# US 2019/0245463 A1 · Apparatus and method of compensating for steering torque of driving motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0245463 A1 - Document ID: US20190245463A1 - Status: Published application - Kind: A1 - Application number: 16/264,675 - Filed: 2019-01-31 - Published: 2019-08-08 - Earliest claimed: 2018-02-02 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Jong Hoon LEE - Web page: https://patentgrep.com/patent/US20190245463A1 ## CPC - H02P 6/10: Arrangements for controlling torque ripple, e.g. providing reduced torque ripple - B62D 5/046: {Controlling the motor} - B62D 5/0463: {calculating assisting torque from the motor based on driver input} - B62D 15/021: {Determination of steering angle} - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract The disclosure provides an apparatus and method of compensating for a torque of a motor. The apparatus includes a torque information collector configured to collect steering information, motor position information, and predetermined motor information, a torque ripple calculator configured to determine a target torque based on the steering information and to determine a compensation torque for torque ripple based on the target torque and the motor information, a compensation current calculator configured to determine a compensation current value based on the motor information and the compensation torque, a current value generator configured to convert the target torque into a target current value and to generate an output current value based on the target current value and the compensation current value, and a current signal output configured to output a current control signal corresponding to the output current value. ## Claims ### Claim 1 An apparatus for compensating for a torque of a motor, the apparatus comprising: a torque information collector configured to collect steering information, motor position information, and predetermined motor information; a torque ripple calculator configured to determine a target torque based on the steering information and to determine a compensation torque for torque ripple based on the target torque and the motor information; a compensation current calculator configured to determine a compensation current value based on the motor information and the compensation torque; a current value generator configured to convert the target torque into a target current value and to generate an output current value based on the target current value and the compensation current value; and a current signal output configured to output a current control signal corresponding to the output current value. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the steering information is at least one of a torque signal output from a torque sensor for sensing a steering operation and a steering angle signal output from a steering angle sensor for sensing the steering operation. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the motor position information is a motor position signal output from a motor position sensor, and the motor information comprises at least one of a torque constant, a torque ripple harmonic order, a phase of the torque ripple, and a torque ripple ratio (TTR) of the torque ripple. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the phase of the torque ripple or the TTR thereof is determined based on a pre-stored map or lookup table. ### Claim 5 (depends on 3) The apparatus of claim 3, wherein the phase of the torque ripple or the TTR thereof is determined as a value obtained by correcting a phase of a past torque ripple or a TRR based on the result of a compensation current value according to the phase of the past torque ripple or the TRR. ### Claim 6 (depends on 3) The apparatus of claim 3, wherein the torque ripple calculator determines the compensation torque using the target torque and the TTR as factors. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the compensation current calculator determines an amplitude of a compensation current for the torque ripple using the torque constant and the compensation torque as factors. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the compensation current calculator determines the compensation current value based on the amplitude, the motor position information, the harmonic order, and the phase. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the current value generator generates the output current value by adding the compensation current value to the target current value. ### Claim 10 A method of compensating for a torque of a motor, the method comprising: a torque information collection operation of collecting steering information, motor position information, and predetermined motor information; a torque ripple calculation operation of calculating a target torque based on the steering information and calculating a compensation torque for torque ripple based on the target torque and the motor information; a compensation current calculation operation of calculating a compensation current value based on the motor information and the compensation torque; a current value generation operation of converting the target torque into a target current value and generating an output current value based on the target current value and the compensation current value; and a current signal output operation of outputting a current control signal corresponding to the output current value. ### Claim 11 (depends on 10) The method of claim 10, wherein the motor position information is a motor position signal output from a motor position sensor, and the motor information comprises at least one of a torque constant, a torque ripple harmonic order, a phase of the torque ripple, and a TTR. ### Claim 12 (depends on 11) The method of claim 11, wherein the torque ripple calculation operation comprises calculating the compensation torque using the target torque and the TTR as factors. ### Claim 13 (depends on 12) The method of claim 12, wherein the compensation current calculation operation comprises calculating an amplitude of a compensation current for the torque ripple using the torque constant and the compensation torque as factors. ### Claim 14 (depends on 13) The method of claim 13, wherein the compensation current calculation operation comprises calculating the compensation current value based on the determined amplitude, the motor position information, the harmonic order, and the phase. ### Claim 15 (depends on 14) The method of claim 14, wherein the current value generation operation comprises generating the output current value by adding the compensation current value to the target current value.