Quadrant dependent active damping for electric power steering
View Patent ↗An electric power steering system includes a steering wheel, an electric assist motor operatively coupled to the steering wheel, and an electronic controller operatively coupled to the motor for receiving a first signal representative of torque applied to the steering wheel, and a second signal representative of angular velocity of the motor. The electronic controller produces an active damping motor command signal according to a function of the first and second signals. The active damping motor command signal is scaled by a first factor if the first and second signals are both positive, or if the first and second signals are both negative, to provide a scaled motor command signal. The active damping motor command signal is scaled by a second factor if the first signal is positive and the second signal is negative, or if the first signal is negative and the second signal is positive, to provide the scaled motor command signal. The scaled motor command signal is applied to the motor.
1. An electric power steering system including:
a steering wheel,
an electric assist motor operatively coupled to the steering wheel, and
an electronic controller operatively coupled to the assist motor for receiving a first signal representative of torque applied to the steering wheel, and a second signal representative of angular velocity of the assist motor; the electronic controller producing an active damping motor command signal as a function of the first and second signals;
wherein the active damping motor command signal is scaled by a first scaling factor if the first and second signals are both positive, or if the first and second signals are both negative, to provide a scaled motor command signal;
wherein the active damping motor command signal is scaled by a second scaling factor if the first signal is positive and the second signal is negative, or if the first signal is negative and the second signal is positive, to provide the scaled motor command signal.
2. The electric power steering system of claim 1 wherein the scaled motor command signal is applied to the electric assist motor.
3. The electric power steering system of claim 1 wherein the controller is programmed to scale the active damping motor command signal in response to detecting an operational quadrant from a plurality of operational quadrants in which the electric assist motor is capable of operating, the plurality of operational quadrants including at least a first quadrant defined as a motor operating condition wherein the first and second signals are both positive, and a second quadrant defined as a motor operating condition wherein the first signal is negative and the second signal is positive.
4. The electric power steering system of claim 3 wherein the plurality of operational quadrants further include a third quadrant defined as a motor operating condition such that the first and second signals are both negative, and a fourth quadrant wherein the first signal is positive and the second signal is negative.
5. The electric power steering system of claim 1 , wherein the electronic controller receives a third signal indicative of a road speed of a vehicle, the electronic controller further comprises an input-dependent damping function responsive to the third signal, and the scaled motor command signal is responsive to the input-dependent damping function.
6. The electric power steering system of claim 5 , further comprising a steered member coupled to the steering wheel and a torque sensor coupled to the steered member for sensing a driver torque input to produce the first signal;
wherein the input-dependent damping function is responsive to the driver torque input, and the scaled motor command signal is responsive to the input-dependent damping function.
7. The electric power steering system of claim 6 wherein the input-dependent damping function is responsive to at least one of the first and second signals.
8. The electric power steering system of claim 1 wherein the first scaling factor and the second scaling factor are stored in a computer-readable memory device capable of being accessed by the controller.
9. The electric power steering system of claim 8 wherein the first scaling factor and the second scaling factor are stored in the computer-readable memory device in the form of one or more look-up tables.
10. The electric power steering system of claim 9 wherein the first scaling factor and the second scaling factor each comprise one or more constants.
11. A method for controlling an electric power steering system comprising a steering wheel, an electric assist motor operatively coupled to the steering wheel, and an electronic controller operatively coupled to the assist motor, the method including:
receiving a first signal representative of torque applied to the steering wheel,
receiving a second signal representative of angular velocity of the assist motor,
producing an active damping motor command signal as a function of the first and second signals,
scaling the active damping motor command signal by a first scaling factor if the first and second signals are both positive, or if the first and second signals are both negative, to provide a scaled motor command signal;
scaling the active damping motor command signal by a second scaling factor if the first signal is positive and the second signal is negative, or if the first signal is negative and the second signal is positive, to provide the scaled motor command signal.
12. The method of claim 11 further comprising applying the scaled motor command signal to the electric assist motor.
13. The method of claim 11 further comprising:
scaling the active damping motor command signal in response to detecting an operational quadrant from a plurality of operational quadrants in which the electric assist motor is capable of operating, the plurality of operational quadrants including at least a first quadrant defined as a motor operating condition wherein the first and second signals are both positive, and a second quadrant defined as a motor operating condition wherein the first signal is negative and the second signal is positive.
14. The method of claim 13 wherein the plurality of operational quadrants further include a third quadrant defined as a motor operating condition such that the first and second signals are both negative, and a fourth quadrant wherein the first signal is positive and the second signal is negative.
15. The method of claim 11 further including:
receiving a third signal indicative of a road speed of a vehicle, the electronic controller further comprises an input-dependent damping function responsive to the third signal, and the scaled motor command signal is responsive to the input-dependent damping function.
16. The method of claim 15 wherein the input-dependent damping function is responsive at least to the first signal and the third signal, and the scaled motor command signal is responsive to the input-dependent damping function.
17. The method of claim 16 wherein the
input-dependent damping function is responsive to at least one of the first and second signals.
18. The method of claim 1 further comprising storing the first scaling factor and the second scaling factor in a computer-readable memory device capable of being accessed by the controller.
19. The method of claim 18 further comprising storing the first scaling factor and the second scaling factor in the computer-readable memory device in the form of one or more look-up tables.
20. The method of claim 18 wherein the first scaling factor and the second scaling factor each comprise one or more constants.