Apparatus and method for calculating absolute angular position for controlling vehicle steering system
A vehicle steering system comprises: a motor assembly operably coupled to a steering rack, the motor assembly comprising a motor having a rotor and a motor position sensor configured to sense a rotor angle of the motor in a single-turn range; and a rotary-to-linear conversion mechanism operably coupled between the motor assembly and the steering rack, the rotary-to-linear conversion mechanism comprising a rotor operably coupled to the rotor of the motor. A processor calculates an absolute angular position of the pinion in a full-turn range of rotation of the pinion based on the sensed rotor angle of the motor and a pinion angle sensed by a pinion angle sensor in a single-turn range, or based on the sensed rotor angle of the motor and an angle of the rotor of the rotary-to-linear conversion mechanism sensed by an angular position sensor in the single-turn range.
1. A vehicle steering system, comprising:
a motor assembly comprising a motor having a first rotor and a motor position sensor configured to sense a first rotor angle of the motor in a single-turn range;
a rotary-to-linear conversion mechanism operably coupled between the motor assembly and a steering rack to convert a rotational force of the motor into a linear force for moving the steering rack, the rotary-to-linear conversion mechanism comprising a second rotor operably coupled to the first rotor of the motor and an angular position sensor configured to sense a second rotor angle of the second rotor of the rotary-to-linear conversion mechanism in a single-turn range, wherein the steering rack is operably coupled to a pinion; and
a processor configured to calculate an absolute angular position associated with a position of the steering rack in a full-turn range associated with movement of the steering rack based on the sensed first rotor angle of the motor and the sensed second rotor angle of the second rotor of the rotary-to-linear conversion mechanism using ratio between rates at which the first rotor of the motor and the second rotor of the rotary-to-linear conversion mechanism rotate.
2. The vehicle steering system of claim 1 , wherein the absolute angular position associated with the position of the steering rack in the full-turn range associated with the movement of the steering rack is an absolute angular position of the pinion in the full-turn range of rotation of the pinion.
3. The vehicle steering system of claim 1 , wherein the processor is configured to calculate the absolute angular position associated with the position of the steering rack based on the sensed first rotor angle of the motor and the sensed second angle of the second rotor of the rotary-to-linear conversion mechanism using a Vernier algorithm.
4. The vehicle steering system of claim 1 , wherein:
the rotary-to-linear conversion mechanism comprises a first gear configured to be rotated by the first rotor of the motor and the second rotor of the rotary-to-linear conversion mechanism is a second gear rotatably connected to the first gear,
the angular position sensor is configured to sense the angle of the second gear of the rotary-to-linear conversion mechanism in a single-turn range, and
the processor is configured to calculate the absolute angular position associated with the position of the steering rack in the full-turn range associated with the movement of the steering rack based on the sensed rotor angle of the motor and the sensed angle of the second gear of the rotary-to-linear conversion mechanism.
5. The vehicle steering system of claim 1 , wherein the single-turn range is a three hundred sixty (360) degree range, and the full-turn range corresponds to a movable range of the steering rack.
6. The vehicle steering system of claim 1 , wherein the rotary-to-linear conversion mechanism comprises a ball-nut assembly.
7. A vehicle steeling system, comprising:
a pinion angle sensor configured to sense a pinion angle in a single-turn range, wherein the pinion angle is associated with a pinion operably coupled to a steering rack;
a motor assembly operably coupled to the steering rack, the motor assembly comprising a motor having a rotor and a motor position sensor configured to sense a rotor angle of the motor in a single-turn range; and
a processor configured to calculate an absolute angular position associated with a position of the steering rack in a full-turn range associated with movement of the steering rack based on the sensed pinion angle and the sensed rotor angle of the motor using ratio between rates at which the pinion and the rotor of the motor rotate.
8. The vehicle steering system of claim 7 , wherein the absolute angular position associated with the position of the steering rack in the full-turn range associated with the movement of the steering rack is an absolute angular position of the pinion in the full-turn range of rotation of the pinion.
9. The vehicle steering system of claim 7 , wherein the processor is configured to calculate the absolute angular position associated with the position of the steering rack based on the sensed pinion angle and the sensed rotor angle of the motor using a Vernier algorithm.
10. The vehicle steering system of claim 7 , further comprising a rotary-to-linear conversion mechanism operably coupled between the motor assembly and the steering rack.
11. The vehicle steering system of claim 10 , wherein the rotary-to-linear conversion mechanism comprises a ball-nut assembly.
12. The vehicle steering system of claim 7 , wherein the single-turn range is a three hundred sixty (360) degree range, and the full-turn range corresponds to a movable range of a steering rack.