Methods, systems and apparatus for steering wheel vibration reduction in electric power steering systems
First Claim
1. In a vehicle comprising an electrical power steering (EPS) system, the EPS system comprising an electric motor, a method for reducing steering wheel vibrations (SWVs), the method comprising:
- receiving angular position information regarding change in angular position of at least one wheel over a time interval, and generating, based on the angular position information, an instantaneous angular velocity signal and an angular position signal that corresponds to the wheel, wherein the instantaneous angular velocity signal corresponds to a particular angular frequency of the wheel;
generating a gain-and-phase-compensated motor drive command signal at the particular angular frequency, based on the instantaneous angular velocity and the angular position of the wheel, wherein generating the gain-and-phase-compensated motor drive command signal comprises the steps of;
generating, based on the angular position signal, sinusoidal carrier signals at a frequency that corresponds to the instantaneous angular velocity, wherein the sinusoidal carrier signals comprise at least two sinusoids with differences in phase;
individually mixing the sinusoidal carrier signals with an electrical torque signal to generate mixed signals;
applying one or more gains to the mixed signals to generate processed signals;
summing the processed signals to generate extracted signals; and
mixing the extracted signals with the sinusoidal carrier signals; and
communicating the gain-and-phase-compensated motor drive command signal to the electric motor to control the motor torque to attenuate vibrations communicated to a steering wheel.
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Accused Products
Abstract
Methods, system and apparatus are provided for reducing steering wheel vibrations (SWVs). At least one heterodyning operation is performed during the generation of a gain-and-phase-compensated motor drive command signal. The gain-and-phase-compensated motor drive command signal is generated at a particular angular frequency, based on an angular velocity and an angular position of a wheel. The gain-and-phase-compensated motor drive command signal is communicated to an electric power steering system to control motor torque to reduce periodic content in a periodic electrical torque signal at the particular angular frequency.
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Citations
26 Claims
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1. In a vehicle comprising an electrical power steering (EPS) system, the EPS system comprising an electric motor, a method for reducing steering wheel vibrations (SWVs), the method comprising:
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receiving angular position information regarding change in angular position of at least one wheel over a time interval, and generating, based on the angular position information, an instantaneous angular velocity signal and an angular position signal that corresponds to the wheel, wherein the instantaneous angular velocity signal corresponds to a particular angular frequency of the wheel; generating a gain-and-phase-compensated motor drive command signal at the particular angular frequency, based on the instantaneous angular velocity and the angular position of the wheel, wherein generating the gain-and-phase-compensated motor drive command signal comprises the steps of; generating, based on the angular position signal, sinusoidal carrier signals at a frequency that corresponds to the instantaneous angular velocity, wherein the sinusoidal carrier signals comprise at least two sinusoids with differences in phase; individually mixing the sinusoidal carrier signals with an electrical torque signal to generate mixed signals; applying one or more gains to the mixed signals to generate processed signals; summing the processed signals to generate extracted signals; and mixing the extracted signals with the sinusoidal carrier signals; and communicating the gain-and-phase-compensated motor drive command signal to the electric motor to control the motor torque to attenuate vibrations communicated to a steering wheel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An electrical power steering (EPS) system coupled to a steering wheel of a vehicle, the EPS system comprising:
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an electric motor designed to generate a motor torque; a sensor designed to generate an electrical torque signal; and an electronic control unit (ECU) designed to; generate, based on angular position information regarding change in angular position of at least one wheel over a time interval, an instantaneous angular velocity signal and an angular position signal that corresponds to the wheel, wherein the instantaneous angular velocity signal corresponds to a particular angular frequency of the wheel; generate a gain-and-phase-compensated motor drive command signal at the particular angular frequency, based on the instantaneous angular velocity and the angular position of the wheel, wherein during the generation of the gain-and-phase-compensated motor drive command signal, based on the angular position signal, sinusoidal carrier signals are generated at a frequency that corresponds to the instantaneous angular velocity, wherein the sinusoidal carrier signals comprise;
at least two sinusoids with differences in phase, wherein the sinusoidal carrier signals are individually mixed with an electrical torque signal to generate mixed signals, wherein one or more gains are applied to the mixed signals to generate processed signals, wherein the processed signals are summed to generate extracted signals, and wherein the extracted signals are mixed with the sinusoidal carrier signals, andwherein the gain-and-phase-compensated motor drive command signal is fedback to the electric motor to control the motor torque to attenuate vibrations communicated to the steering wheel. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method, comprising:
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generating a gain-and-phase-compensated motor drive command signal at a particular angular frequency, based on an instantaneous angular velocity and an angular position of a wheel, wherein generating the gain-and-phase-compensated motor drive command signal comprises the steps of; generating, based on the angular position of the wheel, sinusoidal carrier signals at a frequency that corresponds to the instantaneous angular velocity, wherein the sinusoidal carrier signals comprise at least two sinusoids with differences in phase; individually mixing the sinusoidal carrier signals with an electrical torque signal to generate mixed signals; applying one or more gains to the mixed signals to generate processed signals; summing the processed signals to generate extracted signals; and mixing the extracted signals with the sinusoidal carrier signals; and communicating the gain-and-phase-compensated motor drive command signal to an electric power steering system to reduce steering wheel vibrations.
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Specification