mode inductor XL1. The common mode inductor XL1 plays a filtering role, and the input and output of the common mode inductor XL1 are provided with filter capacitors C4 and C5; the inverter module includes a current sampling resistor R1, a current sampling resistor R2, a switch device S1, a switch device S2, a switch device S3, a switch device S4, a switch device S5 and a switch device S6, and the switch device can be a MOSFET; the power supply is supplied to the controller through the power connection connector J1 and the second anti-reverse transistor D2; the controller includes a power management integrated circuit (Power Management Integrated Circuit, referred to as PMIC), an MCU, a first pre-drive circuit module Driver1 and a logic circuit. The logic part requires 12V / 5V, 12V / 3.3V and other types of DCDC conversion. The PMIC can include a multi-channel integrated step-down power supply module to complete 12V / 5V, 12V / 3.3V and other DCDC conversions. The MCU sends a driving signal to each switch device of the inverter module through the first pre-driving circuit module Driver1 to control the rotation of the permanent magnet synchronous motor PMSM.

[0043] Figure 7 and Figure 6 The difference is that Figure 7 The controller includes a second pre-drive circuit module Driver2, and there are two inverter modules. The first inverter module includes a current sampling resistor R3, a current sampling resistor R4, a switch device S7, a switch device S8, a switch device S9, a switch device S10, a switch device S11 and a switch device S12; the second inverter module includes a current sampling resistor R5, a current sampling resistor R6, a switch device S13, a switch device S14, a switch device S15, a switch device S16, a switch device S17 and a switch device S18; the MCU sends a drive signal to each switch device of the first inverter module through the first pre-drive circuit module Driver1, and the MCU sends a drive signal to each switch device of the second inverter module through the second pre-drive circuit module Driver2.

[0044] Figure 6 The limitation of the embodiment with only one power supply line is that if any point in the circuit from the power connection connector J1 to the inverter module fails, the three-phase motor cannot work normally. Figure 7 The limitation of the embodiment shown in which only the inverter module is redundant is that if a circuit in the front stage of the inverter module fails, the three-phase motor cannot operate normally.

[0045] In the case of redundancy formed by two power connection connectors, if any point of the circuit from one of the power connection connectors to the inverter module fails, the other power connection connector to the inverter module can still work normally, thereby ensuring the normal operation of the three-phase motor.

[0046] Figure 8 A fully redundant structure is demonstrated, with two controllers. Each controller has a PMIC, an MCU, and a pre-driver circuit module Driver. It has the highest security but also the highest cost. In addition, the two MCUs are not conducive to the algorithm to implement power distribution, and may cause problems such as asynchrony and large errors.

[0047] Therefore, if Fig. 9 , only one controller and one MCU can be used, and the controller includes PMIC, MCU, a first pre-driver circuit module Driver1 and a second pre-driver circuit module Driver2. The connection relationship is as follows: The PMIC is connected to the MCU, and the PMIC is used to connect to the battery.

[0048] The MCU is connected to the first pre-driver circuit module Driver1 and the second pre-driver circuit module Driver2 respectively; The MCU drives the inverter module of the first power supply circuit through the first pre-drive circuit module Driver1; The MCU drives the inverter module of the second power supply circuit through the second pre-driving circuit module Driver2.

[0049] The first power supply line and the second power supply line can both be Figure 6 The structure of the power supply line.

[0050] You can set a fault judgment threshold: (1) When it is detected that the voltage drop or internal resistance of the set part of all power supply lines is less than the fault judgment threshold, the MCU distributes power according to the proportional algorithm: assuming that the voltage drop of the set part in the first power supply line is a, and the voltage drop of the set part in the second power supply line is b, then the power ratio of the first power supply line and the second power supply line can be b:a. The MCU obtains the corresponding duty cycle according to the power and controls the on and off of the switching devices in the two inverter modules.

[0051] (2) When it is detected that the voltage drop or internal resistance of a set part in a power supply line is greater than the fault judgment threshold, the power of the faulty power supply line is allocated to 0, and the power originally allocated to the faulty power supply line is reallocated to the power supply line without fault. For example, if the second power supply line is determined to be the faulty power supply line, then the switch device of the inverter module of the second power supply line outputs a signal indicating that it is cut off, and at the same time, the switch device of the inverter module of the first power supply line is controlled to be on and off at 100% power.

[0052] The one controller and one MCU approach saves hardware costs and does not require two MCUs to communicate and design complex collaborative algorithms. It has strong working stability and reliability and can provide sufficiently high safety: even if any point in the circuit from one power connection connector to the inverter module fails, the other power connection connector to the inverter module can still work normally, ensuring the normal operation of the three-phase motor.

[0053] like Fig. 9 The electronic power steering system may further include a first anti-reverse transistor D3 and a second anti-reverse transistor D4. The first power connection connector is connected to the controller via the first anti-reverse transistor D3, and the second power connection connector is connected to the controller via the second anti-reverse transistor D4 to prevent the controller power from being reversely connected.

[0054] Anti-reverse transistors can also be set in the power supply line. Fig. 9 The embodiment of the anti-reverse transistor being arranged between the power connection connector and the inverter module is shown: The first power supply circuit includes a first power connection connector, a first inverter module and a third anti-reverse transistor Q3; The second power supply circuit includes a second power connection connector, a second inverter module and a fourth anti-reverse transistor Q4; The first power connection connector is connected to the first inverter module via the third anti-reverse transistor Q3; The second power supply connection connector is connected to the second inverter module via the fourth anti-reverse transistor Q4.

[0055] like Fig. 9 , a resistor can be set in the inverter module, and the resistor is used to sample the current of one phase where the resistor is located, so as to control the speed and power of the motor. In each inverter module, a current sampling resistor can be set in the two-phase circuit, and the third-phase current can be calculated from the two-phase current, such as Fig. 9 The two-phase current sampling resistors of the inverter module in the upper middle part are resistors R7 and R8, and the two-phase current sampling resistors of the inverter module in the lower part are resistors R9 and R10.

[0056] like Fig. 9 A filter device may also be provided in the power supply line. The filter device may include a common mode inductor and a capacitor. Fig. 9 In the embodiment shown, the common mode inductor is arranged between the power connection connector and the inverter module, and the filter capacitor can be arranged on the input side and the output side of the common mode inductor. Fig. 9 The filter capacitors C8, C9, C11 and C12 in the inverter module can also be set at the input end of the inverter module, such as Fig. 9 The filter capacitors C10 and C13 in the circuit.

[0057] In general, the present application proposes an electronic power steering system, which relates to the field of motor control technology. The electronic power steering system includes a controller, a three-phase motor and at least two power supply lines; the power supply lines include a first power supply line and a second power supply line; the first power supply line and the second power supply line are both connected to the three-phase lines of the three-phase motor; the controller is used to allocate power to the first power supply line and the second power supply line according to the fault condition parameters of the first power supply line and the second power supply line. Even if one power supply line fails, the other power supply can still be used, and the three-phase motor of the electronic power steering system can still work normally, which improves safety.

[0058] This solution can be used to upgrade the electronic power steering system. Only local parts upgrades are required. The 12V (the whole vehicle generally requires this voltage level, and the actual working range is 9 to 16V) vehicle control power system is used to maximize cost control and improve safety performance to meet market demand. In the case of a 12V power level system, the problem of insufficient EPS power can be solved. During normal operation, the two H-bridges each output half of the power torque, the working stress of the power part will not be too high, and the pressure on each DC bus is relatively small. When a single-point failure occurs in the H-bridge or the power supply bus, the remaining H-bridge can only output half of the maximum power torque at most, ensuring that the driver can smoothly pass through the unsafe period, assisting the driver in turning the steering wheel, and reducing the difficulty of the driver's steering force.

[0059] The above-described device and system embodiments are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. A person skilled in the art may understand and implement the present embodiment without creative effort.

[0060] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An electronic power steering system, characterized in that: It includes a controller, a three-phase motor and at least two power supply lines; the power supply lines include a first power supply line and a second power supply line; The first power supply line and the second power supply line are both connected to the three-phase lines of the three-phase motor; The controller is used to allocate power to the first power supply line and the second power supply line according to fault condition parameters of the first power supply line and the second power supply line.

2. The electronic power steering system according to claim 1, characterized in that: The fault condition parameters include voltage drop or internal resistance; The controller is used to allocate a larger proportion of power to a power supply line with a smaller voltage drop or internal resistance.

3. The electronic power steering system according to claim 1, characterized in that: The first power supply circuit includes a first inverter module; The second power supply circuit includes a second inverter module; The first inverter module and the second inverter module are both connected to the three-phase lines of the three-phase motor; The controller is used to allocate different duty cycles to the first inverter module and the second inverter module according to the voltage drop or internal resistance of the first power supply circuit and the second power supply circuit.

4. The electronic power steering system according to claim 1, characterized in that: The first power supply circuit includes a first power connection connector; The second power supply circuit includes a second power connection connector; The first power connection connector and the second power connection connector are used to connect to the same battery.

5. The electronic power steering system according to claim 1, characterized in that: The first power supply circuit includes a first power connection connector; The second power supply circuit includes a second power connection connector; The electronic power steering system further includes a first battery module and a second battery module; The first power connection connector is connected to the first battery module; The second power connection connector is connected to the second battery module.

6. The electronic power steering system according to claim 1, characterized in that: The controller includes a power management integrated circuit, an MCU, a first pre-drive circuit module and a second pre-drive circuit module; the number of the MCU is 1; The power management integrated circuit is connected to the MCU, and the power management integrated circuit is used to connect to a battery; The MCU is connected to the first pre-drive circuit module and the second pre-drive circuit module respectively; The MCU drives the first power supply line through the first pre-drive circuit module; The MCU drives the second power supply circuit through the second pre-driving circuit module.

7. The electronic power steering system according to claim 1, characterized in that: The first power supply circuit includes a first power connection connector; The second power supply circuit includes a second power connection connector; The electronic power steering system further includes a first anti-reverse transistor and a second anti-reverse transistor; The first power connection connector is connected to the controller via the first anti-reverse transistor; The second power connection connector is connected to the controller via the second anti-reverse transistor.

8. The electronic power steering system according to claim 1, characterized in that: The first power supply circuit includes a first power connection connector, a first inverter module and a third anti-reverse transistor; The second power supply circuit includes a second power connection connector, a second inverter module and a fourth anti-reverse transistor; The first inverter module and the second inverter module are both connected to the three-phase lines of the three-phase motor; The first power connection connector is connected to the first inverter module through the third anti-reverse transistor; The second power connection connector is connected to the second inverter module via the fourth anti-reverse transistor; The controller is used to allocate different duty cycles to the first inverter module and the second inverter module according to the voltage drop or internal resistance of the first power supply circuit and the second power supply circuit.

9. The electronic power steering system as claimed in claim 8, characterized in that: The two-phase circuits in the first inverter module are provided with current sampling resistors; The two-phase circuits in the second inverter module are provided with current sampling resistors.

10. The electronic power steering system according to claim 1, characterized in that: The three-phase motor is a permanent magnet synchronous motor.

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