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US 8,898,030 B2Granted
Method for adaptively compensating position error of resolver
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorsHyungbin Ihm, Taeyoung Chung, Byunghoon Yang
Life of this patent
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Abstract
Disclosed are an apparatus and method for adaptively compensating a position error of a resolver. The apparatus adaptively estimating a position error contained in position information of a rotor of a motor, which is digitalized by a resolver-digital converter, and subtracting the estimated position error from the measured position information of the rotor, thereby calculating compensated position information. A regression equation and a recursive least square method applied to the regression equation are used for the adaptive estimation of the position information.
Claims10
An apparatus for adaptively compensating a position error of a resolver, the apparatus comprising:
- a position error estimator configured to receive position information of a rotor of a motor, which is detected by the resolver, from a resolver-digital converter wherein the resolver-digital converter is configured to digitalize the position information and adaptively estimate a position error included in the position information,
- wherein the position error estimator comprises:
- a speed ripple estimation section configured to acquire a speed ripple by subtracting an ideal speed from a value obtained by differentiating the position information, wherein the ideal speed is obtained by removing a frequency component of a ripple caused by the position error from the value obtained by differentiating the position information;
- a parameter estimation section configured to apply a recursive least square method to a regression equation including the speed ripple, the position information, and the ideal speed, and estimate unknown parameters contained in the regression equation;
- and
- a position error modeling section configured to create a position error model equation by using the estimated unknown parameters and the position information, and estimate the position error from the position error model equation;
- and
- a position error compensator configured to subtract the estimated position error from the position information, and calculate compensated position information.
5 more elements
A system comprising:
- a resolver configured to detect position information of a rotor of a motor;
- a resolver-digital converter configured to receive the position information detected by the resolver and digitalize the position information;
- a position error estimator configured to receive position information from a resolver-digital converter and adaptively estimate a position error included in the position information,
- wherein the position error estimator comprises:
- a speed ripple estimation section configured to acquire a speed ripple by subtracting an ideal speed from a value obtained by differentiating the position information, wherein the ideal speed is obtained by removing a frequency component of a ripple caused by the position error from the value obtained by differentiating the position information;
- a parameter estimation section configured to apply a recursive least square method to a regression equation including the speed ripple, the position information, and the ideal speed, and estimate unknown parameters contained in the regression equation;
- and
- a position error modeling section configured to create a position error model equation by using the estimated unknown parameters and the position information, and estimate the position error from the position error model equation;
- and
- a position error compensator configured to subtract the estimated position error from the position information, and calculate compensated position information.
7 more elements
A non-transitory computer readable medium containing executable program instructions executed by a controller, comprising:
- program instructions that receive position information of a rotor of a motor, which is detected by the resolver, from a resolver-digital converter which digitalizes the position information;
- program instructions that measure a speed ripple by subtracting an ideal speed from a value obtained by differentiating the received position information, wherein the ideal speed is obtained by removing a frequency component of a ripple caused by the position error from the value obtained by differentiating the position information;
- program instructions that estimate unknown parameters contained in a regression equation by applying a recursive least square method to the regression equation including the speed ripple, the position information, and the ideal speed;
- program instructions that create a position error model equation by using the estimated unknown parameters and the position information, and estimating the
- position error from the position error model equation;
- and
- program instructions that calculate compensated position information by subtracting the estimated position error from the position information.
4 more elements
A method comprising:
- receiving, by a controller, position information of a rotor of a motor, which is detected by a resolver, from a resolver-digital converter which digitalizes the position information;
- measuring, by the controller, a speed ripple by subtracting an ideal speed from a value obtained by differentiating the received position information, wherein the ideal speed is obtained by removing a frequency component of a ripple caused by the position error from the value obtained by differentiating the position information;
- estimating, by the controller, unknown parameters contained in a regression equation by applying a recursive least square method to the regression equation including the speed ripple, the position information, and the ideal speed;
- creating, by the controller, a position error model equation by using the estimated unknown parameters and the position information, and estimating the position error from the position error model equation;
- and
- calculating, by the controller, compensated position information by subtracting the estimated position error from the position information.
3 more elements
Dependencies are inferred from the claim text.