US 12,107,522 B2
System and method for controlling a motor
Walter Wesley Pennington, III, Menlo Park, CA (US); Ethan Bagget Swint, Redwood City, CA (US); Anthony Da Costa, Los Altos, CA (US); and Matthew J. Rubin, Indianapolis, IN (US)
Assigned to TAU MOTORS, INC., Redwood City, CA (US)
Appl. No. 18/576,699
Filed by TAU MOTORS, INC., Redwood City, CA (US)
PCT Filed Jul. 7, 2022, PCT No. PCT/US2022/036417
§ 371(c)(1), (2) Date Jan. 4, 2024,
PCT Pub. No. WO2023/283378, PCT Pub. Date Jan. 12, 2023.
Claims priority of provisional application 63/219,096, filed on Jul. 7, 2021.
Prior Publication US 2024/0266978 A1, Aug. 8, 2024
Int. Cl. H02P 21/14 (2016.01); H02P 6/32 (2016.01); H02P 6/34 (2016.01); H02P 21/22 (2016.01)
CPC H02P 21/14 (2013.01) [H02P 6/32 (2016.02); H02P 6/34 (2016.02); H02P 21/22 (2016.02); H02P 2207/07 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for controlling a motor, the method comprising:
determining, by an electronic motor controller, present motor information, wherein determining the present motor information comprises:
determining a rotor position angle of a rotor of the motor, and
determining, by the electronic motor controller, motor currents including a rotor field current of the rotor and stator currents through respective coils of a stator of the motor;
determining, by the electronic motor controller, a motor control parameter set based on the present motor information and a rotating reference frame of the motor, wherein the rotating reference frame has independent input channels that decouple an intended output response in a stator D-axis component and a rotor field (R) component of a direct-quadrature-null-rotor (DQNR) reference frame of the motor, wherein the stator D-axis component corresponds to the stator and the rotor field (R) component corresponds to the rotor, wherein the rotating reference frame of the motor is an SM/DM reference frame having a summation mode axis (SM-axis) and a difference mode axis (DM-axis), wherein the SM-axis represents a sum of the stator D-axis component and the rotor field (R) component and the DM-axis represents a difference of the stator D-axis component and the rotor field (R) component; and
controlling, by the electronic motor controller, the motor based on the motor control parameter set.