Feel control for active steering
First Claim
Patent Images
1. A method for controlling a feel back torque of a motor, the method comprising:
- receiving a signal indicative of a difference between a desired motor position and an actual motor position;
filtering the received signal into a plurality of frequency bands; and
applying a gain to at least one of the filtered frequency bands in correspondence with at least one of the received signal and a low-pass portion of the received signal to provide a motor command.
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Abstract
A method and apparatus for controlling the feel back torque of a motor provides for receiving a difference between a desired motor position and an actual motor position; filtering the difference into two or more frequency bands; and applying a gain to one or more of the filtered frequency bands in correspondence with the received signal or a low-pass portion of the received signal to provide a motor command.
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Citations
25 Claims
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1. A method for controlling a feel back torque of a motor, the method comprising:
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receiving a signal indicative of a difference between a desired motor position and an actual motor position;
filtering the received signal into a plurality of frequency bands; and
applying a gain to at least one of the filtered frequency bands in correspondence with at least one of the received signal and a low-pass portion of the received signal to provide a motor command. - View Dependent Claims (2, 3, 4, 5)
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6. A controller for an active steering system, the controller comprising:
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a feel control algorithm for controlling a feel back torque to a driver, said feel control algorithm comprising a filter, and at least one of a high-pass gain and a low-pass gain;
wherein said at least one of said high-pass gain and said low-pass gain operate on a high pass portion of an error signal and a low-pass portion of the error signal. - View Dependent Claims (7, 8, 9, 10, 11, 12, 25)
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13. A controller for an active steering system, the controller comprising:
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means for receiving a signal indicative of a difference between a desired motor position and an actual motor position;
means for filtering the received signal into a plurality of frequency bands; and
means for applying a gain to at least one of the filtered frequency bands in correspondence with at least one of the received signal and a low-pass portion of the received signal to provide a motor command.
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14. A method for actively controlling the steering of a motor vehicle, the method comprising:
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receiving an operator input from an operator of the motor vehicle;
receiving a stability input indicative of a dynamic stability of the motor vehicle;
calculating a correction signal in accordance with the operator input and the stability input;
filtering the connection signal into a plurality of frequency bands;
applying a gain to at least one of the filtered bands to produce an output signal corresponding to a desired feel back torque; and
adjusting an input to a differential actuator in accordance with the output signal. - View Dependent Claims (15)
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16. An active steering system comprising:
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an input device;
a differential actuator in operable communication with said input device;
a steering actuator in operable communication with said differential actuator; and
a feel controller in signal communication with said input device, said steering actuator, and said differential actuator for controlling a feel back torque to an operator, said feel controller includes a low-pass filter for dividing a signal into a low-frequency component and a high-frequency component. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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23. An active steering system comprising:
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means far receiving a steering input from an operator of the motor vehicle;
means far receiving a stability input indicative of a dynamic stability of the motor vehicle;
means for calculating a correction signal in accordance with the steering input and the stability input;
means for filtering the correction signal into a plurality of frequency bands;
means for applying a gain to at Least one of the filtered bands to produce an output signal corresponding to a desired feel back torque; and
means for adjusting an input to a differential actuator in accordance with the output signal.
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24. A motor controller, comprising:
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a feel control algorithm for controlling a feel back torque to an operator, said feel control algorithm comprising a filter, and at least one of a high-pass gain and a low-pass gain;
wherein said at least one of said high-pass gain and said low-pass gain operate on a high pass portion of an error signal and a low-pass portion of the error signal.
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Specification