Electronically controlled power steering system for vehicles and method and system for motor control
View Patent ↗A power steering device capable of obtaining a high rotary speed in the medium low torque range of an electric motor without incurring a drastic increase in manufacturing cost. The power steering device generates an auxiliary steering power by oil pressure that is generated by a pump which is driven by an electric power motor. The electric motor is a triple-phase brushless motor, with its angle of rotation being detected by the Hall sensors. The field coils are provided with the electric current from a drive circuit which is driven by a drive signal from the motor drive control part. The motor drive control part controls the electric motor by PWM control in the low medium speed rotation range and controls the electric motor by phase advance angle control, with PWM duty at 100 percent, in the medium high speed range.
1. A method for controlling an electric motor powered from a direct current bus, the motor having at least one sensor output for determining a switching instant for a switch of a switching converter controlling a conduction angle determining a conduction time during a revolution of the motor, the method comprising:
receiving the sensor output;
advancing a switching-on time of a switch of the switching converter connecting a d-c bus voltage from the direct current bus to a motor phase drive input by a phase angle prior to the next sensor output determining the switching instant; and
controlling the speed of the motor by changing the amount of the phase.
2. The method of claim 1 , further comprising increasing the conduction angle by the amount of said phase angle.
3. The method of claim 1 , wherein the phase angle comprises a fixed phase angle amount and a variable phase angle amount controllable by a controller to control the speed of the motor.
4. The method of claim 3 , wherein the variable phase angle increases the conduction angle and the fixed phase angle shifts the conduction time temporally.
5. The method of claim 1 , further comprising pulse width modulating the switch during the conduction angle.
6. The method of claim 3 , wherein two alternately conducting switches arranged in a half bridge are provided and further comprising advancing a switching-on time of each switch by the phase angle.
7. The method of claim 6 , wherein the motor is a three phase motor and three half bridges are provided, each comprising two alternately conducting switches, one comprising a high side switch and the other a low side switch and further comprising advancing a switching-on time of each switch by the phase angle.
8. The method of claim 7 , wherein the conduction angle varies between 120° and 180°, and the variable phase angle varies between 0° and 60°.
9. The method of claim 8 , wherein the fixed phase angle advance equals approximately 15°.
10. The method of claim 3 , wherein the fixed phase angle is provided so that a turn-off instant for the switch is aligned with a transition of the sensor output independently of the amount of conduction angle.
11. The method of claim 1 , further comprising pulse width modulating during the conduction angle at a duty cycle of 100%.
12. The method of claim 1 , further comprising selecting between the two following options a) and b) to control the motor speed:
(a) varying the phase angle and 100% duty cycle pulse width modulation during the conduction angle; and
(b) zero phase angle and varying the duty cycle by pulse width modulation during the conduction angle.
13. The method of claim 12 , further comprising selecting option b) if a desired speed can be reached at a 120° conduction angle and less than 100% duty cycle.
14. The method of claim 12 , further comprising selecting option b) if a current drawn by the motor exceeds a predetermined limit with 120° conduction angle and 100% duty cycle.
15. The method of claim 12 , further comprising selecting option a) if a desired motor speed cannot be reached with 120° conduction angle and 100% duty cycle and the current drawn by the motor is below a predetermined limit.
16. A motor speed control regulator for controlling an electric motor powered from a direct current bus, the regulator comprising:
a switching converter selectively switching a dc bus voltage from the direct current bus for powering the motor;
a controller for controlling a switching operation of the converter, an on-time of each switch of the converter determining the conduction angle, the controller having at least one input from at least one sensor providing a sensor signal related to a rotational position of the rotor of the motor;
the controller changing the phase angle at which each switch of the converter switches on in response to the sensor signal such that each switch switches on at a phase angle in advance of the sensor signal, the amount of the phase angle advance controlling the motor speed.
17. The motor speed control regulator of claim 16 , further wherein the controller includes a pulse width modulator for modulating the converter output during the conduction angle.
18. The motor speed control regulator of claim 17 , further wherein the controller is operable to perform speed control of the motor by selecting between the following two options a) and b):
(a) varying the phase angle and 100% duty cycle pulse width modulation during the conduction angle; and
(b) zero phase angle and varying the duty cycle of pulse width modulation during the conduction angle.
19. The motor speed control regulator of claim 18 , wherein the controller is operable to select option b) if a desired speed can be reached at a 120° conduction angle and less than 100% duty cycle.
20. The motor speed control regulator of claim 18 , wherein the controller is operable to select option b) if a current drawn by the motor exceeds a predetermined limit with 120° conduction angle and 100% duty cycle.
21. The motor speed control regulator of claim 18 , wherein the controller is operable to select option a) if a desired motor speed cannot be reached with 120° conduction angle and 100% duty cycle and the current drawn by the motor is below a predetermined limit.
22. The motor speed control regulator of claim 16 , wherein the phase angle increases the conduction angle by the amount of the phase angle.
23. The motor speed control regulator of claim 16 , wherein the phase angle comprises a fixed phase angle amount and a variable phase angle amount controllable to control the speed of the motor.
24. The motor speed control regulator of claim 23 , wherein the variable phase angle increases the conduction angle and the fixed phase angle shifts the on-time temporally.
25. The motor speed control regulator of claim 16 , wherein the motor is a three phase motor and the converter comprises three half bridges, each comprising two alternately conducting switches, one comprising a high side switch and the other a low side switch.
26. The motor speed control regulator of claim 25 , wherein the motor is a brushless three phase DC motor.
27. The motor speed control regulator of claim 16 , wherein the conduction angle varies between 120° and 180° and the variable phase angle varies between 0° and 60°.
28. The motor speed control regulator of claim 23 , wherein the fixed phase angle is provided so that a turn-off instant for each switch is aligned with a transition of the sensor output independently of the amount of conduction angle.