Reducing the effects of vibrations in an electric power steering (EPS) system
The system and method described herein can be used to reduce the effects of periodic vibrations in an electric power steering (EPS) system for a vehicle, particularly, those that can lead to smooth road shake (SRS), torsional nibble, and/or other undesirable conditions. According to an exemplary embodiment, an electric motor is used to purposely generate counter-acting vibrations in the EPS system to cancel out the periodic vibrations generated by the wheel assemblies or corners.
1. A method for use with an electric power steering (EPS) system, comprising the steps of:
(a) measuring a vibration in a part of the EPS system, wherein the measured vibration includes periodic and non-periodic content and is measured by a sensor coupled to the part of the EPS system being vibrated;
(b) identifying the periodic content of the measured vibration by evaluating the measured vibration over a number of wheel revolutions and extracting the periodic content from the non-periodic content of the measured vibration;
(c) determining a vibration correction from the periodic content extracted from the non-periodic content of the measured vibration; and
(d) driving an electric motor according to the vibration correction, wherein the vibration correction mitigates the effect of the measured vibration.
2. The method of claim 1 , wherein step (a) further comprises measuring the vibration in a steering shaft of the EPS system, wherein the steering shaft is an input shaft to a rack and pinion steering gear assembly.
3. The method of claim 2 , wherein step (a) further comprises measuring the vibration in the steering shaft with a torque sensor, wherein the measured vibration is a time-varying torque acting upon the steering shaft.
4. The method of claim 1 , wherein step (b) further comprises comparing the periodic content to a first threshold, if the periodic content is greater than the first threshold then performing step (c).
5. The method of claim 4 , wherein the first threshold has a value that is equivalent to 60-100 mg rms, inclusive, of tangential steering wheel acceleration.
6. The method of claim 4 , wherein the periodic content is measured over a limited frequency band that is between 1-5 Hz, inclusive, and is centered at a rotational velocity of one or more wheels.
7. The method of claim 1 , wherein step (b) further comprises determining a first order component of the periodic content and ignoring one or more higher-order components of the periodic content.
8. The method of claim 1 , wherein step (b) further comprises identifying the periodic content of the measured vibration and decomposing the periodic content into one or more individual wheel components that correspond to individual wheel assemblies.
9. The method of claim 8 , wherein if all of the individual wheel assemblies are rotating at substantially the same rotational velocity, then decomposing the periodic content into one or more individual wheel component further comprises populating a matrix with phasor quantities at or near a single frequency.
10. The method of claim 8 , wherein if some of the individual wheel assemblies are rotating at different rotational velocities, then decomposing the periodic content into one or more individual wheel component further comprises populating a matrix with phasor quantities at or near multiple frequencies.
11. The method of claim 8 , wherein step (b) further comprises comparing each of the individual wheel components to a second threshold, if an individual wheel component is greater than the second threshold then performing step (c) for that individual wheel component.
12. The method of claim 11 , wherein the second threshold has a value that is equivalent to 15-25 mg rms, inclusive, of tangential steering wheel acceleration.
13. The method of claim 8 , wherein step (b) further comprises comparing each of the individual wheel components to a previously saved component that is associated with the same wheel assembly, and if the two components differ by a certain degree then step (a) is repeated before performing step (c).
14. The method of claim 8 , wherein step (c) further comprises determining a plurality of vibration corrections, and each of the vibration corrections is related to a negative function of a corresponding individual wheel component.
15. The method of claim 1 , wherein step (d) further comprises driving an electric motor according to the vibration correction, wherein the vibration correction uses a multi-pulse wheel signal to incrementally update periodic motor drive signals.
16. The method of claim 1 , further comprising the step of:
measuring an additional vibration in the same part of the EPS system while driving the electric motor in step (d), and identifying those portions of the additional vibration that are attributable to the vibration correction.
17. The method of claim 16 , further comprising the step of:
determining a motor-to-steering transfer function based on those portions of the additional vibration that are attributable to the vibration correction, and modifying the vibration correction based on the motor-to-steering transfer function.
18. An electric power steering (EPS) system for use with a vehicle, comprising:
a steering connection assembly;
an electric motor being coupled to the EPS system to provide power assistance to supplement a manual steering force; and
an electronic controller having a first input that receives a first signal representative of a measured vibration from a sensor coupled to the steering connection assembly, a second input that receives a second signal from a sensor coupled to a wheel assembly, and an output that provides a command signal to the electric motor, wherein the electronic controller is configured to use the first and second signals to identify periodic content of the measured vibration and to use the periodic content to generate the command signal, and the command signal causes the electric motor to purposely introduce counter-acting vibrations into the EPS system that mitigate the effects of the periodic content of the measured vibration.
19. A method for use with an electric power steering (EPS) system, comprising the steps of:
(a) measuring a vibration in a part of the EPS system, wherein the measured vibration includes periodic and non-periodic content;
(b) processing the measured vibration over a number of wheel revolutions so that the periodic content of the measured vibration stands apart from the non-periodic content of the measured vibration;
(c) decomposing the periodic content of the measured vibration into one or more individual wheel component(s);
(d) using the one or more individual wheel component(s) to determine one or more vibration correction(s); and
(e) driving an electric motor according to the one or more vibration correction(s), wherein the vibration correction(s) mitigate the effect of the measured vibration.