Method and apparatus for motor velocity measurement compensation in electric power steering damping

• US 6,658,335 B2
• Filed: 02/13/2002
• Issued: 12/02/2003
• Est. Priority Date: 10/11/2001
• Status: Expired due to Term

• Current Assignee: GM Global Technology Operations Incorporated (General Motors Company), Steering Solutions IP Holding Corporation (Nexteer Automotive Group Ltd.)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Kleinau, Julie A.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US10/075,407
• Publication Number:
  US 20030074120A1
• Time in Patent Office: 657 Days
• Field of Search: 701/41, 701/42, 180/443, 180/446, 180/412, 180/624, 180/6.2, 180/6.28, 318/432, 318/433, 318/805, 318/64, 318/434, 318/66
• US Class Current: 701/41
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0466 for returning the steering wheel to neutral position
• CPC Class Codes: B62D 5/0472 for damping vibrations

Abstract

A method for generating a compensated torque command signal to be applied to an electric power steering motor is disclosed. In an exemplary embodiment, the method includes generating an assist torque command signal responsive to a measured vehicle speed and an input steering torque signal. An assist dependent damping torque signal is generated, the assist dependent damping torque signal responsive to the assist torque command signal, the measured vehicle speed and a compensated motor velocity output value of the electric power steering motor. The assist dependent damping torque signal is then subtracted from the assist torque command signal.

Claims

1. A method for generating a compensated motor velocity output value for an electric power steering motor, the method comprising:

determining a first motor velocity value;

determining a second motor velocity value;

comparing a measured vehicle speed to a determined vehicle speed range; and

if said measured vehicle speed exceeds said determined vehicle speed range, then the compensated motor velocity output value is set to said first motor velocity value;

if said measured vehicle speed is less than said determined vehicle speed range, then the compensated motor velocity output value is set to said second motor velocity value; and

if said measured vehicle speed is within said determined vehicle speed range, then the compensated motor velocity output value is a linearly blended value of said first motor velocity value and said second motor velocity value.

2. The method of claim 1, wherein said determined vehicle speed range lies between a first breakpoint (breakpoint 1) and a second breakpoint (breakpoint 2), said first and second breakpoints being selected vehicle speeds.

3. The method of claim 2, wherein if said measured vehicle speed is within said vehicle speed range, the compensated motor velocity output value is generated in accordance with the following equation:

4. The method of claim 3, wherein:

α

is equal to 1 when said measured vehicle speed is less than or equal to said first breakpoint;

α

is equal to 0 when said measured vehicle speed is greater than or equal to said second breakpoint; and

α

linearly decreases from 1 to 0 in between said first breakpoint and said second breakpoint.

5. The method of claim 1, wherein:

said first motor velocity value is determined by using a first number of motor positions in conjunction with a motor position signal; and

said second motor velocity value is determined by using a second number of motor positions in conjunction with said motor position signal.

6. The method of claim 5, wherein said first number of motor positions is less than said second number of motor positions.

7. The method of claim 6, further comprising retrieving a current motor position and a plurality of previous motor positions from a storage device.

8. A method for generating a damping torque signal to be applied to an electric power steering motor, the method comprising:

inputting an assist torque signal to a first assist dependent damping table;

inputting said assist torque signal to a second assist dependent damping table; and

depending upon a measured vehicle speed, blending outputs from said first and second assist dependent damping tables, thereby producing an assist damping value;

wherein said assist damping value is used, along with a motor velocity value, to generate the damping torque signal.

9. The method of claim 8, wherein:

said first assist dependent damping table comprises a static assist dependent damping table; and

said second assist dependent damping table comprises a rolling assist dependent damping table.

10. A method for generating a compensated torque command signal to be applied to an electric power steering motor, the method comprising:

generating an assist torque command signal, said assist torque command signal responsive to a measured vehicle speed and an input steering torque signal;

generating an assist dependent damping torque signal, said assist dependent damping torque signal responsive to said assist torque command signal, said measured vehicle speed and a compensated motor velocity output value of the electric power steering motor; and

subtracting said assist dependent damping torque signal from said assist torque command signal.

11. The method of claim 10, further comprising:

generating an active damping torque signal, said active damping torque signal responsive to said measured vehicle speed and said compensated motor velocity output;

generating a total damping torque signal, said total damping torque signal comprising the sum of said active damping torque signal and said assist dependent damping torque signal; and

subtracting said total damping torque signal from said assist torque command signal.

12. The method of claim 11, further comprising:

generating a return to center torque signal, said return to center torque signal responsive to said measured vehicle speed and a steering angle signal; and

subtracting both said total damping torque signal and said return to center torque signal from said assist torque command signal.

13. The method of claim 12, wherein said compensated motor velocity output value is generated by:

determining a first motor velocity value;

determining a second motor velocity value;

comparing said measured vehicle speed to a determined vehicle speed range; and

if said measured vehicle speed exceeds said determined vehicle speed range, then said compensated motor velocity output value is set to said first motor velocity value;

if said measured vehicle speed is less than said determined vehicle speed range, then said compensated motor velocity output value is set to said second motor velocity value; and

if said measured vehicle speed is within said determined vehicle speed range, then said compensated motor velocity output value is a linearly blended value of said first motor velocity value and said second motor velocity value.

14. The method of claim 13, wherein said determined vehicle speed range lies between a first breakpoint (breakpoint 1) and a second breakpoint (breakpoint 2), said first and second breakpoints being selected vehicle speeds.

15. The method of claim 14, wherein if said measured vehicle speed is within said vehicle speed range, said compensated motor velocity output value is generated in accordance with the following equation:

16. The method of claim 15, wherein:

α

is equal to 1 when said measured vehicle speed is less than or equal to said first breakpoint;

α

is equal to 0 when said measured vehicle speed is greater than or equal to said second breakpoint; and

α

linearly decreases from 1 to 0 in between said first breakpoint and said second breakpoint.

17. The method of claim 13, wherein:

said first motor velocity value is determined by using a first number of motor positions in conjunction with a motor position signal; and

said second motor velocity value is determined by using a second number of motor positions in conjunction with said motor position signal.

18. The method of claim 13, wherein said first number of motor positions is less than said second number of motor positions.

19. The method of claim 18, further comprising retrieving a current motor position and a plurality of previous motor positions from a storage device.

20. The method of claim 12, wherein generating said assist dependent damping torque signal further comprises:

inputting said assist torque command signal to a first assist dependent damping table;

inputting said assist torque command signal to a second assist dependent damping table; and

depending upon a measured vehicle speed, blending outputs from said first and second assist dependent damping tables, thereby producing an assist damping value;

wherein said assist damping value is used, along with a motor velocity value, to generate the damping torque signal.

21. The method of claim 20, wherein:

said first assist dependent damping table comprises a static assist dependent damping table; and

said second assist dependent damping table comprises a rolling assist dependent damping table.

22. A controller for an electric power steering system, comprising:

means for determining a first motor velocity value of an electric motor;

means for determining a second motor velocity value of said electric motor;

means for comparing a measured vehicle speed to a determined vehicle speed range; and

means for generating a compensated motor velocity output value of said electric motor, wherein

if said measured vehicle speed exceeds said determined vehicle speed range, then said compensated motor velocity output value is set to said first motor velocity value; and

if said measured vehicle speed is less than said determined vehicle speed range, then said compensated motor velocity output value is set to said second motor velocity value; and

if said measured vehicle speed is within said determined vehicle speed range, then said compensated motor velocity output value is a linearly blended value of said first motor velocity value and said second motor velocity value.

23. The controller of claim 22, wherein said determined vehicle speed range lies between a first breakpoint (breakpoint 1) and a second breakpoint (breakpoint 2), said first and second breakpoints being selected vehicle speeds.

24. The controller of claim 23, wherein if said measured vehicle speed is within said vehicle speed range, the compensated motor velocity output value is generated in accordance with the following equation:

25. The controller of claim 24, wherein:

α

is equal to 1 when said measured vehicle speed is less than or equal to said first breakpoint;

α

is equal to 0 when said measured vehicle speed is greater than or equal to said second breakpoint; and

α

linearly decreases from 1 to 0 in between said first breakpoint and said second breakpoint.

26. The controller of claim 22, wherein:

said first motor velocity value is determined by using a first number of motor positions in conjunction with a motor position signal; and

said second motor velocity value is determined by using a second number of motor positions in conjunction with said motor position signal.

27. The controller of claim 26, wherein said first number of motor positions is less than said second number of motor positions.

28. The controller of claim 27, wherein a current motor position and a plurality of previous motor positions are retrieved from a storage device.

29. The controller of claim 22, further comprising:

means for inputting an assist torque signal to a first assist dependent damping table;

means for inputting said assist torque signal to a second assist dependent damping table; and

depending upon a measured vehicle speed, means for blending outputs from said first and second assist dependent damping tables, thereby producing an assist damping value;

wherein said assist damping value is used, along with a motor velocity value, to generate the damping torque signal.

30. The controller of claim 28, wherein:

said first assist dependent damping table comprises a static assist dependent damping table; and

said second assist dependent damping table comprises a rolling assist dependent damping table.

31. A storage medium, comprising:

a machine readable computer program code for generating a compensated torque command signal to be applied to an electric power steering motor; and

instructions for causing a computer to implement a method, the method further comprising;

generating an assist torque command signal, said assist torque command signal responsive to a measured vehicle speed and an input steering torque signal;

generating an assist dependent damping torque signal, said assist dependent damping torque signal responsive to said assist torque command signal, said measured vehicle speed and a compensated motor velocity output value of the electric power steering motor; and

subtracting said assist dependent damping torque signal from said assist torque command signal.

32. The storage medium of claim 31, wherein the method further comprises:

generating an active damping torque signal, said active damping torque signal responsive to said measured vehicle speed and said compensated motor velocity output;

generating a total damping torque signal, said total damping torque signal comprising the sum of said active damping torque signal and said assist dependent damping torque signal; and

subtracting said total damping torque signal from said assist torque command signal.

33. The storage medium of claim 32, wherein the method further comprises:

generating a return to center torque signal, said return to center torque signal responsive to said measured vehicle speed and a steering angle signal; and

subtracting both said total damping torque signal and said return to center torque signal from said assist torque command signal.

34. The storage medium of claim 33, wherein said compensated motor velocity output value is generated by:

determining a first motor velocity value;

determining a second motor velocity value;

comparing said measured vehicle speed to a determined vehicle speed range; and

if said measured vehicle speed exceeds said determined vehicle speed range, then said compensated motor velocity output value is set to said first motor velocity value;

if said measured vehicle speed is less than said determined vehicle speed range, then said compensated motor velocity output value is set to said second motor velocity value; and

if said measured vehicle speed is within said determined vehicle speed range, then said compensated motor velocity output value is a linearly blended value of said first motor velocity value and said second motor velocity value.

35. The storage medium of claim 34, wherein said determined vehicle speed range lies between a first breakpoint (breakpoint 1) and a second breakpoint (breakpoint 2), said first and second breakpoints being selected vehicle speeds.

36. The storage medium of claim 35, wherein if said measured vehicle speed is within said vehicle speed range, said compensated motor velocity output value is generated in accordance with the following equation:

37. The storage medium of claim 36, wherein:

α

is equal to 1 when said measured vehicle speed is less than or equal to said first breakpoint;

α

is equal to 0 when said measured vehicle speed is greater than or equal to said second breakpoint; and

α

linearly decreases from 1 to 0 in between said first breakpoint and said second breakpoint.

38. The storage medium of claim 34, wherein:

said first motor velocity value is determined by using a first number of motor positions in conjunction with a motor position signal; and

said second motor velocity value is determined by using a second number of motor positions in conjunction with said motor position signal.

39. The storage medium of claim 38, wherein said first number of motor positions is less than said second number of motor positions.

40. The storage medium of claim 39, wherein a current motor position and a plurality of previous motor positions are retrieved from a storage device.

41. The storage medium of claim 33, wherein generating said assist dependent damping torque signal further comprises:

inputting said assist torque command signal to a first assist dependent damping table;

inputting said assist torque command signal to a second assist dependent damping table; and

depending upon a measured vehicle speed, blending outputs from said first and second assist dependent damping tables, thereby producing an assist damping value;

wherein said assist damping value is used, along with a motor velocity value, to generate the damping torque signal.

42. The storage medium of claim 41, wherein:

said first assist dependent damping table comprises a static assist dependent damping table; and

said second assist dependent damping table comprises a rolling assist dependent damping table.

43. A computer data signal, comprising:

code configured to cause a processor to implement a method for generating a compensated torque command signal to be applied to an electric power steering motor, the method further comprising;

generating an assist torque command signal, said assist torque command signal responsive to a measured vehicle speed and an input steering torque signal;

generating an assist dependent damping torque signal, said assist dependent damping torque signal responsive to said assist torque command signal, said measured vehicle speed and a compensated motor velocity output value of the electric power steering motor; and

subtracting said assist dependent damping torque signal from said assist torque command signal.

44. The computer data signal of claim 43, wherein the method further comprises:

generating an active damping torque signal, said active damping torque signal responsive to said measured vehicle speed and said compensated motor velocity output;

generating a total damping torque signal, said total damping torque signal comprising the sum of said active damping torque signal and said assist dependent damping torque signal; and

subtracting said total damping torque signal from said assist torque command signal.

45. The computer data signal of claim 44, wherein the method further comprises:

generating a return to center torque signal, said return to center torque signal responsive to said measured vehicle speed and a steering angle signal; and

subtracting both said total damping torque signal and said return to center torque signal from said assist torque command signal.

46. The computer data signal of claim 45, wherein said compensated motor velocity output value is generated by:

determining a first motor velocity value;

determining a second motor velocity value;

comparing said measured vehicle speed to a determined vehicle speed range; and

if said measured vehicle speed exceeds said determined vehicle speed range, then said compensated motor velocity output value is set to said first motor velocity value;

if said measured vehicle speed is less than said determined vehicle speed range, then said compensated motor velocity output value is set to said second motor velocity value; and

if said measured vehicle speed is within said determined vehicle speed range, then said compensated motor velocity output value is a linearly blended value of said first motor velocity value and said second motor velocity value.

47. The computer data signal of claim 46, wherein said determined vehicle speed range lies between a first breakpoint (breakpoint 1) and a second breakpoint (breakpoint 2), said first and second breakpoints being selected vehicle speeds.

48. The computer data signal of claim 47, wherein if said measured vehicle speed is within said vehicle speed range, said compensated motor velocity output value is generated in accordance with the following equation:

49. The computer data signal of claim 48, wherein:

α

is equal to 1 when said measured vehicle speed is less than or equal to said first breakpoint;

α

is equal to 0 when said measured vehicle speed is greater than or equal to said second breakpoint; and

α

linearly decreases from 1 to 0 in between said first breakpoint and said second breakpoint.

50. The computer data signal of claim 46, wherein:

said first motor velocity value is determined by using a first number of motor positions in conjunction with a motor position signal; and

said second motor velocity value is determined by using a second number of motor positions in conjunction with said motor position signal.

51. The computer data signal of claim 50, wherein said first number of motor positions is less than said second number of motor positions.

52. The computer data signal of claim 51, wherein a current motor position and a plurality of previous motor positions are retrieved from a storage device.

53. The computer data signal of claim 45, wherein generating said assist dependent damping torque signal further comprises:

inputting said assist torque command signal to a first assist dependent damping table;

inputting said assist torque command signal to a second assist dependent damping table; and

depending upon a measured vehicle speed, blending outputs from said first and second assist dependent damping tables, thereby producing an assist damping value;

wherein said assist damping value is used, along with a motor velocity value, to generate the damping torque signal.

54. The computer data signal of claim 53, wherein:

said first assist dependent damping table comprises a static assist dependent damping table; and

said second assist dependent damping table comprises a rolling assist dependent damping table.