Methods and systems involving return torque
View Patent ↗A method of controlling a motor of a power steering system is provided. The method includes: estimating a scale factor based on a vehicle speed and a hand wheel torque; applying the scale factor to a return command; and generating a motor command signal based on the applying the scale factor.
1. A method of controlling a motor of a power steering system comprising:
estimating a return command based on a vehicle speed and a hand wheel angle, the return command to assist a driver in returning vehicle wheels to a center position;
estimating a scale factor based on the vehicle speed and a hand wheel torque;
applying the scale factor to the return command by multiplying the scale factor by the return command; and
generating a motor command signal based on the applying the scale factor to the return command.
2. The method of claim 1 , wherein the estimating the return command is based on a lookup table that is indexed by the vehicle speed and the hand wheel angle.
3. The method of claim 1 , wherein the estimating the return command is based on a plurality of lookup tables that are indexed by the hand wheel angle, and wherein the plurality of lookup tables are each associated with a discrete vehicle speed.
4. The method of claim 3 , wherein the estimating the return command further comprises interpolating the return command based on return commands from two or more of the plurality of lookup tables.
5. The method of claim 1 , wherein the estimating the scale factor is based on a lookup table that is indexed by the vehicle speed and the hand wheel torque.
6. The method of claim 1 , wherein the estimating the scale factor is based on a plurality of lookup tables that are indexed by the hand wheel torque, and wherein the plurality of lookup tables are each associated with a discrete vehicle speed.
7. The method of claim 6 , wherein the estimating the scale factor further comprises interpolating the scale factor based on scale factors from two or more of the plurality of lookup tables.
8. A system for controlling a motor of a power steering system comprising:
a hand wheel return module that estimates a return command based on a vehicle speed and a hand wheel angle, the return command to assist a driver in returning vehicle wheels to a center position;
a scaling module that estimates a scale factor based on the vehicle speed and a hand wheel torque; and
a return command module that applies the scale factor to the return command by multiplying the scale factor by the return command, and that generates a motor command signal based on the applying the scale factor to the return command.
9. The system of claim 8 , wherein the hand wheel return module estimates the return command based on a lookup table that is indexed by the vehicle speed and the hand wheel angle.
10. The system of claim 8 , wherein the hand wheel return module estimates the return command based on a plurality of lookup tables that are indexed by the hand wheel angle, and wherein the plurality of lookup tables are each associated with a discrete vehicle speed.
11. The system of claim 10 , wherein the hand wheel return module estimates the return command by interpolating the return command based on return commands from two or more of the plurality of lookup tables.
12. The system of claim 8 , wherein the scaling module estimates the scale factor based on a lookup table that is indexed by the vehicle speed and the hand wheel torque.
13. The system of claim 8 , wherein the scaling module estimates the scale factor based on a plurality of lookup tables that are indexed by hand wheel torque, and wherein the plurality of lookup tables are each associated with a discrete vehicle speed.
14. The system of claim 13 , wherein the scaling module estimates the scale factor by interpolating the scale factor based on scale factors from two or more of the plurality of lookup tables.
15. A power steering system comprising:
a hand wheel;
a motor coupled to the hand wheel; and
a controller comprising:
a hand wheel return module that estimates a return command based on a vehicle speed and a hand wheel angle, the return command to assist a driver in returning vehicle wheels to a center position;
a scaling module that estimates a scale factor based on the vehicle speed and a hand wheel torque; and
a return command module that applies the scale factor to the return command by multiplying the scale factor by the return command, and that generates a motor command signal based on the applying the scale factor to the return command.
16. The system of claim 15 , wherein the controller determines the scale factor based on one or more lookup tables that are indexed by at least one of the vehicle speed and the torque of the hand wheel.
17. The system of claim 16 , wherein the scaling module estimates the scale factor by interpolating the scale factor based on scale factors from the one or more lookup tables.
18. The system of claim 15 , wherein the hand wheel return module estimates the return command based on a lookup table that is indexed by the vehicle speed and the hand wheel angle.
19. The system of claim 15 , wherein the hand wheel return module estimates the return command based on a plurality of lookup tables that are indexed by the hand wheel angle, and wherein the plurality of lookup tables are each associated with a discrete vehicle speed.
20. The system of claim 19 , wherein the hand wheel return module estimates the return command by interpolating the return command based on return commands from two or more of the plurality of lookup tables.