WO2001020266A2 - Enhanced motor velocity measurement using a blend of fixed period and fixed distance techniques - Google Patents

Enhanced motor velocity measurement using a blend of fixed period and fixed distance techniques Download PDF

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Publication number
WO2001020266A2
WO2001020266A2 PCT/US2000/024842 US0024842W WO0120266A2 WO 2001020266 A2 WO2001020266 A2 WO 2001020266A2 US 0024842 W US0024842 W US 0024842W WO 0120266 A2 WO0120266 A2 WO 0120266A2
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WO
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Prior art keywords
angular velocity
motor
weighting
set forth
estimated
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Application number
PCT/US2000/024842
Other languages
French (fr)
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WO2001020266A3 (en
Inventor
Mark P. Colosky
Original Assignee
Delphi Technologies, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delphi Technologies, Inc. filed Critical Delphi Technologies, Inc.
Publication of WO2001020266A2 publication Critical patent/WO2001020266A2/en
Publication of WO2001020266A3 publication Critical patent/WO2001020266A3/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor

Definitions

  • This invention relates to a method and system for estimating the angular velocity of an electric power steering motor for an automobile.
  • An electric power steering apparatus for a motor vehicle typically uses an electric motor to assist an operator in applying the necessary torque required to steer the vehicle.
  • a sensor in the electric power steering apparatus detects the angular position and/or velocity of the motor.
  • a signal is then sent from the sensor to an electric controller.
  • the electric controller controls the magnitude and direction of the steering assist provided by the electric motor.
  • the electric motor drives a reducing gear, typically a worm gear engaging a worm wheel, that lessens the torque required to turn the steering wheel.
  • Electric steering systems often utilize a motor with a digital encoder for a position sensor. It is desirable to provide an electric power steering system that optimizes the estimation of the angular velocity of a motor at low and high velocities.
  • a method of optimizing the estimation of the angular velocity of an electric power steering motor for an automobile comprises estimating an average angular velocity of the motor; estimating an instantaneous angular velocity of the motor; weighting the estimated average angular velocity of the motor; weighting the estimated instantaneous angular velocity of the motor; and combining the weighted estimated average angular velocity of the motor and the weighted estimated instantaneous angular velocity of the motor.
  • the motor position signal can be used to estimate the angular velocity of the motor, by determining the change in angular position of the motor divided by the change in time. Additionally the motor velocity may be directly measured by a tachometer or other such device.
  • the resulting velocity signal can be computed using one of two fundamental techniques.
  • the first involves measuring the motor angular change and dividing by a set period of time.
  • the second involves measuring the amount of time between a known motor angle change. The first method yields good results when the motor is rotating at a relatively high velocity and the second method yields good results when the motor is rotating at a relatively low velocity.
  • the optimization of the sensing system may utilize the motor velocity sensor at low motor velocity operation and a position based signal at high velocities
  • the estimation of the angular velocity of the electric motor may be optimized for bandwidth, resolution and accuracy over a prescribed speed range.
  • FIG. 1 is a generalized schematic representation of a control system
  • Figure 2 is a generalized schematic representation of an averager
  • Figure 3 is a generalized schematic representation of a discrete position difference calculation of the averager of Figure 2;
  • Figure 4 is a generalized schematic representation of a low velocity estimator
  • Figure 5 is a generalized schematic representation of a low velocity estimator with a low pass filter
  • Figure 6 is a generalized schematic representation of a motor velocity blending function of the present invention.
  • the control system 100 comprises a pulse encoded sensing target 104 attached to a motor shaft (not shown) and provides the rotating half of a motor position sensor.
  • Typical sensing targets utilize slotted disks, etched glass or magnetic disks.
  • the sensing target 104 is operative to accept as input thereto the motor angle, ⁇ , 102.
  • the sensing target 104 provides as output a signal 106 indicative of the angular position, ⁇ , of the motor shaft.
  • a position sensor receiver 108 is attached to the non- rotating part of the motor and accepts the signal 106 as input thereto and provides as output a digital signal 112, indicative of the relative angular position, ⁇ r , of the motor shaft.
  • the output signal 112 is provided as input to a microprocessor 120 for processing thereof.
  • An angular position counter 116 accepts signal 112 as input thereto and provides as output a signal 118 indicative of the absolute position, ⁇ a , of the motor.
  • the microprocessor 120 is operative to accept as input signal 112 to compute the instantaneous angular velocity, ⁇ ,, and signal 118 to compute the average velocity, flv -
  • a high velocity averager is shown generally at 400.
  • the averager 400 comprises an angular velocity estimator 404 operative to accept as input thereto the signal 118 indicative of the absolute angular position, ⁇ a , of the motor shaft.
  • the angular velocity estimator 404 calculates the angular velocity of the motor shaft by counting the number of encoder pulses over a prescribed period of time, ⁇ t, and provides as output a signal 406 which is averaged at 408 over the last N periods, providing thereby the average estimated angular velocity 410 of the motor.
  • the angular velocity estimator 404 comprises a signal delay element 204 and a summer 202.
  • the signal delay element 204 accepts as input thereto the absolute angular position, ⁇ a , of the motor shaft 118 and delays that signal by k counts.
  • the resultant change in the motor position 406 is then averaged at 408 over N periods providing thereby, the average angular velocity 410 of the motor shaft.
  • a low velocity estimator is shown generally at 300.
  • the low velocity estimator 300 comprises a clock 304 operative to accept as input thereto the signal 118 in the nature of a pulse train.
  • the clock 304 measures the amount of time between the elements of the pulse train 118 and provides as output a signal 306, the instantaneous estimated angular velocity of the motor.
  • the instantaneous estimated angular velocity 306 of the motor shaft may also be low pass filtered by conventional filtering techniques at 512 yielding a filtered version of the instantaneous estimated angular velocity 514.
  • the average estimated angular velocity 410 of the motor shaft and the instantaneous estimated angular velocity 306 of the motor shaft are provided to the blend function 600 of Figure 6.
  • the blend function 600 comprises a function generator 604 operative to accept as input thereto the average estimated angular velocity 410 of the motor shaft and to provide as output a first weighting parameter, n designated by the reference numeral 606.
  • the first weighting parameter, n has a value of between zero and one.
  • the function generator 604 is characterized by an adjustable angular velocity window ⁇ max - ⁇ m , whereby if the average estimated angular velocity, 410 of the motor shaft is less than ( ⁇ mm , then n equals zero.
  • the function generator 604 may be a piecewise linear function or may be a continuous function ranging between zero and one.
  • the first weighting parameter, n 606, is multiplied by the average estimated angular velocity 410 of the motor shaft at 612 to provide a weighted average estimated angular velocity 620 of the motor shaft.
  • the blend function 600 further comprises a bias signal, V, 610 equal to a constant value such as unity.
  • the first weighting parameter, n 606, is subtracted from the bias signal 610 at 614 yielding a complimentary weighting parameter, (V - n) 616.
  • the complimentary weighting parameter 616 is multiplied by the instantaneous estimated angular velocity 306 of the motor at 618 to provide a complimentary weighted average estimated angular velocity 622 of the motor shaft.
  • the weighted average estimated angular velocity 620 of the motor and the complimentary weighted average estimated angular velocity 622 of the motor shaft are summed at 624 to yield an estimated angular velocity 626 of the motor shaft optimized for motor shaft angular velocity.
  • the estimated angular velocity 626 of the motor shaft is further processed by the microprocessor 120.
  • the filtered instantaneous estimated angular velocity 514 of the motor is provided to the blend function 600 of Figure 6.
  • the blend function 600 operates upon the filtered instantaneous estimated angular velocity 514 of the motor shaft as described above with respect to the instantaneous estimated angular velocity 306 to produce thereby the filtered optimized estimated angular velocity 626 of the motor for further processing by the microprocessor 120.
  • the tachometer measured angular velocity 702 of the motor is provided to the blend function 600 of Figure 6.
  • the blend function 600 operates upon the tachometer measured angular velocity 702 of the motor shaft as described above with respect to the instantaneous estimated angular velocity 306 to produce thereby the filtered optimized estimated angular velocity 626 of the motor for further processing by the microprocessor 120.
  • the present invention can be embodied in the form of computer- implemented processes and apparatuses for practicing those processes.
  • the present invention can also be embodied in the form of computer program code containing instructions embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other computer-readable storage medium, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention.
  • the present invention can also be embodied in the form of computer program code, for example, whether stored in a storage medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention.
  • computer program code segments configure the microprocessor to create specific logic circuits.

Abstract

A method of estimating the angular velocity of an electric power steering motor for an automobile is disclosed. The method comprises estimating an average angular velocity (410) of the motor; estimating an instantaneous angular velocity (514) of the motor; weighting the estimated average angular velocity of the motor; weighting the estimated instantaneous angular velocity of the motor; and combining the weighted estimated average angular velocity of the motor and the weighted estimated instantaneous velocity of the motor.

Description

ENHANCED MOTOR VELOCITY MEASUREMENT USING A BLEND OF FIXED PERIOD AND FLXED DISTANCE TECHNIQUES
CROSS REFERENCE TO RELATED APPLICATIONS
This application claims the benefit of U.S. Provisional Patent Application Number 60/154,269 filed on September 16, 1999, the entire contents of which are incorporated herein by reference.
TECHNICAL FIELD
This invention relates to a method and system for estimating the angular velocity of an electric power steering motor for an automobile.
BACKGROUND OF THE INVENTION An electric power steering apparatus for a motor vehicle typically uses an electric motor to assist an operator in applying the necessary torque required to steer the vehicle. When the vehicle is steered with a steering wheel operably connected to a set of road wheels, a sensor in the electric power steering apparatus detects the angular position and/or velocity of the motor. A signal is then sent from the sensor to an electric controller. The electric controller controls the magnitude and direction of the steering assist provided by the electric motor. The electric motor drives a reducing gear, typically a worm gear engaging a worm wheel, that lessens the torque required to turn the steering wheel. Electric steering systems often utilize a motor with a digital encoder for a position sensor. It is desirable to provide an electric power steering system that optimizes the estimation of the angular velocity of a motor at low and high velocities. SUMMARY OF THE INVENTION
In an exemplary embodiment of the invention a method of optimizing the estimation of the angular velocity of an electric power steering motor for an automobile is disclosed. The method comprises estimating an average angular velocity of the motor; estimating an instantaneous angular velocity of the motor; weighting the estimated average angular velocity of the motor; weighting the estimated instantaneous angular velocity of the motor; and combining the weighted estimated average angular velocity of the motor and the weighted estimated instantaneous angular velocity of the motor. The motor position signal can be used to estimate the angular velocity of the motor, by determining the change in angular position of the motor divided by the change in time. Additionally the motor velocity may be directly measured by a tachometer or other such device.
Given the discrete nature of the digital motor position signal, the resulting velocity signal can be computed using one of two fundamental techniques. The first involves measuring the motor angular change and dividing by a set period of time. The second involves measuring the amount of time between a known motor angle change. The first method yields good results when the motor is rotating at a relatively high velocity and the second method yields good results when the motor is rotating at a relatively low velocity.
If a motor velocity sensor is used, the optimization of the sensing system may utilize the motor velocity sensor at low motor velocity operation and a position based signal at high velocities
By utilizing different velocity estimation techniques for high motor velocity and low motor velocity, the estimation of the angular velocity of the electric motor may be optimized for bandwidth, resolution and accuracy over a prescribed speed range.
DESCRIPTION OF THE DRAWINGS Figure 1 is a generalized schematic representation of a control system;
Figure 2 is a generalized schematic representation of an averager; Figure 3 is a generalized schematic representation of a discrete position difference calculation of the averager of Figure 2;
Figure 4 is a generalized schematic representation of a low velocity estimator; Figure 5 is a generalized schematic representation of a low velocity estimator with a low pass filter; and
Figure 6 is a generalized schematic representation of a motor velocity blending function of the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
Referring to Figure 1 , a control system for optimizing the estimation of the angular velocity of an electric power steering motor for an automobile is shown generally at 100. The control system 100 comprises a pulse encoded sensing target 104 attached to a motor shaft (not shown) and provides the rotating half of a motor position sensor. Typical sensing targets utilize slotted disks, etched glass or magnetic disks. The sensing target 104 is operative to accept as input thereto the motor angle, θ, 102. The sensing target 104 provides as output a signal 106 indicative of the angular position, θ, of the motor shaft. A position sensor receiver 108 is attached to the non- rotating part of the motor and accepts the signal 106 as input thereto and provides as output a digital signal 112, indicative of the relative angular position, θr, of the motor shaft. The output signal 112 is provided as input to a microprocessor 120 for processing thereof. An angular position counter 116 accepts signal 112 as input thereto and provides as output a signal 118 indicative of the absolute position, θa, of the motor. The microprocessor 120 is operative to accept as input signal 112 to compute the instantaneous angular velocity, ω,, and signal 118 to compute the average velocity, flv -
In Figure 2, a high velocity averager is shown generally at 400. The averager 400 comprises an angular velocity estimator 404 operative to accept as input thereto the signal 118 indicative of the absolute angular position, θa, of the motor shaft. The angular velocity estimator 404 calculates the angular velocity of the motor shaft by counting the number of encoder pulses over a prescribed period of time, Δt, and provides as output a signal 406 which is averaged at 408 over the last N periods, providing thereby the average estimated angular velocity 410 of the motor.
In Figure 3, the angular velocity estimator 404 comprises a signal delay element 204 and a summer 202. The signal delay element 204 accepts as input thereto the absolute angular position, θa, of the motor shaft 118 and delays that signal by k counts. The kth previous motor position 206 is subtracted at the summer 202 from the current motor position input 118. Typically, k = 1. The resultant change in the motor position 406 is then averaged at 408 over N periods providing thereby, the average angular velocity 410 of the motor shaft. In Figure 4, a low velocity estimator is shown generally at 300. The low velocity estimator 300 comprises a clock 304 operative to accept as input thereto the signal 118 in the nature of a pulse train. The clock 304 measures the amount of time between the elements of the pulse train 118 and provides as output a signal 306, the instantaneous estimated angular velocity of the motor. In Figure 5, the instantaneous estimated angular velocity 306 of the motor shaft may also be low pass filtered by conventional filtering techniques at 512 yielding a filtered version of the instantaneous estimated angular velocity 514.
In an exemplary embodiment of the present invention, the average estimated angular velocity 410 of the motor shaft and the instantaneous estimated angular velocity 306 of the motor shaft are provided to the blend function 600 of Figure 6. The blend function 600 comprises a function generator 604 operative to accept as input thereto the average estimated angular velocity 410 of the motor shaft and to provide as output a first weighting parameter, n designated by the reference numeral 606. The first weighting parameter, n, has a value of between zero and one. The function generator 604 is characterized by an adjustable angular velocity window ωmax - ωm , whereby if the average estimated angular velocity, 410 of the motor shaft is less than (ύmm, then n equals zero. If the average estimated angular velocity 410 of the motor is between ωm,„ and ω„lflV, then n lies between zero and one, and if the average estimated angular velocity 410 of the motor shaft is greater than ωmax then n equals one. The function generator 604 may be a piecewise linear function or may be a continuous function ranging between zero and one. The first weighting parameter, n 606, is multiplied by the average estimated angular velocity 410 of the motor shaft at 612 to provide a weighted average estimated angular velocity 620 of the motor shaft. The blend function 600 further comprises a bias signal, V, 610 equal to a constant value such as unity. The first weighting parameter, n 606, is subtracted from the bias signal 610 at 614 yielding a complimentary weighting parameter, (V - n) 616. The complimentary weighting parameter 616 is multiplied by the instantaneous estimated angular velocity 306 of the motor at 618 to provide a complimentary weighted average estimated angular velocity 622 of the motor shaft. The weighted average estimated angular velocity 620 of the motor and the complimentary weighted average estimated angular velocity 622 of the motor shaft are summed at 624 to yield an estimated angular velocity 626 of the motor shaft optimized for motor shaft angular velocity. The estimated angular velocity 626 of the motor shaft is further processed by the microprocessor 120.
In a second embodiment of the present invention, the filtered instantaneous estimated angular velocity 514 of the motor is provided to the blend function 600 of Figure 6. The blend function 600 operates upon the filtered instantaneous estimated angular velocity 514 of the motor shaft as described above with respect to the instantaneous estimated angular velocity 306 to produce thereby the filtered optimized estimated angular velocity 626 of the motor for further processing by the microprocessor 120. In a third embodiment of the present invention, the tachometer measured angular velocity 702 of the motor is provided to the blend function 600 of Figure 6. The blend function 600 operates upon the tachometer measured angular velocity 702 of the motor shaft as described above with respect to the instantaneous estimated angular velocity 306 to produce thereby the filtered optimized estimated angular velocity 626 of the motor for further processing by the microprocessor 120.
The present invention can be embodied in the form of computer- implemented processes and apparatuses for practicing those processes. The present invention can also be embodied in the form of computer program code containing instructions embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other computer-readable storage medium, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention. The present invention can also be embodied in the form of computer program code, for example, whether stored in a storage medium, loaded into and/or executed by a computer, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.
It will be understood that a person skilled in the art may make modifications to the preferred embodiment shown herein within the scope and intent of the claims. While the present invention has been described as carried out in a specific embodiment thereof, it is not intended to be limited thereby but intended to cover the invention broadly within the scope and spirit of the claims.

Claims

CLAIMSWhat is claimed is:
1. A method of optimizing the estimation of the angular velocity of an electric power steering motor for an automobile, the method comprising: estimating an average angular velocity of the motor; estimating an instantaneous angular velocity of the motor; weighting the estimated average angular velocity of the motor; weighting the estimated instantaneous angular velocity of the motor; and combining the weighted estimated average angular velocity of the motor and the weighted estimated instantaneous angular velocity of the motor.
2. The method as set forth in Claiml further comprising pulse encoding the motor.
3. The method as set forth in Claim 1 wherein estimating an average angular velocity of the motor includes estimating the average angular velocity of the motor by a discrete position difference calculation.
4. The method as set forth in Claim 2 wherein estimating an instantaneous angular velocity of the motor includes measuring the amount of time between encoded pulses.
5. The method as set forth in Claim 2 wherein estimating an average angular velocity of the motor includes counting the number of encoded pulses over a prescribed period of time.
6. The method as set forth in Claim 4 wherein estimating an instantaneous angular velocity of the motor includes low pass filtering the instantaneous average angular velocity.
7. The method as set forth in Claim 1 wherein weighting the estimated average angular velocity of the motor includes weighting the estimated average angular velocity with a first weighting parameter generated by a function generator.
8. The method as set forth in Claim 7 wherein weighting the estimated average angular velocity of the motor includes weighting the estimated average angular velocity over a range of angular velocities.
9. The method as set forth in Claim 7 wherein weighting the estimated instantaneous average velocity of the motor includes weighting the estimated instantaneous angular velocity with a second weighting parameter equal to the first weighting parameter subtracted from the a constant value.
10. A storage medium encoded with machine-readable computer program code for optimizing the estimation of the angular velocity of an electric power steering motor for an automobile, said storage medium including instructions for causing a computer to implement a method comprising: estimating an average angular velocity of the motor; estimating an instantaneous angular velocity of the motor; weighting the estimated average angular velocity of the motor; weighting the estimated instantaneous angular velocity of the motor; and combining the weighted estimated average angular velocity of the motor and the weighted estimated instantaneous angular velocity of the motor.
11. The storage medium as set forth in Claim 10 further comprising instructions for causing a computer to implement pulse encoding the motor.
12. The storage medium as set forth in Claim 10 further comprising instructions for causing a computer to implement estimating the average angular velocity of the motor by a discrete position difference calculation.
13. The storage medium as set forth in Claim 11 further comprising instructions for causing a computer to implement measuring the amount of time between encoded pulses.
14. The storage medium as set forth in Claim 11 further comprising instructions for causing a computer to implement counting the number of encoded pulses over a prescribed period of time.
15. The storage medium as set forth in Claim 13 further comprising instructions for causing a computer to implement low pass filtering the instantaneous average angular velocity.
16. The storage medium as set forth in Claim 10 further comprising instructions for causing a computer to implement weighting the estimated average angular velocity with a first weighting parameter generated by a piecewise linear function.
17. The storage medium as set forth in Claim 16 further comprising instructions for causing a computer to implement weighting the estimated average angular velocity over a range of angular velocities.
18. The storage medium as set forth in Claim 16 further comprising instructions for causing a computer to implement weighting the estimated instantaneous angular velocity with a second weighting parameter equal to the first weighting parameter subtracted from a constant value.
19. The method as set forth in Claim 1 wherein estimating the instantaneous angular velocity of the motor includes measuring the angular velocity of the motor with a tachometer.
20. The storage medium as set forth in Claim 10 further comprising instructions for causing a computer to implement estimating the instantaneous angular velocity of the motor by measuring the angular velocity of the motor with a tachometer.
PCT/US2000/024842 1999-09-16 2000-09-11 Enhanced motor velocity measurement using a blend of fixed period and fixed distance techniques WO2001020266A2 (en)

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US15426999P 1999-09-16 1999-09-16
US60/154,269 1999-09-16

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