Apparatus and method for estimating steering angle of motor driven power steering

Patent metadata

Field	Value
Publication number	US-10933913-B2
Application number	US-201815898776-A
Country	US
Kind code	B2
Filing date	Feb 19, 2018
Priority date	Feb 20, 2017
Publication date	Mar 2, 2021
Grant date	Mar 2, 2021

Abstract

An apparatus for estimating a steering angle of MDPS including: a motor of an MDPS, corresponding to rotation of a steering wheel; an amplifier configured to amplify a specific level of counter electromotive force to a preset level and output the amplified voltage, the specific level of counter electromotive force being generated by the motor when the steering wheel is manually operated; a switch configured to be turned on by the amplified voltage outputted from the amplifier; a power supply configured to be turned on by the switch and supply power to the MDPS; and a control unit of the MDPS configured to be driven by the supplied power and estimate a steering angle of the steering wheel, which is manually operated.

First claim

What is claimed is:

1. An apparatus for estimating a steering angle of a Motor Driven Power Steering (MDPS), comprising:
a motor of an MDPS;
an amplifier configured to amplify a specific level of counter electromotive force to a preset level and output the amplified voltage, the specific level of counter electromotive force being generated by the motor in response to manual operation of a steering wheel;
a switch configured to be turned on by the amplified voltage outputted from the amplifier;
a power supply configured to be turned on by the switch and supply power to the MDPS; and
a control unit of the MDPS configured to be driven by the supplied power and estimate a steering angle of the steering wheel, which is manually operated,
wherein the switch comprises an electronic switch which is not turned on by a smaller voltage than the voltage level outputted from the amplifier.

2. The apparatus of claim 1 , wherein the amplifier is configured to receive power from a battery while the MDPS is turned off.

3. The apparatus of claim 1 , wherein, while the MDPS is turned on, the control unit of the MDPS is configured to continuously detect a relative rotation angle of the steering angle using a motor position sensor that detects a motor position of the MDPS, and estimate a final steering angle based on a final value of the detected relative rotation angle and a previous value of the final steering angle stored in a memory.

4. The apparatus of claim 1 , wherein, in response to completion of the manual operation of the steering wheel, the control unit of the MDPS stores the estimated final steering angle in a memory, and is then turned off.

5. The apparatus of claim 4 , wherein, in response to a change of the steering angle being equal to or less than a preset value for a preset time or more or a torque change being equal to or less than a preset value, the control unit of the MDPS determines that the manual operation of the steering wheel is completed.

6. A method for estimating a steering angle of a Motor Driven Power Steering (MDPS), comprising:
detecting, by a control unit of the MDPS, a relative rotation angle of an MDPS motor rotated in connection with a steering wheel using a motor position sensor, as the control unit of the MDPS is turned on by power supplied thereto in response to the steering wheel being operated while the MDPS is turned off;
estimating, by the control unit of the MDPS, a final steering angle and storing the estimated final steering angle in a memory based on the detected relative rotation angle, when the operation of the steering wheel is completed; and
turning off the control unit of the MDPS after the final steering angle is stored in the memory.

7. The method of claim 6 , wherein, in order to turn on the control unit of the MDPS, an amplifier of an apparatus for estimating a steering angle of MDPS amplifies a counter electromotive force generated by the MDPS motor to a preset level or more and outputs the amplified voltage to a switch, the switch is turned on by the amplified voltage and turns on a power supply, and the power supply supplies power to the MDPS.

8. The method of claim 6 , wherein, in order to estimate the final steering angle, while the MDPS is turned on, the control unit of the MDPS continuously detects the relative rotation angle of the steering wheel using the motor position sensor that detects the motor position of the MDPS, and estimates the final steering angle based on a final value of the detected relative rotation angle and a previous value of the final steering angle stored in the memory.

9. The method of claim 6 , wherein, in response to a change of the steering angle being equal to or less than a preset value for a preset time or more or a torque change being equal to or less than a preset value, the control unit of the MDPS determines that the operation of the steering wheel is completed.

10. The method of claim 6 , wherein:
after the control unit of the MDPS is turned on by power supplied thereto, the control unit of the MDPS checks whether a vehicle battery has been removed or discharged, and disables a restoring operation of the steering wheel or applies a smaller restoring force than a normal restoring force when the vehicle battery has been removed or discharged; and
in response to the absolute steering angle of the MDPS being reset, the control unit enables the restoring operation of the steering wheel or returns the restoring force to the normal restoring force.

11. The method of claim 10 , wherein:
in order to check whether the vehicle battery has been removed or discharged, the control unit of the MDPS receives information on whether the battery has been discharged from another system connected through communication in a vehicle, or the MDPS comprises a separate check circuit therein; and
the check circuit comprises a circuit in which a flag of a memory is set to a first value while battery power is supplied, and then changed to a second value when the battery power is not supplied due to a removal or discharge of the battery.

12. A method for estimating a steering angle of a Motor Driven Power Steering (MDPS), comprising:
reading, by a control unit of the MDPS, a previous final steering angle stored in a memory when the MDPS was turned off, as the control unit of the MDPS is turned on by power supplied thereto in response to the steering wheel being operated while the MDPS is turned off;
detecting, by the control unit of the MDPS, an absolute steering angle of the steering wheel rotated until the MDPS is turned on, through a narrow-range steering angle sensor; and
calculating, by the control unit of the MDPS, the current final steering angle by adding the detected absolute steering angle to the previous final steering angle read from the memory.

13. The method of claim 12 , wherein the narrow-range steering angle sensor comprises a sensor capable of detecting an absolute steering angle in a narrower range than a full-range steering angle sensor.

14. A method for estimating a steering angle of a Motor Driven Power Steering (MDPS), comprising:
reading, by a low-current motor control unit (MCU), two or more motor phase voltages, the low-current MCU continuously maintaining an on-state even while the MDPS is turned off by turn-off of an ignition of a vehicle;
checking, by the low-current MCU, whether a difference between any one phase voltage and another phase voltage is equal to or more than a designated value;
reading, by the low-current MCU, a motor position sensor value by supplying power to a motor position sensor, when the check result indicates that the voltage difference is equal to or more than the designated value;
calculating and accumulating, by the low-current MCU, rotation angles of the motor according to the motor position sensor value; and
deciding, by a main MCU, a current steering angle by adding the rotating angle of the motor, accumulated by the low-current MCU while the ignition was turned off, to the final steering angle which has been stored in a memory when the ignition was turned off, the main MCU being operated as the ignition is turned on.

15. The method of claim 14 , wherein, when the difference between any one phase voltage and another phase voltage is equal to or greater than the designated value, the low-current MCU determines that a steering wheel is operated.

16. The method of claim 14 , wherein when the motor is not rotated for a predefined time, the low-current MCU turns off the motor position sensor by stopping power supply to the motor position sensor.

Assignees

• Hyundai Mobis Co Ltd

Inventors

• Yoo Ji Hoon

Classifications

• B62D15/0235 Primary

  by measuring or deriving directly at the electric power steering motor · CPC title

• G01D5/145

  influenced by the relative movement between the Hall device and magnetic fields (see G01R33/06) · CPC title

• B62D5/046 Primary

  Controlling the motor · CPC title

• B62D15/0215 Primary

  by measuring on the steering column · CPC title

• B62D6/10

  characterised by means for sensing {or determining} torque · CPC title