阅读说明：本技术 同步电动机驱动器中的参数不平衡的检测 (Detection of parameter imbalance in synchronous motor drives ) 是由 P·普拉莫德 于 2020-11-27 设计创作，主要内容包括：一种用于检测同步电动机驱动器中的不平衡的方法,所述方法包括读取输出电压信号并且从输出电压信号中提取参数不平衡的特征。参数不平衡在同步电动机驱动器中。所述方法还包括：响应于提取参数不平衡的特征,基于由同步电动机驱动器控制的同步电动机的操作条件来识别具有参数不平衡的特定参数；以及确定同步电动机的至少一个相位,在所述至少一个相位中特定参数表现出参数不平衡。(A method for detecting imbalance in a synchronous motor drive includes reading an output voltage signal and extracting a characteristic of the parameter imbalance from the output voltage signal. The parameter imbalance is in a synchronous motor drive. The method further comprises the following steps: identifying a particular parameter having a parameter imbalance based on an operating condition of a synchronous motor controlled by a synchronous motor driver in response to extracting the feature of the parameter imbalance; and determining at least one phase of the synchronous motor in which a particular parameter exhibits a parameter imbalance.)

1. A system for detecting imbalance in a synchronous motor drive, the system comprising:

a synchronous motor controlled by the synchronous motor driver;

a processor; and

a memory comprising instructions that, when executed by the processor, cause the processor to:

reading an output voltage signal;

extracting a characteristic of a parameter imbalance from the output voltage signal, wherein the parameter imbalance is in the synchronous motor drive;

in response to extracting the feature of the parameter imbalance, identifying a particular parameter having the parameter imbalance based on an operating condition of the synchronous motor; and

determining at least one phase of the synchronous motor in which the particular parameter exhibits the parameter imbalance.

2. The system of claim 1, wherein the characteristic of the parametric imbalance corresponds to a sinusoidal portion of the output voltage signal.

3. The system of claim 1, wherein the operating condition corresponds to a speed of the synchronous motor and a current output by the synchronous motor.

4. The system of claim 1, wherein to identify the particular parameter having the parameter imbalance based on an operating condition of the synchronous motor, the instructions further cause the processor to:

determining a magnitude of the output voltage; and

identifying the particular parameter having the parameter imbalance based on an operating condition of the synchronous motor in response to the magnitude of the output voltage signal being non-zero during the operating condition.

5. The system of claim 1, wherein the particular parameter comprises one of an inductance, a resistance, or a permanent magnet flux linkage.

6. The system of claim 1, wherein the instructions further cause the processor to determine the at least one phase in real-time.

7. The system of claim 1, wherein the instructions further cause the processor to determine the at least one phase of the synchronous motor in which the particular parameter exhibits the parameter imbalance based on a phase value being unique to phase.

8. The system of claim 1, wherein the instructions further cause the processor to perform a preventative action based on the particular parameter with the parameter imbalance, the at least one phase, or both the particular parameter and the at least one phase.

9. A method for detecting an imbalance in a synchronous motor drive, the method comprising:

reading an output voltage signal;

extracting a characteristic of a parameter imbalance from the output voltage signal, wherein the parameter imbalance is in the synchronous motor drive;

in response to extracting the feature of the parameter imbalance, identifying a particular parameter having the parameter imbalance based on an operating condition of a synchronous motor controlled by the synchronous motor drive; and

determining at least one phase of the synchronous motor in which the particular parameter exhibits the parameter imbalance.

10. The method of claim 9, wherein the characteristic of the parametric imbalance corresponds to a sinusoidal portion of the output voltage signal.

11. The method of claim 9, wherein the operating condition corresponds to a speed of the synchronous motor and a current output by the synchronous motor.

12. The method of claim 9, wherein identifying the particular parameter having the parameter imbalance based on the operating condition of the synchronous motor further comprises:

determining an amplitude of the output voltage signal; and

identifying the particular parameter having the parameter imbalance based on the operating condition of the synchronous motor in response to the magnitude of the output voltage signal being non-zero during the operating condition.

13. The method of claim 9, wherein the particular parameter comprises one of inductance, resistance, or permanent magnet flux linkage.

14. The method of claim 9, further comprising determining the at least one phase in real time.

15. The method of claim 9, further comprising: determining the at least one phase of the synchronous motor in which the particular parameter exhibits the parameter imbalance based on phase values being unique to phase.

16. The method of claim 9, further comprising: performing a preventative action based on the particular parameter having the parameter imbalance, the at least one phase, or based on both the particular parameter and the at least one phase.

17. An electronic device, the electronic device comprising:

a processor; and

a memory comprising instructions that, when executed by the processor, cause the processor to:

reading an output voltage signal;

extracting a characteristic of a parameter imbalance from the output voltage signal, wherein the parameter imbalance is in a synchronous motor drive;

in response to extracting the feature of the parameter imbalance, identifying a particular parameter having the parameter imbalance based on an operating condition of a synchronous motor controlled by the synchronous motor drive; and

determining at least one phase of the synchronous motor in which the particular parameter has the parameter imbalance.

18. The electronic device of claim 17, wherein the characteristic of the parametric imbalance corresponds to a sinusoidal portion of the output voltage signal.

19. The electronic device of claim 17, wherein the operating condition corresponds to a speed of the synchronous motor and a current output by the synchronous motor.

20. The electronic device of claim 17, wherein to identify the particular parameter having the parameter imbalance based on an operating condition of the synchronous motor, the instructions further cause the processor to:

determining an amplitude of the output voltage signal; and

identifying the particular parameter having the parameter imbalance based on the operating condition of the synchronous motor in response to the magnitude of the output voltage signal being non-zero during the operating condition.

Technical Field

The present disclosure relates to electric motors, and more particularly to systems and methods for detecting parameter imbalances in synchronous motor drives.

Background

Motor drive applications utilizing synchronous machines may be susceptible to parameter imbalances during manufacturing and/or during operation. However, some requirements and/or regulations dictate that certain machines meet minimum part-to-part variation. For example, high performance motion control applications that are sensitive to noise, vibration and acoustic harshness (particularly performance motion control applications involving mass production, such as Electric Power Steering (EPS)) need to meet the following requirements: the machine is specified to meet minimum part-to-part variation. A synchronous motor drive subject to such requirements may exhibit parameter imbalances that are difficult to meet.

Disclosure of Invention

The present disclosure relates generally to detection of parameter imbalance in synchronous motor drives.

An aspect of the disclosed embodiments includes a system for detecting an imbalance in a synchronous motor drive. The system includes a synchronous motor. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: reading an output voltage signal; extracting a characteristic of a parameter imbalance from the output voltage signal, wherein the parameter imbalance is in the synchronous motor drive; identifying a particular parameter having a parameter imbalance based on an operating condition of the synchronous motor in response to extracting the feature of the parameter imbalance; at least one phase of the synchronous motor is determined, in which a specific parameter exhibits a parameter imbalance.

Another aspect of the disclosed embodiments includes a method for detecting an imbalance in a synchronous motor drive. The method includes reading an output voltage signal. The method also includes extracting a characteristic of the parameter imbalance from the output voltage signal. The parameter imbalance is in a synchronous motor drive. In response to extracting the feature of the parameter imbalance, the method further includes identifying a particular parameter having the parameter imbalance based on an operating condition of a synchronous motor controlled by the synchronous motor drive. The method further includes determining at least one phase of the synchronous motor in which a particular parameter exhibits a parameter imbalance.

Another aspect of the disclosed embodiments includes an electronic device. The electronic device includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: reading an output voltage signal; extracting a characteristic of parameter imbalance from the output voltage signal, wherein the parameter imbalance is in the synchronous motor drive; identifying a particular parameter having a parameter imbalance based on an operating condition of the synchronous motor in response to extracting the feature of the parameter imbalance; at least one phase of the synchronous motor is determined in which a parameter-specific imbalance is being represented.

These and other aspects of the disclosure are disclosed in the following detailed description of the embodiments, the appended claims, and the accompanying drawings.

Drawings

The disclosure is best understood from the following detailed description when read with the accompanying drawing figures. It is emphasized that, by convention, the various features of the drawings are not drawn to scale. On the contrary, the dimensions of the various features are arbitrarily expanded or reduced for clarity.

FIG. 1 generally illustrates a parameter imbalance detection and identification system according to the principles of the present disclosure.

Fig. 2A-2C generally illustrate block diagrams of mathematical models incorporating parametric imbalances, in accordance with the principles of the present disclosure.

Fig. 3 illustrates the imbalance detector 104 in more detail, according to some embodiments.

Fig. 4 generally illustrates a controller system according to the principles of the present disclosure.

FIG. 5 is a flow chart generally illustrating a parameter imbalance detection and identification method in accordance with the principles of the present disclosure.

Detailed Description

The following discussion is directed to various embodiments of the disclosed subject matter. Although one or more of these embodiments may be preferred, the embodiments disclosed should not be interpreted, or otherwise used, as limiting the scope of the disclosure, including the claims. In addition, one skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is meant only to be exemplary of that embodiment, and not intended to intimate that the scope of the disclosure, including the claims, is limited to that embodiment.

As will be described, machines (e.g., vehicles, boats, airplanes, drones, power plants, yard plants, pumps, compressors, etc.) that use synchronous motor drives may be susceptible to parameter imbalances during manufacturing and/or during operation. For example, motor drives, converters, and/or other circuitry may experience parameter imbalances. High performance motion control system applications, particularly those involving mass production, such as Electric Power Steering (EPS), can be sensitive to noise, vibration, and acoustic harshness and can provide for minimal part-to-part degradation. Undetected and/or uncorrected parameter imbalances in such systems can lead to overall system performance degradation and/or failure. However, it can be expensive to adopt tight tolerances on the manufacturing side and/or the production side of the synchronous machine for parameter imbalances. Furthermore, degradation of the overall system may shorten the life of the synchronous motor and/or may reduce the likelihood of a consumer purchasing an EPS system that includes the synchronous motor. Therefore, it is desirable to detect and identify parameter imbalances.

Certain non-linear effects, such as temperature or failure modes, may cause significant changes in the behavior of the machine. These non-linear effects may manifest as parametric imbalances in synchronous motor drives. Detection, identification and/or correction of such non-linear effects may be beneficial for improving the performance of machines controlling synchronous motors, including synchronous motor drives.

Accordingly, systems and methods (such as those described herein) may be configured to address the above-described problems by providing techniques for detecting and identifying parameter imbalances and performing preventative actions based on the parameter imbalances. In some embodiments, the systems and methods described herein may be configured to enable detection of parameter imbalances, learning from detected parameter imbalances, and compensation for effects on synchronous motor drives caused by parameter imbalances.

In some embodiments, the systems and methods described herein may be configured to provide techniques for detecting in real-time phase-to-phase parameter imbalances in feedback-controlled synchronous motor drives. The systems and methods described herein may be configured to detect parameter imbalances using various mathematical models, identify which parameter imbalance based on operating conditions of the synchronous motor drive, and/or determine at least one phase of the synchronous motor drive at which a particular parameter has an imbalance.

In some embodiments, the systems and methods described herein may be configured to perform a preventative action based on the identified parameters that are in imbalance and/or at least one phase determined to have imbalance parameters. The preventative action may include rebalancing the imbalance parameters at a particular phase or other suitable preventative action.

The systems and methods described herein are configured to provide at least the benefit of detecting and identifying any type of parameter imbalance in a synchronous motor. The systems and methods described herein are applicable to a variety of machine configurations (e.g., permanent magnet or wound, salient or non-salient, multi-equivalent). Further, the systems and methods described herein may be implemented by a processor for real-time detection, identification, and/or correction while the synchronous motor is operating. The systems and methods described herein may also be implemented by an end of line processor (EOL) of a manufacturing facility.

Fig. 1 generally illustrates a parameter imbalance detection and identification system (e.g., a "PIDI system") 100 in accordance with the principles of the present disclosure. The PIDI system 100 may include a current controller 102, an imbalance detector 104, a pulse width modulator 112, an inverter 114, a synchronous motor 116, a current sensing component 118, and a current estimation component 120. It should be noted that fewer or more components may be included in the PIDI system 100 as needed to perform the techniques disclosed herein, and that the depicted components are for illustrative purposes. Synchronous motor 116 may generate a rotational force or a linear force for powering a machine, such as the machines described herein. Various components of the PIDI system 100 may be used as part of the synchronous motor drive 130 (e.g., the current controller 102, the pulse width modulator 112, the inverter 114, or some combination thereof). The synchronous motor drive 130 may be an electronic device that utilizes and controls the electrical energy delivered to the synchronous motor 116. The synchronous motor drive 130 may feed voltage into the synchronous motor 116 in varying amounts and at varying frequencies to indirectly control the speed and torque of the synchronous motor 116.

The current controller 102 may receive a command current (I) that is input by a user using a computing device or that is preprogrammed for the synchronous motor 116 by default. In some embodiments, the command current is tracked with minimal error using the current controller 102 in a feedback controlled synchronous motor drive 130. The current controller 102 transmits the output voltage signal to the pulse width modulator 112. The pulse width modulator 112 may control the proportion of time that the output voltage signal is high relative to when the output voltage signal is low for a constant period of time. This technique of controlling the proportion of time when the output voltage signal is high and low may control the direction of the synchronous motor 116. The inverter 114 may be a voltage source inverter and may vary the frequency of the voltage fed to the synchronous motor 116 to control the torque of the synchronous motor 116. The synchronous motor 116 may receive the output voltage signal (V) as an input. The synchronous motor 116 may use the input voltage and generate an amount of current that may be equal to the command current or different from the command current (e.g., when there is a parameter imbalance).

The current (I) output from the synchronous motor 116 may be sensed by a current sensing component 118. Any suitable type of current sensing component 118 capable of detecting current in a circuit may be used, such as a current sensor. The current sensing component 118 can provide a signal indicative of the current to the current estimation component 120. The current estimation component may be capable of receiving a signal indicative of the current and measuring the amount of current output by the synchronous motor 116. The current estimation component 120 will estimate the currentTo the current controller 102. Thus, as depicted, the PIDI system 100 utilizes closed loop current control.

The current controller 102 may receive the estimated current and compare it to the command current. If there is any difference, the current controller 102 may transmit an output voltage signal (V), which will cause the estimated current to flowExactly matched to the command current I. Thus, since the command current I is constant and the current is estimatedEqual to the command current I, then the current is estimatedIs also constant. To maintain a constant current, the current controller 102 may pulse the output voltage signal.

The imbalance detector 104 reads the output voltage signal from the current controller 102. The imbalance detector 104 includes a mathematical transform (transform block 106), a parametric imbalance detector 108, and phase isolation 110. In some embodiments, the system 100 may include one or more bypass filters. The bypass filter may be configured to perform pre-filtering using a band-pass filter in the synchronization frame prior to transformation, or to use an adaptive low-pass filter in a pseudo-stationary coordinate system (adaptively) tuned according to a ripple frequency twice the synchronization frequency.

As will be described, the parameter imbalance detector 108 may use a mathematical model to extract a feature (signature) of parameter imbalance (e.g., in the presence of parameter imbalance). The parametric imbalance detector 108 receives the output voltage signal. The parameter imbalance detector 108 determines whether a parameter imbalance exists based on the output voltage signal. For example, if the parameter imbalance detector 108 determines that the output voltage signal includes only a constant portion and no sinusoidal portion, the parameter imbalance detector 108 determines that there is no parameter imbalance in the output voltage signal. The sinusoidal portion may refer to a pulsating portion of the output voltage signal and may represent at least a characteristic of parametric imbalance. If the parametric imbalance detector 108 determines that the output voltage signal includes a constant portion and a sinusoidal portion, the parametric imbalance detector 108 determines that a parametric imbalance is detected because the sinusoidal portion represents a characteristic of the parametric imbalance.

More details about the output voltage signal, such as a particular parameter with imbalance, may be determined by the parameter imbalance detector 108. The parametric imbalance detector 108 may be determined using a mathematical model, such as will be described, to identify particular parameters having parametric imbalance based on operating conditions of the synchronous motor 116. The operating condition may relate to the speed of the synchronous motor 116 meeting a threshold and the current output by the synchronous motor meeting a particular threshold. Furthermore, as will be described, the phase isolation 110 determines at least one phase of the synchronous motor where a particular parameter has a parameter imbalance. In some embodiments, more than one phase may be determined to include a parameter imbalance. A particular parameter may be output and/or a phase at which there is a parameter imbalance may be output, and the controller or circuit may perform preventative actions such as reducing the imbalance to reduce the effect on the synchronous motor, shutting down the synchronous motor 116, etc.

The following discussion relates to mathematical models for performing the techniques described herein. The stationary reference frame machine model may be represented as follows:

where V is the voltage, I is the current, R is the resistance, L is the inductance, λ is the flux linkage, λ is the current, and_am、λ_bmand λ_cmRepresenting the Permanent Magnet (PM) flux linkage at different phases a, b and c, theta being the electrical position and beta being equal toA constant of radian. For each parameter (resistance, inductance and PM flux linkage)It is desirable that each parameter be equal to each other at each phase. I.e. λ for the PM flux linkage_am、λ_bmAnd λ_cmShould all be equal. However, non-linear effects may cause the parameters to differ at one or more phases. Thus, (1) can be modified using the following reference frame transformations shown in (2) to generate the synchronous reference frame machine model given in (3) that includes the effects of parametric imbalance:

wherein, is Δ V_dLAnd Δ V_qLInvolving an inductive imbalance, Δ V_dλAnd Δ V_qλRepresenting an unbalance of the flux linkage, Δ V_dRAnd Δ V_qRIncluding resistance imbalance, R being nominal or average resistance, L being nominal or average self-inductance, M being nominal or average mutual inductance, λ_mIs the nominal or average PM flux linkage. In some embodiments, the current controller 102 is used in a feedback controlled synchronous motor drive 130 to track the command current with minimal error. If the estimated current (assumed to be the same as the actual current in the absence of measurement errors) and the command current are assumed to be equal, the ripple voltage term in the synchronous reference frame due to permanent magnet flux linkage imbalance is as follows:

wherein, Δ λ_xRepresenting the magnitude of the PM flux linkage in phase x and the nominal value λ_mIs the PM flux linkage λ of each phase_xmIs measured as the average of the magnitudes of (a).

A mathematical transformation may be applied to convert the pulsatile component into the pseudo-stationary diagnostic reference frame as follows:

the diagnostic voltage can be further modified to obtain separate amplitude and phase components as follows:

wherein, V_mλIs the voltage amplitude, gamma, for flux linkage imbalance_λIs a phase for flux linkage imbalance.

Similarly, the voltage ripple in the synchronous reference coordinate system and the transformed (demodulated) voltage in the diagnostic coordinate system due to the inductance imbalance are as follows:

wherein, Δ L_xRepresenting the deviation of the self-inductance of the phase x from a nominal value L, which is the self-inductance of each phase L_xOf the amplitude of (d), wherein Δ M_xyRepresenting the deviation between the mutual inductance of the phases x and y and a nominal value M, which is the mutual inductance M between the three groups of phases_xyIs measured as the average of the magnitudes of (a).

The voltage amplitude and phase for the inductor imbalance can be obtained and simplified by representing the synchronous frame current in polarity form, i.e., assuming I_d＝I_msin alpha and I_q＝I_mcos α of, wherein I_mAnd α are the amplitude and phase of the current, respectively:

wherein, V_mLIs the voltage amplitude, gamma, for the unbalance of the inductance_LIs the phase for inductive imbalance.

It should be noted that for an imbalance in self-inductance or mutual inductance, only a significant simplification of the terms that can be used to identify the magnitude and phase of the imbalance results.

The term resistance imbalance induced voltage is expressed as follows:

wherein, Δ R_xThe deviation of the resistance representing the phase x from the nominal value R, which is the resistance R of the respective phase_xIs measured as the average of the magnitudes of (a).

The voltage magnitude and phase for the resistive imbalance may be expressed as follows:

wherein, V_mRIs the voltage amplitude, gamma, for the resistance imbalance_RIs the phase for the resistive imbalance.

With three sets of equations for flux linkage imbalance, resistance and inductance, it is clear that these three imbalances have a significant effect only in certain areas of operation. The resistance imbalance is dominant at high current and low speed, while flux linkage imbalance is evident at low current and high speed regions. When both current and speed are significant, the inductance imbalance becomes prominent. Thus, diagnostic thresholds based on the operating region may be set to detect and isolate different effects. Further, once a particular parameter in imbalance is detected, a particular phase having imbalance may be determined based on the phase value of the imbalance coefficient being unique for a given phase. .

Fig. 2A-2C generally illustrate block diagrams of mathematical models for a parameter-containing imbalance in accordance with the principles of the present disclosure. Fig. 2A depicts a model 200 representing the inductance imbalance of (13) above. Fig. 2B depicts a model 202 representing PM flux linkage imbalance of (8). Fig. 2C depicts a model 204 representing the resistance imbalance of (17).

Fig. 3 illustrates the imbalance detector 104 in more detail, according to some embodiments. Transform block 106 uses the estimated positionWill output voltage command Δ V_dAnd Δ V_qIs converted into a diagnostic voltage V_uAnd V_v. The magnitude V of the diagnostic voltage is then obtained in a magnitude and phase calculation block 108A within the parametric imbalance detector 108_mAnd a phase phi. The imbalance parameter detection block 108B utilizes the diagnostic voltage magnitude together with the current command magnitude(or motor current amplitude estimate) And motor speed estimateTo determine the parameters at imbalance (the "imbalance" and "imbalance" may be used interchangeably herein), i.e., resistance R, inductance L, or PM flux linkage λ_mAnd sends out a U parameter detection signal U_imb. Calculate U_imbCan be mathematically expressed as follows:

wherein, V_tIs a parameter imbalance diagnosis detection voltage threshold, I_rAnd ω_rRespectively, a current amplitude threshold and a speed threshold, I, for resistance imbalance detection_λAnd ω_λRespectively, a current magnitude threshold and a speed threshold, I, for PM flux linkage imbalance detection_ll、I_lh、ω_llAnd ω_lhRespectively, a current amplitude lower limit, a current amplitude upper limit, a speed threshold lower limit, and a speed threshold upper limit for inductance imbalance detection.

When the parametric imbalance detector 108 detects an imbalance in any of the parameters, the phase isolation block 110 utilizes the diagnostic phase φ in conjunction with the current angle command α^*(or current angle estimation)) By applying an unbalanced phase identifier signal P_imbSet to A, B, C or M (where M refers to an imbalance among multiple phases) to determine if a single motor phase (out-of-phase A, B, C) is unbalanced or if multiple phases are unbalanced. In the event of a single phase imbalance, the phase isolation block 110 identifies a particular phase. The unbalanced phase detection logic is as follows:

wherein the content of the first and second substances,and phi_wIs a phase angle tolerance window for unbalanced phase identification.

Note that for any parameter, the diagnostic phase becomes equal to 0, φ when the imbalance is at phase A, B, C, respectively₀、-φ₀. This may be determined by setting any imbalance or by setting the deviation value of any parameter in any single phase to a non-zero value and setting the other deviations to zero. For example, if Δ λ is caused by PM flux linkage imbalance in phase B_bIs non-zero and Δ λ_aAnd Δ λ_cIs zero in (6), the resulting phase angle becomes φ₀. Similar calculations can be performed for other parameters and phases using (10), (11), and (15).

Fig. 4 generally illustrates a controller system 400 according to the principles of the present disclosure. The controller system 400 includes an imbalance detector 104 communicatively coupled to a memory 402. The imbalance detector 104 may include a processor. The processor may include any suitable processor, such as the processors described herein. The memory 402 may store instructions that, when executed by the imbalance detector 104, cause the imbalance detector 104 to perform at least the techniques disclosed herein. In particular, the computer instructions, when executed by the imbalance detector 104, may cause the imbalance detector 104 to perform operations of the method 500 as further described below with reference to fig. 5.

FIG. 5 is a flow chart generally illustrating a parameter imbalance detection and identification method 500 in accordance with the principles of the present disclosure. At 502, method 500 reads the output voltage signal. The current controller 102 may generate an output voltage signal. At 504, the method 500 extracts features of the parameter imbalance from the output voltage signal. The synchronous motor drive 130 has a parameter imbalance. In some embodiments, the output voltage signal may include only a constant portion, and in some embodiments, the output voltage signal may include a constant portion and a sinusoidal portion. If the output voltage signal includes only a constant portion, there may be no imbalance for a particular parameter because the sinusoidal portion of the voltage output signal represents a ripple-specific parameter that includes characteristics of the type of imbalance in the synchronous motor. Therefore, when the output voltage signal contains a constant portion and a sinusoidal portion, the sinusoidal portion is extracted as a feature of parameter imbalance.

At 506, in response to extracting the feature of the parameter imbalance, the method 500 identifies a particular parameter having the parameter imbalance based on an operating condition of the synchronous motor controlled by the synchronous motor drive 130. The parameters may include inductance, resistance, permanent magnet flux linkage, etc. The operating conditions correspond to the speed of the synchronous motor satisfying a certain threshold and the current output by the synchronous motor satisfying a certain threshold. That is, diagnostic thresholds based on the operating region are set to detect and isolate different imbalances. These thresholds may include a first threshold and a second threshold, where any value below the first threshold is considered "low" and any value above the second threshold is considered "high". Further, the range of values between the first threshold and the second threshold may be considered "medium".

Identifying a particular parameter having a parametric imbalance based on an operating condition of the synchronous motor includes determining an amplitude of the output voltage signal. Further, identification of a particular parameter having a parameter imbalance based on a synchronized operating condition is made in response to an amplitude of the output voltage signal being non-zero (e.g., significant) during the operating condition.

For example, if the operating conditions include the speed of the motor being below a first threshold (e.g., low) and the amount of current output being above a second threshold (e.g., high) and the magnitude of the diagnostic voltage (e.g., output voltage signal) being non-zero, a resistance imbalance is identified. An inductance imbalance is identified if the operating conditions include a speed of the motor between a first threshold and a second threshold (e.g., medium) and an amount of current output between the first threshold and the second threshold (e.g., medium) and a magnitude of the diagnostic voltage is non-zero. If the operating conditions include the speed of the motor being above a second threshold (e.g., high) and the amount of current output being below a first threshold (e.g., low) and the magnitude of the diagnostic voltage being non-zero, a flux linkage imbalance is identified.

At 508, the method 500 determines at least one phase of the synchronous motor where the parameter imbalance where the particular parameter is exhibiting. The determination of the at least one phase and/or the identification of the specific parameter may be performed in real time (e.g., less than 2 seconds). In some embodiments, the at least one phase may be determined based on a phase value being unique to that phase. That is, because the phase value of the imbalance factor is unique for a given phase, a particular phase with imbalance can be determined.

In some embodiments, the preventative action may be performed based on a particular parameter having a parameter imbalance, the at least one phase, or both. For example, an impending failure or a failure has occurred may be determined based on parameter balance and/or phase including parameter imbalance, and the preventative actions may include slowing the motor, stopping the motor, and the like.

In some embodiments, a system for detecting imbalance in a synchronous motor drive is disclosed. The system includes a synchronous motor controlled by a synchronous motor drive, a processor, and a memory including instructions. The instructions, when executed by the processor, cause the processor to: reading an output voltage signal; extracting a characteristic of a parameter imbalance from the output voltage signal, wherein the parameter imbalance is in the synchronous motor drive; identifying a particular parameter having a parameter imbalance based on an operating condition of the synchronous motor in response to extracting the feature of the parameter imbalance; and determining at least one phase of the synchronous motor in which a particular parameter exhibits a parameter imbalance.

In some embodiments, the characteristic of the parametric imbalance corresponds to a sinusoidal portion of the output voltage signal. In some embodiments, the operating conditions correspond to the speed of the synchronous motor and the current output by the synchronous motor. In some embodiments, to identify a particular parameter having a parametric imbalance based on an operating condition of the synchronous motor, the instructions further cause the processor to determine a magnitude of the output voltage, and in response to the magnitude of the output voltage signal being non-zero during the operating condition, identify the particular parameter having the parametric imbalance based on the operating condition of the synchronous motor. In some embodiments, the specific parameter comprises one of inductance, resistance, or permanent magnet flux linkage. In some embodiments, the instructions further cause the processor to determine the at least one phase in real time. In some embodiments, the instructions further cause the processor to determine at least one phase of the synchronous motor in which a particular parameter is showing parameter imbalance based on a phase value being unique to that phase. In some embodiments, the instructions further cause the processor to perform a preventative action based on a particular parameter having a parameter imbalance, the at least one phase, or both the particular parameter and the at least one phase.

In some embodiments, a method for detecting an imbalance in a synchronous motor drive is disclosed. The method includes reading an output voltage signal. The method also includes extracting a characteristic of the parameter imbalance from the output voltage signal. The method also includes identifying a particular parameter having a parameter imbalance based on an operating condition of the synchronous motor in response to extracting the feature of the parameter imbalance. The method further includes determining at least one phase of the synchronous motor in which a particular parameter has a parameter imbalance.

In some embodiments, the characteristic of the parametric imbalance corresponds to a sinusoidal portion of the output voltage signal. In some embodiments, the operating conditions correspond to the speed of the synchronous motor and the current output by the synchronous motor. In some embodiments, the step of identifying the particular parameter having the parametric imbalance based on the operating condition of the synchronous motor further comprises determining a magnitude of the output voltage signal, and in response to the magnitude of the output voltage signal being non-zero during the operating condition, identifying the particular parameter having the parametric imbalance based on the operating condition of the synchronous motor. In some embodiments, the specific parameter comprises one of inductance, resistance, or permanent magnet flux linkage. In some embodiments, the method further comprises determining at least one phase in real time. In some embodiments, the method further comprises determining at least one phase of the synchronous motor in which a particular parameter exhibits parametric imbalance based on the phase value being unique to that phase. In some embodiments, the method further comprises performing a preventative action based on a particular parameter having a parameter imbalance, the at least one phase, or both the particular parameter and the at least one phase.

In some embodiments, an electronic device includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: reading an output voltage signal; extracting a characteristic of parameter imbalance from the output voltage signal, wherein the parameter imbalance is in the synchronous motor drive; identifying a particular parameter having a parameter imbalance based on an operating condition of the synchronous motor in response to extracting the feature of the parameter imbalance; at least one phase of the synchronous motor is determined in which a particular parameter exhibits parametric imbalance.

In some embodiments, the characteristic of the parametric imbalance corresponds to a sinusoidal portion of the output voltage signal. In some embodiments, the operating conditions correspond to the speed of the synchronous motor and the current output by the synchronous motor. In some embodiments, to identify a particular parameter having a parametric imbalance based on an operating condition of the synchronous motor, the instructions further cause the processor to determine an amplitude of the output voltage signal, and in response to the amplitude of the output voltage signal being non-zero during the operating condition, identify the particular parameter having the parametric imbalance based on the operating condition of the synchronous motor.

The above discussion is meant to be illustrative of the principles and various embodiments of the present invention. Numerous variations and modifications will become apparent to those skilled in the art once the above disclosure is fully appreciated. It is intended that the following claims be interpreted to embrace all such variations and modifications.

The word "example" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, use of the word "example" is intended to present a concept in a particular way. As used in this application, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise or clear from context, "X includes a or (or) B" is intended to mean any of the naturally inclusive permutations. That is, if X comprises A; x comprises B; or X includes both a and B, then "X includes a or (or) B" is satisfied under any of the foregoing instances. In addition, the articles used in this application and the appended claims should generally be construed to mean "one or more" unless specified otherwise or clear from context to be directed to a singular form. Moreover, use of the term "an embodiment" or "one embodiment" is not intended to refer to the same embodiment or embodiment throughout, unless so described.

The implementation of the systems, algorithms, methods, instructions, etc. described herein may be implemented in hardware, software, or any combination thereof. The hardware may include, for example, a computer, an Intellectual Property (IP) core, an Application Specific Integrated Circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuitry. In the claims, the term "processor" should be understood to encompass any of the foregoing hardware, either alone or in combination. The terms "signal" and "data" are used interchangeably.

As used herein, the term module may include a packetized functional hardware unit designed to be used with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), a processing circuit configured to perform a specific function, and self-contained hardware or software components that interface with a larger system. For example, a module may comprise an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit, a digital logic circuit, an analog circuit, a discrete circuit, a combination of gates and other types of hardware, or a combination of the foregoing. In other embodiments, the module may include a memory that stores instructions executable by the controller to implement the features of the module.

Further, in one aspect, for example, the systems described herein may be implemented using a general purpose computer or a general purpose processor with a computer program that, when executed, performs any of the respective methods, algorithms, and/or instructions described herein. Additionally or alternatively, for example, a special purpose computer/processor may be utilized that may contain other hardware for performing any of the methods, algorithms, or instructions described herein.

Moreover, all or a portion of embodiments of the invention may take the form of a computer program product accessible from, for example, a computer usable or computer readable medium. A computer-usable or computer-readable medium may be, for example, any apparatus that can tangibly contain, store, communicate, or transport the program for use by or in connection with any processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media are also possible.

The above-described embodiments, embodiments and aspects have been described so as to enable easy understanding of the present invention, and do not limit the present invention. On the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as is permitted under the law.