Motor position filter for estimation of velocity using moving linear regression
First Claim
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1. A method of adjusting steering system operation by estimating a motor velocity in an electric power steering system that includes a motor, comprising:
- generating motor position data by sampling an original motor position signal of the motor of the electric power steering system at an irregular sampling rate, the original motor position signal being obtained by a first position sensor, the generated motor position data includes a plurality of motor position values and a plurality of corresponding time values, wherein the generating comprises;
selecting a first plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the first plurality of motor position values has a first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a first rolling buffer in which the selected first plurality of consecutive motor position values is stored;
selecting a second plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the second plurality of motor position values has the first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a second rolling buffer in which the selected second plurality of consecutive motor position values is stored; and
the second plurality of motor position values is sampled successively after the first plurality of motor position values, the temporally first motor position value from the first plurality of motor position values and the temporally first motor position value from the second plurality of motor position value having a second predetermined time-gap, distinct from the first predetermined time-gap;
estimating a motor velocity of the motor of the electric power steering system using the motor position data sampled at the irregular sampling rate and stored in the first rolling buffer and in the second rolling buffer to compute
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Abstract
A method of estimating a motor velocity in an electric power steering system that includes a motor is provided. The method generates motor position data by sampling an original motor position signal at an irregular sampling rate. The method estimates a motor velocity by performing a regression analysis on the motor position data.
17 Citations
17 Claims
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1. A method of adjusting steering system operation by estimating a motor velocity in an electric power steering system that includes a motor, comprising:
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generating motor position data by sampling an original motor position signal of the motor of the electric power steering system at an irregular sampling rate, the original motor position signal being obtained by a first position sensor, the generated motor position data includes a plurality of motor position values and a plurality of corresponding time values, wherein the generating comprises; selecting a first plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the first plurality of motor position values has a first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a first rolling buffer in which the selected first plurality of consecutive motor position values is stored; selecting a second plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the second plurality of motor position values has the first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a second rolling buffer in which the selected second plurality of consecutive motor position values is stored; and the second plurality of motor position values is sampled successively after the first plurality of motor position values, the temporally first motor position value from the first plurality of motor position values and the temporally first motor position value from the second plurality of motor position value having a second predetermined time-gap, distinct from the first predetermined time-gap; estimating a motor velocity of the motor of the electric power steering system using the motor position data sampled at the irregular sampling rate and stored in the first rolling buffer and in the second rolling buffer to compute - View Dependent Claims (2, 3, 4, 5, 17)
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6. A system comprising:
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a power steering system that includes a motor; and a control module configured to; generate motor position data by sampling an original motor position signal of the motor at an irregular sampling rate, the original motor position signal being obtained by a first position sensor, the generated motor position data includes a plurality of motor position values and a plurality of corresponding time values, the generating comprising; selecting a first plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the first plurality of motor position values has a first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a first rolling buffer in which the selected first plurality of consecutive motor position values is stored; and selecting a second plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the second plurality of motor position values has the first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a second rolling buffer in which the selected second plurality of consecutive motor position values is stored, the second plurality of motor position values is sampled successively after the first plurality of motor position values, the temporally first motor position value from the first plurality of motor position values and the temporally first motor position value from the second plurality of motor position value having a second predetermined time-gap, distinct from the first predetermined time-gap; estimate a motor velocity of the motor using the motor position data that is sampled at the irregular sampling rate and stored in the first rolling buffer and in the second rolling buffer to compute - View Dependent Claims (7, 8, 9, 10, 15)
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11. A control system for estimating a motor velocity in an electric power steering system that includes a motor, comprising:
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a sampling module configured to generate motor position data by sampling an original motor position signal of the motor at an irregular sampling rate, the original motor position signal being obtained by a first position sensor, the generated motor position data includes a plurality of motor position values and a plurality of corresponding time values, wherein the generating comprising; selecting a first plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the first plurality of motor position values has a first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a first rolling buffer in which the selected first plurality of consecutive motor position values is stored; and selecting a second plurality of consecutive motor position values from the original motor position signal from the first position sensor, each pair of consecutive motor position values from the second plurality of motor position values has the first predetermined time-gap, a number of the consecutive motor position values selected based on a capacity of a second rolling buffer in which the selected second plurality of consecutive motor position values is stored, the second plurality of motor position values is sampled successively after the first plurality of motor position values, the temporally first motor position value from the first plurality of motor position values and the temporally first motor position value from the second plurality of motor position value having a second predetermined time-gap, distinct from the first predetermined time-gap; a motor velocity estimation module configured to estimate a motor velocity of the motor of the electric power steering system using the motor position data sampled at the irregular sampling rate and stored in the first rolling buffer and in the second rolling buffer to compute - View Dependent Claims (12, 13, 14, 16)
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Specification