Method of controlling a double-winding synchronous machine and system for controlling a double-winding synchronous machine

Abstract

A method of controlling a dual-winding synchronous machine (DWSM), the method comprising: determining a positive virtual voltage floor based on a first DC supply voltage and a second DC supply voltage; determining a maximum torque for symmetric operation based on the positive virtual voltage floor; determining whether non-symmetric currents are required to operate the DWSM according to a torque command based on the maximum torque for symmetric operation; determining a set of final non-symmetric motor current commands based on the positive virtual voltage floor and in response to whether non-symmetric currents are required; determining a first final current command and a second final current command by applying a mathematical transformation to the set of final non-symmetric motor current commands; and commanding a first inverter and a second inverter to apply corresponding first and second output voltages to corresponding ones of a first set of windings and a second set of windings.

Description

Technical Field

[0001] This disclosure relates to a method for controlling a dual-winding synchronous machine (DWSM) and a system for controlling a dual-winding synchronous machine. Background Technology

[0002] A dual-wound synchronous machine, also known as a two-winding synchronous motor, is a motor with two electrically independent sets of stator windings. This type of dual-wound synchronous machine can be used as a motor, a generator, or a motor / generator. Each set of stator windings can be independently used as a corresponding half-motor and can be powered by a corresponding inverter. This dual-wound motor can be used in a variety of applications and can provide redundancy for safety-critical applications, allowing continued operation in the event of a failure in one of the multiple sets of stator windings and / or one of the inverters.

[0003] Two-winding synchronous machines, including two-winding permanent magnet synchronous machines (DW PMSMs), inherently possess electromagnetic (inductive) coupling between their two sets of stator windings (i.e., coupling between circuits caused by the induction of the magnetic field generated by the current flowing through each of the two sets of stator windings). This induction leads to a dependence of the current generated by the two sets of windings in the two-winding machine, and thus a dependence of the torque generated by the two sets of windings. The degree or significance of this coupling depends on the specific design of the motor, and particularly on the specific features of the design, including but not limited to stator slots, rotor poles, magnet placement, and winding configuration.

[0004] In typical applications of DW-PMSM, the inductive coupling between the two half-motors is not considered a critical factor, resulting in suboptimal performance in the hardware topology of the motor drive system and the control algorithms employed therein.

[0005] The DW-PMSM can be powered by two separate and independent DC power supplies, which can have different voltages. Conventional solutions may not be able to account for the different voltages of these separate and independent DC power supplies, which could lead to suboptimal operation and / or failure to operate the DW-PMSM to produce the maximum possible torque under given conditions. Summary of the Invention

[0006] In one embodiment of the present invention, a method for controlling a dual-winding synchronous machine (DWSM) is provided, the dual-winding synchronous machine having a first winding group and a second winding group. The method includes: determining a positive virtual lower voltage limit based on a first DC supply voltage and a second DC supply voltage. Based on the positive virtual voltage lower limit ( ), determine the maximum torque of the symmetrical operation ( , ); Maximum torque based on symmetric operation ( , ), determine whether asymmetrical current is required according to torque command ( ) Operation of DWSM; based on the positive virtual voltage lower limit ( And in response to whether asymmetrical current is required, a set of final asymmetrical motor current commands is determined; by applying mathematical transformations to this set of final asymmetrical motor current commands, a first final current command is determined. , ) and the second final current command ( , Based on the first final current command ( , The command instructs the first inverter to apply a first output voltage to the first winding group, thereby causing the first output current to be determined according to the first final current command. , ) generated in the first winding group; and based on the second final current command ( , The second inverter is commanded to apply a second output voltage to the second winding group, thereby causing the second output current to be determined according to the second final current command. , It is generated in the second winding group.

[0007] In another embodiment of the invention, a system for controlling a dual-winding synchronous machine (DWSM) is provided, the DWSM having a first winding group and a second winding group. The system includes: a first inverter configured to selectively conduct current from a first DC voltage source having a first DC supply voltage, thereby applying a first output voltage to the first winding group of the DWSM; a second inverter configured to selectively conduct current from a second DC voltage source having a second DC supply voltage, thereby applying a second output voltage to the second winding group of the DWSM; and a controller. The controller is configured to: determine a positive virtual voltage lower limit (VLV) based on the first DC supply voltage and the second DC supply voltage. Based on the positive virtual voltage lower limit ( ), determine the maximum torque of the symmetrical operation ( , ); Maximum torque based on symmetric operation ( , ), determine whether asymmetrical current is required according to torque command ( ) Operation of DWSM; based on the positive virtual voltage lower limit ( And in response to whether asymmetrical current is required, a set of final asymmetrical motor current commands is determined; by applying mathematical transformations to this set of final asymmetrical motor current commands, a first final current command is determined. , ) and the second final current command ( , Based on the first final current command ( , The command instructs the first inverter to apply a first output voltage to the first winding group, thereby causing the first output current to be determined according to the first final current command. , ) generated in the first winding group; and based on the second final current command ( , The second inverter is commanded to apply a second output voltage to the second winding group, thereby causing the second output current to be determined according to the second final current command. , It is generated in the second winding group.

[0008] These and other advantages and features will become more apparent from the following description taken in conjunction with the accompanying drawings. Attached Figure Description

[0009] The subject matter of this invention is specifically pointed out and explicitly claimed in the appended claims. The foregoing and other features and advantages of the invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic diagram of an electric power steering system based on the principles of this disclosure.

[0010] Figure 2 This is a schematic diagram of a motor drive system based on the principles of this disclosure.

[0011] Figure 3 It is a block diagram representation of a mathematical model of a dual-winding permanent magnet synchronous machine in a synchronous reference frame based on the principles of this disclosure.

[0012] Figure 4 It is a block diagram representation of the mathematical transformation of the two half-motors for decoupling a dual-winding permanent magnet synchronous motor, based on the principles of this disclosure.

[0013] Figure 5 This is a block diagram illustrating a mathematical model that shows two virtual motors of a dual-winding permanent magnet synchronous motor generated by an applied decoupling transformation according to the principles of this disclosure.

[0014] Figure 6This is a block diagram illustrating a dual-winding synchronous machine (DWSM) motor control system based on the principles of this disclosure.

[0015] Figure 7 A graph showing the torque versus speed according to the principles of this disclosure is shown, and various control schemes are illustrated.

[0016] Figure 8 The diagram shows the torque versus speed curves of a DWSM with different supply voltages and a torque command of 6 Nm, using both conventional control technology and control technology according to the principles of this disclosure.

[0017] Figure 9 The diagram shows the torque versus speed curves of a DWSM with different supply voltages and a torque command of 10 Nm, using both conventional control technology and control technology according to the principles of this disclosure.

[0018] Figures 10A to 10D A flowchart of a method for controlling a dual-winding motor according to the principles of this disclosure is shown. Detailed Implementation

[0019] The present disclosure will now be described with reference to the accompanying drawings, in which specific embodiments will be illustrated, but not limited thereto. It should be understood that the disclosed embodiments are merely illustrative of the present disclosure, which may be embodied in various forms and alternative forms. The drawings are not necessarily drawn to scale, and some features may be enlarged or reduced to show details of specific components. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but are merely a representative basis for teaching those skilled in the art to employ the present disclosure in various ways.

[0020] As used herein, the terms module and submodule refer to one or more processing circuits, such as application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated, or grouped) and memories that execute one or more software or firmware programs, combinational logic circuits, and / or other suitable components that provide the described functionality. As will be understood, the submodules described below may be combined and / or further divided.

[0021] Figure 1This is a schematic diagram of an electric power steering (EPS) system 40 suitable for implementing the disclosed technology. The EPS includes a steering mechanism 36 comprising a rack and pinion mechanism having a rack (not shown) located within a housing 50 and a pinion (also not shown) located below a gear housing 52. When an operator input device, hereinafter referred to as a steering wheel 26 (e.g., a handwheel, etc.), is turned, an upper steering shaft 29 rotates, and a lower steering shaft 51 connected to the upper steering shaft 29 via a universal joint 34 causes the pinion to rotate. The rotation of the pinion moves the rack, which moves a lever 38 (only one shown), which in turn moves a steering joint 39 (only one shown), which rotates a steering wheel 44 (only one shown).

[0022] Electric power steering assistance is provided by a steering motion control system, generally indicated by reference numeral 24, and includes a controller 16 and a motor, which may be a permanent magnet synchronous motor and is hereinafter referred to as motor 19. The controller 16 is powered by the vehicle power supply 10 via a supply conductor 12. The controller 16 receives a vehicle speed signal 14, representing the vehicle's speed, from a vehicle speed sensor 17. The steering angle is measured by a position sensor 32, which may be an optically coded sensor, a variable resistance sensor, or any other suitable type of position sensor, and provides a position signal 20 to the controller 16. The motor speed can be measured by a tachometer or any other device and is sent to the controller 16 as a speed signal 21. Motor speed can be measured, calculated, or a combination of both. For example, motor speed This can be calculated as a change in motor position, as measured by position sensor 32 over a specified time interval. For example, motor speed. The motor position can be determined. The derivative with respect to time. It should be understood that there are many well-known methods for performing derivatives using functions.

[0023] When the steering wheel 26 is turned, the torque sensor 28 senses the torque applied to the steering wheel 26 by the vehicle operator. The torque sensor 28 may include a torque bar (not shown) and a variable resistance sensor (also not shown), which outputs a torque signal 18 related to the amount of torsion on the torque bar to the controller 16. Although this is one type of torque sensor, any other suitable torque sensing device used with known signal processing techniques would be sufficient. In response to various inputs, the controller sends a command 22 to the motor 19, which provides torque assistance to the steering system via the worm gear 47 and worm gear 48, thereby providing torque assistance for steering the vehicle.

[0024] It should be noted that although the disclosed embodiments are described by reference to motor control for electric steering applications, it should be understood that such references are merely illustrative, and the disclosed embodiments can be applied to any motor control application employing an electric motor, such as steering, valve control, etc. Furthermore, the references and descriptions herein can be applied to many forms of parameter sensors, including but not limited to torque, position, speed, etc. It should also be noted that the motors referenced herein include, but are not limited to, motors; for the sake of brevity and simplicity, motors will be referred to only in a non-limiting manner below.

[0025] In the steering motion control system 24 as depicted, controller 16 uses torque, position, and speed, among other factors, to calculate a command for delivering the desired output power. Controller 16 is configured to communicate with various systems and sensors of the motor control system. Controller 16 receives signals from each system sensor, quantifies the received information, and in response provides an output command signal, in this case, for example, to motor 19. Controller 16 is configured to generate a corresponding voltage from an inverter (not shown), optionally combined with controller 16 and referred to herein as controller 16, such that when applied to motor 19, the desired torque or position is produced. In one or more examples, controller 16 operates in a feedback control mode (as a current regulator) to generate command 22. Alternatively, in one or more examples, controller 16 operates in a feedforward control mode to generate command 22. Because these voltages are related to the position and speed of motor 19 and the desired torque, the rotor position and / or speed, as well as the torque applied by the operator, are determined. A position encoder is connected to steering shaft 51 to detect angular position θ. The encoder may sense rotational position based on optical detection, magnetic field changes, or other methods. Typical position sensors include potentiometers, resolvers, synchronizers, encoders, and combinations thereof, including at least one of the foregoing. The position encoder outputs a position signal 20, which indicates the angular position of the steering shaft 51 and thereby the angular position of the motor 19.

[0026] The desired torque can be determined by one or more torque sensors 28, which send a torque signal 18 indicating the applied torque. Such torque sensors 28 and the torque signal 18 therefrom can be responsive to a flexible torsion bar, a spring, or a similar device (not shown) configured to provide a response indicating the applied torque.

[0027] In one or more examples, temperature sensor 23 is located at motor 19. Preferably, temperature sensor 23 is configured to directly measure the temperature of a sensing portion of motor 19. Temperature sensor 23 sends temperature signal 25 to controller 16 for the processing and compensation specified herein. Typical temperature sensors include thermocouples, thermistors, thermostats, etc., and combinations comprising at least one of the foregoing sensors, which, when properly positioned, provide a calibrable signal proportional to a specific temperature.

[0028] Position signal 20, speed signal 21, and torque signal 18, etc., are applied to controller 16. Controller 16 processes all input signals to generate values ​​corresponding to each signal, thereby producing rotor position values, motor speed values, and torque values ​​that can be used for processing in the algorithms specified herein. Measurement signals (such as the measurement signals described above) are also typically linearized, compensated, and filtered as needed to enhance the characteristics of the acquired signal or eliminate its undesirable characteristics. For example, the signal may be linearized to improve processing speed or to address a large dynamic range of the signal. Furthermore, frequency- or time-based compensation and filtering may be employed to eliminate noise or avoid undesirable spectral characteristics.

[0029] In order to perform the prescribed functions and desired processing, and therefore the calculations (e.g., identification of motor parameters, control algorithms, etc.), controller 16 may include, but is not limited to, processors, computers, DSPs, memories, storage devices, registers, timing devices, interrupts, communication interfaces, and input / output signal interfaces, as well as combinations of at least one of the foregoing. For example, controller 16 may include input signal processing and filtering to enable accurate sampling, conversion, or acquisition of such signals from the communication interface.

[0030] As used in this article, variables with a tilde (~) above their variable symbol represent approximations or estimates, which can be determined through mathematical calculations, lookup tables, etc. Variables with a bar above their variable symbol represent vectors. Variables with a superscript asterisk (~) The variable represents the setpoint value of the command or expectation.

[0031] Figure 2 A motor drive system 56 is shown, comprising a dual-winding motor 60 having a first winding group 62a and a second winding group 62b electrically isolated from the first winding group 62a. The dual-winding motor 60 can be used as motor 19 in a steering motor drive system 24. However, the dual-winding motor 60 of this disclosure can be used in other applications.

[0032] The motor drive system 56 is configured to supply power to the winding groups 62a, 62b for operating the dual-winding motor 60 according to motor torque commands. Generating output torque. The motor drive system 56 includes a first electronic control unit (ECU) 57 and a second ECU 58 independent of the first ECU 57. For redundancy, each of the ECUs 57 and 58 can control the power supply to a corresponding one of the winding groups 62a and 62b. Motor torque command. It can be generated by motion controller 80, such as the controller of an electric power steering (EPS) system.

[0033] The motor drive system 56 includes a first power converter 66a, which is configured to operate via a first motor lead 68a and based on a first voltage command. Apply a first output voltage to the first winding group 62a The motor drive system 56 also includes a second power converter 66b, which is configured to operate via a second motor lead 68a and based on a second voltage command. Apply a second output voltage to the second winding group 62b Output voltage , Each of these can be a 3-phase voltage, with winding groups 62a and 62b each having a 3-phase configuration. However, the output voltage... , Different numbers of phases can be represented to match different configurations of winding groups 62a and 62b.

[0034] The motor drive system 56 also includes two separate and independent DC voltage sources 82a and 82b. The first DC voltage source 82a can provide a first DC supply voltage for operating the first power converter 66a. Furthermore, the second DC voltage source 82b can provide a second DC supply voltage for operating the second power converter 66b. Each of the power converters 66a and 66b can selectively and rapidly switch the current from a corresponding DC voltage source 82a and 82b to provide AC output current to the corresponding winding groups 62a and 62b of the DW-PMDC machine 60. First DC supply voltage Second DC power supply voltage They can have similar or identical nominal design voltage values. However, in some cases, the first DC supply voltage... Second DC power supply voltage They can be different. For example, if one of the DC voltage sources 82a and 82b is damaged or deteriorated, the corresponding DC supply voltage will be different. , It may decrease. ECUs 57 and 58 can monitor the first DC supply voltage respectively. Second DC power supply voltage .

[0035] The first ECU 57 includes a first current reference calculator 72a, which is configured to calculate a first reference current for generating the first winding group 62a. Second reference current of the second winding group 62b Each reference current is based on: motor torque command First DC power supply voltage Second DC power supply voltage The first ECU 57 can transmit the second reference current via inter-microcontroller (IMC) communication. The signal is sent to the second ECU 58. However, the first ECU 57 can transmit the second reference current through other means (such as directly simulating I / O signals or on a different communication network). The signal is sent to the second ECU 58. In this arrangement, the first ECU 57 simultaneously generates the first reference current. Second reference current This can be called a primary dependency architecture.

[0036] In some implementations, the first current reference calculator 72a can be configured to sense the first DC supply voltage of the first DC voltage source 82a. and / or the second DC supply voltage of the second DC voltage source 82b .

[0037] The second ECU 58 includes a second current reference calculator 72b, which is configured to be based at least on motor torque commands. Second DC power supply voltage Generate a second reference current for the second winding group 62b To simplify this disclosure, Figure 2 Only the reference current from the first current reference calculator 72a is shown. , When the first ECU 57 is the master ECU, and the second ECU 58 is the slave ECU and receives the second reference current command from the master ECU. At that time, the reference current can be used. Figure 2 The reference current from the second current reference calculator 72b is not shown. , This reference current can only be used if the second ECU 58 is the master ECU. Therefore, either the first ECU 57 or the second ECU 58 can be used as the master ECU to generate the reference current. , Therefore, each of the first current reference calculator 72a of the first ECU 57 and the second current reference calculator 72b of the second ECU 58 can have similar or identical configurations and can generate a first reference current. Second reference current Both.

[0038] The second current reference calculator 72b of the second ECU 58 may be similar to or the same as the first current reference calculator 72a of the first ECU 57. In some embodiments, the second current reference calculator 72b may also generate a first reference current for the first winding group 62a. For example, the second current reference calculator 72b can be configured to calculate the first reference current. Second reference current Based on: motor torque command First DC power supply voltage Second DC power supply voltage The second ECU 58 can transmit the first reference current via inter-microcontroller (IMC) communication. The first reference current is sent to the first ECU 57. However, the second ECU 58 can transmit the first reference current through other means (such as directly simulating I / O signals or on a different communication network). Send to the first ECU 57.

[0039] The first ECU 57 also includes a first motor current controller 74a, which is configured to command the operation of the first power converter 66a. The first motor current controller 74a may be based on a first reference current. and a first measured current signal representing the actual current in the first winding group 62a. To calculate the first voltage command First voltage command It can include d-axis components separately. and q-axis components .

[0040] The second ECU 58 also includes a second motor current controller 74b, which is configured to command the operation of the second power converter 66b. The second motor current controller 74b can be based on a second reference current. and a second measured current signal representing the actual current in the second winding group 62b. To calculate the second voltage command Second voltage command It can include d-axis components separately. and q-axis components .

[0041] First voltage command Second voltage command Each of the windings 62a and 62b is provided to a corresponding one of the power converters 66a and 66b, thereby allowing independent voltage control of the two winding groups 62a and 62b. Alternatively, each of the motor current controllers 74a and 74b can send one or more different control signals for controlling the operation of the corresponding power converter 66a and 66b, such as duty cycle signals or command modulation indices for the switches of the corresponding power converter 66a and 66b. m i and phase lead angle δ .

[0042] The motor drive system 56 includes a first current sensor 76a, which is configured to measure the current in the first winding group 62a and transmit the first measured current signal. The current is provided to the first motor current controller 74a. The motor drive system 56 also includes a second current sensor 76b, which is configured to measure the current in the second winding group 62b and transmit the second measured current signal. Provided to the second motor current controller 74b.

[0043] Previous developments in control algorithms for DW-PMSMs have assumed a negligible inductive coupling between the two half-motors. While the possibility of such coupling has been envisioned, sufficient analysis or mathematical models to capture its effects have not yet been derived or proposed. Consequently, conventional control designs do not account for this coupling, and some current induction is always inherently present between the two sides of the DW motor. This document presents a general mathematical model for DW-PMSMs in synchronous or dq reference frames, applicable to both non-salient and salient pole configurations. A simplified model for non-salient pole machines is also provided.

[0044] The general mathematical model of DW-PMSM is shown in the following formula (1).

[0045]

[0046] In this model, under the assumption of the same half-motor, subscripts 1 and 2 are used to refer to the two sides or half-motors. and These are the d-axis motor voltage and the q-axis motor voltage, respectively. and These are the d-axis motor current and the q-axis motor current, respectively. It is phase resistance. and These are the d-axis inductance and q-axis inductance of each half motor, respectively. and This is the inductance term representing the coupling between the two half-motors. It is the speed of the electric motor. It is a permanent magnet (PM) flux linkage. It should be noted that the speed of an electric motor is also called the machine's synchronous frequency, and it differs from the speed of a mechanical motor. The correlations are as follows:

[0047] Additionally, motor constant (Volts / Radians / Second) and PM Magnetism Through extreme number correlation As described in the following formula (3):

[0048] Electromagnetic torque It can be determined by the following formula (4):

[0049] After applying the symmetric and asymmetric transformations, the alternative model for the two-winding PMSM machine can be written as shown in the following formula (5):

[0050] Electromagnetic torque It can be expressed by the following formulas (6)-(7):

[0051] in pp Indicates the number of pole pairs, subscript p and n The parameters related to the positive and negative virtual decoupling machines are respectively, as described in the following set of formulas (8):

[0052] in and These represent the d-axis inductance and q-axis inductance of the positive virtual decoupling machine, respectively. and These represent the d-axis inductance and q-axis inductance of the negative virtual decoupling machine, respectively. and Let represent the d-axis voltage and q-axis voltage of the positive virtual decoupling machine, respectively, and where and These represent the d-axis voltage and q-axis voltage of the negative virtual decoupling machine, respectively. and These represent the d-axis inductance and q-axis inductance of one winding group 62a and 62b in the dual-winding motor 60, respectively. and These represent the d-axis mutual inductance and q-axis mutual inductance between winding groups 62a and 62b of the dual-winding motor 60, respectively. and These represent the d-axis voltage and q-axis voltage of the first winding group 62a, respectively. and These represent the d-axis voltage and q-axis voltage of the second winding group 62b, respectively.

[0053] In a steady state, the DW-PMSM can be described by the following set of equations (9):

[0054] in This represents the root mean square (RMS) total voltage of the positive virtual decoupling machine. This represents the root mean square (RMS) total voltage of the negative virtual decoupling machine.

[0055] The two diagonal matrices in Formula (1) represent the mathematical model of each winding group, which is the same as the mathematical model of a conventional single-winding PMSM, while the non-diagonal matrix shows the coupling between the two winding groups. Figure 3 A block diagram 100 is shown representing such a generalized mathematical model of a dual-winding motor 60.

[0056] Specifically, Figure 3 Block diagram 100 includes a first winding model 102a and a second winding model 102b, wherein each of the winding models 102a and 102b represents the operation of a corresponding winding group 62a and 62b of the dual-winding motor 60. The first winding model 102a generates a first d-axis current. and the first q-axis current The first output signal 104a, the first d-axis current and the first q-axis current are generated by the first winding group 62a in response to a given first winding voltage signal 106a. Similarly, the second winding model 102b generates a representation of the second d-axis current. Second q-axis current The second output signal 104b, the second d-axis current and the second q-axis current are generated by the second winding group 62b in response to a given second winding voltage signal 106b.

[0057] The first winding model 102a receives a first d-axis voltage applied to the first winding group 62a. V d1 and the first q-axis voltage V q1The matrix of values ​​is used as the first winding voltage signal 106a. The first winding voltage signal 106a is provided to the first adder block 108a, which subtracts the first inverse EMF (BEMF) signal 110a and generates a first composite signal 112a. The first composite signal 112a can represent the sum of voltages acting on the first winding group 62a. The first BEMF signal 110a represents the BEMF generated by the first winding group 62a. The first composite signal 112a is provided to the first converter block 114a, which generates a first output signal 104a based on the first composite signal 112a.

[0058] The second winding model 102b receives a second d-axis voltage applied to the second winding group 62b. V d2 Second q-axis voltage V q2 The matrix of values ​​is used as the second winding voltage signal 106b. The second winding voltage signal 106b is provided to the second adder block 108b, which subtracts the second BEMF signal 110b and generates a second composite signal 112b. The second composite signal 112b can represent the sum of the voltages acting on the second winding group 62b. The second BEMF signal 110b represents the BEMF generated by the second winding group 62b. The second composite signal 112b is provided to the second converter block 114b, which generates a second output signal 104b based on the second composite signal 112b.

[0059] The first winding model 102a also includes a first coupling transformation block 118a, which generates a first coupling voltage signal 116a based on the second output signal 104b. The first coupling voltage signal 116a represents the effect of the current in the second winding group 62b on the first winding group 62a. The first coupling voltage signal 116a is provided to a first adder block 108a, which subtracts the corresponding component value of the first coupling voltage signal 116a from each component of the first composite signal 112a.

[0060] Similarly, the second winding model 102b also includes a second coupling transformation block 118b, which generates a second coupling voltage signal 116b based on the first output signal 104a. The second coupling voltage signal 116b represents the effect of the current in the first winding group 62a on the second winding group 62b. The second coupling voltage signal 116b is provided to a second adder block 108b, which subtracts the corresponding component value of the second coupling voltage signal 116b from each component of the second composite signal 112b.

[0061] Through the mathematical operations shown in the following formulas (10)-(12), from a control perspective, winding models 102a and 102b can be transformed into two decoupled virtual machines, such as... Figure 4 As shown.

[0062]

[0063] in This indicates the voltage or current supplied to the positive and negative half-machines. This indicates a set of corresponding voltages or currents supplied to the winding groups 62a and 62b of the dual-winding motor 60. Indicates a positive transformation. This represents the inverse transformation. Furthermore, it should be noted that equation (12) shows that the inverse transformation is the inverse of the forward transformation. In some implementations, the forward transformation... It can be implemented using an output transform block 156. In some implementations, the inverse transform is used. It can be implemented using the form of input transformation block 152.

[0064] Figure 4 A block diagram 150 of a dual-winding PMSM model is shown, in which these mathematical transformations are applied to the voltage input and current output. Specifically, block diagram 150 includes an input transformation block 152, which generates a first winding voltage signal 106a and a second winding voltage signal 106b based on a positive virtual motor voltage signal 154a and a negative virtual motor voltage signal 154b. The positive virtual motor voltage signal 154a is in the form of a 2×1 matrix, which includes the d-axis voltages supplied to the positive virtual motor. and q-axis voltage The value of . Similarly, the negative virtual motor voltage signal 154b is in the form of a 2×1 matrix, which includes the d-axis voltage supplied to the negative virtual motor. and q-axis voltage The value of .

[0065] Block diagram 150 also includes an output conversion block 156, which generates a positive virtual motor current signal 158a and a negative virtual motor current signal 158b based on a first output signal 104a from a first winding model 102a and a second output signal 104b from a second winding model 102b. The positive virtual motor current signal 158a is in the form of a 2×1 matrix, which includes the d-axis current. and q-axis current The value of . Similarly, the negative virtual motor current signal 158b is in the form of a 2×1 matrix, which includes the d-axis current. and q-axis current The value of .

[0066] By performing the transformation, the machine model shown in formula (13) is obtained as follows:

[0067] Electromagnetic torque obtained through mathematical transformation It can be represented as shown in the following formula (14):

[0068] Figure 5 A block diagram representation of the decoupling model 170 is shown. The decoupling model 170 can also be referred to as a virtual model of a dual-winding PMSM because it represents two separate mathematical models independent of each other, thus consisting of a positive virtual motor and a negative virtual motor model decoupled from each other. It should be noted that once the transformation matrix needs to be applied at the interface (not shown) of the control algorithm block... , With appropriate transformations, the control algorithm design can be executed under the following assumptions: From the controller's perspective, the "effective" motor (controlled object) is a decoupling model 170 of a dual-winding motor 60, which includes a positive virtual motor winding 172a and a negative virtual motor winding 172b decoupled from each other. Therefore, the decoupling model 170 includes a positive virtual motor winding 172a and a negative virtual motor winding 172b. The positive virtual motor winding 172a can also be called a positive virtual motor, and the negative virtual motor winding 172b can also be called a negative virtual motor. The positive virtual motor winding 172a and the negative virtual motor winding 172b can represent a positive virtual decoupling machine and a negative virtual decoupling machine, respectively.

[0069] A positive virtual motor winding 172a can represent the symmetrical operation of winding groups 62a and 62b of the dual-winding motor 60. A negative virtual motor winding 172b can represent the asymmetrical operation of winding groups 62a and 62b of the dual-winding motor 60. When the first winding voltage signal 106a equals the second winding voltage signal 106b and represents the first d-axis current... and the first q-axis current The first output signal 104a equals the second d-axis current. Second q-axis current When the second output signal 104b is received, the negative virtual motor voltage signal 154b and the negative virtual motor current signal 158b can be zero during symmetrical operation.

[0070] The positive virtual motor winding 172a receives the positive virtual motor voltage signal 154a and generates the positive virtual motor current signal 158a. The positive virtual motor winding 172a includes a positive virtual motor transfer matrix 174a describing its dynamic behavior. The net voltage 176a generated by the input voltage overcoming the BEMF voltage 180a is used as the input to the positive virtual motor transfer matrix 174a. This net voltage is represented by a differential operation performed by the subtraction module 178a, which generates the positive virtual motor current signal 158a. It should be noted that the positive virtual motor BEMF voltage signal 180a includes the following items: 2ω e λ m This item includes the BEMF signals 110a and 110b of the first winding model 102a and the second winding model 102b, respectively.

[0071] The negative virtual motor winding 172b receives the negative virtual motor voltage signal 154b and generates the negative virtual motor current signal 158b. The negative virtual motor winding 172b includes a negative virtual motor transfer matrix 174b describing its dynamic behavior. A net voltage 176b, generated by the input voltage overcoming the voltage represented by the negative virtual motor BEMF voltage signal 180b, is used as input to the negative virtual motor transfer matrix 174b. This net voltage is represented as the difference result of the subtraction module 178b, which generates the negative virtual motor current signal 158b. It should be noted that since the positive virtual motor BEMF voltage signal 180a includes both the BEMF signals 110a and 110b of the first winding model 102a and the second winding model 102b, respectively, the negative virtual motor BEMF voltage signal 180b includes a zero matrix. In other words, unlike the positive virtual motor winding 172a, the negative virtual motor winding 172b does not include any BEMF compensation.

[0072] By applying a transformation to the generalized model that generates the virtual motor windings 172a and 172b, the overall current regulation problem can be simplified to the regulation of the positive virtual motor current signal 158a and the negative virtual motor current signal 158b. The virtual motor windings 172a and 172b behave essentially the same as a typical single-winding three-phase PMSM; therefore, enhanced current regulation techniques can be used to generate the corresponding virtual motor voltage signals 154a and 154b.

[0073] The mathematical models of positive and negative virtual half-machines can be summarized and written in a compact form as follows (15):

[0074] in It can be or Any one of the substitutions in the equation, thus representing a positive or negative virtual half-machine, while For the first virtual half-machine and the second virtual half-machine, they are respectively equal to or Scalar.

[0075] The inductance terms of these two half-machines can be expressed based on the self-inductance and coupling inductance of the dual-winding motor 60, as shown in formulas (16)-(19), as follows:

[0076] The motor drive system 56 may include a current command generator, a current regulator, and a power converter controller. The current command generator is based on a motor torque command. The current command generator can limit the generated torque based on machine capabilities and power management algorithms. The current regulator can perform closed-loop or feedback current control techniques to control the amount of current generated by the DW-PMSM. The power converter controller can convert the d-axis and q-axis voltage commands from the current regulator into duty cycles, which are then sent to the gate driver and inverter, which in turn apply the required voltage to the winding groups 62a, 62b of the dual-winding motor 60.

[0077] The control algorithm aims to optimize the torque output of a dual-winding permanent magnet synchronous motor (PMSM) under conditions of uneven voltage supply. First, the algorithm ensures the symmetrical nature of the current in the two electronic control units (ECUs) until the required voltage is available to each ECU. Then, the algorithm optimizes the current command between the ECUs to maximize torque while minimizing asymmetry in the current command.

[0078] To achieve this, machine 60 is treated as a single entity, and a transformation is applied to analyze it based on the P-side (representing symmetric properties) and the N-side (representing asymmetric properties). After the algorithm is complete, an inverse transformer is used to convert the P-side and N-side currents back to ECU 1 current and ECU 2 current. The detailed steps of the algorithm are outlined below.

[0079] Bridge voltage limit determination and allocation - primarily based on the DC supply voltage of DC voltage sources 82a and 82b. , Calculating the maximum and minimum voltage limits of virtual machines 172a and 172b allows for the determination of bridge voltage limits and the allocation of power for the operation of each of virtual machines 172a and 172b. A voltage threshold is also determined at which the asymmetric control of the two winding groups 62a and 62b provides increased torque output.

[0080] The first step is to determine the limits of virtual machines 172a and 172b, which is crucial for determining the peak torque capabilities of the positive and negative virtual machines. These are the upper and lower limits of the positive virtual machine 172a, respectively. This is the limit of negative virtual machine 172b. , , The limit is calculated as shown in formulas (20)-(22), as follows:

[0081] in It outputs the first DC supply voltage and the second DC supply voltage. A function of one of the values ​​and that value is lower.

[0082] The system and method disclosed herein can determine the maximum positive torque based on the upper limit of the positive virtual voltage. and the maximum negative torque based on the upper limit of the positive virtual voltage Each torque is based on the upper limit of the positive virtual voltage. The system and method disclosed herein can also calculate the maximum positive torque based on the positive virtual low pressure. and the maximum negative torque based on positive virtual low pressure Each torque is based on a positive virtual voltage lower limit. The system and method disclosed herein can also calculate the positive virtual total peak torque. and negative virtual total peak torque Each torque is based on the upper limit of the positive virtual voltage. and negative virtual voltage limit .

[0083] The system and method of this disclosure can determine the positive virtual motor winding 172a at the upper limit of the positive virtual voltage based on the following formulas (23)-(26). Applying voltage at , :

[0084] in It is the voltage angle of the positive virtual machine. This is the voltage angle of the negative virtual machine. Motor winding 172b. The voltage angle of the positive virtual machine... It can be equal to the voltage angle of a negative virtual machine. .

[0085] The system and method disclosed herein can sweep voltage angles. The range of values ​​and the upper limit of the positive virtual voltage calculated according to the following formulas (27) and (28). Corresponding d-axis current and q-axis current The systems and methods disclosed herein can be used with a positive virtual voltage upper limit. The corresponding currents and To obtain the upper limit of the positive virtual voltage corresponding torque As described in the following formula (29).

[0086]

[0087] The system and method disclosed herein can then be used to calculate the maximum positive torque based on the upper limit of the positive virtual voltage. and the maximum negative torque based on the upper limit of the positive virtual voltage Each torque is based on the upper limit of the positive virtual voltage. corresponding torque And calculate according to the following formulas (30) and (31).

[0088]

[0089] The system and method disclosed herein can also sweep across positive virtual voltage angles. The range of values ​​and the calculation of the lower limit of the positive virtual voltage according to the following formulas (32) and (33) Corresponding d-axis current and q-axis current The systems and methods disclosed herein can be used with respect to the positive virtual voltage lower limit. The corresponding currents and To obtain the lower limit of the positive virtual voltage Corresponding torque As described in the following formula (34).

[0090]

[0091] The system and method disclosed herein can then be used to calculate the maximum positive torque based on the positive virtual voltage lower limit. and the maximum negative torque based on the positive virtual voltage lower limit Each torque is based on the lower limit of the positive virtual voltage. Corresponding torque And calculate according to the following formulas (35) and (36).

[0092]

[0093] The system and method disclosed herein can also sweep voltage angles. The range of values ​​and the negative virtual voltage limit are calculated according to the following formulas (37) and (38). Corresponding d-axis current and q-axis current The systems and methods disclosed herein can be used with negative virtual voltage limits. The corresponding currents and To obtain the negative virtual voltage limit Corresponding torque As described in the following formula (39).

[0094]

[0095] The system and method disclosed herein can then be used to calculate the maximum positive torque based on the negative virtual voltage limit. and the maximum negative torque based on the negative virtual voltage limit Each torque is based on the negative virtual voltage limit. corresponding torque And calculate according to the following formulas (40) and (41).

[0096]

[0097] The system and method of this disclosure can also calculate the total positive peak torque value according to the following formulas (42) and (43). and total negative peak torque value :

[0098] Torque Command Limitation - The systems and methods of this disclosure can also limit the initial motor torque command based on previously calculated torque capabilities. Such as motor torque commands from motion controller 80 For example, the system and method can be based on an initial motor torque command. Calculate the limit torque command The torque limiting command is constrained by the total positive peak torque value. and total negative peak torque value As described in the following formula (44):

[0099] Virtual Machine Torque Command Limitation - The systems and methods disclosed herein can also be based on limiting torque commands. Further limit the initial motor torque command Considering the individual capabilities of the P-side and N-side machines, torque commands on both sides are further restricted. Typically, for surface permanent magnet (SPM) type machines, the N-side does not generate electromagnetic torque. Positive virtual machine torque commands. and negative virtual machine torque command It can be determined as described in the following formulas (45) and (46):

[0100] Asymmetric property determination - The system and method of this disclosure can also determine whether asymmetric currents are needed in the two winding groups 62a, 62b to enable the dual-winding motor 60 according to the initial motor torque command. Generating torque. This system and method can generate asymmetric current markings. ,in = 0 indicates symmetrical operation of the dual-winding motor 60. = 1 indicates asymmetrical operation of the dual-winding motor 60. Asymmetrical current marking. It can be calculated as described in the following formula (47):

[0101] Maximum Torque Per Ampere (Symmetric and Asymmetric) - The systems and methods disclosed herein may also include determining the initial minimum p-side current using the maximum torque per ampere (MTPA) technique. , Initial minimum p-side current , Including d-axis components and q-axis components A minimum-loss current search can be performed on the P-side. Since there is no voltage constraint in this case, the MTPA region does not exhibit asymmetry, thus allowing the N-side current to be assumed to be zero. MTPA techniques may include controlling the P-side d-axis current. Scan from 0 to ,use Calculate the q-axis current on the P side ,in This is the maximum P-side d-axis current, which can be a given multiple of the maximum motor current or the demagnetization limit current of a given motor. MTPA technology can also be based on the P-side d-axis current. and P-side q-axis current The combination determines the total current on the P side. .

[0102] Maximum torque per voltage (MTPV) - The systems and methods of this disclosure may also include determining the final P-side current based on voltage constraints. , and the final N-side current , The MTPV calculation is divided into two regions. In the first region, a symmetrical current command is generated while adhering to voltage constraints. In the second region, an asymmetrical current command is generated to satisfy the same voltage constraints.

[0103] First, calculate the voltage command based on the MTPA current and compare it to the available voltage limit for symmetrical operation. If the voltage constraint is met and the asymmetrical current is flagged... If the value is set to 0, these commands are used as the final current commands. If the voltage constraint is not met and the current is asymmetrically marked... If the value is 0, a search is performed to find current combinations that satisfy the voltage constraint.

[0104] In the second region, where the asymmetric current is marked If the value is not zero, the N-side voltage command is determined, indicating the deviation from the voltage limit. Based on this, an N-side virtual current command is generated to satisfy the N-side voltage constraint and produce the corresponding N-side virtual torque. Details of the MTPV implementation are shown below.

[0105] Voltage limit current command search (symmetric) - Case (1): using and Sure .if Then, the final virtual current command is set according to formula group (48). , , , :

[0106] Case (2): Use and Sure .if and Then from Scan And find the symmetrical P-side current. , The combination of makes Final virtual current command , , , Then it can be determined as shown in formula group (49):

[0107] Voltage limit current command search (asymmetric) case (3): using and Determine the total voltage on the P side .if and Then from Scan And based on calculate And found , The combination of makes Maximize. Therefore, the total voltage required on the N-side is... It can be calculated as described in the following formula (50):

[0108] Total current on the N side The range of values ​​( It can be based on the total required voltage on the N side. And calculate using the following formulas (51)-(65):

[0109] in , , and These represent the q-axis inductance, d-axis inductance, average inductance, and differential inductance, respectively, and each inductor is used in the negative virtual machine 172b; where , , , and These are the nominal impedance, impedance angle, current angle, impedance based on current angle, and peak current, and each is used for the negative virtual machine 172b.

[0110] Total N-side input impedance and total current on the N side The minimum and maximum values ​​can be determined separately based on the current angle on the N side. Confirmed, as shown in Table 1 below: Table 1

[0111] Once the total N-side current is determined The range of values ​​is thus determined. Then take and the current angle on the N side from Scan to find the asymmetric N-side current The combination of makes and It can target the total N-side current. The entire range of values ​​is used to calculate the asymmetric N-side current. Combinations to find the N-side asymmetric current The value of , where and total voltage on the N side = Total required voltage on N side Therefore, the final virtual current command , , , It can be determined as described in the following set of formulas (66):

[0112] Inverse symmetric / asymmetric transformation - An inverse transformer can be used to calculate the current command for each of the winding groups 62a, 62b of the dual-winding motor 60. , , As described in the following formula group (67):

[0113] Figure 6 This is a block diagram illustrating a motor controller 200 for a dual-winding synchronous machine (DWSM) based on the principles of this disclosure. Figure 6 The motor controller 200 can describe the functions of the first current reference calculator 72a and the second current reference calculator 72b. The motor controller 200 implements a technique for determining the current command for each ECU using the maximum DC voltage available to each ECU. The current command is determined by treating the two halves of the dual-winding PMSM 60 as a single complete virtual machine by converting the two half-machines into a single complete machine.

[0114] Motor controller 200 includes a bridge voltage limit calculator 220, which represents the first DC supply voltage. Second DC power supply voltage The signal is used as input. The bridge voltage limit calculator 220 generates a representation of the upper limit of the positive virtual voltage. And positive virtual voltage lower limit The signal is output, with each signal representing the voltage limit of the positive virtual machine 172a. The bridge voltage limit calculator 220 also generates the negative virtual voltage limit of the negative virtual machine 172b. The negative virtual voltage limit of negative virtual machine 172b. It can represent the upper limit of voltage, and the negative virtual machine 172b can have a lower limit of zero volts.

[0115] The motor controller 200 also includes a peak torque capacity calculator 222, which takes signals from the bridge voltage limit calculator 220 as input, these signals representing the positive virtual voltage limit. Positive virtual voltage lower limit and negative virtual voltage limit Peak torque capacity calculator 222 generates total positive peak torque value. Total negative peak torque value Maximum positive torque based on the upper limit of positive virtual voltage Maximum negative torque based on the upper limit of positive virtual voltage Maximum positive torque based on positive virtual low voltage and the maximum negative torque based on positive virtual low pressure As output.

[0116] Peak Torque Capability Calculator 222 can calculate the maximum positive torque based on the upper limit of the positive virtual voltage. and the maximum negative torque based on the upper limit of the positive virtual voltage Each torque is based on the upper limit of the positive virtual voltage. Furthermore, as mentioned above, the peak torque capacity calculator 222 can also calculate the maximum positive torque based on the positive virtual low pressure. and the maximum negative torque based on positive virtual low pressure Each torque is based on a positive virtual voltage lower limit. Furthermore, as described above, the peak torque capability calculator 222 can also calculate the maximum positive torque based on the upper limit of the positive virtual voltage, as described above. Furthermore, based on the negative virtual voltage limit as described above. Calculate the positive virtual total peak torque The peak torque capability calculator 222 can also calculate the maximum negative torque based on the upper limit of the positive virtual voltage, as described above. Furthermore, based on the negative virtual voltage limit as described above. Calculate the negative virtual total peak torque .

[0117] The motor controller 200 also includes a torque command limiter 224, which takes the total positive peak torque value from the peak torque capability calculator 222. and total negative peak torque value and initial torque command As input, torque command limiter 224 generates a torque limiting command. As output, the torque command limiter 224 can be based on the initial torque command described above. Total positive peak torque value and total negative peak torque value Determine the torque limit command .

[0118] Motor controller 200 also includes virtual machine torque limiter 226, which limits the maximum positive torque from peak torque capability calculator 222 based on the upper limit of the positive virtual voltage. and the maximum negative torque based on the upper limit of the positive virtual voltage And the torque limiting command from torque command limiter 224 As input, the virtual machine torque limiter 226 generates a positive virtual machine torque command. and negative virtual machine torque command As output, the virtual machine torque limiter 226 can be based on the maximum positive torque according to the upper limit of the positive virtual voltage as described above. Maximum negative torque based on the upper limit of positive virtual voltage and torque limiting command Determine the positive virtual machine torque command and negative virtual machine torque command .

[0119] Motor controller 200 also includes a maximum torque per ampere (MTPA) calculator 228, which receives positive virtual machine torque commands from virtual machine torque limiter 226. As input, and to generate the initial minimum p-side current. , As output, the MTPA calculator 228 can determine the initial minimum p-side current as described above. , .

[0120] The motor controller 200 also includes an asymmetric property determiner 230, which generates an asymmetric current flag indicating whether the dual-winding motor 60 is operating symmetrically or asymmetrically. The asymmetric property determiner 230 will determine the maximum positive torque based on the positive virtual low pressure from the peak torque capability calculator 222. and the maximum negative torque based on positive virtual low pressure And the torque limiting command from torque command limiter 224 As input, the asymmetric property determiner can be based on the maximum positive torque based on the positive virtual low voltage, as described above. Maximum negative torque based on positive virtual low pressure and torque limiting command Generate asymmetric current markers .

[0121] The motor controller 200 also includes an asymmetric voltage limit current command generator 232 and a symmetric voltage limit current command generator 234. Each of the asymmetric voltage limit current command generator 232 and the symmetric voltage limit current command generator 234 can determine the final current command. , , , The value of .

[0122] The asymmetric voltage limit current command generator 232 will generate a positive virtual voltage lower limit. Asymmetric current marking Positive virtual machine torque command and negative virtual machine torque command As input, the asymmetric voltage limit current command generator 232 generates a set of final asymmetric motor current commands 233, which includes the final virtual current command. , , and The value of this set of final asymmetric motor current commands 233 can be based on the positive virtual voltage lower limit as described above. Asymmetric current marking Positive virtual machine torque command and negative virtual machine torque command To determine.

[0123] The symmetrical voltage limit current command generator 234 will set the positive virtual voltage lower limit. Asymmetric current marking and initial minimum p-side current , As input, the symmetrical voltage limit current command generator 234 generates a set of final symmetrical motor current commands 235, which includes the final virtual current command. , , and The value of this set of final symmetrical motor current commands 235 can be based on the positive virtual voltage lower limit as described above. Asymmetric current marking and initial minimum p-side current , To determine.

[0124] The motor controller 200 also includes an inverter 236 that generates a final current command for the winding groups 62a, 62b of the dual-winding motor 60. , , The inverter 236 converts the final virtual current command from the asymmetric voltage limit current command generator 232 and the symmetric voltage limit current command generator 234 into a digital current command. , , and As input, the inverter 236 can be based on the final virtual current command as described above. , and , Calculate final current command , , .

[0125] Figure 7 A graph showing the torque versus speed is presented, along with various control schemes for a dual-winding motor operating in the so-called first quadrant, where torque and speed are in the positive direction. Figure 7 It can be used as background information and to understand the different control schemes of this disclosure. Figure 7 Includes indicating the voltage supplied by the first DC power supply. The first curve 252 of the torque / speed curve of the PMSM driven by the power supply inverter. Figure 7 It also includes a representation of the voltage supplied by the second DC power supply. The second curve 254 of the torque / speed curve of the PMSM driven by the inverter powered by the power supply, wherein the second DC supply voltage is lower than the first DC supply voltage. .

[0126] Figure 7 The graph includes a first region 260 with speeds up to a first speed ω1, where the first curve 252 and the second curve 254 are equal. Powered by DC voltage sources 82a and 82b and having a DC supply voltage operating in the first region 260. , The driver of the dual-winding motor 60 can be operated with a symmetrical current, which is the same for each of the winding groups 62a and 62b of the dual-winding motor 60. The symmetrical current can be generated using MTPA technology. Figure 7 The graph also includes a second region 262 where the speed is between a first speed ω1 and a second speed ω2. In this second region, the first curve 252 and the second curve 254 are not equal, but the first curve 252 maintains the maximum torque value. In this second region 262, the driver of the dual-winding motor 60 can be operated using a combination of symmetrical and asymmetrical currents, the asymmetrical current being different for each of the winding groups 62a, 62b of the dual-winding motor 60. The symmetrical current can be generated using MTPA technology, and the asymmetrical current can be generated using MTPV technology. Figure 7The graph also includes a third region 264 where the speed is greater than the second speed ω2, and in this third region, both the first curve 252 and the second curve 254 are less than the maximum torque value. In the third region 264, the driver of the dual-winding motor 60 may require an asymmetrical current to operate the dual-winding motor 60. This asymmetrical current can be generated using MTPV technology.

[0127] Figure 8 A graph showing the torque versus speed of a DWSM with different supply voltages of 12 VDC and 8 VDC and a torque command of 6 Nm is shown, using both conventional control technology labeled "existing" and control technology according to the principles of this disclosure labeled "proposed".

[0128] Figure 9 A graph showing the torque versus speed of a DWSM with different supply voltages of 10 VDC and 8 VDC and a torque command of 10 Nm is shown, using both conventional control technology labeled "existing" and control technology according to the principles of this disclosure labeled "proposed".

[0129] Figures 10A to 10D A flowchart of a method 500 for controlling a dual-winding synchronous machine (DWSM) according to the principles of this disclosure is shown. The dual-winding synchronous machine, also referred to as a dual-winding motor 60, has a first winding group 62a and a second winding group 62b. According to some embodiments of this disclosure, method 500 can be executed by controller 16 or any one or both of ECU 57 and ECU 58. It will be understood from this disclosure that the sequence of operations within this method is not limited to... Figures 10A to 10D The order of execution is not shown, but may be performed in one or more different orders as applicable and in accordance with this disclosure.

[0130] Method 500 includes: at 502, determining a positive virtual voltage lower limit based on a first DC supply voltage and a second DC supply voltage. For example, controller 16 may include hardware and / or software configured to implement bridge voltage limit calculator 220 to operate based on a first DC supply voltage. Second DC power supply voltage And the lower limit of the positive virtual voltage is calculated or otherwise determined as described in formula (21) above. ).

[0131] Method 500 also includes: at 504, based on the positive virtual voltage lower limit ( ), determine the maximum torque of the symmetrical operation ( , For example, controller 16 may include hardware and / or software configured to implement peak torque capability calculator 222, based on a positive virtual voltage lower limit (…). ) Calculate or otherwise determine the maximum torque of the symmetric operation ( , ).

[0132] Method 500 also includes: at 506, the maximum torque based on the symmetric operation ( , Determine whether (asymmetric current) is needed according to the torque command. ) Operation of DWSM. For example, controller 16 may include hardware and / or software configured to implement asymmetric property decision unit 230 to generate asymmetric current tags. The asymmetric current flag indicates whether an asymmetric current is required according to the torque command ( Operate DWSM.

[0133] Method 500 further includes: at 508, based on the positive virtual voltage lower limit ( And in response to whether (asymmetric current) is required, a set of final asymmetric motor current commands is determined. For example, controller 16 may include hardware and / or software configured to implement asymmetric voltage limit current command generator 232 to at least based on a positive virtual voltage lower limit. To calculate or otherwise determine the set of final asymmetric motor current commands 233.

[0134] Method 500 further includes: at 510, determining a first final current command by applying a mathematical transformation to the set of final asymmetric motor current commands. , ) and the second final current command ( , For example, controller 16 may include hardware and / or software configured to implement inverter 236 to calculate or otherwise determine the final current command for winding groups 62a, 62b of the dual-winding motor 60 based on the set of final asymmetric motor current commands 233. , , .

[0135] In some implementations, step 510 includes: according to , , and Calculate the first final current command ( , ) and the second final current command ( , ),in and These are the d-axis and q-axis components of the first final current command, respectively. and These are the d-axis and q-axis components of the second final current command, respectively. and These are the d-axis and q-axis components of the positive virtual motor current command, respectively. and These are the d-axis and q-axis components of the negative virtual motor current command, respectively.

[0136] Method 500 further includes: at 512, based on the first final current command ( , The command instructs the first inverter to apply a first output voltage to the first winding group, thereby causing the first output current to be determined according to the first final current command. , The first motor current controller 74a is generated in the first winding group. For example, controller 16 may include hardware and / or software configured to implement a first motor current controller 74a, which commands the operation of the first power converter 66a to cause the first power converter 66a to output a first output voltage. Apply to the first winding group 62a.

[0137] Method 500 further includes: at 514, based on the second final current command ( , The second inverter is commanded to apply a second output voltage to the second winding group, thereby causing the second output current to be determined according to the second final current command. , The second motor current controller 74b is generated in the second winding group. For example, controller 16 may include hardware and / or software configured to implement a second motor current controller 74b, which commands the operation of the second power converter 66b to cause the second power converter 66b to output a second output voltage. Apply to the second winding group 62b.

[0138] Method 500 further includes: at 516, determining a negative virtual voltage limit based on the difference between the first DC supply voltage and the second DC supply voltage. For example, controller 16 may include hardware and / or software configured to implement bridge voltage limit calculator 220 to operate based on a first DC supply voltage. Second DC power supply voltage The difference between them and the negative virtual voltage limit is calculated or otherwise determined as described in formula (22) above. ).

[0139] Method 500 also includes: at 518, based on the negative virtual voltage limit ( ), determine the maximum torque of the negative virtual motor ( , For example, controller 16 may include hardware and / or software configured to implement peak torque capability calculator 222, based on negative virtual voltage limits (…). ) Calculate or otherwise determine the maximum torque of the negative virtual motor ( , ).

[0140] Method 500 further includes: at 520, determining a positive virtual voltage upper limit based on the sum of the first DC supply voltage and the second DC supply voltage. For example, controller 16 may include hardware and / or software configured to implement bridge voltage limit calculator 220 to operate based on a first DC supply voltage. Second DC power supply voltage The sum and the upper limit of the positive virtual voltage as described in formula (20) above, or otherwise determined ( ).

[0141] Method 500 also includes: at 522, based on the upper limit of the positive virtual voltage ( ), determine the maximum torque of the positive virtual motor ( , For example, controller 16 may include hardware and / or software configured to implement peak torque capability calculator 222, based on a positive virtual voltage upper limit (…). ) Calculate or otherwise determine the maximum torque of the positive virtual motor ( , ).

[0142] Method 500 also includes: at 524, based on the maximum torque of the negative virtual motor ( , And based on the maximum torque of the positive virtual motor ( , Determine the total peak torque capability of the DWSM in the PN frame. , For example, controller 16 may include hardware and / or software configured to implement peak torque capability calculator 222, based on the maximum torque of the negative virtual motor. , And based on the maximum torque of the positive virtual motor ( , ) Calculate or otherwise determine the total peak torque capacity of the DWSM ( , ).

[0143] Method 500 also includes: at 526, based on torque command ( ) and DWSM's total peak torque capability ( , ), determine the torque limiting command ( For example, controller 16 may include hardware and / or software configured to implement torque command limiter 224 to respond to torque commands. ) calculate or otherwise determine the torque limiting command ( ), so as not to exceed the total peak torque capacity of the DWSM ( , ).

[0144] In some implementations, it is determined at step 506 whether an asymmetric current is required to meet the torque command. Operating the DWSM also includes: transferring the torque limiting command ( ) and the maximum torque of symmetrical operation ( , ) for comparison. For example, step 506 may also include comparing the limiting torque command ( ) and the maximum torque of symmetrical operation ( , The comparison is made to determine whether an asymmetrical current is needed based on the torque command. Operate DWSM.

[0145] Method 500 also includes: at 528, based on the limiting torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the negative virtual machine torque command ( For example, controller 16 may include hardware and / or software configured to implement virtual machine torque limiter 226 for determining negative virtual machine torque commands. In some implementations, controller 16 can calculate the negative virtual machine torque command using formula (46) as described above. ).

[0146] In some implementations, determining the final set of asymmetric motor current commands at step 508 includes: further based on negative virtual machine torque commands ( This determines the final set of asymmetric motor current commands. For example, the asymmetric voltage limit current command generator 232 can be configured to further base its commands on the negative virtual machine torque command as described above. Determine the final set of asymmetric motor current commands.

[0147] Method 500 also includes: at 530, based on the limiting torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( For example, controller 16 may include hardware and / or software configured to implement virtual machine torque limiter 226 to limit torque commands. ) and the maximum torque of the positive virtual motor ( , ) Calculate or otherwise determine positive virtual machine torque ( command) For example, controller 16 may include hardware and / or software configured to implement virtual machine torque limiter 226 for determining positive virtual machine torque commands. In some implementations, the controller 16 can calculate the positive virtual machine torque command according to formula (45) as described above. .

[0148] In some implementations, determining the final set of asymmetric motor current commands at step 508 includes: further based on positive virtual machine torque commands ( This determines the final set of asymmetric motor current commands. For example, the asymmetric voltage limit current command generator 232 can be configured to further base its commands on the positive virtual machine torque command as described above. Determine the final set of asymmetric motor current commands.

[0149] Method 500 also includes: at 532, based on the positive virtual machine torque command ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , For example, controller 16 may include hardware and / or software configured to implement MTPA calculator 228 to respond to positive virtual machine torque commands. ) Calculate the initial minimum p-side current ( , ).

[0150] In some implementations, determining the final set of asymmetric motor current commands at step 508 includes: further based on the initial minimum p-side current. , This determines the final set of asymmetric motor current commands. For example, controller 16 may include hardware and / or software configured to implement asymmetric voltage limit current command generator 232 to further determine the initial minimum p-side current ( , Determine the final current command , , , The final asymmetric motor current command value 233.

[0151] Method 500 further includes: at 534, based on the initial minimum p-side current ( , ), determine the total voltage on the P side ( For example, controller 16 may include components configured to calculate the total voltage on the P side using formula (5) and according to the following in formula group (9). Hardware and / or software: .

[0152] Method 500 further includes: at 536, the total voltage on the P side ( ) and positive virtual voltage lower limit ( ) are compared to determine the total voltage on the P side ( Is it greater than the lower limit of the positive virtual voltage? For example, controller 16 may include hardware and / or software configured to implement a symmetrical voltage limit current command generator 234 to determine the total voltage on the P side. Is it greater than the lower limit of the positive virtual voltage? ).

[0153] Method 500 further includes: at 538, in response to determining the total voltage on the P side ( ) greater than the lower limit of positive virtual voltage ( Determine the asymmetric d-axis current on the P side ( ) and P-side asymmetric q-axis current ( A combination of values ​​to maximize the positive virtual voltage lower limit ( ) and the total voltage on the P side ( The difference between ) . For example, controller 16 may include hardware and / or software configured to implement asymmetric voltage limit current command generator 232 to generate the P-side d-axis current The value from Scanned And based on the positive virtual machine torque command Calculate the q-axis current on the P side And found and The combination of makes maximize.

[0154] In some implementations, determining the final set of asymmetric motor current commands at step 508 includes: further based on the P-side asymmetric d-axis current ( ) and P-side asymmetric q-axis current ( The combination of values ​​determines the final set of asymmetric motor current commands to maximize the positive virtual voltage lower limit ( ). ) and the total voltage on the P side ( The difference between them. For example, this set of final asymmetric motor current commands can be based on the P-side asymmetric d-axis current ( ) and P-side asymmetric q-axis current ( The combination of values ​​of ) is used to determine the result, as described in the above formula group (66).

[0155] Method 500 also includes: at 540, based on the positive virtual voltage lower limit ( ) and the total voltage on the P side ( The difference between ) determines the total required voltage on the N side ( For example, controller 16 may include hardware and / or software configured to implement asymmetric voltage limit current command generator 232, based on a positive virtual voltage lower limit (…). ) and the total voltage on the P side ( The difference between the two sides determines the total required voltage on the N side. In some implementations, the total required voltage on the N side ( It can be calculated as described in formula (50) above.

[0156] Method 500 further includes: at 542, based on the total required voltage on the N side ( Determine the total current on the N side ( The range of values ​​for ). For example, controller 16 may include hardware and / or software configured to implement asymmetric voltage limit current command generator 232, based on the total required voltage on the N side ( Determine the total current on the N side ( The range of values ​​for ). In some implementations, the total current on the N side ( The range of values ​​for ) can be calculated as described in formulas (51)-(65) above.

[0157] Method 500 further includes: at 544, based on the total current on the N side ( The range of values ​​for ) determines the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) makes the total voltage on the N side ( ) equals the total voltage required on the N side ( For example, controller 16 may include hardware and / or software configured to implement asymmetric voltage limit current command generator 232 to calculate or otherwise determine the N-side asymmetric d-axis current. ) and N-side asymmetric q-axis current ( The combination of values ​​of ) makes the total voltage on the N side ( ) equals the total voltage required on the N side ( In some implementations, the N-side asymmetric d-axis current is determined ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) makes the total voltage on the N side ( ) equals the total voltage required on the N side ( This includes: adjusting the current angle on the N side. from Scanning to determine the asymmetric N-side current The combination of makes and .

[0158] In some implementations, determining this set of final asymmetric motor current commands includes: further based on the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) determines the final asymmetrical motor current command. For example, the final asymmetrical motor current command 233 can be determined according to formula group (66).

[0159] Method 500 also includes: at 546, the maximum torque based on the symmetric operation ( , ), determine whether it can be based on the torque command ( This allows the DWSM to operate without (or without generating) asymmetric current. For example, controller 16 may include hardware and / or software configured to implement an asymmetric property determiner 230, which can determine whether the torque command ( This allows the DWSM to operate without (or without generating) asymmetrical current. In some implementations, it is possible to operate according to torque commands ( Operating the DWSM without asymmetric current may include determining any of the following conditions as described in equation (47) above: .

[0160] Method 500 also includes: at 548, based on the positive virtual voltage lower limit ( And in response to being able to respond to torque commands ( The controller 16 may operate the DWSM without (or without generating) asymmetrical current to determine a set of final symmetrical motor current commands 235. For example, the controller 16 may include hardware and / or software configured to implement a symmetrical voltage limit current command generator 234 to determine this set of final symmetrical motor current commands 235. In some embodiments, this set of final symmetrical motor current commands 235 may be calculated as described in the above formula set (49).

[0161] Method 500 further includes: at 550, determining a first final current command by applying a mathematical transformation to the set of final symmetrical motor current commands. , ) and the second final current command ( , For example, controller 16 may include hardware and / or software configured to implement inverter 236 and use the set of final symmetrical motor current commands 235. When the asymmetry property determiner 230 does not indicate the need for asymmetric current according to the torque command ( When operating the DWSM, this set of final symmetrical motor current commands 235 can be used to determine the first final current command. , ).

[0162] In some implementations, determining the final set of symmetrical motor current commands at step 548 includes: further based on the initial minimum p-side current. , This determines the final set of symmetrical motor current commands. For example, controller 16 may include hardware and / or software configured to implement the symmetrical voltage limit current command generator 234 to further determine the final set of symmetrical motor current commands based on the initial minimum p-side current ( , ) Determine the final symmetrical motor current command 235 for this group.

[0163] When the asymmetric property determiner 230 indicates that an asymmetric current is required according to the torque command ( When operating the DWSM, this set of final asymmetric motor current commands 233 can be used to determine the first final current command. , Otherwise, this set of final symmetrical motor current commands 235 can be used to determine the first final current command ( , For example, controller 16 may include hardware and / or software configured to implement inverter 236 to handle asymmetric current marking. When it takes effect, the first final current command is determined based on the final asymmetric motor current command 233. , ), indicating the need for asymmetrical current according to torque command ( The DWSM is operated. The inverter 236 can operate in asymmetric current marking. When cancelled, the first final current command is determined based on the final symmetrical motor current command 235. , ), indicating that asymmetrical current is not required to respond to torque commands ( Operate DWSM.

[0164] This disclosure provides a method for controlling a dual-winding synchronous machine (DWSM) having a first winding group and a second winding group. The method includes: determining a positive virtual voltage lower limit based on a first DC supply voltage and a second DC supply voltage. Based on the positive virtual voltage lower limit ( ), determine the maximum torque of the symmetrical operation ( , ); Maximum torque based on symmetric operation ( , ), determine that an asymmetrical current is required according to the torque command ( ) Operation of DWSM; based on the positive virtual voltage lower limit ( And in response to the need for asymmetrical current, a set of final asymmetrical motor current commands is determined; by applying mathematical transformations to this set of final asymmetrical motor current commands, a first final current command is determined. , ) and the second final current command ( , Based on the first final current command ( , The command instructs the first inverter to apply a first output voltage to the first winding group, thereby causing the first output current to be determined according to the first final current command. , ) generated in the first winding group; and based on the second final current command ( , The second inverter is commanded to apply a second output voltage to the second winding group, thereby causing the second output current to be determined according to the second final current command. , It is generated in the second winding group.

[0165] In some implementations, the first final current command is determined by applying a mathematical transformation to the set of final asymmetric motor current commands. , ) and the second final current command ( , It also includes: according to , , and Calculate the first final current command ( , ) and the second final current command ( , ),in and These are the d-axis and q-axis components of the first final current command, respectively. and These are the d-axis and q-axis components of the second final current command, respectively. and These are the d-axis and q-axis components of the positive virtual motor current command, respectively. and These are the d-axis and q-axis components of the negative virtual motor current command, respectively.

[0166] In some implementations, the method further includes: determining a negative virtual voltage limit based on the difference between a first DC supply voltage and a second DC supply voltage. Based on the negative virtual voltage limit (); ), determine the maximum torque of the negative virtual motor ( , Based on the sum of the first DC supply voltage and the second DC supply voltage, determine the upper limit of the positive virtual voltage ( ); ); based on the upper limit of positive virtual voltage ( ), determine the maximum torque of the positive virtual motor ( , ); based on the maximum torque of the negative virtual motor ( , And based on the maximum torque of the positive virtual motor ( , Determine the total peak torque capability of the DWSM. , ); and based on torque commands ( ) and DWSM's total peak torque capability ( , ), determine the torque limiting command ( In some implementations, it is determined whether an asymmetrical current is needed to meet torque commands. Operating the DWSM includes: sending a torque limiting command ( ) and the maximum torque of symmetrical operation ( , (Compare)

[0167] In some implementations, the method further includes: based on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the negative virtual machine torque command ( In some implementations, determining this final set of asymmetric motor current commands includes: further based on negative virtual machine torque commands (…). ), determine the final set of asymmetric motor current commands.

[0168] In some implementations, the method further includes: based on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( In some implementations, determining this final set of asymmetric motor current commands includes: further based on positive virtual machine torque commands (…). ), determine the final set of asymmetric motor current commands.

[0169] In some implementations, the method further includes: based on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( ); and based on positive virtual machine torque commands ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , In some implementations, determining this set of final asymmetric motor current commands includes: further based on the initial minimum p-side current. , This determines the final set of asymmetric motor current commands.

[0170] In some implementations, the method further includes: based on the initial minimum p-side current ( , ), determine the total voltage on the P side ( ); the total voltage on the P side ( ) and positive virtual voltage lower limit ( ) are compared to determine the total voltage on the P side ( Is it greater than the lower limit of the positive virtual voltage? ); and in response to determining the total voltage on the P side ( ) greater than the lower limit of positive virtual voltage ( Determine the asymmetric d-axis current on the P side ( ) and P-side asymmetric q-axis current ( A combination of values ​​to maximize the positive virtual voltage lower limit ( ) and the total voltage on the P side ( The difference between ) . In some implementations, determining this set of final asymmetric motor current commands includes: further based on the P-side asymmetric d-axis current ( ) and P-side asymmetric q-axis current ( The combination of values ​​determines the final set of asymmetric motor current commands to maximize the positive virtual voltage lower limit ( ). ) and the total voltage on the P side ( The difference between them.

[0171] In some implementations, the method further includes: based on a positive virtual voltage lower limit ( ) and the total voltage on the P side ( The difference between ) determines the total required voltage on the N side ( Based on the total required voltage on the N side ( Determine the total current on the N side ( The range of values ​​for ) and based on the total current on the N side ( The range of values ​​for ) determines the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) and makes the total voltage on the N side ( ) equals the total voltage required on the N side ( In some implementations, determining this final set of asymmetric motor current commands includes: further based on the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​determines the final set of asymmetric motor current commands.

[0172] In some implementations, the method further includes: based on the maximum torque of symmetric operation ( , ), determine whether it can be based on the torque command ( ) Operate DWSM without (or without generating) asymmetric current; based on the positive virtual voltage lower limit ( And in response to being able to respond to torque commands ( ) Operate the DWSM without (or without generating) asymmetrical current, determine a set of final symmetrical motor current commands; and determine a first final current command by applying mathematical transformations to a set of final symmetrical motor current commands. , ) and the second final current command ( , ).

[0173] In some implementations, the method further includes: based on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( ); and based on positive virtual machine torque commands ( Using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined. , In some implementations, determining a final set of symmetrical motor current commands includes: further based on the initial minimum p-side current. , Determine a set of final symmetrical motor current commands.

[0174] This disclosure also provides a system for controlling a dual-winding synchronous machine (DWSM) having a first winding group and a second winding group. The system includes: a first inverter configured to selectively conduct current from a first DC voltage source having a first DC supply voltage to apply a first output voltage to the first winding group of the DWSM; a second inverter configured to selectively conduct current from a second DC voltage source having a second DC supply voltage to apply a second output voltage to the second winding group of the DWSM; and a controller. The controller is configured to: determine a positive virtual voltage lower limit (VLV) based on the first DC supply voltage and the second DC supply voltage. Based on the positive virtual voltage lower limit ( ), determine the maximum torque of the symmetrical operation ( , ); Maximum torque based on symmetric operation ( , Determine whether (asymmetric current) is needed according to the torque command. ) Operation of DWSM; based on the positive virtual voltage lower limit ( And in response to whether asymmetric current is required, a set of final asymmetric motor current commands is determined; by applying mathematical transformations to this set of final asymmetric motor current commands, a first final current command is determined. , ) and the second final current command ( , Based on the first final current command ( , The command instructs the first inverter to apply a first output voltage to the first winding group, thereby causing the first output current to be determined according to the first final current command. , ) generated in the first winding group; and based on the second final current command ( , The second inverter is commanded to apply a second output voltage to the second winding group, thereby causing the second output current to be determined according to the second final current command. , It is generated in the second winding group.

[0175] In some implementations, this mathematical transformation is applied to the set of final asymmetric motor current commands to determine the first final current command. , ) and the second final current command ( , It also includes: according to , , and Calculate the first final current command ( , ) and the second final current command ( , ),in and These are the d-axis and q-axis components of the first final current command, respectively. and These are the d-axis and q-axis components of the second final current command, respectively. and These are the d-axis and q-axis components of the positive virtual motor current command, respectively. and These are the d-axis and q-axis components of the negative virtual motor current command, respectively.

[0176] In some implementations, the controller is also configured to: determine a negative virtual voltage limit based on the difference between a first DC supply voltage and a second DC supply voltage. Based on the negative virtual voltage limit (); ), determine the maximum torque of the negative virtual motor ( , Based on the sum of the first DC supply voltage and the second DC supply voltage, determine the upper limit of the positive virtual voltage ( ); ); based on the upper limit of positive virtual voltage ( ), determine the maximum torque of the positive virtual motor ( , ); based on the maximum torque of the negative virtual motor ( , And based on the maximum torque of the positive virtual motor ( , Determine the total peak torque capability of the DWSM. , ); and based on torque commands ( ) and DWSM's total peak torque capability ( , ), determine the torque limiting command ( In some implementations, it is determined whether an asymmetrical current is required based on the torque command. Operating the DWSM includes: sending a torque limiting command ( ) and the maximum torque of symmetrical operation ( , (Compare)

[0177] In some implementations, the controller is also configured to: base on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the negative virtual machine torque command ( In some implementations, determining this final set of asymmetric motor current commands includes: further based on negative virtual machine torque commands (…). ), determine the final set of asymmetric motor current commands.

[0178] In some implementations, the controller is also configured to: base on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( In some implementations, determining this final set of asymmetric motor current commands includes: further based on positive virtual machine torque commands (…). ), determine the final set of asymmetric motor current commands.

[0179] In some implementations, the controller is also configured to: base on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( ); and based on positive virtual machine torque commands ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , In some implementations, determining this set of final asymmetric motor current commands includes: further based on the initial minimum p-side current. , This determines the final set of asymmetric motor current commands.

[0180] In some implementations, the controller is also configured to: base its operation on the initial minimum p-side current ( , ), determine the total voltage on the P side ( ); the total voltage on the P side ( ) and positive virtual voltage lower limit ( ) are compared to determine the total voltage on the P side ( Is it greater than the lower limit of the positive virtual voltage? ); and in response to determining the total voltage on the P side ( ) greater than the lower limit of positive virtual voltage ( Determine the asymmetric d-axis current on the P side ( ) and P-side asymmetric q-axis current ( A combination of values ​​to maximize the positive virtual voltage lower limit ( ) and the total voltage on the P side ( The difference between ) . In some implementations, determining this set of final asymmetric motor current commands includes: further based on the P-side asymmetric d-axis current ( ) and P-side asymmetric q-axis current ( The combination of values ​​determines the final set of asymmetric motor current commands to maximize the positive virtual voltage lower limit ( ). ) and the total voltage on the P side ( The difference between them.

[0181] In some implementations, the controller is also configured to: base on a positive virtual voltage lower limit ( ) and the total voltage on the P side ( The difference between ) determines the total required voltage on the N side ( Based on the total required voltage on the N side ( Determine the total current on the N side ( The range of values ​​for ) and based on the total current on the N side ( The range of values ​​for ) determines the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) makes the total voltage on the N side ( ) equals the total voltage required on the N side ( In some implementations, determining this final set of asymmetric motor current commands includes: further based on the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​determines the final set of asymmetric motor current commands.

[0182] In some implementations, the controller is also configured to: base the maximum torque on symmetrical operation ( , ), determine whether it can be based on the torque command ( ) Operate DWSM without (or without generating) asymmetric current; based on the positive virtual voltage lower limit ( And in response to being able to respond to torque commands ( ) Operate the DWSM without (or without generating) asymmetrical current, determine a set of final symmetrical motor current commands; and determine a first final current command by applying mathematical transformations to a set of final symmetrical motor current commands. , ) and the second final current command ( , ).

[0183] In some implementations, the controller is also configured to: base on a limit torque command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( ); and based on positive virtual machine torque commands ( Using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined. , In some implementations, determining a final set of symmetrical motor current commands includes: further based on the initial minimum p-side current. , Determine a set of final symmetrical motor current commands.

[0184] 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.

[0185] The word “example” is used herein to indicate that something is used as an example, instance, or illustration. No aspect or design described herein as an “example” is 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 herein, the term “or” is intended to mean an inclusive “or” rather than an 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 herein and in 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 refer to the same embodiment or implementation unless specifically described as such.

[0186] 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.

[0187] 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 stand-alone 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.

[0188] Furthermore, in one aspect, for example, the system described herein can be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, implements any of the various methods, algorithms, and / or instructions described herein. Alternatively or alternatively, for example, a special-purpose computer / processor may be utilized, which may include additional hardware for implementing any of the methods, algorithms, or instructions described herein.

[0189] 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 or computer-readable storage medium 13. The computer-usable or computer-readable storage medium 13 may include any device capable of, for example, tangibly containing, storing, transmitting, or transporting a program for use by or in conjunction with any processor. This medium may be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available. When the computer program code stored on the computer-readable storage medium 13 is loaded into and executed by a computer or controller, the computer becomes an apparatus for practicing the invention. At least a portion of the embodiments of this disclosure may also be embodied in the form of computer program code as a data signal 15, for example, whether the data signal is stored in a storage medium, loaded into and / or executed by a computer or controller, or transmitted via some transmission medium (such as via a wire or cable, via optical fiber, or via electromagnetic radiation), wherein when the computer program code is loaded into and executed by the computer, the computer becomes an apparatus for practicing the invention. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.

[0190] It should be understood that, unless otherwise stated, the use of the terms first, second or other similar terms to refer to similar items is not intended to specify or imply any particular order.

[0191] 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 method for controlling a dual-winding synchronous machine (DWSM), the dual-winding synchronous machine having a first winding group and a second winding group, the method comprising: Based on the first DC supply voltage and the second DC supply voltage, determine the lower limit of the positive virtual voltage ( ); Based on the lower limit of the positive virtual voltage ( ), determine the maximum torque of the symmetrical operation ( , ); Based on the maximum torque of the symmetric operation ( , ), determine whether asymmetrical current is required according to torque command ( Operate the DWSM; Based on the lower limit of the positive virtual voltage ( And in response to whether asymmetrical current is required, a set of final asymmetrical motor current commands is determined; By applying mathematical transformations to the set of final asymmetric motor current commands, the first final current command is determined. , ) and the second final current command ( , ); Based on the first final current command ( , The command instructs the first inverter to apply a first output voltage to the first winding group, thereby causing the first output current to be determined according to the first final current command. , ) is generated in the first winding group; as well as Based on the second final current command ( , The second inverter is commanded to apply a second output voltage to the second winding group, thereby causing the second final current command to apply the second output voltage to the second winding group. , The second output current is generated in the second winding group.

2. The method according to claim 1, wherein, The first final current command is determined by applying the mathematical transformation to the set of final asymmetric motor current commands. , ) and the second final current command ( , ), also includes: according to , , and Calculate the first final current command ( , ) and the second final current command ( , ),in, and These are the d-axis and q-axis components of the first final current command, respectively. and These are the d-axis and q-axis components of the second final current command, respectively. and These are the d-axis and q-axis components of the positive virtual motor current command, respectively. and These are the d-axis and q-axis components of the negative virtual motor current command, respectively.

3. The method according to claim 1, further comprising: Based on the difference between the first DC supply voltage and the second DC supply voltage, the negative virtual voltage limit is determined ( ); Based on the negative virtual voltage limit ( ), determine the maximum torque of the negative virtual motor ( , ); Based on the sum of the first DC supply voltage and the second DC supply voltage, determine the upper limit of the positive virtual voltage ( ). ); Based on the aforementioned positive virtual voltage upper limit ( ), determine the maximum torque of the positive virtual motor ( , ); Based on the maximum torque of the negative virtual motor ( , And based on the maximum torque of the positive virtual motor ( , ), determine the total peak torque capability of the DWSM ( , );as well as Based on the torque command ( ) and the total peak torque capability of the DWSM ( , ), determine the torque limit command ( ), Among these, it is determined whether an asymmetric current is required according to the torque command ( Operating the DWSM includes: sending the limiting torque command ( ) and the maximum torque of the symmetrical operation ( , (Compare) 4. The method according to claim 3, further comprising: Based on the aforementioned torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the negative virtual machine torque command ( ),and Determining the set of final asymmetric motor current commands includes: further based on the negative virtual machine torque command ( ), determine the set of final asymmetric motor current commands.

5. The method according to claim 3, further comprising: Based on the aforementioned torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( ),and Determining the set of final asymmetric motor current commands includes: further based on the positive virtual machine torque command ( ), determine the set of final asymmetric motor current commands.

6. The method according to claim 3, further comprising: Based on the aforementioned torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( );as well as Based on the positive virtual machine torque command ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , ), Determining the set of final asymmetric motor current commands includes: further based on the initial minimum p-side current ( , ), determine the set of final asymmetric motor current commands.

7. The method according to claim 6, further comprising: Based on the initial minimum p-side current ( , ), determine the total voltage on the P side ( ); The total voltage on the P side ( ) and the lower limit of the positive virtual voltage ( ) are compared to determine the total voltage on the P side ( Is it greater than the lower limit of the positive virtual voltage? );as well as In response to determining the total voltage on the P side ( ) greater than the lower limit of the positive virtual voltage ( Determine the asymmetric d-axis current on the P side ( ) and P-side asymmetric q-axis current ( A combination of values ​​of ) to make the positive virtual voltage lower limit ( ) and the total voltage on the P side ( Maximize the difference between them. The determination of the final set of asymmetric motor current commands includes: further based on the P-side asymmetric d-axis current ( ) and P-side asymmetric q-axis current ( The combination of the values ​​of ) determines the final set of asymmetric motor current commands to make the positive virtual voltage lower limit ( ) and the total voltage on the P side ( Maximize the difference between them.

8. The method according to claim 6, further comprising: Based on the lower limit of the positive virtual voltage ( ) and the total voltage on the P side ( The difference between the two sides determines the total required voltage on the N side. ); Based on the total required voltage on the N side ( Determine the total current on the N side ( The range of values ​​for ); as well as Based on the total current on the N side ( The range of the values ​​of ) determines the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) and makes the total voltage on the N side ( ) equals the total required voltage on the N side ( ), The determination of the final set of asymmetric motor current commands includes: further based on the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of the values ​​of ) determines the final set of asymmetric motor current commands.

9. The method according to claim 1, further comprising: Based on the maximum torque of the symmetric operation ( , ), determine whether it is possible to determine according to the torque command ( Operate the DWSM without asymmetric current; Based on the lower limit of the positive virtual voltage ( And in response to being able to respond to the torque command ( Operate the DWSM without asymmetrical current to determine a set of final symmetrical motor current commands; as well as By applying the mathematical transformation to the set of final symmetrical motor current commands, the first final current command is determined. , ) and the second final current command ( , ).

10. The method of claim 9, further comprising: Based on the aforementioned torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( );as well as Based on the positive virtual machine torque command ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , ), The determination of the set of final symmetrical motor current commands includes: further based on the initial minimum p-side current ( , ), determine the set of final symmetrical motor current commands.

11. A system for controlling a dual-winding synchronous machine (DWSM), the dual-winding synchronous machine having a first winding group and a second winding group, the system comprising: A first inverter, configured to selectively conduct current from a first DC voltage source having a first DC supply voltage, thereby applying a first output voltage to the first winding group of the DWSM; A second inverter, configured to selectively conduct current from a second DC voltage source having a second DC supply voltage, thereby applying a second output voltage to the second winding group of the DWSM; as well as The controller is configured to: Based on the first DC supply voltage and the second DC supply voltage, determine the lower limit of the positive virtual voltage ( ); Based on the lower limit of the positive virtual voltage ( ), determine the maximum torque of the symmetrical operation ( , ); Based on the maximum torque of the symmetric operation ( , ), determine whether asymmetrical current is required according to torque command ( Operate the DWSM; Based on the lower limit of the positive virtual voltage ( And in response to whether asymmetrical current is required, a set of final asymmetrical motor current commands is determined; By applying mathematical transformations to the set of final asymmetric motor current commands, the first final current command is determined. , ) and the second final current command ( , ); Based on the first final current command ( , The first inverter is commanded to apply the first output voltage to the first winding group, thereby causing the first final current command to apply the first output voltage to the first winding group. , The first output current is generated in the first winding group; as well as Based on the second final current command ( , The second inverter is commanded to apply the second output voltage to the second winding group, thereby causing the second final current command to apply the second output voltage to the second winding group. , A second output current is generated in the second winding group.

12. The system according to claim 11, wherein, The first final current command is determined by applying the mathematical transformation to the set of final asymmetric motor current commands. , ) and the second final current command ( , ), also includes: according to , , and Calculate the first final current command ( , ) and the second final current command ( , ),in, and These are the d-axis and q-axis components of the first final current command, respectively. and These are the d-axis and q-axis components of the second final current command, respectively. and These are the d-axis and q-axis components of the positive virtual motor current command, respectively. and These are the d-axis and q-axis components of the negative virtual motor current command, respectively.

13. The system according to claim 11, wherein, The controller is also configured to: Based on the difference between the first DC supply voltage and the second DC supply voltage, the negative virtual voltage limit is determined ( ); Based on the negative virtual voltage limit ( ), determine the maximum torque of the negative virtual motor ( , ); Based on the sum of the first DC supply voltage and the second DC supply voltage, determine the upper limit of the positive virtual voltage ( ). ); Based on the aforementioned positive virtual voltage upper limit ( ), determine the maximum torque of the positive virtual motor ( , ); Based on the maximum torque of the negative virtual motor ( , And based on the maximum torque of the positive virtual motor ( , ), determine the total peak torque capability of the DWSM ( , );as well as Based on the torque command ( ) and the total peak torque capability of the DWSM ( , ), determine the torque limit command ( ), Among these, it is determined whether an asymmetric current is required according to the torque command ( Operating the DWSM includes: sending the limiting torque command ( ) and the maximum torque of the symmetrical operation ( , (Compare) 14. The system according to claim 13, wherein, The controller is also configured to: based on the torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the negative virtual machine torque command ( ),and Determining the set of final asymmetric motor current commands includes: further based on the negative virtual machine torque command ( ), determine the set of final asymmetric motor current commands.

15. The system according to claim 13, wherein, The controller is also configured to: based on the torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( ),and Determining the set of final asymmetric motor current commands includes: further based on the positive virtual machine torque command ( ), determine the set of final asymmetric motor current commands.

16. The system according to claim 13, wherein, The controller is also configured to: Based on the aforementioned torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( );as well as Based on the positive virtual machine torque command ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , ), Determining the set of final asymmetric motor current commands includes: further based on the initial minimum p-side current ( , ), determine the set of final asymmetric motor current commands.

17. The system according to claim 16, wherein, The controller is also configured to: Based on the initial minimum p-side current ( , ), determine the total voltage on the P side ( ); The total voltage on the P side ( ) and the lower limit of the positive virtual voltage ( ) are compared to determine the total voltage on the P side ( Is it greater than the lower limit of the positive virtual voltage? );as well as In response to determining the total voltage on the P side ( ) greater than the lower limit of the positive virtual voltage ( Determine the asymmetric d-axis current on the P side ( ) and P-side asymmetric q-axis current ( A combination of values ​​of ) to make the positive virtual voltage lower limit ( ) and the total voltage on the P side ( Maximize the difference between them. The determination of the final set of asymmetric motor current commands includes: further based on the P-side asymmetric d-axis current ( ) and P-side asymmetric q-axis current ( The combination of the values ​​of ) determines the final set of asymmetric motor current commands to make the positive virtual voltage lower limit ( ) and the total voltage on the P side ( Maximize the difference between them.

18. The system according to claim 16, wherein, The controller is also configured to: Based on the lower limit of the positive virtual voltage ( ) and the total voltage on the P side ( The difference between the two sides determines the total required voltage on the N side. ); Based on the total required voltage on the N side ( Determine the total current on the N side ( The range of values ​​for ) and Based on the total current on the N side ( The range of the values ​​of ) determines the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of values ​​of ) and the total voltage on the N side ( ) equals the total required voltage on the N side ( ), The determination of the final set of asymmetric motor current commands includes: further based on the N-side asymmetric d-axis current ( ) and N-side asymmetric q-axis current ( The combination of the values ​​of ) determines the final set of asymmetric motor current commands.

19. The system according to claim 11, wherein, The controller is also configured to: Based on the maximum torque of the symmetric operation ( , ), determine whether it is possible to determine according to the torque command ( Operate the DWSM without asymmetric current; Based on the lower limit of the positive virtual voltage ( And in response to being able to respond to the torque command ( Operate the DWSM without asymmetrical current to determine a set of final symmetrical motor current commands; as well as By applying the mathematical transformation to the set of final symmetrical motor current commands, the first final current command is determined. , ) and the second final current command ( , ).

20. The system according to claim 19, wherein, The controller is also configured to: Based on the aforementioned torque limiting command ( ) and the maximum torque of the positive virtual motor ( , ), determine the positive virtual machine torque command ( );as well as Based on the positive virtual machine torque command ( ) and using the maximum torque per ampere (MTPA) technique, the initial minimum p-side current was determined ( , ), The determination of the set of final symmetrical motor current commands includes: further based on the initial minimum p-side current ( , ), determine the set of final symmetrical motor current commands.

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