FEEDBACK SCALING FOR ELECTRIC MACHINES

Abstract

A control system for an electric machine, wherein the electric machine has a maximum bus value (V.sub.bus) is provided. The control system is configured to determine a feedforward vector (V.sub.FF), determine a feedback vector (V.sub.FB), compare a magnitude of a sum of the feedforward vector and feedback vector (|V.sub.FF+V.sub.FB|) and the maximum bus value (V.sub.bus), when |V.sub.FF+V.sub.FB|<V.sub.bus providing a control vector of V.sub.FF+V.sub.FB to the electric machine, and when |V.sub.FF+V.sub.FB|>V.sub.bus providing a control vector of V.sub.FF+k(V.sub.FB) to the electric machine, where k is a scalar value between 0 and 1 inclusive where |V.sub.FF+k(V.sub.FB)|=V.sub.bus.

Claims

1. A control system for an electric machine, wherein the electric machine has a maximum bus value (V.sub.bus), wherein the control system is configured to: determine a feedforward vector (V.sub.FF); determine a feedback vector (V.sub.FB); compare a magnitude of a sum of the feedforward vector and feedback vector (|V.sub.FF+V.sub.FB|) and the maximum bus value (V.sub.bus); when |V.sub.FF+V.sub.FB|V.sub.bus, providing a control vector of V.sub.FF+V.sub.FB to the electric machine; and when |V.sub.FF+V.sub.FB|>V.sub.bus, providing a control vector of V.sub.FF+k(V.sub.FB) to the electric machine, where 0k<1 and where |V.sub.FF+k(V.sub.FB)|=V.sub.bus.

2. The control system, as recited in claim 1, wherein the feedforward vector is at least one of a feedforward voltage vector, feedforward current vector, and feedforward force vector and wherein the feedback vector is at least one of a feedback voltage vector, feedback current vector, and feedback force vector and wherein the maximum bus value is at least one of maximum bus voltage value, maximum bus current value, and maximum bus force value.

3. The control system, as recited in claim 1, wherein the feedforward vector is a vector in a dq frame of reference indicating a current state of an electric machine and the feedback vector is a vector in a dq frame of reference indicating a direction of change for the electric machine.

4. The control system, as recited in claim 1, wherein the control system is arranged to direct a power converter to cause a pulsed operation of an electric machine.

5. The control system, as recited in claim 1, wherein the control system is configured to prelimit the feedforward vector (V.sub.FF) to be less than or equal to V.sub.bus.

6. The control system, as recited in claim 1, wherein the control system is configured to prelimit the feedforward vector (V.sub.FF) to be less than or equal to F*V.sub.bus, wherein F is in a range of 0.8 to 0.99.

7. The control system, as recited in claim 1, wherein the electric machine is a polyphase machine.

8. A system comprising: an electric machine; a power converter; and a control system, wherein the electric machine has a maximum bus value (V.sub.bus), wherein the control system is configured to: determine a feedforward vector (V.sub.FF); determine a feedback vector (V.sub.FB); compare a magnitude of a sum of the feedforward vector and feedback vector (|V.sub.FF+V.sub.FB|) and the maximum bus value (V.sub.bus); when |V.sub.FF+V.sub.FB|V.sub.bus, providing a control vector of V.sub.FF+V.sub.FB to the electric machine; and when |V.sub.FF+V.sub.FB|>V.sub.bus providing a control vector of V.sub.FF+k(V.sub.FB) to the electric machine, where 0k<1 and where |V.sub.FF+k(V.sub.FB)|=V.sub.bus.

9. The system, as recited in claim 8, wherein the feedforward vector is at least one of a feedforward voltage vector, feedforward current vector, and feedforward force vector and wherein the feedback vector is at least one of feedback voltage vector, feedback current vector, and feedback force vector and wherein the maximum bus value is at least one of maximum bus voltage value, maximum bus current value, and maximum bus force value.

10. The system, as recited in claim 8, wherein the feedforward vector is a vector in a dq frame of reference indicating a current state of an electric machine and the feedback vector is a vector in a dq frame of reference indicating a direction of change for the electric machine.

11. The system, as recited in claim 8, wherein the system is arranged to direct a power converter to cause a pulsed operation of an electric machine.

12. The system, as recited in claim 8, wherein the system is configured to prelimit the feedforward vector (V.sub.FF) to be less than or equal to V.sub.bus.

13. The system, as recited in claim 8, wherein the system is configured to prelimit the feedforward vector (V.sub.FF) to be less than or equal to F*V.sub.bus, wherein F is in a range of 0.8 to 0.99.

14. The system, as recited in claim 8, wherein the electric machine is a polyphase machine.

15. A method for controlling an electric machine by an inverter controller arranged to direct a power converter, comprising determining a feedforward vector (V.sub.FF); determining a feedback vector (V.sub.FB); comparing a magnitude of a sum of the feedforward vector and feedback vector (|V.sub.FF+V.sub.FB|) and a maximum bus value (V.sub.bus); when |V.sub.FF+V.sub.FB|V.sub.bus, providing a control vector of V.sub.FF+V.sub.FB to the electric machine; and when |V.sub.FF+V.sub.FB|>V.sub.bus, providing a control vector of V.sub.FF+k(V.sub.FB) to the electric machine, where 0k<1 and where |V.sub.FF+k(V.sub.FB)|=V.sub.bus.

16. The method, as recited in claim 15, wherein the feedforward vector is at least one of a feedforward voltage vector, feedforward current vector, and feedforward force vector and wherein the feedback vector is at least one of a feedback voltage vector, feedback current vector, and feedback force vector and wherein the maximum bus value is at least one of a maximum bus voltage value, maximum bus current value, and maximum bus force value.

17. The method, as recited in claim 15, wherein the feedforward vector is a vector in a dq frame of reference indicating a current state of an electric machine and the feedback vector is a vector in a dq frame of reference indicating a direction of change for the electric machine.

18. The method, as recited in claim 15, wherein the inverter controller is arranged to direct a power converter to cause pulsed operation of an electric machine.

19. A control system for an electric machine with a maximum bus value V.sub.bus, wherein the control system is configured to: determine a feedforward vector (V.sub.FF); determine a feedback vector (V.sub.FB); determine a first convex boundary centered at an origin, wherein a minimum distance from the first convex boundary to the origin is equal to V.sub.bus and wherein a shape of the first convex boundary is determined by overmodulation provided by the control system; and determine a second convex boundary, wherein the second convex boundary is centered at the origin and lies entirely on or within the first convex boundary; wherein when a vector sum (V.sub.FF+V.sub.FB) lies inside the first convex boundary providing a control vector of V.sub.FF+V.sub.FB to the electric machine, wherein when the vector sum (V.sub.FF+V.sub.FB) lies outside the first convex boundary then providing a scaled V.sub.FF of k.sub.1V.sub.FF where k.sub.1=1 if the vector V.sub.FF lies on or inside the second convex boundary and where 0<k.sub.1<1 if V.sub.FF lies outside the second convex boundary, wherein k.sub.1V.sub.FF lies on the second convex boundary, and if a vector sum k.sub.1V.sub.FF+V.sub.FB lies outside the first convex boundary, then providing a scaled V.sub.FB of k.sub.2V.sub.FB, where k.sub.1V.sub.FF+k.sub.2V.sub.FB lies on the first convex boundary and 0k.sub.21, and providing the vector sum k.sub.1V.sub.FF+V.sub.FB to the electric machine when vector sum k.sub.1V.sub.FF+V.sub.FB lies inside the first convex boundary and providing the vector sum k.sub.1V.sub.FF+k.sub.2V.sub.FB to the electric machine when vector sum k.sub.1V.sub.FF+V.sub.FB lies outside the first convex boundary.

20. The control system of claim 19, where the second convex boundary is the same as the first convex boundary.

21. The control system of claim 19, where the second convex boundary is equal to the first convex boundary scaled according to a factor F, where F is in a range between 0.8 and 1.

22. The control system of claim 19, where the first and second boundaries are circles.

23. The control system of claim 19, where the first and second boundaries are regular polygons.

24. The control system of claim 19, where the first convex boundary is a regular polygon and the second convex boundary is a circle.

25. The control system of claim 19, wherein the second convex boundary is a circle with a radius equal to the maximum bus value V.sub.bus.

26. A method for controlling an electric machine by an inverter controller arranged to direct a power converter, wherein the electric machine has a maximum bus voltage V.sub.bus, the method comprising determining a feedforward vector (V.sub.FF); determining a feedback vector (V.sub.FB); determining a first convex boundary centered at an origin, wherein a minimum distance from the first convex boundary to the origin is equal to V.sub.bus and wherein a shape of the first convex boundary is determined by overmodulation provided by the controller; determining a second convex boundary, wherein the second convex boundary is centered at the origin and lies entirely on or within the first convex boundary; determining if a vector sum (V.sub.FF+V.sub.FB) lies outside the first convex boundary; when a vector sum (V.sub.FF+V.sub.FB) lies inside the first convex boundary providing a control vector of V.sub.FF+V.sub.FB to the electric machine; when the vector sum (V.sub.FF+V.sub.FB) lies outside the first convex boundary then providing a scaled V.sub.FF of k.sub.1V.sub.FF where k.sub.1=1 if the vector V.sub.FF lies on or inside the second convex boundary and where 0<k.sub.1<1 if V.sub.FF lies outside the second convex boundary, wherein k.sub.1V.sub.FF lies on the second convex boundary, and determining if a vector sum k.sub.1V.sub.FF+V.sub.FB lies outside the first convex boundary, wherein if the vector sum k.sub.1V.sub.FF+V.sub.FB lies outside the first convex boundary, providing a scaled V.sub.FB of k.sub.2V.sub.FB, where k.sub.1V.sub.FF+k.sub.2V.sub.FB lies on the first convex boundary and 0k.sub.21; and providing the vector sum k.sub.1V.sub.FF+V.sub.FB to the electric machine when vector sum k.sub.1V.sub.FF+V.sub.FB lies inside the first convex boundary and providing the vector sum k.sub.1V.sub.FF+k.sub.2V.sub.FB to the electric machine when vector sum k.sub.1V.sub.FF+V.sub.FB lies outside the first convex boundary.

27. The method of claim 26, where the second convex boundary is the same as the first convex boundary.

28. The method of claim 26, where the second convex boundary is equal to the first convex boundary scaled according to a factor F, where F is in a range between 0.8 and 1.

29. The method of claim 26, where the first and second boundaries are circles.

30. The method of claim 26, where the first and second boundaries are regular polygons.

31. The method of claim 26, where the first convex boundary is a regular polygon and the second convex boundary is a circle.

32. The method of claim 26, wherein the second convex boundary is a circle with a radius equal to the maximum bus value V.sub.bus.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The invention and the advantages thereof may best be understood by reference to the following description taken in conjunction with the accompanying drawings in which:

[0012] FIG. 1 is a high level flow chart that is used in some embodiments.

[0013] FIG. 2 is a vector diagram illustrating a process in accordance with some embodiments.

[0014] FIG. 3 is a schematic view of an electric machine in accordance with some embodiments with a pulsed torque.

[0015] FIG. 4 is a diagrammatic representation of a continuous three-phase AC waveform.

[0016] FIG. 5 illustrates a three-phase power representation in an abc frame of reference that may be used in some embodiments.

[0017] FIG. 6 illustrates a three-phase power representation in an frame of reference that may be used in some embodiments.

[0018] FIG. 7 illustrates a three-phase power representation in a dq frame of reference that may be used in some embodiments.

[0019] FIG. 8 illustrates a three-phase power representation of a feedforward vector and a feedback vector in a dq frame of reference that may be used in some embodiments.

[0020] FIG. 9 illustrates a three-phase power representation of a feedforward vector and a feedback vector in a dq frame of reference that may be used in some embodiments.

[0021] In the drawings, like reference numerals are sometimes used to designate like structural elements. It should also be appreciated that the depictions in the figures are diagrammatic and not to scale.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Modern electric machines have relatively high energy conversion efficiencies. The energy conversion efficiency of most electric machines, however, can vary considerably based on their operational load. With many applications, a machine is required to operate under a wide variety of different operating load conditions. In addition, the torque provided by an electric machine may vary over operation requiring a variation from a first torque to a second torque. The first torque may be a first torque level and the second torque may be a second torque level.

[0023] Controllers for electric machines may use feedforward control signals and feedback control signals. Feedforward controlling signals are provided controlling signals are typically not derived from measuring an error, but instead may be provided by an external operator. A feedback control signal is typically generated by measuring an error between an actual output and a desired output.

[0024] To facilitate understanding, FIG. 1 is a high level flow chart that may be used in some embodiments. A feedforward vector is determined (step 104). In some embodiments, a control system of an electric machine is configured to determine the feedforward vector. FIG. 2 is a schematic illustration of the implementation used in some embodiments. In some embodiments, the feedforward vector (V.sub.FF) 204 is at least one of a feedforward voltage vector, feedforward current vector, and feedforward force vector. V.sub.FF 204 has a magnitude and an angle.

[0025] A feedback vector is determined (step 108). In FIG. 2, the feedback vector (V.sub.FB) 208 is at least one of a feedback voltage vector, feedback current vector, and feedback force vector. V.sub.FB 208 has a magnitude and an angle. The magnitude of the sum of the feedforward vector and the feedback vector is determined (step 112). In FIG. 2, the sum of V.sub.FF 204 and V.sub.FB 208 is shown as V.sub.SUM 212 and is determined in FIG. 2 using head to tail vector addition. In this example, V.sub.SUM 212 has a magnitude and angle that is different from the magnitudes and angles of both V.sub.FF 204 and V.sub.FB 208. Various known processes may be used to determine the angle and magnitude of V.sub.SUM 212.

[0026] A comparison is made between the magnitude of V.sub.SUM 212 and a maximum bus value (V.sub.bus) (step 116). If the magnitude of V.sub.SUM 212 is less than or equal to the maximum bus value V.sub.bus, then V.sub.SUM 212 is provided as a control vector to the electric machine (step 124). In some embodiments, the maximum bus value is at least one of a maximum bus voltage value, maximum bus current value, and maximum bus force value. In FIG. 2, the magnitude of V.sub.bus forms a section of a circle 216 defined by a radius V.sub.bus. In the example, shown in FIG. 2, V.sub.SUM 212 extends past the maximum bus value section of a circle 216, therefore the magnitude of V.sub.SUM 212 is greater than V.sub.bus. Therefore, in some embodiments, a new control vector is calculated according to the equation V.sub.control=V.sub.FFk(V.sub.FB), where k is a scalar value between 0 and 1, inclusive, and where V.sub.control 220 has a magnitude equal to V.sub.bus and an angle different from the angle of V.sub.SUM 212, as shown in FIG. 2. FIG. 2 shows vector k(V.sub.FF) 224. In FIG. 2, V.sub.control 220 extends to point A. In these embodiments, V.sub.control 220 is provided as the control vector.

[0027] In the prior art, when the magnitude of V.sub.SUM is greater than V.sub.bus a control vector of V.sub.prior 228=k(V.sub.SUM), where k is a scalar value between 0 and 1 would be used as the control vector. V.sub.prior 228 would have a magnitude equal to V.sub.bus and an angle equal to the angle of V.sub.SUM 212, as shown in FIG. 2. In FIG. 2, V.sub.prior 228 extends to point B.

[0028] It has been found that using V.sub.control 220 as a control vector provides improved control compared to using V.sub.prior 228 as a control vector. V.sub.control 220 maintains the angle between V.sub.FF 204 and V.sub.FB 208, whereas V.sub.prior 228 changes the angle between V.sub.FF 204 and V.sub.FB 208. Maintaining the angle between V.sub.FF 204 and V.sub.FB 208 allows the resulting change to be along a more predictable profile. By using V.sub.control=V.sub.FF+k(V.sub.FB), where k is a scalar value between 0 and 1, inclusive, and where V.sub.control 220 has a magnitude equal to V.sub.bus, the correction provided is in the same direction as the intended correction V.sub.FB 208 and is as much as possible given the limitation of not exceeding V.sub.bus. Such a correction would provide a more direct correction path. Changing angles between V.sub.FF 204 and V.sub.FB 208 introduces control errors since changing the angle causes either influence from V.sub.FF 204 or V.sub.FB 208 in a less predictable manner. Changing the angle impairs convergence, increasing the time needed for cleaning up errors introduced by going in the wrong direction. In some embodiments, the clean up for going in the wrong direction may result in a feedback loop that slowly converges to a correct solution. The slow convergence increases inefficiency.

[0029] By setting the magnitude of V.sub.control to be equal to V.sub.bus, k may be determined by solving a quadratic equation. In some embodiments, V.sub.FF 204=(a,b) and V.sub.FB 208=(c,d) and V.sub.bus=R, so that

k=[(ac+bd)+{square root over (2abcda.sup.2d.sup.2b.sup.2c.sup.2+(c.sup.2+d.sup.2)R.sup.2])}/(c.sup.2+d.sup.2)

[0030] Various embodiments may be used in various electric machines. To facilitate understanding, FIG. 3 is a block diagram of an electric machine system 300 that may be used in some embodiments. The electric machine system 300 comprises a polyphase electric machine 304, a power inverter 308, a power source 312, and an inverter controller 316. In the specification and claims, the polyphase electric machine 304 may be a polyphase motor or a polyphase generator. Therefore, in the specification and claims, the power inverter 308 is a power converter for either a polyphase motor or a polyphase generator. Such a power inverter 308 may also be called a power rectifier. In some embodiments, the power source 312 is a DC power source. One or more feedback signals are provided from the polyphase electric machine 304 to the inverter controller 316. In some embodiments, the inverter controller comprises a limiter controller 320.

[0031] In some embodiments, the inverter controller 316 may be located within the power inverter 308. In some embodiments, the inverter controller 316 may be outside of or separate from the power inverter 308. In some embodiments, part of the inverter controller 316 may be within the power inverter 308 and part of the inverter controller 316 may be outside of or separate from the power inverter 308. In some embodiments, the inverter controller 316 provides switching signals to the power inverter 308. In some embodiments, the limiter controller 320 may be located within the inverter controller 316. In some embodiments, the limiter controller 320 may be outside of or separate from the inverter controller 316. In some embodiments, part of the limiter controller 320 may be within the inverter controller 316 and part of the limiter controller 320 may be outside of or separate from the inverter controller 316. In some embodiments, the limiter controller 320 provides V.sub.control 220 to the inverter controller 316. The limiter controller 320 described herein may be implemented in a wide variety of different manners including using software or firmware executed on a processing unit such as a microprocessor, using programmable logic, using application specific integrated circuits (ASICs), using discrete logic, etc., and/or using any combination of the foregoing.

[0032] In some embodiments, where the polyphase electric machine 304 is operated as a 3 phase motor, the power inverter 308 is responsible for generating three-phase AC power from the DC power supply 312 to drive the polyphase electric machine 304. The three-phase input power, denoted as phase A 42a, phase B 42b, and phase C 42c, is applied to the windings of the stator of the polyphase electric machine 304 for generating a rotating magnetic field. The lines depicting the various phases, 42a, 42b, and 42c are depicted with arrows on both ends indicating that current can flow both from the power inverter 308 to the polyphase electric machine 304 when the machine is used as a three-phase motor and that current can flow from the polyphase electric machine 304 to the power inverter 308 when the polyphase electric machine 304 is used as a generator. When the polyphase electric machine 304 is operating as a generator, the power inverter 308 operates as a power rectifier, and the AC power coming from the polyphase electric machine 304 is converted to DC power being stored in the DC power supply 312.

[0033] FIG. 4 illustrates conventional sinusoidal three-phase current 42a, 42b, and 42c delivered to/produced by the polyphase electric machine 304 during excitation used in some embodiments. Phase B, denoted by curve 42b, lags phase A, denoted by 42a, by 120 degrees. Phase C, denoted by curve 42c, lags phase B by 120 degrees. The three-phased current 42a, 42b, and 42c is continuous (not pulsed) and has a designated amplitude of approximately 20 amps. It should be appreciated that 20 amps are only a representative current amplitude, and the current amplitude may have any value. In an example, a first phase current 42a may provide phase A 42a, the second phase current 42b may provide phase B 42b, and the third phase current 42c may provide phase C 42c. In some embodiments, a three-phase voltage may be provided instead of a three-phase current.

[0034] Some embodiments may use an abc frame of reference. FIG. 5 illustrates a three-phase power representation in an abc frame of reference that may be used in some embodiments. FIG. 5 shows axis a, axis b, and axis c that are 120 apart. In some embodiments, the current or voltage shown by curve 42a is shown along axis a, the current or voltage shown by curve 42b is shown along axis b, and the current or voltage shown by curve 42c is shown along axis c. For example, at T.sub.1 shown in FIG. 4, curve 42a is at a positive maximum and curves 42b and 42c are at equal negative values. Therefore, curve 42a provides current or voltage vector V.sub.a 504, curve 42b provides current or voltage vector V.sub.b 508, and curve 42c provides current or voltage vector V.sub.c 512. The sum of V.sub.a+V.sub.b+V.sub.c=V.sub.Tot 516. In the example shown in FIG. 4, the magnitude of V.sub.Tot 516 will be constant a will rotate in a counter-clockwise direction around the origin. In some embodiments, V.sub.Tot 516 is designated as a space vector. V-rot 516.

[0035] Some embodiments may use an frame of reference. FIG. 6 illustrates a three-phase power representation in an frame of reference that may be used in some embodiments. The a-axis, b-axis, and c-axis that are 120 apart as shown in FIG. 5 are replaced by two orthogonal axes called axis and axis , as shown. Instead, of describing current or voltage vector V.sub.a 504, current or voltage vector V.sub.b 508, and current or voltage vector V.sub.c 512 using three axes, the same vectors may be described using two coordinates of the two orthogonal axes, axis and axis . In addition, V.sub.Tot 516 can be described using two coordinates. In the example shown in FIG. 4 at time T.sub.1, the magnitude of V.sub.Tot 516 will be constant and will rotate in a counter-clockwise direction around the origin. Coordinates in the abc frame of reference may be transformed to or from coordinates of the frame of reference using the direct Clarke Transformation or the Inverse Clarke transformation.

[0036] Some embodiments may use the dq frame of reference. In the dq frame of reference, there are two orthogonal axes, which are the direct (d) axis and the quadrature (q) axis. The frame of reference is a static or stationary frame of reference that coincides with a static or stationary stator. The dq frame of reference is a rotating frame of reference that rotates with the rotor. A Park Transformation may be used to transform coordinates from the frame of reference to the dq frame of reference. In the example shown in FIG. 4 at time T.sub.1, current or voltage vector V.sub.d along the rotating d axis and current or voltage vector V.sub.q along the rotating orthogonal q axis are constant. V.sub.d+V.sub.q=V.sub.Tot, which would also be constant and stationary in the rotating dq frame of reference but would be rotating when transformed into a stationary frame of reference.

[0037] FIG. 7 illustrates a three-phase power representation in a dq frame of reference with a d axis and an orthogonal q axis. At some times V.sub.Tot 704 is a constant vector since the dq frame of reference rotates with the rotor. In some embodiments, V.sub.Tot 704 is the same as V.sub.FF 204, shown in FIG. 2. V.sub.Tot 704 is used to maintain the equilibrium (or current state) of the electric machine in order to provide a constant output, such as constant torque. In order to change the torque output of the electric machine, the current or voltage provided to the electric machine must be changed. In some embodiments, the change in the current or voltage in order to change the force provided by the electric machine to a target force is represented by V.sub.FB 708, which may be the same as V.sub.FB 208, shown in FIG. 2. In some embodiments, V.sub.FB 208 is proportional to a desired current derivative vector term dI.sub.dq/dt. In some embodiments, V.sub.SUM 712 is defined as being equal to V.sub.Tot 704+V.sub.FB 708. If the magnitude of V.sub.SUM 712 is greater than the amount of power that can be handled by the electric machine V.sub.bus, then, for the reasons explained above, some embodiments provide a power vector V.sub.control 720 defined by the equation, V.sub.control=V.sub.Tot+k(V.sub.FB), where k is a value between 0 and 1, inclusive, and where V.sub.control 720 has a magnitude equal to V.sub.bus. V.sub.control 720 provides V.sub.d, which is the d component of V.sub.control 720, and V.sub.q, which is the q component of V.sub.control 720.

[0038] In some embodiments, the electric machine system 300, shown in FIG. 3, may have an improved efficiency by being a pulsed electric machine system. Examples of such pulsed torque electric machines are described in U.S. Pat. No. 10,742,155 filed on Mar. 14, 2019, U.S. patent application Ser. No. 16/353,159 filed on Mar. 14, 2019, and U.S. Provisional Patent Application Nos. 62/644,912, filed on Mar. 19, 2018; 62/658,739, filed on Apr. 17, 2018; and 62/810,861 filed on Feb. 26, 2019. Each of the foregoing applications or patents is incorporated herein by reference for all purposes in their entirety. In such applications, the torque level transitions occur very frequently (potentially many times a second) and efficient transition control enables even higher efficiency operation. In addition, in some embodiments of pulsed electric machine systems where efficiency is most important, fast transitions are more important than a smooth transition.

[0039] In some embodiments, the fast pulsing provides higher efficiency. In some embodiments in order to provide fast pulsing, a large V.sub.FB is used causing the magnitude of V.sub.SUM 712 to be greater than V.sub.bus. In such instances, V.sub.control=V.sub.Totk(V.sub.FB), where 0k<1 and where V.sub.control 720 has a magnitude equal to V.sub.bus is used. Since the use of V.sub.control 720 improves control when compared to the prior art, the use of V.sub.control 720 in a pulsed situation improves control for pulsed electric machines.

[0040] In some embodiments, V.sub.FF 204 is pre-limited by the limiter controller 320 to be no greater than V.sub.bus. Such a prelimit ensures a real solution for k. In other embodiments, V.sub.FF 204 is pre-limited to be no greater than F*V.sub.bus, where F is in the range of 0.5 to 0.99. In some embodiments, F is in the range of 0.8 to 0.99. In some embodiments, F is in the range of 0.8 and 0.9. By limiting V.sub.FF 204 to be less than V.sub.bus, k is greater than 0, allowing for some influence by V.sub.FB 208.

[0041] Some embodiments are used in electric machine systems that use a pulsed operation to improve efficiency. An example of an electrical machine that uses a pulsed operation is described in U.S. Pat. No. 10,742,155, issued Aug. 11, 2020, to Adya S. Tripathi, which is incorporated by reference for all purposes. Pulsed electric machine control is described in U.S. Pat. No. 10,944,352 (P201); U.S. Pat. No. 11,077,759 (P208C1); U.S. Pat. No. 11,088,644 (P207C1); U.S. Pat. No. 11,133,767 (P204X1); U.S. Pat. No. 11,167,648 (P205); and U.S. patent application Ser. No. 16/912,313 filed Jun. 25, 2020 (P200C), which are incorporated by reference for all purposes. In some embodiments, such pulsed operation continuously changes electric machine operation and requires a high rate of change. As a result, in some embodiments, the pulsed operation has a large V.sub.FB. So, in some embodiments of a pulsed operation electric machine uses a large V.sub.FB. Therefore, some embodiments provide improved pulsed operation.

[0042] In some electric machines, overmodulation may be used to increase the output voltage supplied to the motor. Overmodulation is a method of increasing the output voltage that can be supplied to a multiphase motor by allowing distortion of the output voltages. FIG. 8 is a schematic illustration of an embodiment with overmodulation. A circle 840 with a radius of V.sub.bus shows the maximum bus value that can be provided by the electric machine controller without overmodulation. A hexagon 844 shows overmodulation values that are provided, where the overmodulation values are the distance from the origin to the hexagon 844 so that the overmodulation defines the hexagon 844. The hexagon 844 shows that the overmodulation values vary over time. The hexagon 844 is a first convex boundary centered at the origin with a minimum distance from the origin of the maximum bus value V.sub.bus. The circle 840 is a second convex boundary centered at the origin that is entirely on or within the second convex boundary.

[0043] At some times, the feedforward vector V.sub.FF 804 is a constant vector since the dq frame of reference rotates with the rotor. The feedforward vector V.sub.FF 804 is used to maintain the equilibrium (or current state) of the electric machine in order to provide a constant output, such as constant torque. In order to change the torque output of the electric machine, the current or voltage provided to the electric machine must be changed. In some embodiments, the change in the current or voltage in order to change the force provided by the electric machine to a target force is represented by the feedback vector V.sub.FB 808. In some embodiments, V.sub.FB 808 is proportional to a desired current derivative vector term dI.sub.dq/dt. In some embodiments, V.sub.SUM 812 is defined as being equal to V.sub.FF 804+V.sub.FB 808. If V.sub.SUM 812 lies outside of the first convex boundary defined by hexagon 844, some embodiments provide a power vector V.sub.control 820 defined by the equation, V.sub.control=V.sub.FFk(V.sub.FB), where k is a value between 0 and 1, inclusive, and where V.sub.control 820 lies on the first convex boundary. V.sub.control 820 provides V.sub.d, which is the d component of V.sub.control 820, and V.sub.q, which is the q component of V.sub.control 820.

[0044] FIG. 9 is a schematic illustration of the embodiment with overmodulation where V.sub.FF 904 lies outside of the second convex boundary defined by the circle 840 and where V.sub.SUM 912 is defined as being equal to V.sub.FF 904+V.sub.FB 908 lies outside of the first convex boundary defined by the hexagon 844. In such a case, V.sub.FF 904 is scaled back by multiplying V.sub.FF 904 by a constant k.sub.1 between 0 and 1 so that k.sub.1V.sub.FF 916 lies on the second convex boundary defined by the circle 840. If the new sum of (k.sub.1V.sub.FF 916+V.sub.FB 908) 924 lies outside the of the first convex boundary defined the hexagon 844, V.sub.FB 908 is scaled back by multiplying V.sub.FB 908 by a constant k.sub.2 between 0 and 1 so that (k.sub.1V.sub.Tot 916+k.sub.2V.sub.FB 910) 928 lies on the second convex boundary defined by the hexagon 844.

[0045] In some embodiments, when there is no overmodulation, the first convex boundary and the second convex boundary are the same. So, the second convex boundary is determined by overmodulation by providing no overmodulation. In some embodiments, the second convex boundary is equal to the first convex boundary scaled according to a factor F, where F is in a range between 0.8 and 1 inclusive. In some embodiments, the first convex boundary and the second convex boundary are regular polygons or circles. In some embodiments, the first convex boundary is a regular polygon and the second convex boundary is a circle. In some embodiments, both the first convex boundary and the second convex boundary are regular polygons.

[0046] A general process that incorporates the above embodiments would determine a feedforward vector (V.sub.FF) and would determine a feedback vector (V.sub.FB). The feedforward vector (V.sub.FF) is the same as V.sub.Tot The feedforward vector (V.sub.FF) and the feedback vector (V.sub.FB) may be defined in a frame of reference or a dq frame of reference, where the intersections of the axes define an origin. Although the electric machine has a maximum bus value (V.sub.bus), when overmodulation is provided, a limiting modulated value (V mod) is determined by the amount of overmodulation provided, which is indicated by the modulation indice. The overmodulation defines a first convex boundary that is centered at the origin, where a distance from the origin to the first convex boundary is the limiting modulated value (V mod). The minimum distance from the origin to the first convex boundary is the maximum bus value (V.sub.bus). The maximum bus value (V.sub.bus) is used to define a second convex boundary that is centered at the origin. The second convex boundary is within or on the first convex boundary. In some embodiments, the second convex boundary is circumscribed by the first convex boundary. In some embodiments, where there is no overmodulation, the second convex boundary is the same as the first convex boundary. In some embodiments, the second convex boundary has a distance from the origin that is less than the maximum bus value (V.sub.bus) where the second convex boundary lies entirely on or within the first convex boundary. In some embodiments, the distance from the origin to the second convex boundary is equal to F times the first convex boundary, where F is in a range between 0.8 and 1.

[0047] If the vector sum (V.sub.FF+V.sub.FB) lies on or inside the first convex boundary then a control vector of V.sub.FF+V.sub.FB is provided to the electric machine. If the vector sum (V.sub.FF+V.sub.FB) lies outside the first convex boundary then a scaled V.sub.FF of k.sub.1V.sub.FF is provided where k 1=1 if the vector V.sub.FF lies on or inside the second convex boundary and where 0<k.sub.1<1 if V.sub.FF lies outside the second convex boundary, where k.sub.1V.sub.FF lies on the second convex boundary. If the vector sum (k.sub.1V.sub.FF+V.sub.FB) lies outside the first convex boundary, then a scaled V.sub.FB of k.sub.2V.sub.FB is provided where k.sub.1V.sub.FF+k.sub.2V.sub.FB lies on the first convex boundary and 0k.sub.21. The vector sum k.sub.1V.sub.FF+V.sub.FB is provided to the electric machine when the vector sum k.sub.1V.sub.FF+V.sub.FB lies inside the first convex boundary. The vector sum k.sub.1V.sub.FF+k.sub.2V.sub.FB is provided to the electric machine when the vector sum k.sub.1V.sub.FF+V.sub.FB lies outside the first convex boundary.

[0048] In various embodiments, polyphase machines may include but are not limited to brushless DC (BLDC) machines, permanent magnet synchronous machines (PMSM), interior permanent magnet (IPM) machines, wound rotor synchronous machines, induction machines, and synchronous reluctance machines. In some embodiments, the polyphase machine may have two or more phases. As mentioned above, polyphase machines may be polyphase motors or polyphase generators, or polyphase machines that operate both as motors and generators.

[0049] While this disclosure has been described in terms of several preferred embodiments, there are alterations, modifications, permutations, and various substitute equivalents, which fall within the scope of this disclosure. It should also be noted that there are many alternative ways of implementing the methods and apparatuses of the present disclosure. It is therefore intended that the following appended claims be interpreted as including all such alterations, modifications, permutations, and various substitute equivalents as fall within the true spirit and scope of the present disclosure. As used herein, the phrase A, B, or C should be construed to mean a logical (A OR B OR C), using a non-exclusive logical OR, and should not be construed to mean only one of A or B or C. Each step within a process may be an optional step and is not required. Different embodiments may have one or more steps removed or may provide steps in a different order. In addition, various embodiments may provide different steps simultaneously instead of sequentially. In addition, elements that are shown and described separately may also be combined in a single device or single step. For example, steps that are described sequentially may be simultaneous. In addition, steps described sequentially in one order may be performed in another order.