System and method for motor control

Abstract

A method for motor control includes receiving a plurality of data points associated with operation of a motor, determining a phase angle of the motor, and obtaining a seven-phase pulse width modulation equation from a lookup table based on the phase angle of the motor. The method further includes determining a result of the seven-phase pulse width modulation equation, receiving a modulation index value, and selectively controlling the motor based on the result of the seven-phase pulse width modulation equation in response to the modulation index value being less than or equal to a first threshold value.

Description

Technical Field

[0001] This disclosure relates to steering systems, and more particularly to systems and methods for controlling various aspects of a steering system by automatically switching between seven-phase space vector pulse width modulation and five-phase space vector pulse width modulation using a lookup table. Background Technology

[0002] Vehicles (such as cars, trucks, SUVs, crossovers, minivans, boats, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as steering systems and / or other suitable systems (e.g., braking systems, propulsion systems, etc.). Steering systems may include electric power steering (EPS) systems, steer-by-wire (SbW) systems, hydraulic steering systems, or other suitable steering systems. These systems of a vehicle typically control various aspects of the vehicle's steering (e.g., providing steering assistance to the vehicle's operator, controlling the vehicle's steering wheels, etc.), vehicle propulsion, vehicle braking, etc. Summary of the Invention

[0003] This disclosure relates generally to steering systems.

[0004] One aspect of the disclosed embodiments includes a system for motor control. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, enable the processor to: receive a plurality of data points associated with operation of the motor; determine a phase angle of the motor; retrieve a seven-phase pulse width modulation equation from a lookup table based on the phase angle of the motor; determine a result of the seven-phase pulse width modulation equation; receive a modulation index value; and, in response to a modulation index value being less than or equal to a first threshold, selectively control the motor based on the result of the seven-phase pulse width modulation equation.

[0005] Another aspect of the disclosed embodiments includes a method for motor control. The method includes: receiving a plurality of data points associated with motor operation; determining a phase angle of the motor; and retrieving a seven-phase pulse width modulation equation from a lookup table based on the motor's phase angle. The method further includes: determining a result of the seven-phase pulse width modulation equation; receiving a modulation index value; and selectively controlling the motor based on the result of the seven-phase pulse width modulation equation in response to the modulation index value being less than or equal to a first threshold.

[0006] These and other aspects of this disclosure are disclosed in the following detailed description of embodiments, the appended claims and the accompanying drawings. Attached Figure Description

[0007] This disclosure is best understood in conjunction with the accompanying drawings and the following detailed description. It should be emphasized that, in accordance with conventional practice, 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.

[0008] Figure 1 A vehicle based on the principles of this disclosure is shown in general.

[0009] Figure 2 A controller based on the principles of this disclosure is shown in general.

[0010] Figure 3A Various aspects of five-phase space vector pulse width modulation and seven-phase space vector pulse width modulation according to the principles of this disclosure are generally shown.

[0011] Figure 3B A flowchart of space vector pulse width modulation based on the principles of this disclosure is shown in general.

[0012] Figures 4A to 4C Various aspects of five-phase space vector pulse width modulation based on the principles of this disclosure are generally shown.

[0013] Figures 5A to 5C Various aspects of five-phase space vector pulse width modulation based on the principles of this disclosure are generally shown.

[0014] Figure 6A and Figure 6B Various aspects of seven-phase space vector pulse width modulation based on the principles of this disclosure are generally shown.

[0015] Figure 7A and Figure 7B Various aspects of seven-phase space vector pulse width modulation based on the principles of this disclosure are generally shown.

[0016] Figure 8 A spatial vector pulse width modulation lookup table based on the principles of this disclosure is generally shown.

[0017] Figure 9 This is a flowchart that generally illustrates a motor control method based on the principles of this disclosure. 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 intended 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 merely illustrative and not intended to imply that the scope of this disclosure (including the claims) is limited to that embodiment.

[0019] As described, vehicles (such as cars, trucks, SUVs, crossovers, minivans, boats, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation) typically include various systems, such as steering systems and / or other suitable systems (e.g., braking systems, propulsion systems, etc.). Steering systems may include EPS systems, SbW steering systems, hydraulic steering systems, or other suitable steering systems. Such systems of a vehicle typically control various aspects of the vehicle's steering (e.g., including providing steering assistance to the vehicle's operator, controlling the vehicle's steering wheels, etc.), vehicle propulsion, vehicle braking, etc.

[0020] Such aspects of controlling the steering of a vehicle and / or any other appropriate aspects of the vehicle include the use and / or control of various motors. This may include controlling the duty cycle of the motors and / or adjusting various pulse width modulation aspects. For example, five-phase space vector pulse width modulation (SVPWM) and / or seven-phase SVPWM are commonly used, each with its own advantages and disadvantages, such as... Figure 3A and Figure 3B As generally illustrated. Typically, these two methods are combined to take advantage of their respective strengths. However, this can be relatively computationally and / or resource-intensive.

[0021] Therefore, it may be desirable to have systems and methods configured to provide improved approaches to combining seven-phase SPPWM and five-phase SVPWM, such as those described herein. In some embodiments, the systems and methods described herein may be configured to implement seven-phase SVPWM using a lookup table approach and combine a five-phase SVPWM lookup table to combine the seven-phase SPPWM and five-phase SVPWM. The systems and methods described herein may be configured to switch lookup tables to implement SVPWM.

[0022] In some embodiments, the systems and methods described herein can be configured to implement five-phase SVPWM by retrieving values ​​from a lookup table and to optimize relatively small voltages based on forced turn-on times (e.g., since time T0 is not equal to time T7, PWM noise is greater). Figure 4A As shown, the system and method described herein can be configured to use a lookup table to extract data from approximately 120 degrees to about 240 degrees and recover one cycle (e.g., Figure 4B The systems and methods described in this paper can be configured to follow different indexes (e.g., Figure 4C ). Figures 5A to 5C The small voltage optimization is shown in general.

[0023] In some embodiments, the system and method described herein can be configured to: for seven-phase SVPWM, acquire a data period including 8192 points, such as... Figure 6A and Figure 6B As generally shown. The system and method described in this paper can be configured to extract 1 / 4 of a lookup table.

[0024] The systems and methods described herein can be configured to use the rotor angle of a motor (e.g., a motor such as those associated with a steering system, as described herein) as input to a lookup table. The systems and methods described herein can be configured to follow logic in the lookup table when the index is 1 to reach an output as a duty cycle (e.g., as...). Figure 7A and Figure 7B (as shown in general).

[0025] The system and method described in this paper can be configured to use the following equations to satisfy various index values:

[0026] ModlnIdxPha=(0.5-Z)*Indix+0.5

[0027] like Figure 8 As generally shown, the systems and methods described herein can be configured to use hysteresis control to combine five-phase SVPWM and seven-phase SVPWM to avoid frequent switching.

[0028] In some embodiments, the systems and methods described herein may be configured to receive a plurality of data points associated with the operation of a motor. The plurality of data points may correspond to one operating cycle of the motor. The plurality of data points may include 8192 data points or other suitable number of data points. The motor may include any suitable motor and may be associated with the steering system or other suitable aspects of a vehicle.

[0029] The systems and methods described herein can be configured to determine the phase angle of a motor. The systems and methods described herein can be configured to retrieve a seven-phase pulse width modulation equation from a lookup table based on the motor's phase angle. The seven-phase pulse width modulation equation may include a seven-phase space vector pulse width modulation equation. In some embodiments, in response to the motor's phase angle being between 0 and 0.5, the seven-phase pulse width modulation equation includes a first equation. The first equation may include the total number of data points out of a plurality of data points multiplied by an absolute value, which is a predetermined value minus the absolute value of the motor's phase angle. In some embodiments, in response to the motor's phase angle being between 0.5 and 1, the seven-phase pulse width modulation equation includes a second equation. The second equation may include the total number of data points out of a plurality of data points multiplied by an absolute value, which is 1 minus a predetermined value minus the absolute value of the motor's phase angle.

[0030] The system and method described herein can be configured to determine the result of a seven-phase pulse width modulation equation. The system and method described herein can be configured to receive a modulation index value. The system and method described herein can be configured to selectively control a motor based on the result of the seven-phase pulse width modulation equation in response to a modulation index value being less than or equal to a first threshold. The first threshold may be equal to 0.7.

[0031] In some embodiments, the systems and methods described herein can be configured to selectively control a motor based on an identified duty cycle associated with five-phase pulse width modulation in response to a modulation index value being greater than or equal to a second threshold. The second threshold may be equal to 0.8. The five-phase pulse width modulation may include five-phase space vector pulse width modulation.

[0032] Figure 1 A vehicle 10 based on the principles of this disclosure is generally shown. Vehicle 10 may include any suitable vehicle, such as a car, truck, SUV, minivan, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although vehicle 10 is shown as a wheeled passenger vehicle intended for use on a road, the principles of this disclosure can be applied to other vehicles, such as airplanes, ships, trains, drones, or other suitable vehicles.

[0033] Vehicle 10 includes a vehicle body (fuselage) 12 and an engine hood 14. A passenger compartment 18 is defined at least partially by the vehicle body 12. Another portion of the vehicle body 12 defines an engine compartment 20. The engine hood 14 is movably attached to a portion of the vehicle body 12 such that when the engine hood 14 is in a first position or open position, the engine hood 14 provides an entrance to the engine compartment 20, and when the engine hood 14 is in a second position or closed position, the engine hood 14 covers the engine compartment 20. In some embodiments, the engine compartment 20 may be located at the rear of the vehicle 10, rather than as generally shown.

[0034] The passenger compartment 18 may be located behind the engine compartment 20, but in embodiments where the engine compartment 20 is located at the rear of the vehicle 10, the passenger compartment may be located in front of the engine compartment 20. The vehicle 10 may include any suitable propulsion system, including: an internal combustion engine, one or more electric motors (e.g., for an electric vehicle), one or more fuel cells, a hybrid propulsion system including a combination of an internal combustion engine and one or more electric motors (e.g., for a hybrid vehicle), and / or any other suitable propulsion system.

[0035] In some embodiments, vehicle 10 may include a petroleum or gasoline fuel engine, such as a spark-ignition engine. In some embodiments, vehicle 10 may include a diesel fuel engine, such as a compression-ignition engine. Engine compartment 20 houses and / or encloses at least some components of the propulsion system of vehicle 10. Alternatively or additionally, propulsion controllers (such as accelerator actuators (e.g., accelerator pedal), brake actuators (e.g., brake pedal), steering wheel, and other such components) are disposed in passenger compartment 18 of vehicle 10. The propulsion controllers may be actuated or controlled by the operator of vehicle 10, and may be directly connected to corresponding components of the propulsion system, such as throttle, brakes, vehicle axles, vehicle transmission, etc. In some embodiments, the propulsion controllers may transmit signals to a vehicle computer (e.g., via drive-by-wire), which in turn may control the corresponding propulsion components of the propulsion system. Thus, in some embodiments, vehicle 10 may be an autonomous vehicle.

[0036] In some embodiments, the vehicle 10 includes a transmission connected to the crankshaft via a flywheel, clutch, or hydraulic coupler. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. In the case of an internal combustion engine or hybrid vehicle, the vehicle 10 may include one or more pistons that operate in cooperation with the crankshaft to generate force, which is transmitted via the transmission to one or more shafts that rotate the wheel 22. When the vehicle 10 includes one or more electric motors, a vehicle battery and / or fuel cell provide power to these electric motors to rotate the wheel 22.

[0037] Vehicle 10 may include an autonomous vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other autonomous vehicle propulsion systems, or combinations thereof. Vehicle 10 may be an autonomous or semi-autonomous vehicle, or other suitable type of vehicle. Vehicle 10 may include more or fewer features than those generally shown and / or disclosed herein.

[0038] In some embodiments, vehicle 10 may include an Ethernet component 24, a Controller Area Network (CAN) bus 26, a Media-Oriented System Transport (MOST) component 28, a FlexRay component 30 (e.g., an f-wire braking system), and a Local Interconnect Network (LIN) component 32. Vehicle 10 may use the CAN bus 26, MOST 28, FlexRay component 30, LIN 32, other suitable network or communication systems, or combinations thereof, to transmit various information from sensors, such as those inside or outside the vehicle, to various processors or controllers, such as those inside or outside the vehicle. Vehicle 10 may include more or fewer features than those generally shown and / or disclosed herein.

[0039] In some embodiments, the vehicle 10 may include a steering system, such as an EPS system, a steer-by-wire system (e.g., which may include one or more controllers or communicate with the one or more controllers, which control components of the steering system without using a mechanical connection between the steering wheel and the wheel 22 of the vehicle 10), a hydraulic steering system (e.g., which may include a magnetic actuator incorporated into a valve assembly of a hydraulic steering system), or other suitable steering systems.

[0040] The steering system may include an open-loop feedback control system or mechanism, a closed-loop feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including but not limited to steering wheel position, input torque, position of one or more road wheels, other suitable inputs or information, or a combination thereof.

[0041] Alternatively or concurrently, inputs may include steering wheel torque, steering wheel angle, motor speed, vehicle speed, estimated motor torque command, other suitable inputs, or combinations thereof. The steering system may be configured to provide steering functionality and / or control to the vehicle 10. For example, the steering system may generate auxiliary torque based on various inputs. The steering system may be configured to use the auxiliary torque to selectively control the steering system motor to provide steering assistance to the operator of the vehicle 10.

[0042] In some embodiments, the vehicle 10 may include a controller, such as Figure 2The controller 100 is generally shown. Controller 100 may include any suitable controller, such as an electronic control unit or other suitable controller. Controller 100 may be configured to control various functions, such as a steering system and / or various functions of the vehicle 10. Controller 100 may include a processor 102 and a memory 104. Processor 102 may include any suitable processor, such as the processor described herein. Additionally or alternatively, as a supplement to or alternative to processor 102, controller 100 may include any suitable number of processors. Memory 104 may include a single disk or multiple disks (e.g., a hard disk drive) and includes a storage management module that manages one or more partitions within memory 104. In some embodiments, memory 104 may include flash memory, semiconductor (solid-state) memory, etc. Memory 104 may include random access memory (RAM), read-only memory (ROM), or a combination thereof. Memory 104 may include instructions that, when executed by processor 102, cause processor 102 to control at least various aspects of the vehicle 10.

[0043] The controller 100 can receive one or more signals from various measuring devices or sensors 106 indicating sensed or measured characteristics of the vehicle 10. Sensors 106 may include any suitable sensors, measuring devices, and / or other suitable mechanisms. For example, sensors 106 may include one or more torque sensors or devices, one or more steering wheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, one or more radar sensors or devices, one or more lidar sensors or devices, one or more sonar sensors or devices, one or more image capture sensors or devices, other suitable sensors or devices, or combinations thereof. One or more signals may indicate steering wheel torque, steering wheel angle, motor speed, vehicle speed, other suitable information, or combinations thereof.

[0044] In some embodiments, the controller 100 may be configured to receive a plurality of data points associated with the operation of the motor. The plurality of data points may correspond to one operating cycle of the motor. The plurality of data points may include 8192 data points or other suitable number of data points. The motor may include any suitable motor and may be associated with the steering system or other suitable aspects of a vehicle.

[0045] Controller 100 can determine the phase angle of the motor. Controller 100 can retrieve a seven-phase pulse width modulation equation based on the motor's phase angle from a lookup table (e.g., the lookup table may be stored in memory 104 or any other suitable memory, and / or on a remote computing device communicating with controller 100 and / or vehicle 10). The seven-phase pulse width modulation equation may include a seven-phase space vector pulse width modulation equation. In some embodiments, in response to the motor's phase angle being between 0 and 0.5, the seven-phase pulse width modulation equation includes a first equation. The first equation may include the total number of data points out of a plurality of data points multiplied by an absolute value, which is a predetermined value minus the absolute value of the motor's phase angle. In some embodiments, in response to the motor's phase angle being between 0.5 and 1, the seven-phase pulse width modulation equation includes a second equation. The second equation may include the total number of data points out of a plurality of data points multiplied by an absolute value, which is 1 minus a predetermined value minus the absolute value of the motor's phase angle.

[0046] Controller 100 can determine the result of the seven-phase pulse width modulation equation. Controller 100 can receive a modulation index value. Controller 100 can selectively control the motor based on the result of the seven-phase pulse width modulation equation in response to a modulation index value being less than or equal to a first threshold. The first threshold can be equal to 0.7.

[0047] In some embodiments, the controller 100 may selectively control the motor based on an identified duty cycle associated with the five-phase pulse width modulation in response to a modulation index value being greater than or equal to a second threshold. The second threshold may be equal to 0.8. The five-phase pulse width modulation may include five-phase space vector pulse width modulation.

[0048] In some embodiments, controller 100 may perform the methods described herein. However, the methods described herein, as performed by controller 100, are not intended to be limiting, and any type of software executing on a controller or processor may perform the methods described herein without departing from the scope of this disclosure. For example, a controller (such as a processor executing software within a computing device) may perform the methods described herein.

[0049] Figure 4 is a flowchart generally illustrating a motor control method 300 according to the principles of this disclosure. At 302, method 300 receives multiple data points associated with the operation of the motor.

[0050] At 304, method 300 determines the phase angle of the motor.

[0051] At 306, method 300 obtains the seven-phase pulse width modulation equation from a lookup table based on the phase angle of the motor.

[0052] At point 308, method 300 determines the result of the seven-phase pulse width modulation equation.

[0053] At 310, method 300 receives the modulation index value.

[0054] At 312, method 300 responds to a modulation index value less than or equal to a first threshold by selectively controlling the motor based on the result of the seven-phase pulse width modulation equation.

[0055] In some embodiments, a system for motor control includes a processor and a memory. The memory includes instructions that, when executed by the processor, enable the processor to: receive a plurality of data points associated with operation of the motor; determine a phase angle of the motor; retrieve a seven-phase pulse width modulation equation from a lookup table based on the phase angle of the motor; determine the result of the seven-phase pulse width modulation equation; receive a modulation index value; and, in response to a modulation index value being less than or equal to a first threshold, selectively control the motor based on the result of the seven-phase pulse width modulation equation.

[0056] In some embodiments, the plurality of data points corresponds to one operating cycle of the motor. In some embodiments, the plurality of data points includes 8192 data points. In some embodiments, the seven-phase pulse width modulation equation includes a seven-phase space vector pulse width modulation equation. In some embodiments, in response to the motor's phase angle being between 0 and 0.5, the seven-phase pulse width modulation equation includes a first equation. In some embodiments, the first equation includes the total number of data points in the plurality of data points multiplied by an absolute value, which is a predetermined value minus the absolute value of the motor's phase angle. In some embodiments, in response to the motor's phase angle being between 0.5 and 1, the seven-phase pulse width modulation equation includes a second equation. In some embodiments, the second equation includes the total number of data points in the plurality of data points multiplied by an absolute value, which is 1 minus a predetermined value minus the absolute value of the motor's phase angle. In some embodiments, the result is a duty cycle value. In some embodiments, a first threshold is equal to 0.7. In some embodiments, the instructions further enable the processor to: selectively control the motor based on an identified duty cycle associated with the five-phase pulse width modulation in response to a modulation index value being greater than or equal to a second threshold. In some embodiments, the second threshold is equal to 0.8. In some embodiments, five-phase pulse width modulation includes five-phase space vector pulse width modulation.

[0057] In some embodiments, a method for motor control includes: receiving a plurality of data points associated with operation of the motor; determining a phase angle of the motor; and retrieving a seven-phase pulse width modulation equation from a lookup table based on the phase angle of the motor. The method further includes: determining a result of the seven-phase pulse width modulation equation; receiving a modulation index value; and selectively controlling the motor based on the result of the seven-phase pulse width modulation equation in response to the modulation index value being less than or equal to a first threshold.

[0058] In some embodiments, the plurality of data points correspond to one operating cycle of the motor. In some embodiments, the plurality of data points includes 8192 data points. In some embodiments, the seven-phase pulse width modulation equation includes a seven-phase space vector pulse width modulation equation. In some embodiments, the method further includes: selectively controlling the motor based on an identified duty cycle associated with five-phase pulse width modulation in response to a modulation index value being greater than or equal to a second threshold. In some embodiments, the second threshold is greater than a first threshold. In some embodiments, the five-phase pulse width modulation includes five-phase space vector pulse width modulation.

[0059] The foregoing discussion is intended to illustrate the principles and various embodiments of this disclosure. Once the foregoing disclosure is fully understood, many variations and modifications will become apparent to those skilled in the art. The appended claims are intended to be construed as covering all such variations and modifications.

[0060] The word “example” is used herein to indicate that something is used as an example, instance, or illustration. Any aspect or design described herein as an “example” is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, the use of the word “example” is intended to present the concept in a specific manner. As used in this application, the term “or” is intended to mean inclusive “or” rather than exclusive “or.” That is, unless otherwise specified or clearly understood from the context, “X comprises A or B” is intended to mean any of the natural inclusive permutations and combinations. 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 examples. Additionally, the articles “a” and “an” as used in this application and the appended claims should generally be interpreted as meaning “one or more” unless otherwise specified or clearly understood from the context to refer to the singular form. Furthermore, the use of the terms “one embodiment” or “an embodiment” throughout is not intended to indicate the same embodiment or implementation unless specifically described as such.

[0061] The systems, algorithms, methods, instructions, etc., described herein can be implemented in hardware, software, or any combination thereof. Hardware may include, for example, computers, intellectual property (IP) cores, application-specific integrated circuits (ASICs), programmable logic arrays, optical processors, programmable logic controllers, microcode, microcontrollers, servers, microprocessors, digital signal processors, or any other suitable circuitry. In the claims, the term "processor" should be understood to cover any of the aforementioned hardware, individually or in combination. The terms "signal" and "data" are used interchangeably.

[0062] As used herein, the term "module" can include packaged functional hardware units designed for use with other components, instruction sets executable by a controller (e.g., a processor executing software or firmware), processing circuitry configured to perform specific functions, and self-contained hardware or software components that interface with a larger system. For example, a module can include application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), circuits, digital logic circuits, analog circuits, combinations of discrete circuits, gates, and other types of hardware or combinations thereof. In other embodiments, a module can include memory storing instructions executable by a controller to implement the features of the module.

[0063] Furthermore, in one aspect, for example, the systems described herein can be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, implements any of the various methods, algorithms, and / or instructions described herein. Alternatively or alternatively, for example, a special-purpose computer / processor can be utilized, which may include additional hardware for implementing any of the methods, algorithms, or instructions described herein.

[0064] Furthermore, all or part of the embodiments of this disclosure may take the form of a computer program product accessible from, for example, a computer-usable medium or a computer-readable medium. A computer-usable medium or a computer-readable medium may be any device capable of, for example, tangibly containing, storing, transmitting, or transporting a program for use by or in conjunction with any processor. Such a medium may be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available.

[0065] The above embodiments, implementations, and aspects have been described to allow for an easy understanding of this disclosure and are not intended to limit it. Rather, this disclosure is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, and its scope should be interpreted in the broadest possible sense to cover all such modifications and equivalent structures permitted under the law.

Claims

1. A system for motor control, the system comprising: processor; as well as The memory includes instructions that, when executed by the processor, enable the processor to: Receive multiple data points associated with motor operation; Determine the phase angle of the motor; Based on the phase angle of the motor, the seven-phase pulse width modulation equation is obtained from the lookup table; The result of determining the seven-phase pulse width modulation equation; Receive modulation index value; and In response to the modulation index value being less than or equal to a first threshold, the motor is selectively controlled based on the result of the seven-phase pulse width modulation equation.

2. The system according to claim 1, wherein, The multiple data points correspond to one operating cycle of the motor.

3. The system according to claim 1, wherein, The multiple data points include 8192 data points.

4. The system according to claim 1, wherein, The seven-phase pulse width modulation equation includes a seven-phase space vector pulse width modulation equation.

5. The system according to claim 1, wherein, In response to the phase angle of the motor being between 0 and 0.5, the seven-phase pulse width modulation equation includes a first equation.

6. The system according to claim 5, wherein, The first equation comprises the total number of data points among the plurality of data points multiplied by an absolute value, the absolute value being a predetermined value minus the absolute value of the phase angle of the motor.

7. The system according to claim 1, wherein, In response to the phase angle of the motor being between 0.5 and 1, the seven-phase pulse width modulation equation includes a second equation.

8. The system according to claim 7, wherein, The second equation comprises the total number of data points among the plurality of data points multiplied by an absolute value, the absolute value being 1 minus a predetermined value minus the absolute value of the phase angle of the motor.

9. The system according to claim 1, wherein, The result is the duty cycle value.

10. The system according to claim 1, wherein, The first threshold is equal to 0.

7.

11. The system according to claim 1, wherein, The instructions also enable the processor to selectively control the motor based on the identified duty cycle associated with the five-phase pulse width modulation, in response to the modulation index value being greater than or equal to a second threshold.

12. The system according to claim 11, wherein, The second threshold is equal to 0.

8.

13. The system according to claim 11, wherein, The five-phase pulse width modulation includes five-phase space vector pulse width modulation.

14. A method for motor control, the method comprising: Receive multiple data points associated with motor operation; Determine the phase angle of the motor; Based on the phase angle of the motor, the seven-phase pulse width modulation equation is obtained from the lookup table; The result of determining the seven-phase pulse width modulation equation; Receive modulation index value; as well as In response to the modulation index value being less than or equal to a first threshold, the motor is selectively controlled based on the result of the seven-phase pulse width modulation equation.

15. The method according to claim 14, wherein, The multiple data points correspond to one operating cycle of the motor.

16. The method of claim 14, wherein, The multiple data points include 8192 data points.

17. The method according to claim 14, wherein, The seven-phase pulse width modulation equation includes a seven-phase space vector pulse width modulation equation.

18. The method of claim 14, further comprising: In response to the modulation index value being greater than or equal to a second threshold, the motor is selectively controlled based on the identified duty cycle associated with the five-phase pulse width modulation.

19. The method according to claim 18, wherein, The second threshold is greater than the first threshold.

20. The method according to claim 18, wherein, The five-phase pulse width modulation includes five-phase space vector pulse width modulation.

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