According to some embodiments, a method for controlling a motor comprises generating a stall threshold based on a torque generating current parameter associated with the motor. A motor stall condition is identified based on a torque generating voltage parameter associated with the motor violating the stall threshold. Operation of the motor is adjusted responsive to identifying the motor stall condition.

According to some embodiments, a method for controlling a motor comprises generating a stall threshold based on a torque generating current parameter associated with the motor. A motor stall condition is identified based on a torque generating voltage parameter associated with the motor violating the stall threshold. Operation of the motor is adjusted responsive to identifying the motor stall condition.

A control system for a movable body configured to move by utilizing a motor torque generated by a drive motor, is provided. The system includes the drive motor including a rotor configured to output a rotational force and provided with a variable-magnetic-force magnet, and a stator opposing the rotor with a gap therebetween and provided with a plurality of coils, a powertrain component provided so as to be associated with the drive motor, and a controller having a magnetization controlling module configured to control magnetizing current flowing through the coils so as to change a magnetic force of the variable-magnetic-force magnet. During a demagnetization control in which the magnetic force of the variable-magnetic-force magnet is reduced by the magnetization controlling module, the controller operates the powertrain component to suppress a decrease in a moving force applied to the movable body due to a decrease in the motor torque.

A control system for a movable body configured to move by utilizing a motor torque generated by a drive motor, is provided. The system includes the drive motor including a rotor configured to output a rotational force and provided with a variable-magnetic-force magnet, and a stator opposing the rotor with a gap therebetween and provided with a plurality of coils, a powertrain component provided so as to be associated with the drive motor, and a controller having a magnetization controlling module configured to control magnetizing current flowing through the coils so as to change a magnetic force of the variable-magnetic-force magnet. During a demagnetization control in which the magnetic force of the variable-magnetic-force magnet is reduced by the magnetization controlling module, the controller operates the powertrain component to suppress a decrease in a moving force applied to the movable body due to a decrease in the motor torque.

A method of controlling a 3n-phase electrical machine (7) by means of n power converters (3a, 3b) each being controlled by a respective controller, and each power converter (3a, 3b) being configured to power a respective set of three phases of the electrical machine (7), wherein the method for each controller comprises: a) obtaining measured currents (ia,1, ib,1, ic,1, ia,2, ib,2, ic,2) of the set of three phases of the electrical machine (7) controlled by the controller, b) estimating all currents ({circumflex over (.Math.)}dq, 2, {circumflex over (.Math.)}dq, 1) of all the other sets of three phases of the electrical machine (7), which are controlled by the other controllers, c) transforming the measured currents (ia,1, ib,1, ic,1, ia,2, ib,2, ic,2) and all the estimated currents ({circumflex over (.Math.)}dq,2, {circumflex over (.Math.)}dq,1) using vector space decomposition, VSD, to obtain a set of VSD currents, and d) controlling the corresponding power converter based on the VSD currents.

A method of controlling a 3n-phase electrical machine (7) by means of n power converters (3a, 3b) each being controlled by a respective controller, and each power converter (3a, 3b) being configured to power a respective set of three phases of the electrical machine (7), wherein the method for each controller comprises: a) obtaining measured currents (ia,1, ib,1, ic,1, ia,2, ib,2, ic,2) of the set of three phases of the electrical machine (7) controlled by the controller, b) estimating all currents ({circumflex over (.Math.)}dq, 2, {circumflex over (.Math.)}dq, 1) of all the other sets of three phases of the electrical machine (7), which are controlled by the other controllers, c) transforming the measured currents (ia,1, ib,1, ic,1, ia,2, ib,2, ic,2) and all the estimated currents ({circumflex over (.Math.)}dq,2, {circumflex over (.Math.)}dq,1) using vector space decomposition, VSD, to obtain a set of VSD currents, and d) controlling the corresponding power converter based on the VSD currents.

A method for stabilizing a DC link voltage of an electrical converter, the method including: determining a DC link voltage signal for the DC link voltage of the electrical converter; determining a fluctuation signal of the DC link voltage by applying a high pass filter to the DC link voltage signal; determining a torque offset by multiplying the fluctuation signal with a gain value; and modifying a reference torque with the torque offset for controlling the electrical converter. The gain value is adjusted by: determining a DC link voltage ripple from the DC link voltage signal; and comparing the DC link voltage ripple with a threshold and, when the DC link voltage ripple is higher than the threshold, increasing the gain value.

A method for stabilizing a DC link voltage of an electrical converter, the method including: determining a DC link voltage signal for the DC link voltage of the electrical converter; determining a fluctuation signal of the DC link voltage by applying a high pass filter to the DC link voltage signal; determining a torque offset by multiplying the fluctuation signal with a gain value; and modifying a reference torque with the torque offset for controlling the electrical converter. The gain value is adjusted by: determining a DC link voltage ripple from the DC link voltage signal; and comparing the DC link voltage ripple with a threshold and, when the DC link voltage ripple is higher than the threshold, increasing the gain value.

A motor control actuator that drives a permanent magnet synchronous motor (PMSM) with sensorless Field Oriented Control includes a sampling circuit that generates a measurement signal by measuring a back electro motive force (BEMF) of the PMSM, while the PMSM rotates; a PLL that receives the measurement signal and extracts an amplitude and an angle of the BEMF from the measurement signal; and a motor controller that generates a first set of two phase alternating current (AC) voltage components based on an estimated rotor angle, generates a second set of two phase AC voltage components based on the amplitude and the angle, and generates control signals for driving the PMSM based on the first set of two phase AC voltage components. The motor controller performs a catch spin sequence for restarting the PMSM while rotating, the catch spin sequence includes a synchronizing period followed by a closed loop control period.

A motor control actuator that drives a permanent magnet synchronous motor (PMSM) with sensorless Field Oriented Control includes a sampling circuit that generates a measurement signal by measuring a back electro motive force (BEMF) of the PMSM, while the PMSM rotates; a PLL that receives the measurement signal and extracts an amplitude and an angle of the BEMF from the measurement signal; and a motor controller that generates a first set of two phase alternating current (AC) voltage components based on an estimated rotor angle, generates a second set of two phase AC voltage components based on the amplitude and the angle, and generates control signals for driving the PMSM based on the first set of two phase AC voltage components. The motor controller performs a catch spin sequence for restarting the PMSM while rotating, the catch spin sequence includes a synchronizing period followed by a closed loop control period.