Apparatus and method for control of an active front steering (AFS) system
A motor control strategy for a motor in a front steering system for a vehicle that reduces vibrations from the motor being transferred to a vehicle hand-wheel. The control strategy also includes operating the electric motor in a commutation freeze mode if a position error signal is less than a first predetermined threshold by sending signals to coils of the motor to prevent to the motor from rotating, operating the electric motor in a commutation normal mode if the position error signal is greater than a second predetermined threshold that is greater than the first predetermined threshold, and operating the electric motor in an angle step mode if the position error signal is between an intermediate threshold and the second threshold where the angle step mode provides a signal to the motor to move the motor forward or backward a predetermined number of motor steps, one step at a time.
1. A method for controlling an electric motor that includes a plurality of coils providing phases of the motor, said method comprising:
providing actual position signals indicative of the actual position of the motor;
providing a commanded position signal of a desired position of the motor;
determining a position error signal between the commanded position signal and the actual position signals;
operating the electric motor in a commutation hold mode when the absolute value of the position error signal is less than a first predetermined threshold by sending signals to coils of the motor to prevent the motor from rotating;
operating the electric motor in a commutation normal mode when the absolute value of the position error signal is greater than a second predetermined threshold that is greater than the first predetermined threshold; and
operating the electric motor in an angle step mode if the position error signal is between an intermediate threshold and the second threshold where the angle step mode provides a signal to the motor to move the motor forward or backward a predetermined number of motor steps.
2. The method according to claim 1 wherein operating the electric motor in a commutation normal mode includes providing a controlled duty cycle pulse-width modulation signal that causes the motor to rotate.
3. The method according to claim 2 further comprising rate limiting the duty cycle of the pulse-width modulation signal when the electric motor is being operated in the commutation normal mode.
4. The method according to claim 1 wherein the electric motor is a three-phase electric motor.
5. The method according to claim 4 wherein operating the electric motor in an angle step mode includes controlling the electric motor using two of the phases of the electric motor or using three of the phases of the electric motor.
6. The method according to claim 5 wherein operating the electric motor in an angle step mode includes toggling between the two-phase control and the three-phase control.
7. The method according to claim 1 wherein providing actual position signals includes providing actual position signals that are spaced apart 60° electrical or 120° electrical.
8. The method according to claim 1 wherein operating the electric motor includes controlling the electric motor with a proportional-integral-derivative controller to generate a PWM duty cycle.
9. The method according to claim 1 wherein the electric motor is part of an active front steering system for a vehicle.
10. A method for controlling a DC brushless electric motor that includes three coils providing three phases of the motor, said method comprising:
providing three actual position signals indicative of the actual position of the phases of the motor with respect to a motor rotor;
providing a commanded position signal of a desired position of the motor;
determining a position error signal between the commanded position signal and the actual position signals;
operating the electric motor in a commutation freeze mode when the absolute value of the position error signal is less than a first predetermined threshold by sending pulse-width modulated voltage signals to coils of the motor to prevent the motor from rotating;
operating the electric motor in a commutation normal mode when the absolute value of the position error signal is greater than a second predetermined threshold that is greater than the first predetermined threshold by sending pulse-width modulated voltage signals to coils of the motor; and
operating the electric motor in an angle step mode if the position error signal is between an intermediate threshold and the second threshold where the angle step mode provides a signal to the motor to move the motor forward or backward a predetermined number of motor steps.
11. The method according to claim 10 further comprising rate limiting the duty cycle of the pulse-width modulation signal when the electric motor is being operated in the commutation normal mode.
12. The method according to claim 10 wherein operating the electric motor in an angle step mode includes controlling the electric motor using two of the phases of the electric motor or using three of the phases of the electric motor.
13. The method according to claim 12 wherein operating the electric motor in an angle step mode includes toggling between the two-phase control and the three-phase control.
14. The method according to claim 10 wherein providing actual position signals includes providing actual position signals that are spaced apart 60° electrical or 120° electrical.
15. The method according to claim 10 wherein the electric motor is part of an active front steering system for a vehicle.
16. A method for controlling an electric motor that includes a plurality of coils providing phases of the motor, said method comprising:
providing actual position signals indicative of the actual position of the motor;
providing a commanded position signal of a desired position of the motor;
determining a position error signal between the commuted position signal and the actual position signals; and
operating the electric motor in an angle step mode if the position error signal is between an intermediate threshold and a second threshold where the angle step mode provides a signal to the motor to move the motor forward or backward a predetermined number of motor steps.
17. The method according to claim 16 wherein the electric motor is a three-phase brushless DC electric motor.
18. The method according to claim 17 wherein operating the electric motor in an angle step mode includes controlling the electric motor using two of the phases of the electric motor.
19. The method according to claim 17 wherein operating the electric motor in an angle step mode includes controlling the electric motor using three of the phases of the electric motor.
20. The method according to claim 17 wherein operating the electric motor in an angle step mode includes toggling the control of the electric motor between a two-phase control and a three-phase control.