Method and system for controlling a motor

Patent metadata

Field	Value
Publication number	US-11108352-B2
Application number	US-201816132766-A
Country	US
Kind code	B2
Filing date	Sep 17, 2018
Priority date	Mar 30, 2016
Publication date	Aug 31, 2021
Grant date	Aug 31, 2021

Abstract

A method for controlling a motor configured to provide propulsion for a mobile platform includes determining whether to activate a preheat mode based on a temperature of a motor and, upon determining to activate the preheat mode, controlling a preheat current provided to the motor to enable self-preheating of the motor.

First claim

What is claimed is:

1. A method for controlling a motor configured to provide propulsion for a mobile platform, the method comprising:
determining whether to activate a preheat mode based on a temperature of a motor; and
upon determining to activate the preheat mode, controlling a preheat current provided to the motor to enable self-preheating of the motor, the preheat current including a D-axis current, wherein:
the D-axis current is calculated using a proportional gain and an integral gain of a proportional-integral (IP) model based on the temperature of the motor;
the proportion gain is determined by controlling the self-preheating of the motor individually using a plurality of proportion gains, and selecting one of the plurality of proportion gains that raises the temperature of the motor to a steady state within a predetermined first time duration; and
the integral gain is determined by controlling the self-preheating of the motor individually using a plurality of integral gains and the proportion gain, and selecting one of the plurality of integral gains that raises the temperature of the motor to a target temperature at the steady state within a predetermined second time duration.

2. The method of claim 1 , wherein determining whether to activate the preheat mode based on the temperature of the motor includes:
determining to activate the preheat mode upon determining the temperature of the motor is less than the target temperature; and
determining not to activate the preheat mode upon determining the temperature of the motor is greater than or equal to the target temperature.

3. The method of claim 1 , wherein the preheat current further comprises a Q-axis current.

4. The method of claim 3 , wherein the Q-axis current is equal to zero.

5. The method of claim 3 , wherein the D-axis current and the Q-axis current are converted to a three-phase supply current via an inverse direct-quadrature-zero transformation.

6. The method of claim 1 , wherein the D-axis current is selected to increase the temperature of the motor to the target temperature within a target preheat duration.

7. The method of claim 1 , wherein the temperature of the motor is obtained further based on an environmental temperature measured via a temperature sensor.

8. The method of claim 1 , further comprising:
controlling conversion of an input current provided by a power device onboard the mobile platform into the preheat current.

9. The method of claim 8 , wherein the power device and the motor are preheated simultaneously.

10. The method of claim 8 , wherein the preheat current is less than or equal to a maximum current based on performance parameters of the power device.

11. The method of claim 1 , further comprising:
receiving a preheat request from a remote control device; and
determining whether to activate the preheat mode in response to the preheat request, including:
accepting the preheat request upon determining to activate the preheat mode; or
rejecting the preheat request upon determining not to activate the preheat mode.

12. The method of claim 1 , further comprising:
notifying a remote control device of a preheat status of the motor.

13. The method of claim 1 , wherein the mobile platform includes an unmanned aerial vehicle (UAV).

14. The method of claim 1 , further comprising:
obtaining the temperature of the motor based on a resistance of the motor and a temperature-resistance correlation of the motor.

15. A system for controlling a motor configured to provide propulsion for a mobile platform, the system comprising:
a controller configured to:
determine whether to activate a preheat mode based on a temperature of a motor; and

upon determining to activate the preheat mode, control a preheat current provided to the motor to enable self-preheating of the motor, the preheat current including a D-axis current, wherein:
the D-axis current is calculated using a proportional gain and an integral gain of a proportional-integral (IP) model based on the temperature of the motor;
the proportion gain is determined by controlling the self-preheating of the motor individually using a plurality of proportion gains, and selecting one of the plurality of proportion gains that raises the temperature of the motor to a steady state within a predetermined first time duration; and
the integral gain is determined by controlling the self-preheating of the motor individually using a plurality of integral gains and the proportion gain, and selecting one of the plurality of integral gains that raises the temperature of the motor to a target temperature at the steady state within a predetermined second time duration.

16. A mobile platform comprising:
a motor configured to provide propulsion for the mobile platform; and
a controller configured to:
determine whether to activate a preheat mode based on the obtained a temperature of a motor; and

upon determining to activate the preheat mode, control a preheat current provided to the motor to enable self-preheating of the motor, the preheat current including a D-axis current, wherein:
the D-axis current is calculated using a proportional gain and an integral gain of a proportional-integral (IP) model based on the temperature of the motor;
the proportion gain is determined by controlling the self-preheating of the motor individually using a plurality of proportion gains, and selecting one of the plurality of proportion gains that raises the temperature of the motor to a steady state within a predetermined first time duration; and
the integral gain is determined by controlling the self-preheating of the motor individually using a plurality of integral gains and the proportion gain, and selecting one of the plurality of integral gains that raises the temperature of the motor to a target temperature at the steady state within a predetermined second time duration.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Lan Qiu
• Zhou Changxing

Classifications

• B60L2240/429

  Current · CPC title

• B60L2260/42

  by adaptive correction · CPC title

• Y02T10/64

  Electric machine technologies in electromobility · CPC title

• Y02T10/72

  Electric energy management in electromobility · CPC title

• H02P29/62 Primary

  for raising the temperature of the motor · CPC title