Active control of the current supply dynamics for synchronous motor drives

Abstract

Engine control system, including: a processor (205); and a memory containing instructions which, when executed by the processor (205), cause the processor (205) to: a current supply limit for an electric motor is determined; receives a power supply from the electric motor, wherein the power supply includes an estimated power supply, wherein the power supply is received by an observer who estimates the power supply using a model of a power supply circuit configured to power the electric motor; identified one or more engine commands; sets one or more motor commands in response to a detection that the current supply is greater than the current supply limit; and selectively controls the electric motor using one or more preset motor commands.

Description

CROSS-REFERENCES TO RELATED APPLICATIONS

[0001] This patent application claims priority to U.S. Provisional Patent Application Serial No. 62 / 754,130, filed November 1, 2018, which is incorporated herein by reference in its entirety. BACKGROUND

[0002] Vehicles such as cars, trucks, sport utility vehicles, crossovers, minivans, or other suitable vehicles increasingly include various electric motor drives for operating or driving various features of the vehicle, such as windshield wipers, power windows, vehicle propulsion, and so on. Power management in a typical electric motor drive is achieved by controlling a limit of the supply current the electric motor drive draws from a power source. Controlling the supply current limit may involve actively predicting a supply current draw for the electric motor drive for a given operating condition and then changing a motor torque or a current command of the electric motor drive accordingly. Such control of the electric motor drive may be referred to as feedforward control or model-based control.

[0003] Due to the complexity of a mathematical model used to describe an electric motor control system, this feedforward or model-based control approach can be relatively complex and therefore burdensome to the associated computational resources when executed, especially in a time-constrained environment such as real-time or essentially real-time. Furthermore, as the complexity of such electric motor drives increases, dynamic properties are typically ignored in such approaches, partly due to the increasing complexity.

[0004] DE 697 07 265 T2 discloses a controller for an electric power steering system that limits the current for a motor based on a current limit function that depends on a vehicle speed, wherein the current supplied to the electric motor is measured by a current sensor. DE 10 2016 123 741 A1 teaches a method for detecting a mechanical blockage during operation of an electric motor, in which a current supplied to the electric motor is measured, a rotational speed of the electric motor or a voltage induced in the stator coil of the electric motor is determined, and the measured current and the determined rotational speed or induced voltage are combined to form a characteristic value that indicates the mechanical blockage.DE 10 2017 121 554 A1 discloses a device for monitoring a brake motor, wherein a monitoring section measures state information of a brake motor, in particular a supplied current, using sensors. The brake motor comprises an electric motor and a braking device. Based on the measured state information and a control signal from a brake motor control unit, a state of the braking device is determined, and the control current supplied to the braking device is adjusted. SUMMARY

[0005] It is an object underlying the invention to provide an improved engine control system and an improved method for engine control and an improved steering system.

[0006] This problem is solved by the subject matter of the independent claims.

[0007] This disclosure generally relates to active control of current supply dynamics for closed-loop synchronous motor drives.

[0008] One aspect of the disclosed embodiments includes a motor control system. The motor control system includes a processor and memory. The memory includes instructions that, when executed by the processor, cause the processor to: determine a current supply limit for an electric motor; receive a current supply of the electric motor, the current supply including an estimated current supply, the current supply received from an observer that estimates the current supply using a model of a power supply circuit configured to power the electric motor; identify one or more motor commands; adjust the one or more motor commands in response to a determination that the current supply is greater than the current supply limit; and selectively control the electric motor using the adjusted one or more motor commands.

[0009] Another aspect of the disclosed embodiments includes a method for motor control. The method includes determining a current supply limit for an electric motor. The method also includes receiving a current supply of the electric motor, wherein the current supply includes an estimated current supply, wherein the current supply is received from an observer that estimates the current supply using a model of a power supply circuit configured to power the electric motor. The method also includes identifying one or more motor commands. The method also includes adjusting the one or more motor commands based on the current supply and the current supply limit. The method also includes selectively controlling the electric motor using the adjusted one or more motor commands.

[0010] Another aspect of the disclosed embodiments includes a steering system. The steering system includes a synchronous motor drive, a processor, and a memory. The synchronous motor drive is associated with a vehicle. The processor is in communication with the synchronous motor drive and is configured to selectively control the synchronous drive.The memory includes instructions that, when executed by the processor, cause the processor to: determine a current supply limit for the synchronous motor drive; receive a current supply of the synchronous motor drive, the current supply including an estimated current supply, the current supply received from an observer that estimates the current supply using a model of a power supply circuit configured to power the synchronous motor drive; actively generate a torque limit based on the current supply limit in response to a determination that the current supply is greater than the current supply limit; and selectively control the synchronous motor drive using the torque limit.

[0011] These and other advantages and features will become more apparent from the following description taken in conjunction with the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The disclosure is best understood from the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, in accordance with common practice, the various features of the drawings are not to scale. On the contrary, the dimensions of the various features are arbitrarily enlarged or reduced for clarity. Fig. 1 generally illustrates an exemplary steering system according to the principles of the present disclosure. Fig. 2 generally illustrates a block diagram of an exemplary control loop for active energy management according to the principles of the present disclosure. Fig. 3 generally illustrates a current control structure with a torque command as the control signal according to the principles of the present disclosure. Fig. 4 generally illustrates an exemplary processor according to the principles of the present disclosure. Fig. 5 is a flowchart illustrating an engine control method according to the principles of the present disclosure. DETAILED DESCRIPTION

[0013] The following discussion relates to various embodiments of the disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be construed or otherwise used to limit the scope of the disclosure, including the claims. Moreover, those skilled in the art will understand that the following description has broad application, and the discussion of one embodiment is intended to be exemplary of that embodiment only and not to suggest that the scope of the disclosure, including the claims, is limited to that embodiment.

[0014] As described, vehicles such as cars, trucks, sport utility vehicles, crossovers, minivans, or other suitable vehicles increasingly include various electric motor drives for operating or driving various features of the vehicle, including windshield wipers, power windows, vehicle propulsion, and so on. Power management in a typical electric motor drive is achieved by controlling a limit on the current the electric motor drive draws from a power source. Controlling the current limit may involve actively predicting a current draw for the electric motor drive for a given operating condition and thereafter changing a motor torque or current command of the electric motor drive accordingly. Such control of the electric motor drive may be referred to as feedforward control or model-based control.

[0015] Due to the complexity of a mathematical model used to describe an electric motor control system, this feedforward or model-based control approach can be relatively complex and therefore burdensome for the associated computational resources when executed, especially in finite time, such as real-time or essentially real-time. Furthermore, as the complexity of such electric motor drives increases, dynamic properties are typically ignored in such approaches, partly due to the increasing complexity. In addition to these technical challenges, the feedforward and model-based control approaches lack sensitivity to parameter estimation errors (e.g., sometimes referred to as modeling uncertainty).

[0016] Now with reference to the figures in which the technical solutions are described with reference to specific embodiments, without limiting them, Fig. 1 generally illustrates an electric power steering (EPS) system 40 in accordance with the principles of the present disclosure. The EPS system 40 includes a steering mechanism 36. The steering mechanism 36 may include a rack and pinion system. The steering mechanism 36 may include a toothed rack disposed within a housing 50 and a pinion gear disposed generally beneath a transmission housing 52.

[0017] The EPS system 40 includes an operator input 26. The operator input 26 may include a steering wheel, such as a handwheel and the like, or other suitable input. When the operator input 26, hereinafter referred to as the steering wheel 26, is rotated (e.g., turned), an upper steering shaft 29 rotates (e.g., is turned) and a lower steering shaft 51, which is connected or in mechanical communication with the upper steering shaft 29 via a universal joint 34, rotates the pinion gear (e.g., turns). The rotation of the pinion gear moves the steering rack, causing one or more tie rods 38 to move. The movement of the rack causes movement of the steering knuckles 39, which rotates (e.g., turns) one or more steerable wheels 44.

[0018] In some embodiments, electric power steering assistance is provided by a controller, generally designated by reference numeral 24. Controller 24 includes a controller 16 and an electric machine 46. Electric machine 46 may include a permanent magnet synchronous motor or other suitable electric machine. Electric machine 46 is referred to hereinafter as motor 46.

[0019] In some embodiments, a vehicle power supply 10 may be configured to supply power (e.g., electrical energy or other suitable energy) to the controller 16. For example, the vehicle power supply 10 may be connected to the controller 16 via a line 12. The vehicle power supply 10 may supply electrical energy to the controller 16 via the line 12.

[0020] In some embodiments, the controller 16 may receive a vehicle speed signal 14. For example, a vehicle speed sensor 17 may be configured to detect or measure a vehicle speed of the vehicle. The vehicle speed sensor 17 may generate the vehicle speed signal 14 and / or transmit it to the controller 16.

[0021] In some embodiments, a position sensor 32 may be configured to measure or detect a steering angle. The position sensor 32 may include an optical encoder sensor, a variable resistance sensor, or another suitable type of position sensor. The position sensor 32 may generate and / or transmit a position signal 20 to the controller 16. The position signal 20 may be representative of the steering angle.

[0022] In some embodiments, an engine speed may be measured with a tachometer or other device. The tachometer may transmit an engine speed signal 21 to the controller 16. The engine speed signal 21 may be representative of the engine speed. An engine speed (ω m ) can be measured, calculated, or determined by a combination of these. For example, the engine speed ω m as a change in a motor position θ, measured by the position sensor 32, over a predetermined period of time. The motor speed ω m can be determined as the derivative of the motor position θ from the equation: ωm=Δθ / Δt

[0023] Where Δt is the sampling time and Δθ is the position change during the sampling time. Additionally or alternatively, the motor speed can be derived from the motor position as the time rate of position change. It should be noted that there are numerous known methods for performing the function of a derivative.

[0024] When the steering wheel 26 is rotated (e.g., turned), the torque sensor 28 detects torque applied to the steering wheel 26 by a vehicle operator. The torque sensor 28 may include a torsion bar and a variable resistance sensor that outputs a variable torque signal 18 to the controller 16 related to the amount of axial rotation applied to the torsion bar. It should be understood that, although only limited examples are listed herein, the torque sensor 28 may include any suitable torque sensing device used with known signal processing techniques. In response to the various inputs, the controller 16 generates and communicates a command 22 to the electric motor 46. The electric motor 46 may be configured to provide torque assist to the steering system through a worm 47 and worm gear 48, which may provide torque assistance to the vehicle's steering.

[0025] It should be understood that while the disclosed embodiments are described with reference to a motor control for electric steering applications, it should be noted that these references are illustrative only, and the disclosed embodiments may be applied to any motor control application that utilizes an electric motor, e.g., steering, valve control, and the like. Furthermore, the references and descriptions contained herein may apply to many forms of parameter sensors, including, but not limited to, torque, position, speed, and the like. Furthermore, it should be understood that when reference is made herein to electric machines, including, but not limited to, motors, hereinafter, for brevity and simplicity, reference will be made only to motors without limitation.

[0026] In some embodiments, the controller 16 may use torque, position, speed, and the like to generate one or more commands to provide the desired output power of the electric machine 46. For example, the controller 16 may communicate with the various systems and sensors of the engine control system. The controller 16 may receive various signals from each of the sensors. The controller 16 may be configured to obtain quantified information about the received signals. The controller 16 may provide one or more output command signals in response to the quantified information. For example, the controller 16 may provide one or more output commands to the engine 46.

[0027] In some embodiments, the controller 16 is configured to develop one or more corresponding voltages from an inverter. In some embodiments, the inverter may be integrated into the controller 16 so that, when applied to the motor 46, a desired torque or position is generated.

[0028] In some embodiments, controller 16 may be configured to operate in a feedback control mode (e.g., as a current regulator) and generate command 22. In some embodiments, controller 16 may be configured to operate in a feedforward control mode to generate command 22. In some embodiments, command 22 may be determined (e.g., by controller 16) as described based on the position and / or speed of motor 46 and / or the desired torque (e.g., because the voltages associated with command 22 relate to the position and speed of motor 46 and the desired torque). For example, controller 16 may determine the position and / or speed of the rotor and the torque applied by a vehicle operator.

[0029] In some embodiments, a position sensor may be connected to a steering shaft 51. The position sensor may be configured to detect an angular position θ. The position sensor may detect a rotational position based on optical detection, magnetic field fluctuations, other methods, or a combination thereof. Typical position sensors include potentiometers, resolvers, synchros, encoders, and the like, as well as combinations that include at least one of the foregoing. The position sensor outputs a position signal 20 indicating the angular position of the steering shaft 51 and thus that of the motor 46.

[0030] The controller 16 may be configured to determine the desired torque using one or more torque sensors 28 that transmit torque signals 18 indicative of applied torque. In some embodiments, such a torque sensor 28 may generate one or more torque signals 18 therefrom and respond to a device including a compliant torsion bar, T-bar, spring, or similar device configured to provide a response indicative of the applied torque.

[0031] In some embodiments, one or more temperature sensors 23 may be disposed on or near the motor 46. The temperature sensor 23 may be configured to directly or indirectly measure a temperature of a sensing portion of the motor 46. The temperature sensor 23 is configured to communicate a temperature signal 25 to the controller 16 (e.g., to enable the processing and compensation described herein). The one or more temperature sensors 23 may include thermocouples, thermistors, thermostats, other suitable sensors, or a combination thereof. The one or more temperature sensors 23, when suitably disposed on or near the motor 46, may provide a calibratable signal proportional to a particular temperature.

[0032] The position signal 20, the speed signal 21, and, among others, one or more torque signals 18 are transmitted to the controller 16 as described. The controller 16 uses all input signals to generate values ​​corresponding to each of the signals, resulting in a rotor position value, a motor speed value, and a torque value (which may be used, for example, as described herein). The various measurement signals as described herein may be linearized, compensated, and filtered (for example, by the controller 16 or other suitable device) to improve the characteristics or eliminate undesirable characteristics of the various signals received by the controller 16. For example, the various signals may be linearized to improve processing speed or to achieve a wide dynamic range of the signal.Additionally or alternatively, frequency- or time-dependent compensation and filtering can be used to eliminate noise or avoid undesirable spectral properties.

[0033] To perform the described functions and the desired processing and associated calculations (e.g., identification of engine parameters, control algorithms, and the like), the controller 16 may include, without limitation, one or more processors, one or more computers, one or more digital signal processors (DSPs), memory, mass storage, one or more registers, timers, one or more interrupts, one or more communication interfaces, one or more input / output signal interfaces, and the like, or a combination thereof. For example, the controller 16 may include input signal processing and filtering to enable accurate sampling and conversion or capture of such signals from communication interfaces. Additional features of the controller 16 and certain processes therein are explained in detail herein.

[0034] In some embodiments, the technical solutions described herein enable a closed-loop or feedback approach to limiting supply current (e.g., energy management). It should be understood that although the technical solutions are described herein using embodiments of a steering system, the technical solutions are applicable to any other motor control system used in a different application, such as motor pumps, industrial belts, and various such applications.

[0035] As described herein, energy management in electric motor drives is typically performed by controlling the limit on the current the system draws from a power source. This control (e.g., sometimes referred to as limiting) is performed by actively predicting a current draw for the motor drive for a given operating condition and then changing a motor torque or one or more motor drive current commands accordingly. Due to the complexity of a mathematical model used to describe an electric motor control system, this feedforward or model-based control approach can be relatively complex and therefore burdensome on associated computational resources, particularly when executed in a finite time, such as real-time or substantially real-time.Furthermore, as the complexity of such electric motor drives continues to increase, dynamic properties are typically ignored in such approaches, partly due to the increasing complexity. In addition to these technical challenges, the feedforward control approach and the model-based control approach lack sensitivity to parameter estimation errors (e.g., sometimes referred to as modeling uncertainty).

[0036] The technical solutions described herein address the technical challenges described herein. In some embodiments, a measurement of the supply current is used to actively perform the limiting. This measurement can be acquired or measured by a direct sensor or by an observer who reconstructs the signal using the model of the drive system's power supply circuit. It should be understood that this is not a typical closed-loop control system using a feedback or tracking problem, but rather a conditional controller. Furthermore, the technical solutions described herein, according to some embodiments, improve the tunability and implementation of the conditional controller for joint supply and regenerative current limiting.

[0037] The active control of the current or energy of the power supply by means of feedback is not a tracking control problem, but an anti-windup problem. As generally Fig. 2, for the purposes of this discussion, it is assumed that the dynamics of the engine torque control lie within the linear operating range. However, the technical solutions described herein are applicable under all operating conditions, as one skilled in the art will readily recognize.

[0038] The dynamics of torque control can be simplified (as will be described later), which can make it possible to consider all electric motor drives (e.g., for brushed DC motors, synchronous motors, etc.), regardless of how torque control is achieved. The controller is then implemented to actively generate a torque limit Tl that limits the base torque command. Note that only positive supply currents and torques are considered here; however, an extension of the technical solutions described herein that can operate with the negative side is straightforward. If the base torque command exceeds the limit, the torque saturation block becomes active. If the current supply limit Is * is greater than the measured or estimated supply current Is, the current supply regulator block is inactive and is only activated when the latter exceeds the former.

[0039] When both the torque block and the current supply block are active, the closed loop block diagram can be drawn as shown in Fig. 3. Since the boundaries are active, the block equations can be described as follows: Tl=Lsclsf∗−Lsmls Tf∗=Tl Te=HeTf∗ ls=CdVd+CeTe

[0040] As can be seen, the control loop operates linearly under the boundary conditions. These equations can lead to the following equations in the closed control loop. ls=CdVd+CeTe=CdVd+CeHeTf∗=CdVd+CeHeTl=CdVd+CeHe(Lsclsf∗−Lsmls)(1+CeHeLsm)ls=CdVd+CeHeLsclsf∗ Accordingly, in this case the transfer function of the closed control loop becomes: Mn=lslsf∗=CeHeLsc1+CeHeLsm

[0041] Although an integrator can be used within the current supply controller block to track step commands, the following controller structure can be used to address the technical challenges described herein. Lsc=Lsm=KiS

[0042] The above controller performs optimally when the control loop operates linearly. Furthermore, the analytical treatment of the controller design allows the controller to be designed and tuned appropriately. However, a technical challenge arises when the linear operation of the above control ends. For example, note that the torque limit is not active even though the current supply limit is active. In this case, the output of the current supply controller can be completely ignored, resulting in an undesirable controller windup situation, so an anti-windup controller is required for this situation. Next, consider the situation where the supply current is below a predetermined limit. In this situation, the controller output is infinite (i.e., the base torque command is not limited at all). Again, integrator windup can be avoided, if necessary, by using suitable control blocks.However, if the error is simply set to zero, the integrator is unable to bring the true input, and thus the output, into steady-state values ​​under this condition. In the simplest case, the error can remain unlimited. In this case, the closed-loop transfer functions can be described as follows: Tl=Ls(lsf∗−ls)−Kta(Tf∗−Tl) ls=CdVd+CeHeTf∗Tf∗=(CeHe)−1(ls−CdVd) Tf∗−Tl=1CeHels−CdCeHeVd−Ls(lsf∗ls)−Kta(Tf∗−Tl) (1+Kta)(Tf∗−Tl)=(1CeHe+Ls)ls−CdCeHeVd−Lslsf∗ ls=CeHeLs1+CeHeLslsf∗+Cd1+CeHeLsVd+CeHe(1+Kta)1+CeHeLs(Tf∗−Tl)

[0043] Some of the embodiments disclosed herein may include further anti-windup feedback from a saturation block at the output of the integrator, which regulates the output to the unlimited torque command Tc. In this case, the new equations may be written as follows: Tl=Ls(lsf∗−ls)−Kta(Tf∗−Tl)−Kia(Tl−T′l)

[0044] This gives the controller additional flexibility and dynamic tunability for control purposes.

[0045] It should be noted that although the above description is provided for the case where the control signal is considered a torque command, other embodiments in which the control signal is chosen as a motor current or voltage command can also be designed. Furthermore, there is no restriction on the form of the control signal; that is, the control signal is not limited to a torque, current, or voltage limit and can instead be a scaling factor (e.g.,) for the motor current command, which is further limited from zero to one. In this way, the output of the current supply controller becomes a scalar between zero and one, which reduces the current command when the actual current is above the current limit.

[0046] The technical solutions described herein enable limiting the current supply or power consumption by modifying the motor torque or motor currents using a measurement or estimation of the current supply (the estimation is a closed-loop estimation) and limiting the current supply or power consumption.

[0047] Fig. Figure 4 generally illustrates a communication device 200 according to the principles of the present disclosure. The communication device 200 may include a computer, such as a server, a laptop computer, a tablet computer, a telephone, and the like. The communication device 200 may be configured as one or more of the Fig. 3, such as the user devices 110, the data correction device 120, the data acquisition device 130, or a combination thereof.

[0048] The communication device 200 includes, among other things, a processor 205, a memory 210 coupled to a memory controller 215, and one or more input devices 245 and / or output devices 240, such as peripheral or control devices, communicatively coupled via a local I / O controller 235. These devices 240 and 245 may include, for example, battery sensors, position sensors (altimeter, accelerometer, GPS), indicator / identification lights, and the like. Input devices such as a conventional keyboard 250 and a mouse 255 may be coupled to the I / O controller 235. The I / O controller 235 may, for example, be one or more buses or other wired or wireless connections as are known in the art. The I / O controller 235 may include additional elements omitted for simplicity, such asControllers, buffers (caches), drivers, repeaters and receivers to enable communication.

[0049] The I / O devices 240, 245 may further include devices that communicate both inputs and outputs, for example, disk and tape storage, a network interface card (NIC) or modulator / demodulator (for accessing other files, devices, systems, or a network), a radio frequency (RF) or other transceiver, a telephone interface, a bridge, a router, and the like.

[0050] Processor 205 includes a hardware device for executing hardware or software instructions, particularly those stored in memory 210. Processor 205 may be a custom or commercially available processor, a central processing unit (CPU), an auxiliary processor among multiple processors associated with communication device 200, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, or other device for executing instructions. Processor 205 includes a cache 270, which may include, among other things, an instruction cache for accelerating the retrieval of executable instructions, a data cache for accelerating the retrieval and storage of data, and a translation lookaside buffer (TLB) for accelerating virtual-to-physical address translation for both executable instructions and data.The cache 270 may be organized as a hierarchy of multiple cache levels (L1, L2, etc.).

[0051] The memory 210 may include one or more volatile memory elements (e.g., random access memory, RAM, such as DRAM, SRAM, SDRAM) and non-volatile memory elements (e.g., ROM, erasable programmable read-only memory (EPROM), electronically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), tapes, compact disc read-only memory (CD-ROM), disks, floppy disks, cartridges, cassettes, or the like). In addition, the memory 210 may include electronic, magnetic, optical, or other types of storage media. It should be noted that the memory 210 may have a distributed architecture in which various components are remotely located but accessible by the processor 205.

[0052] The instructions in memory 210 may include one or more separate programs, each of which comprises an ordered collection of executable instructions for implementing logical functions. In the example of Fig. 2, the instructions in memory 210 include a suitable operating system (OS) 211. The operating system 211 can essentially control the execution of other computer programs and provides scheduling, input / output control, file and data management, memory management, communication control, and related services.

[0053] Additional data, including, for example, instructions for processor 205 or other retrievable information, may be stored in mass storage 220, which may be a storage device such as a hard disk drive or a solid state drive. The instructions stored in memory 210 or mass storage 220 may include those that enable the processor to perform one or more aspects of the systems and methods described herein.

[0054] The communication device 200 may further include a display controller 225 coupled to a user interface or display 230. In some embodiments, the display 230 may be an LCD screen. In other embodiments, the display 230 may include a plurality of LED status lights. In some embodiments, the communication device 200 may further include a network interface 260 for coupling to a network 265. The network 265 may be an IP-based network for communication between the communication device 200 and an external server, client, and the like via a broadband connection. In one embodiment, the network 265 may be a satellite network. The network 265 sends and receives data between the communication device 200 and external systems. In some embodiments, the network 265 may be a managed IP network managed by a service provider.Network 265 may be implemented wirelessly, for example, using wireless protocols and technologies such as WiFi, WiMax, satellite, or others. Network 265 may also be a packet-switched network, such as a local area network, a wide area network, a metropolitan area network, the Internet, or another similar type of network environment. Network 265 may be a fixed wireless network, a wireless local area network (LAN), a wireless wide area network (WAN), a personal area network (PAN), a virtual private network (VPN), an intranet, or other suitable network system, and may include devices for receiving and transmitting signals.

[0055] In some embodiments, the communication device 200 and / or the controller 16 may perform the methods described herein. However, the methods described herein performed by the communication device 200 and / or the controller 16 are not intended to be limiting, and any type of software executing on a controller may perform the methods described herein without departing from the scope of this disclosure. For example, a processor executing software within a computing device may perform the methods described herein.

[0056] Fig.5 is a flowchart generally illustrating a motor control method 500 according to the principles of the present disclosure. At 502, the method 500 determines a current supply limit. For example, the device 200 and / or the controller 16 may determine a current supply limit for an electric motor. At 504, the method 500 receives a current supply. For example, the device 200 and / or the controller 16 may receive a current supply of the electric motor. In some embodiments, the current supply may include a measured current supply and may be received from a sensor configured to measure a current supply of the electric motor. In some embodiments, the current supply includes an estimated current supply and is received from an observer who estimates the current supply using a model of a power supply circuit configured to power the electric motor.At 506, method 500 identifies one or more motor commands. For example, device 200 and / or controller 16 may identify one or more motor commands. In some embodiments, the one or more motor commands include one or more torque commands for the electric motor, one or more current commands for the electric motor, one or more other suitable commands, or a combination thereof.

[0057] At 508, method 500 adjusts the one or more motor commands. For example, device 200 and / or controller 16 may adjust the one or more motor commands based on the current supply and the current supply limit. For example, the current supply limit may be a positive current. Device 200 and / or controller 16 may adjust the one or more motor commands in response to a determination that the current supply is greater than the current supply limit. In some embodiments, the systems described herein may include regenerative current supply. For example, the current supply limit may be negative. Device 200 and / or controller 16 may be configured to actively control the current supply limit when the current supply is less (e.g., more negative) than the current supply limit.Accordingly, the device 200 and / or the controller 16 may adjust the one or more motor commands in response to a determination that the current supply is less than the current supply limit.

[0058] At 510, method 500 controls the electric motor with the one or more set motor commands. For example, device 200 and / or controller 16 may selectively control the electric motor via the one or more set motor commands. In some embodiments, device 200 and / or controller 16 may selectively control the electric motor with the one or more motor commands when it is determined that the current supply is less than the current supply limit (e.g., when the current supply limit is positive). In some embodiments, device 200 and / or controller 16 may selectively control the electric motor with the one or more motor commands when it is determined that the current supply is less than the current supply limit (e.g., when the current supply limit is negative). In some embodiments, device 200 and / or controller 16 may actively generate a torque limit.The device 200 and / or the controller 16 may limit a base torque command based on the torque limit.

[0059] In some embodiments, a motor control system includes a processor and memory. The memory contains instructions that, when executed by the processor, cause the processor to: determine a current limit for an electric motor; receive a current of the electric motor; identify one or more motor commands; adjust the one or more motor commands in response to a determination that the current is greater than the current limit; and selectively control the electric motor using the adjusted one or more motor commands.

[0060] In some embodiments, the current supply includes a measured current supply. In some embodiments, the current supply is received from a sensor configured to measure a current supply of the electric motor. In some embodiments, the current supply includes an estimated current supply. In some embodiments, the current supply is received from an observer who estimates the current supply based on a model of a power supply circuit configured to power the electric motor. In some embodiments, the one or more motor commands include one or more torque commands provided to the electric motor. In some embodiments, the one or more motor commands include one or more current commands provided to the electric motor.In some embodiments, the instructions further cause the processor to actively generate a torque limit and limit a base torque command based on the torque limit. In some embodiments, the instructions further cause the processor to selectively control the electric motor with one or more motor commands when it is determined that the current supply is not greater than the current supply limit.

[0061] In some embodiments, a method for motor control includes determining a current supply limit for an electric motor. The method also includes receiving a current supply of the electric motor. The method also includes identifying one or more motor commands. The method also includes adjusting the one or more motor commands based on the current supply and the current supply limit. The method also includes selectively controlling the electric motor using the adjusted one or more motor commands.

[0062] In some embodiments, the current supply includes a measured current supply. In some embodiments, the current supply is received from a sensor configured to measure a current supply of the electric motor. In some embodiments, the current supply includes an estimated current supply. In some embodiments, the current supply is received from an observer who estimates the current supply based on a model of a power supply circuit configured to power the electric motor. In some embodiments, the one or more motor commands include one or more torque commands provided to the electric motor. In some embodiments, the one or more motor commands include one or more current commands provided to the electric motor.In some embodiments, the method also includes actively generating a torque limit and limiting a base torque command based on the torque limit. In some embodiments, the method also includes selectively controlling the electric motor using the one or more motor commands in response to a determination that the current supply is not greater than the current supply limit. In some embodiments, the current supply limit is positive. In some embodiments, the current supply limit is negative.

[0063] In some embodiments, a steering system includes a synchronous motor drive, a processor, and memory. The synchronous motor drive is associated with a vehicle. The processor is in communication with the synchronous motor drive and configured to selectively control the synchronous motor drive. The memory includes instructions that, when executed by the processor, cause the processor to: determine a current supply limit for the synchronous motor drive; receive a current supply of the synchronous motor drive; actively generate a torque limit based on the current supply limit in response to a determination that the current supply is greater than the current supply limit; and selectively control the synchronous motor drive using the torque limit.

[0064] In some embodiments, the steering system further includes a sensor configured to: measure the current supply of the synchronous motor drive and communicate the current supply to the processor.

[0065] The present technical solutions may be a system, a method, and / or a computer program product at any possible level of technical detail of integration. The computer program product may include one or more computer-readable storage media with computer-readable program instructions for causing a processor to execute aspects of the present technical solutions.

[0066] Aspects of the present technical solutions are described herein with reference to flowchart illustrations and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the technical solutions. It is understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, may be implemented by computer-readable program instructions.

[0067] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present technical solutions. In this context, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions comprising one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions specified in the blocks may occur out of the order specified in the figures. For example, two consecutively shown blocks may execute substantially concurrently, or the blocks may sometimes execute in reverse order depending on their functionality.It is also to be understood that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, may be implemented by special purpose hardware-based systems that perform the specified functions or acts, or that implement combinations of special purpose hardware and computer instructions.

[0068] The above discussion is intended to illustrate the principles and various embodiments of the present disclosure. Numerous variations and modifications will become apparent to those skilled in the art once the above disclosure is fully understood. It is intended that the following claims be interpreted to encompass all such variations and modifications.

[0069] The word "example" is used herein to serve as an example, instance, or illustration. Any aspect or construction described herein as an "example" is not necessarily to be construed as preferred or advantageous over other aspects or constructions. Rather, the use of the word "example" is intended to concretely illustrate concepts. As used in this application, the term "or" is intended to mean an inclusive "or" and not an exclusive "or." That is, unless otherwise stated or clear from the context, "X includes A or B" is intended to mean all natural inclusive permutations. That is, if XA includes XB; or if X includes both A and B, then "X includes A or B" is satisfied in each of the foregoing cases.Furthermore, as used in this application and the appended claims, the terms "a / an / an" are generally to be interpreted to mean "one or more" unless otherwise specified or the context indicates that they are directed to a singular form. Furthermore, the use of the term "a single implementation" or "an implementation" throughout is not intended to imply the same embodiment or implementation unless described as such.

[0070] Implementations of the systems, algorithms, methods, instructions, etc. described herein may be realized in hardware, software, or any combination thereof. The hardware may include, for example, computers, 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" is to be understood to include all of the foregoing hardware, either individually or in combination. The terms "signal" and "data" are used interchangeably.

[0071] As used herein, the term module can include a bundled functional hardware unit configured for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), processing circuitry configured to perform a specific function, and a standalone hardware or software component connected to a larger system. For example, a module can include an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gates, and other types of hardware, or a combination thereof. In other embodiments, a module can include memory that stores instructions executable by a controller to implement a function of the module.

[0072] Furthermore, for example, in one aspect, the systems described herein may be implemented with a general-purpose computer or general-purpose processor having a computer program that, when executed, performs any of the corresponding methods, algorithms, and / or instructions described herein. Additionally or alternatively, for example, a special-purpose computer / processor may be used, which may include other hardware for performing any of the methods, algorithms, or instructions described herein.

[0073] Furthermore, all or part of the implementations of the present disclosure may be in the form of a computer program product, accessible, for example, from a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be any device that can, for example, tangibly contain, store, communicate, or transport the program for use by or in connection with a processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also available.

[0074] The above-described embodiments, implementations, and aspects have been described to facilitate a simple understanding of the present disclosure and do not limit the present disclosure. On the contrary, the disclosure is intended to cover various modifications and equivalent arrangements that fall within the scope of the appended claims, which scope should be given the broadest interpretation to cover all modifications and equivalent structures permitted by law.

Claims

[1] Engine control system comprising: a processor (205); and a memory containing instructions that, when executed by the processor (205), cause the processor (205): determines a current supply limit for an electric motor; receives a power supply of the electric motor, the power supply including an estimated power supply, the power supply being received from an observer that estimates the power supply using a model of a power supply circuit configured to power the electric motor; identifies one or more motor commands; adjusts the one or more motor commands in response to a determination that the current supply is greater than the current supply limit; and selectively controls the electric motor using the one or more set motor commands. [2] The engine control system of claim 1, wherein the current supply includes a measured current supply. [3] The motor control system of claim 2, wherein the power supply is received from a sensor configured to measure a power supply of the electric motor. [4] The motor control system of claim 1, wherein the one or more motor commands include one or more torque commands provided to the electric motor. [5] The motor control system of claim 1, wherein the one or more motor commands include one or more current commands provided to the electric motor. [6] The engine control system of claim 1, wherein the instructions further cause the processor (205) to actively generate a torque limit and limit a base torque command based on the torque limit. [7] The motor control system of claim 1, wherein the instructions further cause the processor (205) to selectively control the electric motor using the one or more motor commands in response to a determination that the current supply is not greater than the current supply limit. [8] A method for controlling an engine, comprising: Determining a current supply limit for an electric motor; Receiving a power supply of the electric motor, wherein the power supply includes an estimated power supply, wherein the power supply is received from an observer that estimates the power supply using a model of a power supply circuit configured to power the electric motor; Identifying one or more motor commands; Adjusting the one or more motor commands based on the current supply being greater than the current supply limit; and selectively controlling the electric motor using the one or more set motor commands. [9] The method of claim 8, wherein the current supply comprises a measured current supply. [10] The method of claim 9, wherein the power supply is received from a sensor configured to measure a power supply of the electric motor. [11] The method of claim 8, wherein the one or more motor commands include one or more torque commands provided to the electric motor. [12] The method of claim 8, wherein the one or more motor commands include one or more current commands provided to the electric motor. [13] The method of claim 8, wherein the current supply limit is positive. [14] The method of claim 8, wherein the current supply limit is negative. [15] Steering system comprising: a synchronous motor drive of a vehicle; a processor in communication with the synchronous motor drive and configured to selectively control the synchronous motor drive; and a memory containing instructions that, when executed by the processor, cause the processor to: a current supply limit for the synchronous motor drive is determined; receives a power supply of the synchronous motor drive, the power supply including an estimated power supply, the power supply being received from an observer that estimates the power supply using a model of a power supply circuit configured to power the synchronous motor drive; actively generates a torque limit based on the current supply limit in response to a determination that the current supply is greater than the current supply limit; and selectively controls the synchronous motor drive using the torque limit. [16] The steering system of claim 15, further comprising a sensor configured to: to measure the current supply of the synchronous motor drive; and to transmit the power supply to the processor (205).

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