DEVICE AND METHOD FOR DETECTING AN ANORMAL INDUCTIVITY OF A SYNCHRONOUS MOTOR WITH EMBEDDED PERMANENT MAGNET

Abstract

A device and a method for detecting the abnormal inductance of the IPM synchronous motor are disclosed, wherein, since it can be confirmed whether a motor parameter used to control a current IPM synchronous motor is normal by using an anti-windup forward coupling, it is possible to set a more accurate motor parameter so that a maximum performance of the IPM synchronous motor can be shown and torque ripple and noise generated by an inaccurate motor parameter can be prevented.

Description

[0001] This application claims priority to Korean Patent Application No. 10-2023-0076555, filed with the Korean Intellectual Property Office on June 15, 2023. TECHNICAL FIELD

[0002] The present invention relates to an apparatus and method for detecting abnormal inductance of an embedded permanent magnet (IPM) synchronous motor, and more particularly to an apparatus and method for controlling an operation of the IPM synchronous motor. BACKGROUND

[0003] Torque control of a motor requires precise motor parameters. If the parameters are inaccurate, the desired motor performance cannot be achieved. In particular, the motor parameters are more important in a weak magnetic flux control section, and if the parameters are inaccurate, a problem arises in that noise is accompanied by torque ripple. SUMMARY

[0004] It is an object of the present invention to provide an apparatus and a method for detecting abnormal inductance of an interior permanent magnet (IPM) synchronous motor, which detects the abnormal inductance of the IPM synchronous motor using anti-windup feedforward.

[0005] Other objects of the present invention not explicitly described may additionally be included within the scope which can be easily derived from the following detailed description and its effects.

[0006] To achieve the technical problem, an embodiment of the present invention provides an apparatus for detecting abnormal inductance of an interior permanent magnet (IPM) synchronous motor, comprising: an IPM synchronous motor; and a control circuit that controls an operation of the IPM synchronous motor and detects abnormal inductance of the IPM synchronous motor using anti-windup feedforward.

[0007] Here the IPM synchronous motor can be a 3-phase IPM synchronous motor.

[0008] Here, the control circuit determines whether a control inductance, which is a parameter of the IPM synchronous motor used for torque control of the IPM synchronous motor, is equal to an actual inductance of the IPM synchronous motor to detect whether the control inductance is abnormal.

[0009] Here, the control circuit can determine whether the control inductance is equal to the actual inductance by using an error value detected based on an anti-windup q-axis voltage and an anti-windup d-axis voltage.

[0010] Here, the control circuit detects the error value by subtracting the anti-windup d-axis voltage from the anti-windup q-axis voltage and compares an absolute value of the error value and a predetermined threshold to determine whether the control inductance is equal to the actual inductance.

[0011] Here, the control circuit can determine that the control inductance is not equal to the actual inductance when the absolute value of the error value is greater than the threshold value to detect that the control inductance is abnormal, and determine that the control inductance is equal to the actual inductance when the absolute value of the error value is equal to or less than the threshold value to detect that the control inductance is normal.

[0012] Here, the control circuit can detect the anti-windup q-axis voltage based on a d-axis voltage and a q-axis feedforward voltage, and detect the anti-windup d-axis voltage based on a q-axis voltage and a d-axis feedforward voltage.

[0013] Here, the control circuit can detect the q-axis feedforward voltage based on a stator resistance, a q-axis current command, an electrical angular velocity, a torque constant, an actual d-axis inductance, and a d-axis current command, and detect the d-axis feedforward voltage based on the stator resistance, the d-axis current command, the electrical angular velocity, an actual q-axis inductance, and the q-axis current command.

[0014] Here, the control circuit can detect the anti-windup q-axis voltage using [Equation 1] and the anti-windup d-axis voltage using [Equation 2], and [Equation 1] can Vq_Ant=Ub−Vde−Vq_FF be, V q_Ant can represent the anti-windup q-axis voltage, U b can be a battery voltage V DC represent, Vde can represent the d-axis voltage, and V q_FF can represent the q-axis feedforward voltage, and [Equation 2] can Vd_Ant=Ub−Vqe−Vd_FF be, V d_Ant can represent the anti-windup d-axis voltage, Vqe can represent the q-axis voltage, and V d_FF can represent the d-axis feedforward voltage.

[0015] Here, the control circuit can adjust the q-axis feedforward voltage V q_FF using [Equation 3] and the d-axis feedforward voltage V d_FF using [Equation 4], and [Equation 3] can Vq_FF=(Rsiqe*)+(ωr(Ke−Ldide*)) be, R S can represent the stator resistance, iqe* can represent the q-axis current command, ω rcan represent the electrical angular velocity, Ke can represent the torque constant, L d can represent the actual d-axis inductance, and idea* can represent the d-axis current command, and [Equation 4] can Vd_FF=(Rside*)+(ωrLqiqe*) be, and L q can represent the actual q-axis inductance.

[0016] To achieve the technical problem, another embodiment of the present invention provides a method for detecting an abnormal inductance of an IPM synchronous motor, which is performed by an IPM synchronous motor abnormal inductance detecting apparatus including an IPM synchronous motor and a control circuit, comprising: performing torque control of the IPM synchronous motor; and detecting an abnormal inductance of the IPM synchronous motor using anti-windup feedforward.

[0017] Here the IPM synchronous motor can be a 3-phase IPM synchronous motor.

[0018] Here, when detecting, it can be determined whether a control inductance, which is a parameter of the IPM synchronous motor used for torque control of the IPM synchronous motor, is equal to an actual inductance of the IPM synchronous motor, so as to detect whether the control inductance is abnormal.

[0019] Here, during sensing, it can be determined whether the control inductance is equal to the actual inductance by using an error value acquired based on an anti-windup q-axis voltage and an anti-windup d-axis voltage.

[0020] Here, when detecting, the error value is detected by subtracting the anti-windup d-axis voltage from the anti-windup q-axis voltage, and an absolute value of the error value and a predetermined threshold are compared to determine whether the control inductance is equal to the actual inductance.

[0021] Here, when detecting, when the absolute value of the error value is greater than the threshold value, it is determined that the control inductance is not equal to the actual inductance to detect that the control inductance is abnormal, and when the absolute value of the error value is equal to or less than the threshold value, it is determined that the control inductance is equal to the actual inductance to detect that the control inductance is normal.

[0022] Here, when sensing, the anti-windup q-axis voltage can be detected based on a d-axis voltage and a q-axis feedforward voltage, and the anti-windup d-axis voltage can be detected based on a q-axis voltage and a d-axis feedforward voltage.

[0023] Here, when sensing, the q-axis feedforward voltage can be detected based on a stator resistance, a q-axis current command, an electrical angular velocity, a torque constant, an actual d-axis inductance, and a d-axis current command, and the d-axis feedforward voltage can be detected based on the stator resistance, the d-axis current command, the electrical angular velocity, an actual q-axis inductance, and the q-axis current command.

[0024] Here, in the detection, the anti-windup q-axis voltage can be detected using [Equation 1] and the anti-windup d-axis voltage can be detected using [Equation 2], and [Equation 1] can Vq_Ant=Ub−Vde−Vq_FF be, V q_Ant can represent the anti-windup q-axis voltage, U b can be a battery voltage V DC represent, Vde can represent the d-axis voltage, and V q_FF can represent the q-axis feedforward voltage, and [Equation 2] can Vd_Ant=Ub−Vqe−Vd_FF be, V d_Ant can represent the anti-windup d-axis voltage, Vqe can represent the q-axis voltage, and V d_FF can represent the d-axis feedforward voltage.

[0025] Here, the q-axis feedforward voltage . V q_FF using [Equation 3] and the d-axis feedforward voltage V d_FF using [Equation 4], and [Equation 3] can Vq_FF=(Rsiqe*)+(ωr(Ke−Ldide*)) be, R S can represent the stator resistance, iqe* can represent the q-axis current command, ω rcan represent the electrical angular velocity, Ke can represent the torque constant, L d can represent the actual d-axis inductance, and idea* can represent the d-axis current command, and [Equation 4] can Vd_FF=(Rside*)+(ωrLqiqe*) be, and L q can represent the actual q-axis inductance.

[0026] According to the apparatus and method for detecting the abnormal inductance of the IPM synchronous motor according to embodiments of the present disclosure, since it can be confirmed whether a motor parameter used to control a current IPM synchronous motor is normal using an anti-windup feedforward, it is possible to set a more accurate motor parameter so that maximum performance of the IPM synchronous motor can be exhibited and torque ripple and noise generated by an inaccurate motor parameter can be prevented.

[0027] The effects of the present disclosure are not limited to the above-mentioned effect, and other effects not mentioned above will become apparent to one of ordinary skill in the art from the following disclosure.

[0028] The foregoing summary is merely illustrative and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, other aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram for describing an apparatus for detecting abnormal inductance of an IPM synchronous motor according to an embodiment of the present disclosure. Fig. 2 is a diagram for describing a control circuit having an anti-windup feedforward according to an embodiment of the present disclosure. Fig. 3 is a diagram describing an anti-windup coupling that Fig. 2 illustrated feedforward coupling. Fig. 4 is a diagram illustrating an anti-windup simulation result when an inductance is normal, according to an embodiment of the present disclosure. Fig. 5 is a diagram illustrating a TN curve simulation result when the inductance is normal according to an embodiment of the present disclosure. Fig. 6 is a diagram illustrating an anti-windup simulation result when the inductance is abnormal, according to an embodiment of the present disclosure. Fig. 7 is a diagram illustrating a TN curve simulation result when the inductance is abnormal according to an embodiment of the present disclosure. Fig. 8 is a flowchart for describing a method for detecting abnormal inductance of an IPM synchronous motor according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. The illustrative embodiments described in the detailed description, drawings, and claims are not intended to be limiting. Other embodiments may be utilized and other changes may be made without departing from the spirit or scope of the subject matter presented herein.

[0030] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Advantages and features of the present disclosure and methods for achieving the same will become more clearly understood from embodiments described in detail below with reference to the accompanying drawings. However, the present disclosure is not limited to the embodiments set forth below and may be embodied in various different forms. The embodiments are only intended to make the disclosure of the present disclosure complete and are set forth to provide a thorough understanding of the scope of the invention to one of ordinary skill in the technical field to which the present disclosure relates, and the present disclosure is defined only by the scope of the claims.Throughout the description, the same reference numerals refer to the same elements.

[0031] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used with the meaning commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in commonly used dictionaries should not be interpreted in an idealized or exaggerated sense unless explicitly and specifically defined.

[0032] In this specification, the terms "first," "second," and the like are used to distinguish a particular component from other components, but the scope should not be construed as limited by the terms. For example, a first component may be referred to as a second component, and similarly, the second component may be referred to as the first component.

[0033] In this description, reference numerals (e.g., a, b, c, etc.) are used for each step to simplify the description. These reference numerals are not used to describe the order of the steps, and unless otherwise noted, they may occur in a different order than the order given. That is, the respective steps may be performed in a similar manner to the order given, performed substantially concurrently, or performed in an opposite order.

[0034] In this description, expressions such as "have", "may have", "contain" or "may include", etc., imply the presence of the corresponding characteristics (e.g., components such as numerical value, function, operation, or element), and do not exclude the presence of an additional characteristic.

[0035] The term "unit" disclosed in the specification refers to software and hardware components such as a field-programmable gate array (FPGA) or ASIC, and the "unit" performs predetermined roles. However, the "unit" is not a meaning limited to software or hardware. The "unit" may be configured to reside on an addressable storage medium and may be configured to represent one or more processors. Accordingly, the "unit" includes, as an example, components such as software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data structures, and variables.Functions provided in the components and “units” can be combined into a smaller number of components and “units” or further separated into additional components and “units”.

[0036] Hereinafter, embodiments of an apparatus and a method for detecting abnormal inductance of an IPM synchronous motor according to the present disclosure will be described in detail with reference to the accompanying drawings.

[0037] First, the apparatus for detecting the abnormal inductance of the IPM synchronous motor according to the embodiment of the present disclosure will be described with reference to the Fig. 1 to Fig. 7 described.

[0038] Fig. 1 is a block diagram for describing an apparatus for detecting abnormal inductance of an IPM synchronous motor according to an embodiment of the present disclosure, Fig. 2 is a diagram for describing a control circuit including an anti-windup feedforward according to an embodiment of the present disclosure, Fig. 3 is a diagram for describing an anti-windup including the Fig. 2 illustrated feedforward coupling, Fig. 4 is a diagram illustrating an anti-windup simulation result when an inductance is normal according to an embodiment of the present disclosure, Fig. 5 is a diagram illustrating a TN curve simulation result when the inductance is normal according to an embodiment of the present disclosure, Fig. 6 is a diagram illustrating an anti-windup simulation result when the inductance is abnormal according to an embodiment of the present disclosure, and Fig. 7 is a diagram illustrating a TN curve simulation result when the inductance is abnormal according to an embodiment of the present disclosure.

[0039] With reference to Fig. 1, the embedded permanent magnet (IPM) synchronous motor abnormal inductance detection apparatus 100 according to an exemplary embodiment of the present disclosure may detect the abnormal inductance of the IPM synchronous motor using anti-windup feedforward.

[0040] That is, the present disclosure proposes a method for determining whether an inductance value, which is a motor parameter used for control, is equal to an actual inductance of the IPM synchronous motor when the IPM synchronous motor is driven by torque control. In other words, the present disclosure proposes a method that adds a voltage feedforward of a current regulator in a weak magnetic flux control section to determine whether an inductance of the IPM synchronous motor is normal according to a change in the value. As a result, according to the present disclosure, it can be confirmed whether a motor parameter used to control an actual IPM synchronous motor is normal.

[0041] For this purpose, the abnormal inductance detection device 100 may include an IPM synchronous motor 110 and a control circuit 120.

[0042] Here the IPM synchronous motor 110 can be a 3-phase IPM synchronous motor.

[0043] In addition, the control circuit 120 may control an operation of the IPM synchronous motor 110 and detect the abnormal inductance of the IPM synchronous motor 110 using the anti-windup feedforward.

[0044] That is, the control circuit 120 determines whether a control inductance, which is a parameter of the IPM synchronous motor 110 used for torque control of the IPM synchronous motor 110, is equal to an actual inductance of the IPM synchronous motor 110 to detect whether the control inductance is abnormal.

[0045] For this purpose, the control circuit 120 may determine whether the control inductance is equal to the actual inductance by using an error value detected based on an anti-windup q-axis voltage and an anti-windup d-axis voltage.

[0046] In this case, the control circuit 120 detects the error value by subtracting the anti-windup d-axis voltage from the anti-windup q-axis voltage and compares an absolute value of the error value and a predetermined threshold value (0.4, etc.) to determine whether the control inductance is equal to the actual inductance. That is, if the absolute value of the error value is greater than the threshold value, the control circuit 120 determines that the control inductance is not equal to the actual inductance to detect that the control inductance is abnormal. Conversely, if the absolute value of the error value is equal to or less than the threshold value, the control circuit 120 determines that the control inductance is equal to the actual inductance to detect that the control inductance is normal.

[0047] As mentioned with reference to Fig. 2 and Fig. 3 in more detail, a current regulator block of the control circuit 120 can provide current control of the current commands idea* and iqe* which are generated according to a torque command T* by a current command generation block.

[0048] The control circuit 120 may detect the error value using an anti-windup method (clamping method) including feedforward feedback through the current regulator block.

[0049] That is, the control circuit 120 can detect the anti-windup q-axis voltage based on a d-axis voltage and a q-axis feedforward voltage. That is, the control circuit 120 can detect the anti-windup q-axis voltage using [Equation 1]. Vq_Ant=Ub−Vde−Vq_FF

[0050] Here V represents q_Ant the anti-windup q-axis voltage. U b represents a battery voltage VDC . Vde represents the d-axis voltage V q_FF represents the q-axis feedforward voltage.

[0051] The control circuit 120 may detect the anti-windup d-axis voltage based on a q-axis voltage and a d-axis feedforward voltage. That is, the control circuit 120 may detect the anti-windup d-axis voltage using [Equation 2]. Vd_Ant=Ub−Vqe−Vd_FF

[0052] Here V represents d_Ant the anti-windup d-axis voltage. Vqe represents the q-axis voltage. V d_FF represents the d-axis feedforward voltage.

[0053] Here, the control circuit 120 can detect the q-axis feedforward voltage based on a stator resistance, a q-axis current command, an electrical angular velocity, a torque constant, an actual d-axis inductance, and a d-axis current command. That is, the control circuit 120 can determine the q-axis feedforward voltage V q_FF using [Equation 3]. Vq_FF=(Rsiqe*)+(ωr(Ke−Ldide*))

[0054] Here R represents s the stator resistance. iqe* represents the q-axis current command ω r represents the electrical angular velocity. Ke represents the torque constant L d represents the actual d-axis inductance. idea* represents the d-axis current command.

[0055] Here, the control circuit 120 can detect the d-axis feedforward voltage based on the stator resistance, the d-axis current command, the electrical angular velocity, the actual q-axis inductance, and the q-axis current command. That is, the control circuit 120 can determine the d-axis feedforward voltage V d_FF using [Equation 4]. Vd_FF=(Rside*)+(ωrLqiqe*)

[0056] Here L represents q the actual q-axis inductance.

[0057] The control circuit 120 can be the error value. L dq_err using [Equation 5]. Ldq_err=Vq_Ant−Vd_Ant

[0058] The control circuit 120 compares the error value L dq_errand a predetermined threshold value to confirm whether the control inductance of the IPM synchronous motor 110 is abnormal, that is, the accuracy of the control inductance. For example, if the control inductance used to control the IPM synchronous motor 110 is normal, it can be confirmed that the error value L dq_err is almost 0, as in Fig. 4, and it can be confirmed that the control is performed excellently up to 3000 rpm including weak magnetic flux control as shown in Fig. 5. On the other hand, when the control inductance used to control the IPM synchronous motor 110 is abnormal (a d-axis control inductance is normal and a q-axis control inductance is abnormal), a value corresponding to approximately 2.5 is used as the error value L dq_err issued as in Fig. 6, so that the control inductance used to control the IPM synchronous motor 110 should be reset, and it can be confirmed that a current is not excellently followed from a point where the weak magnetic flux control is started, as shown in Fig. 7 shown.

[0059] Then, the method for detecting the abnormal inductance of the IPM synchronous motor according to the embodiment of the present disclosure will be described with reference to Fig. 8 described.

[0060] Fig. 8 is a flowchart for describing a method for detecting abnormal inductance of an IPM synchronous motor according to an embodiment of the present disclosure.

[0061] With reference to Fig. 8, the abnormal inductance detecting device 100 may perform torque control (S110).

[0062] That is, the abnormal inductance detection device 100 can perform torque control of the IPM synchronous motor 110 using a maximum torque and a maximum speed of the IPM synchronous motor 110 with respect to a motor side to be controlled. For example, the abnormal inductance detection device 100 can perform torque control of the IPM synchronous motor 110 on a load machine side by sweeping from 0 rpm to the maximum rpm (including the weak magnetic flux control range) through a ramp using the maximum speed of the IPM synchronous motor 110.

[0063] Then, the abnormal inductance detecting apparatus 100 may detect an abnormal inductance of the IPM synchronous motor 110 using anti-windup feedforward (S120).

[0064] That is, the abnormal inductance detecting device 100 determines whether a control inductance, which is a parameter of the IPM synchronous motor 110 used for torque control of the IPM synchronous motor 110, is equal to an actual inductance of the IPM synchronous motor 110 to detect whether the control inductance is abnormal.

[0065] For this purpose, the abnormal inductance detection device 100 may determine whether the control inductance is equal to the actual inductance by using an error value detected based on an anti-windup q-axis voltage and an anti-windup d-axis voltage.

[0066] In this case, the abnormal inductance detection device 100 detects the error value by subtracting the anti-windup d-axis voltage from the anti-windup q-axis voltage, and compares an absolute value of the error value and a predetermined threshold value (0.4, etc.) to determine whether the control inductance is equal to the actual inductance. That is, if the absolute value of the error value is greater than the threshold value, the abnormal inductance detection device 100 determines that the control inductance is not equal to the actual inductance to detect that the control inductance is abnormal. Conversely, if the absolute value of the error value is equal to or less than the threshold value, the abnormal inductance detection device 100 determines that the control inductance is equal to the actual inductance to detect that the control inductance is normal.

[0067] Specifically, the abnormal inductance detection device 100 may detect the anti-windup q-axis voltage based on a d-axis voltage and a q-axis feedforward voltage. That is, the abnormal inductance detection device 100 may detect the anti-windup q-axis voltage using [Equation 1].

[0068] The abnormal inductance detection device 100 can detect the anti-windup d-axis voltage based on a q-axis voltage and a d-axis feedforward voltage. That is, the abnormal inductance detection device 100 can detect the anti-windup d-axis voltage using [Equation 2].

[0069] Here, the abnormal inductance detection device 100 can detect the q-axis feedforward voltage based on a stator resistance, a q-axis current command, an electrical angular velocity, a torque constant, an actual d-axis inductance, and a d-axis current command. That is, the abnormal inductance detection device 100 can detect the q-axis feedforward voltage using [Equation 3].

[0070] The abnormal inductance detection device 100 can detect the d-axis feedforward voltage based on the stator resistance, the d-axis current command, the electrical angular velocity, the actual q-axis inductance, and the q-axis current command. That is, the abnormal inductance detection device 100 can detect the d-axis feedforward voltage using [Equation 4].

[0071] The abnormal inductance detecting device 100 can detect the error value using [Equation 5].

[0072] The abnormal inductance detecting device 100 compares the error value and the predetermined threshold value (0.4, etc.) to confirm whether the control inductance of the IPM synchronous motor 110 is abnormal, that is, the accuracy of the control inductance.

[0073] Thereafter, if the control inductance is normal (S130-Y), the abnormal inductance detecting device 100 may stop an operation.

[0074] That is, when the absolute value of the error value is equal to or less than the threshold value, the abnormal inductance detecting device 100 can determine that the control inductance is normal because the control inductance, which is the motor parameter used to control the IPM synchronous motor 110, matches the actual inductance.

[0075] On the contrary, if the control inductance is abnormal (S130-N), the abnormal inductance detecting apparatus 100 may adjust the actual inductance (S140) and perform steps S110 to S130 again.

[0076] That is, if the absolute value of the error value is greater than the threshold, the abnormal inductance detection device 100 may determine that the control inductance is abnormal because the control inductance, which is the motor parameter used to control the IPM synchronous motor 110, does not match the actual inductance. Additionally, the abnormal inductance detection device 100 may change the actual inductance and adjust the actual inductance and perform the detection process in steps S110 to S130 again.

[0077] Although it is described above that all the components constituting the embodiment of the present disclosure are coupled as a single unit or are coupled to operate as a single unit, the present disclosure is not necessarily limited to the embodiment. That is, among the components, one or more components may be selectively coupled to operate within the scope of the object of the present disclosure. Furthermore, each of all the components may be implemented as independent hardware, but some or all of the respective components are selectively combined to be implemented as a computer program having a program module that performs some or all of the functions combined with one or a plurality of hardware. Furthermore, the computer program is stored in computer-readable media including a USB memory, a CD disk, a flash memory, etc.and read and executed by a computer to implement the embodiments of the present disclosure. Recording media of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

[0078] The above description only illustrates the technical spirit of the present disclosure, and various changes, modifications, and substitutions can be made by those skilled in the art to which the present disclosure pertains without departing from an essential feature of the present disclosure. Therefore, the embodiments and the accompanying drawings disclosed in the present disclosure are used to describe, not limit, the technical spirit of the present disclosure, and the scope of the technical spirit of the present disclosure is not limited by the embodiments and the accompanying drawings.The scope of the present disclosure should be interpreted based on the following appended claims, and it is understood that the technical spirit contained in the scope equivalent to the claims belongs to the scope of the present disclosure.

[0079] From the foregoing, it should be understood that various embodiments of the present disclosure have been described herein for purposes of illustration, and that various modifications may be made without departing from the scope and spirit of the present disclosure. Accordingly, the various embodiments disclosed herein are not intended to be limiting, with the true scope and spirit being indicated by the following claims. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] KR 10-2023-0076555

[0001]

Claims

[1] An apparatus for detecting an abnormal inductance of an interior permanent magnet (IPM) synchronous motor, the apparatus comprising: an IPM synchronous motor; and a control circuit that controls an operation of the IPM synchronous motor and detects an abnormal inductance of the IPM synchronous motor using anti-windup feedforward. [2] The apparatus of claim 1, wherein the IPM synchronous motor is a 3-phase IPM synchronous motor. [3] The apparatus according to claim 2, wherein the control circuit determines whether a control inductance, which is a parameter of the IPM synchronous motor used for torque control of the IPM synchronous motor, is equal to an actual inductance of the IPM synchronous motor to detect whether the control inductance is abnormal. [4] The apparatus of claim 3, wherein the control circuit determines whether the control inductance is equal to the actual inductance by using an error value detected based on an anti-windup q-axis voltage and an anti-windup d-axis voltage. [5] The apparatus of claim 4, wherein the control circuit detects the error value by subtracting the anti-windup d-axis voltage from the anti-windup q-axis voltage and compares an absolute value of the error value and a predetermined threshold to determine whether the control inductance is equal to the actual inductance. [6] The device according to claim 5, wherein the control circuit determines, when the absolute value of the error value is greater than the threshold value, that the control inductance is not equal to the actual inductance to detect that the control inductance is abnormal, and determines, when the absolute value of the error value is equal to or less than the threshold value, that the control inductance is equal to the actual inductance to detect that the control inductance is normal. [7] The device according to any one of claims 4 to 6, wherein the control circuit detects the anti-windup q-axis voltage based on a d-axis voltage and a q-axis feedforward voltage, and detects the anti-windup d-axis voltage based on a q-axis voltage and a d-axis feedforward voltage. [8] The apparatus of claim 7, wherein the control circuit detects the q-axis feedforward voltage based on a stator resistance, a q-axis current command, an electrical angular velocity, a torque constant, an actual d-axis inductance, and a d-axis current command, and detects the d-axis feedforward voltage based on the stator resistance, the d-axis current command, the electrical angular velocity, an actual q-axis inductance, and the q-axis current command. [9] The apparatus of claim 8, wherein the control circuit detects the anti-windup q-axis voltage using [Equation 1] and detects the anti-windup d-axis voltage using [Equation 2] and Vq_Ant=Ub−Vde−Vq_FF V q_Ant represents the anti-windup q-axis voltage, U b a battery voltage V DC represents, Vde represents the d-axis voltage, and V q_FF represents the q-axis feedforward voltage, and Vd_Ant=Ub−Vqe−Vd_FF V d_Ant represents the anti-windup d-axis voltage, Vqe represents the q-axis voltage, and V d_FF represents the d-axis feedforward voltage. [10] The apparatus of claim 9, wherein the control circuit controls the q-axis feedforward voltage V q_FF using [Equation 3], and the d-axis feedforward voltage V d_FF using [Equation 4], and Vq_FF=(Rsiqe*)+(ωr(Ke−Ldide*)) is, R s represents the stator resistance, iqe* represents the q-axis current command, ω r represents the electrical angular velocity, Ke represents the torque constant, L d represents the actual d-axis inductance, and idea* represents the d-axis current command, and Vd_FF=(Rside*)+(ωrLqiqe*) is, and L q represents the actual q-axis inductance. [11] A method for detecting abnormal inductance performed by an apparatus for detecting abnormal inductance of an IPM synchronous motor including an IPM synchronous motor and a control circuit, the method comprising: Performing torque control of the IPM synchronous motor; and Detecting abnormal inductance of IPM synchronous motor using anti-windup feedforward. [12] The method of claim 11, wherein the IPM synchronous motor is a 3-phase IPM synchronous motor. [13] The method according to claim 12, wherein the detecting step comprises determining whether a control inductance, which is a parameter of the IPM synchronous motor used for torque control of the IPM synchronous motor, is equal to an actual inductance of the IPM synchronous motor to detect whether the control inductance is abnormal. [14] The method of claim 13, wherein the detecting step includes determining whether the control inductance is equal to the actual inductance using an error value detected based on an anti-windup q-axis voltage and an anti-windup d-axis voltage. [15] The method of claim 14, wherein the detecting step comprises detecting the error value by subtracting the anti-windup d-axis voltage from the anti-windup q-axis voltage and comparing an absolute value of the error value and a predetermined threshold to determine whether the control inductance is equal to the actual inductance. [16] The method according to claim 15, wherein in the detecting, when the absolute value of the error value is greater than the threshold value, it is determined that the control inductance is not equal to the actual inductance to detect that the control inductance is abnormal, and when the absolute value of the error value is equal to or less than the threshold value, it is determined that the control inductance is equal to the actual inductance to detect that the control inductance is normal. [17] The method of claim 14 to 16, wherein in detecting, the anti-windup q-axis voltage is detected based on a d-axis voltage and a q-axis feedforward voltage, and the anti-windup d-axis voltage is detected based on a q-axis voltage and a d-axis feedforward voltage. [18] The method of claim 17, wherein the detecting comprises detecting the q-axis feedforward voltage based on a stator resistance, a q-axis current command, an electrical angular velocity, a torque constant, an actual d-axis inductance, and a d-axis current command, and detecting the d-axis feedforward voltage based on the stator resistance, the d-axis current command, the electrical angular velocity, an actual q-axis inductance, and the q-axis current command. [19] The method of claim 18, wherein the detecting comprises detecting the anti-windup q-axis voltage using [Equation 1] and the anti-windup d-axis voltage is detected using [Equation 2] and Vq_Ant=Ub−Vde−Vq_FF is, V q_Ant represents the anti-windup q-axis voltage, U b the battery voltage V DC represents, Vde represents the d-axis voltage, and V q_FF represents the q-axis feedforward voltage, and Vd_Ant=Ub−Vqe−Vd_FF is, V d_Ant represents the anti-windup d-axis voltage, Vqe represents the q-axis voltage, and V d_FF represents the d-axis feedforward voltage. [20] The method of claim 19, wherein in detecting the q-axis feedforward voltage V q_FF is captured using [Equation 3], and the d-axis feedforward voltage V d_FF is captured using [Equation 4], Vq_FF=(Rsiqe*)+(ωr(Ke−Ldide*)) is, R s represents the stator resistance, iqe* represents the q-axis current command, ω r represents the electrical angular velocity, Ke represents the torque constant, L d represents the actual d-axis inductance, and idea* represents the d-axis current command, and Vd_FF=(Rside*)+(ωrLqiqe*) is, and L q represents the actual q-axis inductance.

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