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US 2019/0158004 A1Published application
Torque ripple compensation with feedforward control in motor control systems
AssigneeSteering Solutions IP Holding Corporation
InventorsPrerit Pramod, Infane Lowe, Krishna MPK Namburi, Varsha Govindu
Life of this patent
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Abstract
Technical solutions are described for providing torque ripple compensation when a motor control system is operating in feedforward mode. An example motor control system includes a feedforward controller that receives a first current command corresponding to an input torque command, and receives a second current command corresponding to a torque ripple. The feedforward controller generates a voltage command based on the first current command and the second current command, the voltage command being applied to a motor.
Claims20
A motor control system that provides torque ripple compensation when operating in feedforward mode, the motor control system comprising:
- a feedforward controller configured to:
- receive a first current command corresponding to an input torque command;
- receive a second current command corresponding to a torque ripple to be compensated;
- and
- generate a voltage command based on the first current command and the second current command, the voltage command being applied to a motor,. wherein generating the voltage command comprises:
- determining a first voltage command using the first current command and further based on motor inductance, motor circuit resistance, and motor velocity;
- determining a second voltage command using the second current command, and further based on the motor inductance, the motor circuit resistance, and the motor velocity;
- determining a third voltage command corresponding to a back-emf of the motor;
- and
- adding the first voltage command, the second voltage command, and the third voltage command.
7 more elements
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(canceled)
A motor control system that provides torque ripple compensation when operating in feedforward mode, the motor control system comprising:
- a feedforward controller configured to:
- receive a first current command corresponding to an input torque command:
- receive a second current command corresponding to a torque ripple to be compensated;
- and
- generate a voltage command based on the first current command and the second current command, the voltage command being applied to a motor, wherein the voltage command (Vdqf) comprises a d-axis component (Vdf) and a q-axis component (Vqf), and generating the voltage command (Vdqf) comprises:
- determining a final current command (Idqf) by adding the first current command (Idqr) and the second current command (Idqp), each containing q-axis and d-axis components;
- determining the d-axis component (Vdf) of the voltage command using both the d-axis component of the final current command (Idf) and the q-axis component of the final current command (Iqf);
- and
- determining the q-axis component (Vqf) of the voltage command using both the d-axis component of the final current command (Idf) and the q-axis component of the final current command (Iqf), and wherein the voltage command is computed as
- Vdf=({tilde over (L)}d{tilde over (s)}+{tilde over (R)})Idf+{tilde over (ω)}e {tilde over (L)}qIqf
- Vqf=({tilde over (L)}q{tilde over (s)}+{tilde over (R)})Iqf−{tilde over (ω)}e{tilde over (L)}qIqf{tilde over (K)}e{tilde over (ω)}m,
- where L represents inductance of the system, R represents resistance of the system, ωe represents electrical motor velocity, ωm represents motor velocity, Ke represents a predetermined value, and s represents a derivative term.
9 more elements
(canceled)
A method for torque ripple compensation of a motor control system when operating in feedforward mode, the method comprising:
- receiving, by a feedforward controller, a first current command corresponding to an input torque command;
- receiving, by the feedforward controller, a second current command corresponding to a torque ripple to be compensated;
- and
- generating, by the feedforward controller, a voltage command based on the first current command and the second current command, the voltage command being applied to a motor, wherein generating the voltage command comprises:
- determining a first voltage command using the first current command and further based on motor inductance, motor circuit resistance, and motor velocity;
- determining a second voltage command using the second current command, and further based on the motor inductance, the motor circuit resistance, and the motor velocity;
- determining a third voltage command corresponding to a back-emf of the motor;
- and
- adding the first voltage command, the second voltage command, and the third voltage command.
6 more elements
(canceled)
(canceled)
A method for torque ripple compensation of a motor control system when operating in feedforward mode, the method comprising:
- receiving, by a feedforward controller, a first current command corresponding to an input torque command;
- receiving, by the feedforward controller, a second current command corresponding to a torque ripple to be compensated;
- and
- generating, by the feedforward controller, a voltage command based on the first current command and the second current command, the voltage command being applied to a motor, wherein the voltage command (Vdqf) comprises a d-axis component (Vdf) and a q-axis component (Vqf), and generating the voltage command (Vdqf) comprises:
- determining a final current command (Idqf) by adding the first current command (Idqr) and the second current command (Idqp), each containing q-axis and d-axis components;
- determining the d-axis component (Vdf) of the voltage command using both the d-axis component of the final current command (Idf) and the q-axis component of the final current command (Iqf);
- and
- determining the q-axis component (Vqf) of the voltage command using both the d-axis component of the final current command (Idf) and the q-axis component of the final current command (Iqf), wherein the voltage command is computed as
- Vdf=({tilde over (L)}d{tilde over (s)}+{tilde over (R)})Idf+{tilde over (ω)}e{tilde over (L)}qIqf
- Vqf=({tilde over (L)}q{tilde over (s)}+{tilde over (R)})Iqf−{tilde over (ω)}e{tilde over (L)}qIqf+{tilde over (K)}e{tilde over (ω)}m,
- where L represents inductance of the system, R represents resistance of the system, ωe represents electrical motor velocity, ωm represents motor velocity, Ke represents a predetermined value, and s represents a derivative term.
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(canceled)
A power steering system comprising:
- a motor;
- and
- a motor control system configured to operate the motor in feedforward mode, the operating comprising:
- receiving a first current command corresponding to an input torque command;
- receiving a second current command corresponding to a torque ripple in a circuit of the motor, the torque ripple to be compensated;
- and
- generating a voltage command based on the first current command and the second current command, the voltage command being applied to the motor to cause displacement, the voltage command (Vdqf) comprises a d-axis component (Vdf) and a q-axis component (Vqf), and the voltage command is computed as
- Vdf=({tilde over (L)}d{tilde over (s)}+{tilde over (R)})Idf{tilde over (ω)}e{tilde over (L)}qIqf
- Vqf=({tilde over (L)}q{tilde over (s)}+{tilde over (R)})Iqf−{tilde over (ω)}e{tilde over (L)}qIqf+{tilde over (K)}e{tilde over (ω)}m,
- where I represents current command, L represents inductance of the system, R represents resistance of the system, ωe represents electrical motor velocity, ωm represents motor velocity, Ke represents a predetermined value, and s represents a derivative term.
7 more elements
Dependencies are inferred from the claim text.