A motor control system includes a reference current generator that generates a reference current based on a command, a motor voltage providing device that generates a phase voltage based on the reference current, a high frequency voltage, and a feedback current and provides a motor with the phase voltage, and a high frequency voltage generator that generates the high frequency voltage corresponding to a magnitude of voltage generated based on the reference current and the feedback current.

The disclosure relates to an autonomous apparatus, moving and performing preset work in a defined working area, the autonomous apparatus including an energy module supplying energy to the autonomous apparatus, a motor, a sensor circuit, and a control circuit, the motor obtaining the energy from the energy module, to drive the autonomous apparatus to move and/or work in the working area, the sensor circuit detecting working parameters and environmental parameters of the autonomous apparatus, and transmitting detection results to the control circuit, the control circuit controlling the operation of the motor according to a signal transmitted by the sensor circuit, where the motor is a sensorless brushless motor, and before the motor rotates, the control circuit measures a resistance value of the motor, and estimates, one the basis of the resistance value of the motor, a rotor position of the motor, so as to control the operation of the motor.

According to some embodiments, method for controlling a motor comprises generating a drive signal for the motor, the drive signal comprising a demand flux generating voltage parameter. A feedback torque generating current parameter and a feedback flux generating current parameter are determined based on a three-phase motor current measurement. A feedback flux generating voltage parameter is determined based on the feedback torque generating current parameter and the feedback flux generating current parameter. An estimated motor position and an estimated motor speed are determined based on the feedback flux generating voltage parameter and the demand flux generating voltage parameter. The drive signal is generated based on the estimated motor position and the estimated motor speed.

A drive device for an AC motor includes: an adaptive observation unit that adaptively estimates an angular velocity of a rotor of an AC motor; a speed control unit that determines a first torque command with which an angular velocity command matches an average value of an estimated angular velocity; a phase lead amount calculation unit that calculates, based on a disturbance frequency, a phase lead amount of a transfer function from a true angular velocity to a model deviation; a vibration suppression control unit that determines, based on a frequency of load torque pulsations, the model deviation, and the phase lead amount, a second torque command with which speed pulsations in the AC motor are suppressed; and a torque control unit that controls a torque of the AC motor based on the first torque command and the second torque command.

A motor control system for controlling a brushless electric motor of a power operated actuator of a closure panel of a vehicle and method of operating the control system are provided. The control system includes a vector control system configured to receive a torque current based on a measured angular velocity of the motor and current of each of the phases and determine corresponding stationary reference frame voltages. The vector control system outputs pulse width modulation signals to the motor. A vector torque current limiter couples to the vector control system and the motor and is configured to determine the torque current drawn, receive the measured angular velocity and determine whether there is a reduction of the measured angular velocity and detects a pinch event and reduces the torque current in response to determining there is a reduction of the measured angular velocity of the brushless electric motor.

A motor control system for controlling a brushless electric motor of a power operated actuator of a closure panel of a vehicle and method of operating the control system are provided. The control system includes a vector control system configured to receive a torque current based on a measured angular velocity of the motor and current of each of the phases and determine corresponding stationary reference frame voltages. The vector control system outputs pulse width modulation signals to the motor. A vector torque current limiter couples to the vector control system and the motor and is configured to determine the torque current drawn, receive the measured angular velocity and determine whether there is a reduction of the measured angular velocity and detects a pinch event and reduces the torque current in response to determining there is a reduction of the measured angular velocity of the brushless electric motor.

A method of determining angular position (θ) of a rotor of an N-phase permanent magnet motor (PMM). A processor having an associated stored angular position determination (APD) algorithm is programmed to implement the algorithm to cause an associated motor controller to execute steps including forcing one vector at a time a phase vector set of current or voltage vectors to stator terminals of windings for the N-phases a positive and negative magnitude vector, wherein the vector magnitude is sufficiently small to not move the rotor, and a time duration for the forcing current or voltage vectors is essentially constant. The resulting stator current or voltage levels are measured for each current or voltage vector. An N-dimension current vector or voltage vector is generated from superposition of the resulting stator current levels or resulting stator voltage levels. The N-dimension current vector or voltage vector is used to determine angular position.

A method of determining angular position (θ) of a rotor of an N-phase permanent magnet motor (PMM). A processor having an associated stored angular position determination (APD) algorithm is programmed to implement the algorithm to cause an associated motor controller to execute steps including forcing one vector at a time a phase vector set of current or voltage vectors to stator terminals of windings for the N-phases a positive and negative magnitude vector, wherein the vector magnitude is sufficiently small to not move the rotor, and a time duration for the forcing current or voltage vectors is essentially constant. The resulting stator current or voltage levels are measured for each current or voltage vector. An N-dimension current vector or voltage vector is generated from superposition of the resulting stator current levels or resulting stator voltage levels. The N-dimension current vector or voltage vector is used to determine angular position.

A sensorless motor rotor angle correction method includes: outputting a direct-axis pulse voltage to generate a direct-axis current and a quadrature-axis current; determining whether an angle difference is zero; outputting a positive direct-axis excitation voltage when the angle difference is zero, and recording an excitation time required to reach a predetermined positive current value; outputting a negative direct-axis excitation voltage, so that the direct-axis current returns to an initial current value; outputting a negative direct-axis excitation voltage for the excitation time to obtain a maximum negative current value; outputting a positive excitation voltage, so that the direct-axis current returns to the initial current value; correcting an orientation of a synchronous rotation coordinate axis if the maximum negative current value is greater than the predetermined positive current value.

A method and apparatus are provided for controlling a sensorless multi-phase permanent magnet (PM) motor by sensing induced motor terminal voltages from the PM motor while the rotor is spinning, generating an input voltage vector signal from the plurality of induced motor terminal voltages, projecting the input voltage vector signal to a transformed voltage vector signal which does not include DC-offset components by using a Clarke transformation without a zero component that is applied to the input voltage vector signal, and estimating an initial rotor position of the rotor from the transformed voltage vector signal, wherein said sensing, projecting, and estimating are performed while a power converter for the sensorless multi-phase PM motor is disabled.