Method of controlling an electric motor and control system for an electric motor

Abstract

A method of controlling an electric motor includes storing, in a microcontroller, a first weight matrix calculated for transforming an arbitrary set of multiphase variables of any shape into equivalent quadrature-direct axis (Q-D) reference frame components such that these Q-D reference frame components behave as direct current signals at steady state, the first weight matrix being a function of a reference frame angle in the Q-D reference frame; calculating, by the microcontroller, a second weight matrix from the first weight matrix and a constant matrix, the second weight matrix being a function of the reference frame angle; and commutating winding currents in the electric motor based on the second weight matrix. A corresponding control system for an electric motor is also described.

Description

Technical Field

[0001] This disclosure relates to electric motor control technology, and more specifically, to methods for controlling electric motors and control systems for electric motors. Background Technology

[0002] Traditional quadrature-direct (QD) reference frame theory is widely used in field-oriented control (FOC) of motors with sinusoidal waveforms. Using traditional QD reference frame theory, the phase variables of the motor (e.g., phase voltage and phase current) are controlled as balanced sinusoidal waveforms. A set of three (3) phase variables (u, v, w) summing to zero (0) can be transformed into a set of two (2) independent variables (q, d), representing the projection of the “uvw” vector onto the rotating reference frame. For FOC, the phase variables (u, v, w) are sinusoidal in steady state, while the QD reference frame variables (q, d) remain constant in steady state. Therefore, controlling the QD reference frame variables (q, d) instead of the phase variables (u, v, w) decouples the controller bandwidth from the frequency of the phase variables (u, v, w).

[0003] Other control methods can be used for electric motors without generating purely single-frequency sinusoidal phase variables, such as block commutation, trapezoidal commutation, and harmonic injection. However, the traditional QD reference frame theory is not applicable in control methods with non-sinusoidal waveforms. Summary of the Invention

[0004] According to an embodiment of the method for controlling an electric motor, the method includes: storing a first weight matrix in a microcontroller, the first weight matrix being calculated to transform any set of multiphase variables of any shape into equivalent quadrature-direct axis (QD) reference frame components, such that the QD reference frame components behave as DC signals in steady state, wherein the first weight matrix is ​​a function of reference frame angles in the QD reference frame; calculating a second weight matrix by the microcontroller based on the first weight matrix and a constant matrix, wherein the second weight matrix is ​​a function of reference frame angles; and commutating the winding currents in the electric motor based on the second weight matrix.

[0005] According to an embodiment of a control system for an electric motor, the control system includes: a microcontroller configured to: store a first weight matrix, the first weight matrix being calculated to transform any set of multiphase variables having any shape into equivalent quadrature-direct axis (QD) reference frame components, such that the QD reference frame components behave as dc signals in steady state, wherein the first weight matrix is ​​a function of reference frame angles in the QD reference frame; calculate a second weight matrix based on the first weight matrix and a constant matrix, wherein the second weight matrix is ​​a function of reference frame angles; and generate a control signal based on the second weight matrix for commutating the winding current in the electric motor.

[0006] Further features and advantages will be recognized by those skilled in the art upon reading the following detailed description and viewing the accompanying drawings. Attached Figure Description

[0007] The elements in the accompanying drawings are not necessarily proportional to each other. The same reference numerals denote corresponding similar parts. Features of the various illustrated embodiments can be combined unless they are mutually exclusive. Embodiments are depicted in the accompanying drawings and described in detail below.

[0008] Figure 1 A block diagram illustrating an implementation of a control system for an electric motor is shown.

[0009] Figures 2 to 6 Various waveform shapes for block commutation implementations are shown.

[0010] Figures 7 to 11 Various waveform shapes for trapezoidal commutation implementations are shown.

[0011] Figures 12 to 16 Various waveform shapes for harmonic injection commutation implementations are shown. Detailed Implementation

[0012] The implementation described herein extends QD reference frame theory to motor control methods with non-sinusoidal waveforms, such as block commutation, trapezoidal commutation, and harmonic injection. Therefore, motor control methods that do not produce purely sinusoidal waveforms, such as block commutation, trapezoidal commutation, and harmonic injection, can be seamlessly supported by the same microcontroller. Compared to conventional methods, the microcontroller and corresponding control system described herein are simplified and generalized, enabling the microcontroller to share control code across multiple motor control methods. This, in turn, reduces the memory requirements of the microcontroller while supporting any desired motor control method (e.g., FOC, block commutation, trapezoidal commutation, harmonic injection, etc.). The implementation described herein also improves system dynamic performance by transforming the nonlinear steady-state waveform into a constant steady-state value, thereby decoupling the microcontroller bandwidth from the rate of change of the nonlinear waveform.

[0013] Next, exemplary embodiments of the control method and control system will be described with reference to the accompanying drawings.

[0014] Figure 1 A block diagram illustrating an embodiment of a control system 100 for an electric motor 102, such as a PMSM (Permanent Magnet Synchronous Motor). The control system 100 generates a command duty cycle "ctrl" for each phase of the electric motor 102. Figure 1 In the diagram, motor 102 is shown as having three phases: u, v, and w. More generally, motor 102 may have two or more phases. Voltage source inverter (VSI) 104 converts each phase command "ctrl" generated by control system 100 into a corresponding motor phase voltage derived from a voltage source Vbb, such as a battery. Control system 100 may be powered by the same voltage source Vbb and operate at the same voltage level as VSI 104, or at different voltage levels via one or more DC / DC converters 106.

[0015] VSI 104 in Figure 1 The inverter is shown as a three-phase inverter because, in the example shown, motor 102 has (3) phases. Each branch of the three-phase inverter is a half-bridge implementation with a pair of series-connected power transistors QAn and QBn, where “n” corresponds to the phase number. Figure 1 It is shown as a MOSFET device, but it can be any suitable power transistor type (e.g., IGBT, JFET, etc.).

[0016] The control system 100 includes gate drivers 108 for each power transistor QAn, QBn of VSI 104. Current sensing circuitry 110 (such as shunt resistors Rn for each phase of motor 102) enables full-range ADC (analog-to-digital converter) with a margin at the peak current of motor 102, thereby achieving overcurrent detection. The control system 100 includes current amplification and reconstruction circuitry 112 for generating phase current information based on the sensed phase currents. The microcontroller 114 of the control system 100 uses this phase current information and input from the user interface 116 to control the speed and torque of motor 102 based on QD reference frame theory.

[0017] Microcontroller 114 flexibly implements QD reference frame theory to seamlessly support control methods with sinusoidal waveforms (e.g., FOC) or non-sinusoidal waveforms (e.g., block commutation, trapezoidal commutation, harmonic injection, etc.). That is, microcontroller 114 shares control code across various motor control methods. The operation of microcontroller 114 is described in more detail below in the context of SMPM (Surface Mount Permanent Magnet). However, this description should not be considered limiting. Other types of motors can be used, such as IPM (Internal Permanent Magnet) PMSM (Permanent Magnet Synchronous Motor).

[0018] The phase voltage equation of SMPM can be expressed as: (1)

[0019] in, and (The subscript x represents phase u, v, or w) represents phase voltage, phase current, and back electromotive force, respectively. Variables and These represent the effective phase-to-neutral resistance and the motor inductance, respectively.

[0020] Using QD reference frame theory, the three phase variables can be converted into the corresponding stationary reference frame using the so-called Clarke transformation as follows ( )variable: (2)

[0021] in, Then, the following rotation matrix is ​​used to rotate the stationary reference frame variables. Convert to a rotating (QD) reference frame variable: (3)

[0022] The expressions in (2) and (3) can be combined to form: (4)

[0023] in, This represents the QD transformation matrix.

[0024] To illustrate how the QD transform decouples the microcontroller bandwidth from the frequency of the phase variable, the phase variable can be assumed to have the following phase shift: Balanced sine wave: (5)

[0025] Expression (5) shows that the QD transformation makes the balanced sinusoidal phase variable constant (dc) in the QD reference frame, thereby decoupling the microcontroller bandwidth from the frequency of the phase variable.

[0026] The rotation matrix in (3) In geometric terms, it is a stationary reference frame. 2D vectors in a rotating reference frame ( The projection onto the matrix in (4). A similar geometric interpretation can be made.

[0027] The method implemented by the control system 100 is through matrix and The QD reference theory is extended by viewing it as an algebraic "weight" matrix rather than a geometric projection. This algebraic concept allows the QD reference theory to be extended to cover arbitrary non-sinusoidal waveforms—waveforms that do not necessarily have a definite geometric meaning or represent rotational vectors.

[0028] Expressions (3) and (4) can be rewritten as the weight matrix shown below: (6) (7)

[0029] Microcontroller 114 uses the weight matrix in (6) Any group of multiphase variables with any shape Transformed into equivalent orthogonal axis (DQ) reference frame components This makes the DQ reference frame components In steady state, it manifests as a DC signal. As indicated in (6), the weight matrix... It is the reference frame angle in the DQ reference frame ( The function of the microcontroller 114 is to apply the weight matrix. The contents are stored in memory 118, which may include both volatile (e.g., RAM) and non-volatile (e.g., flash memory).

[0030] Solve for the weight matrix in (6) The weight matrix in (7) Such that when the components of the stationary reference frame are... or multiphase components When the waveforms have the desired shape, their equivalent DQ reference frame components It behaves as constant (dc). In other words, it is not required that... or It is not a sine wave, but can have any arbitrary shape. If multiphase components... Balance, that is , and Then the components of the stationary reference frame It can be represented as: (8)

[0031] Combining (6) and (8) yields: (9)

[0032] in: (10)

[0033] and It is applied to the following three-phase vector Arbitrary phase shift: (11)

[0034] Transposing both sides of (9) yields: (12)

[0035] It can be expressed in another way as: (13)

[0036] For a given reference frame angle ( ) and a given phase shift ( Expression (13) describes the equations and four unknowns. This system consists of two degrees of freedom.

[0037] Two degrees of freedom make the weight matrix It can be designed such that: for a given set of desired reference phase shifts ( and (), can realize a given set of desired QD reference frame vectors and Without loss of generality and for illustrative purposes only, the following reference phase shift is chosen for the defined QD reference frame ( , ) and QD reference frame vector ( , ): (14)

[0038] The relation defined in (14) makes the extended QD reference frame consistent with the traditional sinusoidal reference frame. However, a reference phase shift can also be used ( , ) and QD reference frame vector ( , Any other choice of which, and these choices fall within the scope of the implementations described herein.

[0039] Substituting (14) into (13), we can obtain the following for any given reference frame angle ( Construct a complete system consisting of four equations and four unknowns. (15)

[0040] in, It is an auxiliary matrix used to simplify the derivation.

[0041] According to (15), the weight matrix can be solved as follows. : (16)

[0042] Transposing both sides of (16) yields: (17)

[0043] It can be represented as: (18)

[0044] Expression (18) describes the 2 x 2 weight matrix. It can be calculated to represent any set of three-phase variables having any (sinusoidal or non-sinusoidal) shape. Transformed into equivalent QD reference frame components This makes the QD reference frame component constant (dc) in steady state, rather than the reference frame angle. The function.

[0045] Combining (18) with (6) and (7), the commutation control unit 120 of the microcontroller 114 can calculate the equivalent of the traditional QD reference frame theory as follows. 2 x 3 (second) weight matrix : (19)

[0046] In other words, the commutation control unit 120 can be based on the (first) weight matrix. and constant matrix Calculate the (second) weight matrix This makes the weight matrix It is from the perspective of the reference frame ( The function is based on the weight matrix of the microcontroller 114. By providing the corresponding gate drive (control) signal "ctrl" to the gate driver circuit 108, the winding current in the motor 102 is reversed.

[0047] For the case of three phase variables (u, v, w), the first weight matrix... Based on a 2 x 2 matrix 2 x 3 matrix and a 3 x 2 matrix The calculation is shown in (18). A 2 x 2 matrix The first column includes the first phase shift relative to the defined angular origin. The first QD reference frame value and the second DQ reference frame value at the location In this example, the defined angular origin and phase u are in the same direction, and the reference frame angle ( () represents the phase shift in any reference frame. A 2x2 matrix. The second column includes the second phase shift relative to the defined angular origin. The first QD reference frame value and the second DQ reference frame value at the location .

[0048] 3 x 2 matrix The first column includes the first phase shift of the above three phase variables relative to the defined angular origin. value at 3 x 2 matrix The second column includes the second phase shift of the above three phase variables relative to the defined angular origin. value at .

[0049] In one implementation, the first phase shift It is zero (0) and the second phase shift for Individually or in combination, a 2 x 3 matrix It can be a constant matrix. That is, a 2 x 3 matrix. The elements can be invariant, rather than depending on the reference frame angle. ).

[0050] The following describes implementations of applying motor control methods to block commutation, trapezoidal commutation, and non-sinusoidal phase variables used in harmonic injection. A weight matrix is ​​used as part of the commutation control. It can be programmed and stored in the microcontroller's memory 118 for block commutation of winding current, trapezoidal commutation of winding current, or injection of harmonic currents into the windings of motor 102. However, the general framework described in (18) and (19) is not limited to these three (3) applications. The same framework can also be applied to other applications, including other control methods with non-sinusoidal waveforms and FOC with sinusoidal waveforms. In a broader sense, the weight matrix and It is formulated to be applicable to any desired current and / or voltage shape. The resulting general weight matrix.

[0051] Block commutation is typically a control method used in conjunction with Hall sensors. In this control method, only two (2) of the three (3) phases of motor 102 conduct current at any given time, and the current in the third phase is zero (0). Furthermore, the current flowing through the two (2) working phases is dc (non-sinusoidal).

[0052] Figure 2 The reference waveform shape during block commutation is shown, including single phase. Current, three phases Current and the corresponding stationary reference frame Current. Weight matrix The element can be obtained by applying (18) to Figure 2 Reference three-phase current shape To obtain the weight matrix. The obtained element w 11 w 12 w 21 w 22 like Figure 3 As shown. Similarly, this can be achieved by applying (19) to Figure 3 The weight matrix in To obtain the weight matrix Weight matrix The obtained element v 11 v 12 v 13 v 21 v 22 v 23 like Figure 4 As shown.

[0053] Calculate the weight matrix according to the block commutation implementation method. This is used to transform a set of block-shaped multiphase variables (u, v, w) into DQ reference frame dc components (q, d), and the weight matrix... The elements are in block shape. Figure 5 This shows the assumption of a reference three-phase current. Given a desired reference shape, how does the extended QD transform generate DC-like DQ reference frame components in steady state? .like Figure 5 As shown, Extracting during transient dynamics The amplitude.

[0054] Microcontroller 114 can be constructed based on the quarter-wave profile stored in microcontroller memory 118. Figure 4 The weight matrix shown element v 11 v 12 v 13 v 21 v 22 v 23 . Figure 6 Quarter-wavelength curves applicable to block commutation are shown. An example. This characteristic makes the method suitable for real-time implementation within the microcontroller 114 because it significantly reduces the storage of the weight matrix. The required memory (e.g., flash memory).

[0055] Trapezoidal commutation is an extension of block commutation. By adding controlled ramp-up and ramp-down phases to the winding current, the commutation becomes smoother and the commutation torque pulsation is reduced. Figure 7 The reference waveform shape in trapezoidal commutation is shown, including single phase. Current, three phases Current and the corresponding stationary reference frame Electric current.

[0056] weight matrix The element can be obtained by applying (18) to Figure 7 Reference three-phase current shape To obtain the weight matrix. The obtained element w 11 w 12 w 21 w 22 like Figure 8 As shown. Similarly, the weight matrix By applying (19) Figure 8 The weight matrix in To obtain the weight matrix. The obtained element v 11 v 12 v 13 v 21 v 22 v 23 like Figure 9 As shown.

[0057] Calculate the weight matrix according to the trapezoidal commutation implementation method. This is used to transform a set of trapezoidal multiphase variables (u, v, w) into dc components (d, q) in the DQ reference frame, and the weight matrix... element v 11 v 12 v 13 v 21 v 22 v 23 It has a trapezoidal shape. Figure 10 This shows the assumption of a reference three-phase current. Given a desired reference shape, how does the extended QD transform generate DC-like DQ reference frame components in steady state? .like Figure 10 As shown, Extracting during transient dynamics The amplitude.

[0058] The microcontroller 114 can be constructed based on the quarter-wavelength curves stored in the microcontroller's memory 118. Figure 9 The weight matrix shown element v 11 v 12 v 13 v 21 v 22 v 23 . Figure 11 A quarter-wavelength curve suitable for trapezoidal commutation is shown. An example. This characteristic makes the method suitable for real-time implementation within the microcontroller 114 because it significantly reduces the storage of the weight matrix. The required memory (e.g., flash memory).

[0059] Harmonic injection is typically used in applications that reduce noise and vibration by injecting harmonic current into the motor windings, while the main current component is responsible for generating torque. Figure 12 The reference waveform shape in harmonic injection is shown, including single-phase. Current, three phases Current and the corresponding stationary reference frame Electric current.

[0060] weight matrix The element can be obtained by applying (18) to Figure 12 Reference three-phase current shape To obtain the weight matrix. The obtained element w 11 w 12 w 21w 22 like Figure 13 As shown. Similarly, the weight matrix By applying (19) Figure 13 The weight matrix in To obtain the weight matrix. The obtained element v 11 v 12 v 13 v 21 v 22 v 23 like Figure 14 As shown.

[0061] Calculate the weight matrix according to the harmonic injection implementation method. This is used to transform a set of harmonic-shaped multiphase variables (u, v, w) into dc components (d, q) in the DQ reference frame, and the weight matrix... The elements are in the form of harmonics. Figure 15 This shows the assumption of a reference three-phase current. Given a desired reference shape, how does the extended QD transform generate DC-like DQ reference frame components in steady state? .like Figure 15 As shown, Extracting during transient dynamics The amplitude.

[0062] The microcontroller 114 can be constructed based on the quarter-wavelength curve stored in the microcontroller memory 118. Figure 14 The weight matrix shown element v 11 v 12 v 13 v 21 v 22 v 23 . Figure 16 The quarter-wavelength curves applicable to commutation using harmonic injection are shown. An example. This characteristic makes the method suitable for real-time implementation within the microcontroller 114 because it significantly reduces the storage of the weight matrix. The required memory (e.g., flash memory).

[0063] Although this disclosure is not limited thereto, the embodiments numbered below illustrate one or more aspects of this disclosure.

[0064] Example 1: A method for controlling an electric motor, the method comprising: storing a first weight matrix in a microcontroller, the first weight matrix being calculated to transform any set of multiphase variables of any shape into equivalent quadrature-direct axis (QD) reference frame components, such that the QD reference frame components behave as DC signals in steady state, wherein the first weight matrix is ​​a function of reference frame angles in the QD reference frame; the microcontroller calculating a second weight matrix based on the first weight matrix and a constant matrix, wherein the second weight matrix is ​​a function of the aforementioned reference frame angles; and commutating the winding currents in the electric motor based on the second weight matrix.

[0065] Example 2: According to the method described in Example 1, wherein the multiphase variable is a 3-phase variable, and wherein the first weight matrix is ​​calculated based on a 2 x 2 matrix, a 2 x 3 matrix, and a 3 x 2 matrix.

[0066] Example 3: According to the method described in Example 2, wherein the first column of the 2 x 2 matrix includes a first QD reference system value and a second QD reference system value at a first phase shift relative to the defined angular origin, and wherein the second column of the 2 x 2 matrix includes a first QD reference system value and a second QD reference system value at a second phase shift relative to the defined angular origin.

[0067] Example 4: According to the method described in Example 3, wherein the first phase shift is 0 and the second phase shift is... .

[0068] Example 5: The method according to any one of Examples 2 to 4, wherein the 2 x 3 matrix is ​​a constant matrix.

[0069] Example 6: The method according to any one of Examples 2 to 5, wherein the first column of the 3 x 2 matrix includes the values ​​of the three phase variables at a first phase shift relative to the defined angular origin, and wherein the second column of the 3 x 2 matrix includes the values ​​of the three phase variables at a second phase shift relative to the defined angular origin.

[0070] Example 7: The method according to any one of Examples 1 to 6 further includes: programming a first weight matrix stored in a microcontroller for block commutation of the winding current, trapezoidal commutation of the winding current, or injecting harmonic current harmonics into the windings of a motor.

[0071] Example 8: The method according to any one of Examples 1 to 7, wherein calculating the second weight matrix comprises: calculating each element of the second weight matrix based on a quarter-wavelength curve stored in the microcontroller, the quarter-wavelength curve defining the shape that the element should follow as a function of the reference frame angle.

[0072] Example 9: The method according to any one of Examples 1 to 8, wherein a first weight matrix is ​​computed to transform a set of multiphase variables with block shape into QD reference frame dc components, and wherein the elements of the second weight matrix are block-shaped.

[0073] Example 10; the method according to any one of Examples 1 to 8, wherein a first weight matrix is ​​computed to transform a set of multiphase variables having a trapezoidal shape into QD reference frame dc components, and wherein the elements of the second weight matrix are trapezoidal in shape.

[0074] Example 11: The method according to any one of Examples 1 to 8, wherein a first weight matrix is ​​calculated to transform a set of multiphase variables with harmonic shapes into QD reference frame dc components, and wherein the elements of the second weight matrix are harmonic in shape.

[0075] Example 12: A control system for an electric motor, the control system comprising: a microcontroller configured to: store a first weight matrix, the first weight matrix being computed to transform any set of multiphase variables having any shape into equivalent quadrature-direct axis (QD) reference frame components such that the QD reference frame components behave as dc signals in steady state, wherein the first weight matrix is ​​a function of reference frame angles in the QD reference frame; compute a second weight matrix based on the first weight matrix and a constant matrix, wherein the second weight matrix is ​​a function of reference frame angles; and generate a control signal based on the second weight matrix for commutating the winding currents in the electric motor.

[0076] Example 13: The control system according to Example 12, wherein the multiphase variables are 3-phase variables, and wherein the first weight matrix is ​​calculated based on a 2 x 2 matrix, a 2 x 3 matrix, and a 3 x 2 matrix.

[0077] Example 14: The control system according to Example 13, wherein the first column of the 2 x 2 matrix includes a first QD reference system value and a second QD reference system value at a first phase shift relative to the defined angular origin, and wherein the second column of the 2 x 2 matrix includes a first QD reference system value and a second QD reference system value at a second phase shift relative to the defined angular origin.

[0078] Example 15: The control system according to Example 14, wherein the first phase shift is 0 and the second phase shift is... .

[0079] Example 16: A control system according to any one of Examples 13 to 15, wherein the 2 x 3 matrix is ​​a constant matrix.

[0080] Example 17: A control system according to any one of Examples 13 to 16, wherein the first column of the 3 x 2 matrix includes the values ​​of the three-phase variables at a first phase shift relative to the defined angular origin, and wherein the second column of the 3 x 2 matrix includes the values ​​of the three-phase variables at a second phase shift relative to the defined angular origin.

[0081] Example 18: A control system according to any one of Examples 12 to 17, wherein the microcontroller is configured to calculate each element of a second weight matrix based on a quarter-wavelength curve stored in the microcontroller, the quarter-wavelength curve defining the shape that the element should follow as a function of the reference frame angle.

[0082] Example 19: A control system according to any one of Examples 12 to 18, wherein a first weighting matrix is ​​calculated to transform a set of multiphase variables having a block shape into QD reference frame dc components, and wherein the elements of a second weighting matrix are block-shaped.

[0083] Example 20: A control system according to any one of Examples 12 to 18, wherein a first weighting matrix is ​​calculated to transform a set of multiphase variables having a trapezoidal shape into QD reference frame dc components, and wherein the elements of a second weighting matrix are trapezoidal in shape.

[0084] Example 21: A control system according to any one of Examples 12 to 18, wherein a first weighting matrix is ​​calculated to transform a set of multiphase variables having harmonic shapes into QD reference frame dc components, and wherein the elements of a second weighting matrix are harmonic in shape.

[0085] Terms such as "first" and "second" are used to describe various elements, regions, sections, etc., and are not intended to be restrictive. Throughout the description, the same term refers to the same element.

[0086] As used herein, the terms “having,” “containing,” “including,” “comprising,” etc., are open-ended terms that indicate the presence of the stated element or feature but do not exclude additional elements or features. Unless the context clearly indicates otherwise, the articles “an,” “a,” and “the” are intended to include both plural and singular forms.

[0087] Unless otherwise expressly stated, the expression “and / or” shall be interpreted to include all possible combinations of conjunctions and disjunctions. For example, the expression “A and / or B” shall be interpreted to mean only A, only B, or both A and B. Unless otherwise expressly stated, the expression “at least one of…” shall be interpreted in the same manner as “and / or”. For example, the expression “at least one of A and B” shall be interpreted to mean only A, only B, or both A and B.

[0088] It should be understood that, unless otherwise specified, the features of the various embodiments described herein can be combined with each other.

[0089] While specific embodiments have been shown and described herein, those skilled in the art will understand that various alternatives and / or equivalent embodiments can be used instead of the shown and described embodiments without departing from the scope of the invention. This application is intended to cover any adaptations or variations of the specific embodiments discussed herein. Therefore, the invention is limited only by the claims and their equivalents.

Claims

1. A method for controlling an electric motor, the method comprising: A first weight matrix is ​​stored in the microcontroller. The first weight matrix is ​​calculated to transform any group of multiphase variables of any shape into equivalent quadrature-direct axis QD reference system components, such that the QD reference system components behave as DC signals in steady state. The first weight matrix is ​​a function of the reference system angle in the QD reference system. The microcontroller calculates a second weight matrix based on the first weight matrix and a constant matrix, wherein the second weight matrix is ​​a function of the reference frame angle; and The winding current in the motor is commutated based on the second weight matrix.

2. The method according to claim 1, wherein, The multiphase variables are 3-phase variables, and the first weight matrix is ​​calculated based on a 2x2 matrix, a 2x3 matrix, and a 3x2 matrix.

3. The method according to claim 2, wherein, The first column of the 2 x 2 matrix includes a first QD reference value and a second QD reference value at a first phase shift relative to the defined angular origin, and the second column of the 2 x 2 matrix includes a first QD reference value and a second QD reference value at a second phase shift relative to the defined angular origin.

4. The method according to claim 3, wherein, The first phase shift is 0 and the second phase shift is .

5. The method according to claim 2, wherein, The 2 x 3 matrix is ​​a constant matrix.

6. The method according to claim 2, wherein, The first column of the 3 x 2 matrix includes the values ​​of the three phase variables at a first phase shift relative to the defined angular origin, and the second column of the 3 x 2 matrix includes the values ​​of the three phase variables at a second phase shift relative to the defined angular origin.

7. The method according to claim 1, further comprising: The first weight matrix stored in the microcontroller is programmed for block commutation of the winding current, trapezoidal commutation of the winding current, or injection of harmonic current harmonics into the windings of the motor.

8. The method according to claim 1, wherein, Calculating the second weight matrix includes: Each element of the second weight matrix is ​​calculated based on a quarter-wavelength curve stored in the microcontroller, the quarter-wavelength curve defining the shape that the element should follow as a function of the angle of the reference frame.

9. The method according to claim 1, wherein, The first weighting matrix is ​​calculated to transform a set of multiphase variables with a block shape into DC components of the QD reference frame, wherein the elements of the second weighting matrix are block-shaped.

10. The method according to claim 1, wherein, The first weighting matrix is ​​calculated to transform a set of multiphase variables with trapezoidal shapes into DC components of the QD reference frame, wherein the elements of the second weighting matrix are trapezoidal in shape.

11. The method according to claim 1, wherein, The first weighting matrix is ​​calculated to transform a set of multiphase variables with harmonic shapes into DC components of the QD reference frame, wherein the elements of the second weighting matrix are harmonic in shape.

12. A control system for an electric motor, the control system comprising: Microcontroller, the microcontroller being configured to: A first weighting matrix is ​​stored, which is calculated to transform any set of multiphase variables of any shape into equivalent quadrature-orthogonal axis QD reference frame components, such that the QD reference frame components behave as DC signals in steady state, wherein the first weighting matrix is ​​a function of the reference frame angle in the QD reference frame; and A second weight matrix is ​​calculated based on the first weight matrix and the constant matrix, wherein the second weight matrix is ​​a function of the reference frame angle; and A control signal for commutating the winding current in the motor is generated based on the second weight matrix.

13. The control system according to claim 12, wherein, The multiphase variables are 3-phase variables, and the first weight matrix is ​​calculated based on a 2x2 matrix, a 2x3 matrix, and a 3x2 matrix.

14. The control system according to claim 13, wherein, The first column of the 2 x 2 matrix includes a first QD reference system value and a second QD reference system value at a first phase shift relative to the defined angular origin, and the second column of the 2 x 2 matrix includes a first QD reference system value and a second QD reference system value at a second phase shift relative to the defined angular origin.

15. The control system according to claim 14, wherein, The first phase shift is 0 and the second phase shift is .

16. The control system according to claim 13, wherein, The 2 x 3 matrix is ​​a constant matrix.

17. The control system according to claim 13, wherein, The first column of the 3 x 2 matrix includes the values ​​of the three phase variables at a first phase shift relative to the defined angular origin, and the second column of the 3 x 2 matrix includes the values ​​of the three phase variables at a second phase shift relative to the defined angular origin.

18. The control system according to claim 12, wherein, The microcontroller is configured to calculate each element of the second weight matrix based on a quarter-wavelength curve stored in the microcontroller, the quarter-wavelength curve defining the shape that the element should follow as a function of the angle of the reference frame.

19. The control system according to claim 12, wherein, The first weighting matrix is ​​calculated to transform a set of multiphase variables with a block shape into DC components of the QD reference frame, wherein the elements of the second weighting matrix are block-shaped.

20. The control system according to claim 12, wherein, The first weighting matrix is ​​calculated to transform a set of multiphase variables with trapezoidal shapes into DC components of the QD reference frame, wherein the elements of the second weighting matrix are trapezoidal in shape.

21. The control system according to claim 12, wherein, The first weighting matrix is ​​calculated to transform a set of multiphase variables with harmonic shapes into DC components of the QD reference frame, wherein the elements of the second weighting matrix are harmonic in shape.

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