Velocity compensation control for electric steering systems
First Claim
1. An electric power steering control system incorporating motor velocity compensation, said system comprising:
- an electric motor disposed in a vehicle for applying torque to a steerable wheel;
a torque sensor disposed in said vehicle for detecting a steering wheel torque and generating a torque signal;
a motor velocity sensor generating a speed signal indicative of a speed of said electric motor; and
a controller operably coupled to said torque sensor, said motor velocity sensor, and said electric motor, said controller having a first filter structure and a second filter, said first filter structure filtering said torque signal from said torque sensor to obtain a filtered torque command, said second filter filtering said speed signal from said motor velocity sensor to obtain an output signal, said second filter utilizing a gain value that varies as a function of said filtered torque command, said controller configured to generate a compensated torque command based on said filtered torque signal and said output signal for controlling output torque of said electric motor.
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Accused Products
Abstract
Disclosed herein is a method as well as a system for controlling an electric power steering system. The method includes: receiving a torque signal from a torque sensor responsive to a torque applied to a handwheel; obtaining a motor velocity signal, the motor velocity signal indicative of a speed of an electric motor which applies torque to a steerable wheel; and generating a command for the electric motor with a controller coupled to the torque sensor, and the electric motor. The command includes torque control and motor velocity compensation, responsive to at least one of the torque signal, and a motor velocity signal. Also disclosed herein is a storage medium encoded with a computer program code for controlling an electric power steering system, the storage medium includes instructions for causing controller to implement the disclosed method.
152 Citations
18 Claims
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1. An electric power steering control system incorporating motor velocity compensation, said system comprising:
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an electric motor disposed in a vehicle for applying torque to a steerable wheel; a torque sensor disposed in said vehicle for detecting a steering wheel torque and generating a torque signal; a motor velocity sensor generating a speed signal indicative of a speed of said electric motor; and a controller operably coupled to said torque sensor, said motor velocity sensor, and said electric motor, said controller having a first filter structure and a second filter, said first filter structure filtering said torque signal from said torque sensor to obtain a filtered torque command, said second filter filtering said speed signal from said motor velocity sensor to obtain an output signal, said second filter utilizing a gain value that varies as a function of said filtered torque command, said controller configured to generate a compensated torque command based on said filtered torque signal and said output signal for controlling output torque of said electric motor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of controlling an electric power steering system, the method comprising:
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receiving a torque signal from a torque sensor indicative of a torque applied to a steering wheel; receiving a motor velocity signal from a motor velocity sensor indicative of a speed of an electric motor; and filtering said torque signal from said torque sensor utilizing a first filter structure to obtain a filtered torque command; filtering said motor velocity signal from said motor velocity sensor utilizing a second filter to obtain an output signal, said second filter utilizing a gain value that varies as a function of said filtered torque command to obtain said output signal; and generating a compensated torque command utilizing a controller based on said filtered torque signal and said output signal, to control an output torque of said electric motor. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification