Four-degree-of-freedom harmonic current command for electric motor

A four degree of freedom harmonic current command for an electric motor is provided. A propulsion system for an apparatus includes an electric motor configured to generate torque to propel the apparatus. A controller is in communication with the electric motor and is adapted to select at least one harmonic order for the harmonic current command. The controller is adapted to define a plurality of operating regions, including a first operating region, a second operating region and a third operating region, each associated with a respective objective function for generating a harmonic current command. The controller is adapted to operate the harmonic current command in four degrees of freedom by selectively changing the q-axis current amplitude, the d-axis current amplitude, the q-axis phase and the d-axis phase as a function of torque and motor speed. 提供了电动机的四自由度谐波电流命令。一种用于设备的推进系统包括电动机，电动机被配置成生成扭矩以推进所述设备。控制器与电动机通信，并适于为谐波电流命令选择至少一个谐波阶次。控制器适于限定多个操作区域，包括第一操作区域、第二操作区域和第三操作区域，每个操作区域与用于生成谐波电流命令的相应目标函数相关联。控制器适于通过根据扭矩和