Apparatus and method for compensating for steering angle signal and motor angle signal of MDPS system

Patent metadata

Field	Value
Publication number	US-10207738-B2
Application number	US-201615375873-A
Country	US
Kind code	B2
Filing date	Dec 12, 2016
Priority date	Dec 14, 2015
Publication date	Feb 19, 2019
Grant date	Feb 19, 2019

Abstract

An apparatus for compensating a steering angle signal and motor angle signal of an MDPS system may include: a motor torque compensator configured to compensate for mechanical deformation; an angular speed compensator configured to compensate for a difference between a steering angle and a motor angle; a sensor characteristic compensator configured to compensate for a steering position error of the steering angle sensor; and a hysteresis compensator configured to compensate for a hysteresis characteristic of the MDPS system.

First claim

What is claimed is:

1. An apparatus for compensating a steering angle signal and motor angle signal of an MDPS (Motor-Driven Power Steering) system, comprising:
a motor torque compensator configured to compensate for mechanical deformation caused by a material between a steering angle sensor and motor angle sensor of the MDPS system, by applying a current compensation value to a current for controlling a motor that drives the MDPS;
an angular speed compensator configured to compensate for a difference between a steering angle and a motor angle by an angular speed of the motor, based on the angular speed;
a sensor characteristic compensator configured to compensate for a steering position error of the steering angle sensor depending on a steering position, based on the steering position and a steering direction; and
a hysteresis compensator configured to compensate for a hysteresis characteristic of the MDPS system by applying a hysteresis compensation value to the steering angle signal, when the steering condition of a vehicle is changed from a constant-steering state to a steering state or the steering direction is changed,
wherein the angular speed compensator calculates a compensation amount for the difference between the steering angle and the motor angle by multiplying the angular speed by a signal delay amount.

2. The apparatus of claim 1 , wherein the motor torque compensator applies a preset current gain to a Q-axis current of the motor.

3. The apparatus of claim 1 , wherein the sensor characteristic compensator comprises a storage unit configured to store a compensation amount corresponding to a steering position and a steering direction.

4. The apparatus of claim 3 , wherein the hysteresis compensator calculates the hysteresis compensation value using the compensation amount stored in the storage unit.

5. A method for compensating a steering angle signal and motor angle signal of an MDPS (Motor-Driven Power Steering) system, comprising:
compensating for, by a compensation unit, mechanical deformation caused by a material between a steering angle sensor and a motor angle sensor of the MDPS system, by applying a current compensation value to a current for controlling a motor that drives the MDPS;
compensating for a difference between a steering angle and a motor angle by an angular speed of the motor, based on the angular speed;
compensating for a steering position error of the steering angle sensor depending on a steering position, based on the steering position and a steering direction; and
compensating for a hysteresis characteristic of the MDPS system by applying a hysteresis compensation value to the steering angle signal, when the steering condition of a vehicle is changed from a constant steering state to a steering state or the steering direction is changed,
wherein, in the compensating for the difference between the steering angle and the motor angle, the compensation unit calculates a compensation amount for the difference between the steering angle and the motor angle by multiplying the angular speed by a signal delay amount.

6. The method of claim 5 , wherein, in the compensating for the compressive stress, the compensation unit applies a preset current gain to a Q-axis current of the motor.

7. A method for compensating a steering angle signal and motor angle signal of an MDPS (Motor-Driven Power Steering) system, comprising:
compensating for, by a compensation unit, mechanical deformation caused by a material between a steering angle sensor and a motor angle sensor of the MDPS system, by applying a current compensation value to a current for controlling a motor that drives the MDPS;
compensating for a difference between a steering angle and a motor angle by an angular speed of the motor, based on the angular speed;
compensating for a steering position error of the steering angle sensor depending on a steering position, based on the steering position and a steering direction; and
compensating for a hysteresis characteristic of the MDPS system by applying a hysteresis compensation value to the steering angle signal, when the steering condition of a vehicle is changed from a constant steering state to a steering state or the steering direction is changed,
wherein, in the compensating for the hysteresis characteristic, the compensation unit calculates the hysteresis compensation value using a left direction error map of the steering position error and a right direction error map of the steering position error.

8. The method of claim 7 , wherein, in the compensating for the compressive stress, the compensation unit applies a preset current gain to a Q-axis current of the motor.

Assignees

• Hyundai Mobis Co Ltd

Inventors

• Kim Cheon Kyu
• Yoo Ji Hoon

Classifications

• B62D5/0457

  characterised by control features of the drive means as such · CPC title

• B62D15/0245 Primary

  Means or methods for determination of the central position of the steering system, e.g. straight ahead position · CPC title

• B62D5/0463 Primary

  calculating assisting torque from the motor based on driver input · CPC title