CN107433978A - A kind of pulsating torque method for reducing electric power steering permasyn morot - Google Patents
A kind of pulsating torque method for reducing electric power steering permasyn morot Download PDFInfo
- Publication number
- CN107433978A CN107433978A CN201710010879.1A CN201710010879A CN107433978A CN 107433978 A CN107433978 A CN 107433978A CN 201710010879 A CN201710010879 A CN 201710010879A CN 107433978 A CN107433978 A CN 107433978A
- Authority
- CN
- China
- Prior art keywords
- torque
- iteration
- permasyn morot
- kth
- electric power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Power Steering Mechanism (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of pulsating torque method for reducing electric power steering permasyn morot, comprise the following steps：A) teeth groove corner is obtained according to rotor electrical angle, and estimates the cogging torque of permasyn morot；B) magnetic flux harmonic corner is obtained according to rotor electrical angle, and estimates the magnetic flux harmonic torque of permasyn morot；C) the periodically pulsing torque as caused by teeth groove and magnetic flux harmonic is weakened by iterative control algorithm.The pulsating torque method provided by the invention for reducing electric power steering permasyn morot, the periodically pulsing torque as caused by teeth groove and magnetic flux harmonic is weakened by Iterative Learning Control Algorithm, improve the accuracy of motor control so that EPS, which obtains, preferably turns to feel.
Description
Technical field
The present invention relates to a kind of automotive electronic technology, more particularly to the electronic technology in automobile electric booster steering system,
For reducing the pulsating torque of permasyn morot.
Background technology
Electric boosting steering system is by steering column, reducing gear, rack-and-pinion and assist motor and sensor and ECU
Control unit etc. forms.Torque sensor is connected among steering spindle by torsion bar.When turning to, torque sensor starts automobile
Relative rotation, is transformed into torque electric signal, these electric signals are transmitted to electronic control unit ECU by data/address bus, i.e., by work
Driver applies torque on the steering wheel, and electronic control unit ECU is according to the rotating torque of steering wheel and car speed etc.
Data-signal, action command is sent to motor controller, so as to determine the size of the direction of rotation of motor and power-assisted electric current,
Complete the power-assisted steering controlled in real time.
In electric boosting steering system, the pulsating torque of permasyn morot is mainly derived from two aspects, and one is
Pulsating torque caused by the non-ideal characteristic of inverter, secondly being pulsating torque caused by motor body design deviation.Pulsation turns
Square directly affects the output performance of motor, it is therefore necessary to studies the pulsating torque of motor, improves motor output performance and control
Precision processed etc..
In terms of body design, cogging torque waveform diagram is as shown in figure 1, weaken cogging torque and magnetic flux harmonic turn
The method of square has a lot, but manufacturing process due to motor etc. can not possibly be completely eliminated but motor body caused by pulsation turn
Square.EPS motor control system block diagram in the prior art without iterative learning control is as shown in Figure 2.
The content of the invention
The technical problems to be solved by the invention are to propose a kind of reduction electric power steering permasyn morot
Pulsating torque method, the periodically pulsing torque as caused by teeth groove and magnetic flux harmonic can be weakened, improve the essence of motor control
True property so that EPS, which obtains, preferably turns to feel.
The present invention is to provide a kind of reduction electric power steering use to solve the technical scheme that above-mentioned technical problem uses
The pulsating torque method of permasyn morot, comprises the following steps：A) teeth groove corner is obtained according to rotor electrical angle, and estimated
The cogging torque of permasyn morot；B) magnetic flux harmonic corner is obtained according to rotor electrical angle, and estimates synchronous permanent-magnet motor
The magnetic flux harmonic torque of machine；C) weaken the periodically pulsing as caused by teeth groove and magnetic flux harmonic by iterative control algorithm to turn
Square.
Further, the rotor electrical angle in the step a) and step b) is obtained by motor position sensor, described to change
The p-type Open-closed-loop Iterative Algorithm of forgetting factor, the cycle that the iterative control algorithm updates every time are carried for control algolithm
For 360 ° of rotor electrical angles.
Further, the step c) suppresses periodically pulsing torque using following iterative algorithm：
Kth time iteration input is obtained using -1 iteration input offset current of kth and kth time iteration torque error signal to mend
Repay electric current, and input control system；
+ 1 iteration input of kth is obtained using+1 iteration torque error signal of kth time iteration input offset current and kth
Electric current is compensated, and inputs described control system；
By that analogy, so as to which what is obtained precisely compensates for electric current；
The iteration input offset current is：
uk+1(θe)=(1- α) uk(θe)+Γek(θe)+Φek+1(θe)
The iteration torque error signal is：
ek(θe)=Tref(θe)-Tm(θe)
Wherein：
θe--- --- --- --- --- --- --- --- --- -- motor electrical angle, θe∈[0,2π]；
uk+1(θe) --- --- --- --- --- ---+1 iteration input offset current of --- -- kth；
uk(θe) --- --- --- --- --- --- --- ----kth time iteration input offset current；
K------------------------------- iterationses, k are integer；
Γ --- --- --- --- --- --- --- --- --- ----open loop learning gains；
Φ --- --- --- --- --- --- --- --- --- ----closed loop learning gains；
ek(θe) --- --- --- --- --- --- --- --- -- kth time iteration torque error signal；
ek+1(θe) --- --- --- --- --- ---+1 iteration torque error signal of --- --- kth.
Further, the scope of the iterations k is 5~10.
Present invention contrast prior art has following beneficial effect：Reduction electric power steering permanent magnetism provided by the invention
The pulsating torque method of synchronous motor, weakened by Iterative Learning Control Algorithm all as caused by teeth groove and magnetic flux harmonic
Phase property pulsating torque, improve the accuracy of motor control so that EPS, which obtains, preferably turns to feel.
Brief description of the drawings
Fig. 1 is motor cogging torque waveform diagram；
Fig. 2 is the EPS motor control system block diagram of existing no iterative learning controller；
Fig. 3 is the pulsating torque method control principle drawing of the present invention；
Fig. 4 is the schematic diagram of iterative learning controller of the present invention；
Fig. 5 is the EPS motor control system schematic diagram that the present invention carries Iterative Algorithm；
Fig. 6 a, 6b are steady state torque and steady-state error oscillogram (not plus iterative learning controller), and Fig. 6 a are steady state torque
Oscillogram, Fig. 6 b are steady-state error oscillogram；
Fig. 7 a are the steady state torque curve after iteration of the present invention 5 times, and Fig. 7 b are the steady state torque after iteration of the present invention 10 times
Curve.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The pulsating torque method provided by the invention for reducing electric power steering permasyn morot, wherein, including
Following steps：
A) teeth groove corner is obtained according to rotor electrical angle, and estimates cogging torque (the teeth groove corner of permasyn morot
It is the periodic function of rotor electrical angle)；
B) magnetic flux harmonic corner is obtained according to rotor electrical angle, and estimates the magnetic flux harmonic torque of permasyn morot
(magnetic flux harmonic corner is the periodic function of rotor electrical angle)；
C) the periodically pulsing torque as caused by teeth groove and magnetic flux harmonic is weakened by iterative control algorithm.
The pulsating torque method provided by the invention for reducing electric power steering permasyn morot, the step a)
Obtained with the rotor electrical angle in step b) by motor position sensor, the iterative control algorithm carries the p-type of forgetting factor
Open-closed-loop Iterative Algorithm, the cycle that the iterative control algorithm updates every time are 360 ° of rotor electrical angles.
In electric boosting steering system, two main pulsating torques in terms of motor body：Cogging torque and magnetic flux
Harmonic torque.Cogging torque is the intrinsic pulsating torque of permasyn morot, is one of principal element for influenceing motor performance.
When the obstructed electric current of the stator winding of permasyn morot, between its stator core and rotor permanent magnet due to magneticaction and
Produce the torque of tangential component.Cogging torque is cancelled out each other in tooth pitch both sides, does not have any influence for average torque, but deposit
In torque ripple, it is distributed on mechanical angle in periodically pulsing, reduces high performance motor control precision.
Cogging torque is the function of mechanical location, unrelated with the electric current of stator, is mutual between permanent magnet and armature tooth
What active force was formed, there is very big relation with the tooth slot structure designed by motor.The simple calculating for deriving lower cogging torque below
Method and influence factor, as shown in figure 1, wherein TezFor cogging torque, λ is tooth pitch, θmFor mechanical angle.Fig. 1, which is illustrated, to be worked as
Rotor turn over an armature tooth away from when, cogging torque oscillogram of its armature tooth away from both sides, cogging torque is on mechanical angle
Periodic function, cogging torque expression formula is：
Wherein：
Ti--- --- --- --- --- the amplitude of --- --- cogging torque harmonic wave
Nc--- --- --- --- --- the least common multiple of --- -- motor pole number and number of slots
Ksk--- --- --- --- --- ----torque factor (αskFor circumferential skewing and the ratio of slot pitch)：
Again because NcIt is the least common multiple of motor pole number and number of slots, therefore cogging torque can be expressed as again：
Wherein：Nc=ap；θe=p θm；P is motor number of pole-pairs.
Analyzed more than, its permanent magnet and cogging torque modeling caused by armature teeth groove are sufficiently complex, and numerical value is with fixed
Sub- Distribution of Magnetic Field is relevant, but it is periodically the periodic function of rotor electrical angle that qualitative analysis cogging torque, which has obvious,
In periodically pulsing rule.
As for magnetic flux harmonic torque, from the basic electromagnetic formula of motor, its electromagnetic torque be counter electromotive force of motor with
The function of the product of armature supply, if expecting constant electromagnetic torque, it is necessary to encourage in electric power-aid steering electric machine control system
Magnetic magnetic flux and armature supply are sine wave.And the influence of the non-ideal switches characteristic due to drive system inverter so that phase
Certain harmonic component be present in electric current；In design of electrical motor and manufacture, due to the presence of the factors such as tolerance so that magnetic flux can not be protected
Preferable sinusoidal signal is demonstrate,proved, its counter electromotive force has certain harmonic component.The product of the two will cause the generation of pulsating torque, false
Be not present even-order harmonic in setting electron current, Y types connection, also in the absence of the humorous of three times and three times multiple in its stator current
Ripple, and permanent magnet undamped acts on, below by the numerical value of quantitative analysis magnetic flux harmonic torque.
A phase currents are with back emf waveform expression formula：
The electric current and counter electromotive force expression formula of B, C phase can similarly be drawn：
The electromagnetic power that A, B, C three-phase can be obtained by the calculation formula of electromagnetic power is respectively：
It can derive that electromagnetic torque is by the three-phase electromagnetic power of above formula：
Wherein T0For the fundametal compoment of electromagnetic torque, T6、T12Respectively six times of electromagnetic torque and ten second harmonic components,
From the expression formula of above torque, the pulsating torque harmonic component as caused by magnetic flux harmonic has periodically, is motor electric angle
The periodic function of degree.
From above theory deduction, pulsating torque is mainly made up of cogging torque and magnetic flux harmonic torque, is motor electricity
The periodic function of angle, pulsating torque expression formula is obtained after arrangement is：
Because pulsating torque is the periodic function of motor electrical angle, and its rotor electrical angle can be passed by motor position
Sensor obtains, therefore the present invention can suppress periodically pulsing torque using iterative algorithm.Specifically, the present invention uses band
There is the p-type Open-closed-loop Iterative Algorithm of forgetting factor, its expression formula is：
uk+1(θe)=(1- α) uk(θe)+Γek(θe)+Φek+1(θe)
ek(θe)=Tref(θe)-Tm(θe)
Wherein：
θe--- --- --- --- --- --- --- --- --- -- motor electrical angle, θe∈[0,2π]
uk+1(θe) --- --- --- --- --- ---+1 iteration input offset current of --- -- kth
uk(θe) --- --- --- --- --- --- --- ----kth time iteration input offset current
K------------------------------- iterationses, k are integer
Γ --- --- --- --- --- --- --- --- --- ----open loop learning gains
Φ --- --- --- --- --- --- --- --- --- ----closed loop learning gains
ek(θe) --- --- --- --- --- --- --- --- -- kth time iteration torque error signal
ek+1(θe) --- --- --- --- --- ---+1 iteration torque error signal of --- --- kth
One committed step of iterative algorithm is that its error is gradually reduced with the increase of iterations, finally converges to zero
Or some minimum numerical value, some output signal so controlled just can the given signals of accurate tracking.
The algorithm for design of iterative learning controller of the present invention is：Iterative algorithm each update cycle is the week of pulsating torque
T=360 ° of electrical angle of phase, Fig. 3 represent the K+1 times Iterative Algorithm block diagram.
The compensating current signal Δ i in electric current iteration controllerq,k+1Expression formula is：
Δiq,k+1(θe)=(1- α) Δ iq,k(θe)+Γek(θe)+Φek+1(θe)
As shown in figure 4, wherein ek+1For the kth torque error signal of+1 time, Δ iq,k+1It is defeated for the kth compensation electric current of+1 time
Go out signal；ekFor kth time torque error signal, Δ iq,kFor the compensating current signal of kth time.
The selection principle of three parameters is in above formula：The influence of the factors such as disturbance, sizing point in view of real system be present
Parser forgetting factor α should be between 0.05~0.1；To ensure quick convergence, its open-loop gain Γ as far as possible close to(wherein, b is torque constant)；Φ≤Γ is chosen in its closed loop gain, is just avoided that unstable phenomenon occurs in control system,
Improve the control accuracy of iterative learning controller.
Iterative learning controller is incorporated into electric power-aid steering electric machine control system, obtained with iterative learning device
Electric machine control system entire block diagram is as shown in Figure 5.
Within the system, the input signal of iterative learning controller is error torque eT, output signal is compensated q axles
Current signalThe thermal compensation signal and original q axis current signalsInput of the sum as current regulatorConstantly adjust
Section weakens pulsating torque, finally causes actual feedback torque TmAccurate tracking gives torque Tref, so as to improve steering comfort level,
Reduce noise.
Fig. 2 is the electric power-aid steering electric machine control system block diagram for not adding iterative learning controller.Comparison diagram 2 and figure
5 understand：The accompanying drawing 5 of iterative learning controller is added, can be further compensate for feeding back q axles electricity according to Iterative Learning Control Algorithm
Stream, suppress pulsating torque, improve motor control precision.
The EPS project platform experiment results that Iterative Algorithm of the present invention is used for NASN companies are as follows：
On electric power steering stand, connect motor and ECU and periodic reference torque T is set in softwareref:0
It is 1NM in 1s；It is -1NM in 1 to 2s.The parameter of its iterative learning controller is arranged to：Γ=0.6, Φ=0.03, α=
0.07, steering wheel rotating campaign under the torque set, now observes torque signal on experimental facilities after switching on power.
When the 1st, not adding iterative learning controller, it carries the electric power steering of magnetic flux harmonic quasi-periodic pulsating torque
System, its torque and error stable state waveform be as shown in figure 6 a and 6b in steady-state operation for motor.
2nd, iterative learning controller is added, carries out 5 times respectively, after the iterative learning backoff algorithm of 10 times, motor stable state fortune
Its steady state torque is as illustrated in figs. 7 a and 7b during row.
It can be seen that by Fig. 7 a and 7b：It is introduced into the EPS motor control system of iterative learning controller, by 5 times, 10 times
After interative computation, the periodically pulsing torque as caused by magnetic flux harmonic etc., gradually it is weakened with the increase of iterations,
Pulsating torque error is gradually reduced.Electric boosted platform experiment result illustrates that the Iterative Learning Control Algorithm can suppress by magnetic flux
Periodically pulsing torque caused by the design of electrical motor body such as harmonic wave, motor control accuracy is improved, makes electric power steering system
System obtains more preferable feel.
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skill
Art personnel, without departing from the spirit and scope of the present invention, when a little modification and perfect, therefore the protection model of the present invention can be made
Enclose to work as and be defined by what claims were defined.
Claims (4)
- A kind of 1. pulsating torque method for reducing electric power steering permasyn morot, it is characterised in that including as follows Step：A) teeth groove corner is obtained according to rotor electrical angle, and estimates the cogging torque of permasyn morot；B) magnetic flux harmonic corner is obtained according to rotor electrical angle, and estimates the magnetic flux harmonic torque of permasyn morot；C) the periodically pulsing torque as caused by teeth groove and magnetic flux harmonic is weakened by iterative control algorithm.
- 2. the pulsating torque method of electric power steering permasyn morot, its feature are reduced as claimed in claim 1 It is, the rotor electrical angle in the step a) and step b) is obtained by motor position sensor, the iterative control algorithm band There is the p-type Open-closed-loop Iterative Algorithm of forgetting factor, the cycle that the iterative control algorithm updates every time is 360 ° of rotor electricity Angle.
- 3. the pulsating torque method of electric power steering permasyn morot, its feature are reduced as claimed in claim 1 It is, the step c) suppresses periodically pulsing torque using following iterative algorithm：Kth time iteration input offset electricity is obtained using -1 iteration input offset current of kth and kth time iteration torque error signal Stream, and input control system；+ 1 iteration input offset of kth is obtained using+1 iteration torque error signal of kth time iteration input offset current and kth Electric current, and input described control system；By that analogy, so as to which what is obtained precisely compensates for electric current；The iteration input offset current is：uk+1(θe)=(1- α) uk(θe)+Γek(θe)+Φek+1(θe)The iteration torque error signal is：ek(θe)=Tref(θe)-Tm(θe)Wherein：θe--- --- --- --- --- --- --- --- --- -- motor electrical angle, θe∈[0,2π]；uk+1(θe) --- --- --- --- --- ---+1 iteration input offset current of --- -- kth；uk(θe) --- --- --- --- --- --- --- ----kth time iteration input offset current；K------------------------------- iterationses, k are integer；Γ --- --- --- --- --- --- --- --- --- ----open loop learning gains；Φ --- --- --- --- --- --- --- --- --- ----closed loop learning gains；ek(θe) --- --- --- --- --- --- --- --- -- kth time iteration torque error signal；ek+1(θe) --- --- --- --- --- ---+1 iteration torque error signal of --- --- kth.
- 4. the pulsating torque method of electric power steering permasyn morot, its feature are reduced as claimed in claim 3 It is, the scope of the iterations k is 5~10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016103621027 | 2016-05-26 | ||
| CN201610362102 | 2016-05-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107433978A true CN107433978A (en) | 2017-12-05 |
Family
ID=60458502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710010879.1A Pending CN107433978A (en) | 2016-05-26 | 2017-01-06 | A kind of pulsating torque method for reducing electric power steering permasyn morot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107433978A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN108540021A (en) * | 2018-03-13 | 2018-09-14 | 江西精骏电控技术有限公司 | A kind of driving motor torque pulsation active compensation method |
| CN109639199A (en) * | 2019-01-21 | 2019-04-16 | 济南大学 | PMSM rotational speed and torque pulsation suppressing method under asymmetrical three-phase failure |
| CN110034711A (en) * | 2019-05-06 | 2019-07-19 | 上海海事大学 | A kind of control system of bisalient-pole permanent-magnet synchronous machine |
| CN114189180A (en) * | 2021-11-16 | 2022-03-15 | 同济大学 | Method for inhibiting torque ripple of permanent magnet synchronous motor of electric vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001020767A1 (en) * | 1999-09-17 | 2001-03-22 | Delphi Technologies, Inc. | Low ripple permanent magnet motor control |
| CN103825519A (en) * | 2012-11-15 | 2014-05-28 | 控制技术有限公司 | System and method of reducing periodic disturbances in feedback quantity of controlled system |
| CN105337550A (en) * | 2015-12-02 | 2016-02-17 | 徐辉 | Device and method for restraining torque ripples of permanent magnet synchronous motor |
-
2017
- 2017-01-06 CN CN201710010879.1A patent/CN107433978A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001020767A1 (en) * | 1999-09-17 | 2001-03-22 | Delphi Technologies, Inc. | Low ripple permanent magnet motor control |
| CN103825519A (en) * | 2012-11-15 | 2014-05-28 | 控制技术有限公司 | System and method of reducing periodic disturbances in feedback quantity of controlled system |
| CN105337550A (en) * | 2015-12-02 | 2016-02-17 | 徐辉 | Device and method for restraining torque ripples of permanent magnet synchronous motor |
Non-Patent Citations (2)
| Title |
|---|
| 樊明迪: "基于迭代学习控制抑制PMSM-DTC的周期性转速脉动", 《第三十二届中国控制会议论文集（B卷）》 * |
| 陈亚东: "交流永磁同步电机转矩脉动抑制的控制策略研究", 《中国优秀硕士学位论文全文数据库工程科技II辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992109A (en) * | 2017-12-06 | 2018-05-04 | 深圳易能电气技术股份有限公司 | Closed-loop positioning control system and method |
| CN108540021A (en) * | 2018-03-13 | 2018-09-14 | 江西精骏电控技术有限公司 | A kind of driving motor torque pulsation active compensation method |
| CN109639199A (en) * | 2019-01-21 | 2019-04-16 | 济南大学 | PMSM rotational speed and torque pulsation suppressing method under asymmetrical three-phase failure |
| CN110034711A (en) * | 2019-05-06 | 2019-07-19 | 上海海事大学 | A kind of control system of bisalient-pole permanent-magnet synchronous machine |
| CN114189180A (en) * | 2021-11-16 | 2022-03-15 | 同济大学 | Method for inhibiting torque ripple of permanent magnet synchronous motor of electric vehicle |
| CN114189180B (en) * | 2021-11-16 | 2024-03-26 | 同济大学 | Method for suppressing torque pulsation of permanent magnet synchronous motor of electric automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107433978A (en) | A kind of pulsating torque method for reducing electric power steering permasyn morot | |
| JP5423759B2 (en) | Motor control device and electric power steering device using the same | |
| US9214886B2 (en) | Control apparatus for three-phase rotary machine | |
| EP3219579A1 (en) | Motor control device and steering control device | |
| US7843154B2 (en) | Motor controller and electric power steering apparatus | |
| CN103023417A (en) | Brushless motor control method, brushless motor control device and electric power steering apparatus | |
| JP5954366B2 (en) | Motor control device and electric power steering device and vehicle equipped with the same | |
| US8606462B2 (en) | Electric power steering device | |
| CN102983804B (en) | The speed control unit of alternating current motor | |
| CN103384134A (en) | Motor control device and electric power steering device | |
| CN105790676A (en) | Rotating electric machine control device | |
| US9991839B2 (en) | Motor controller | |
| EP2613993B1 (en) | Electric power steering apparatus | |
| US20170366076A1 (en) | Motor, and electric power steering apparatus and vehicle in which said motor is mounted | |
| JP7035922B2 (en) | Control device for three-phase rotary machine | |
| JP2009017715A (en) | Motor control unit and electric power steering system therewith | |
| JP2018057084A (en) | Motor control device | |
| Sorial et al. | A vector controlled drive system for electrically power assisted steering using hall-effect sensors | |
| JP2015033265A (en) | Motor control method, motor control apparatus and electric power steering apparatus | |
| JP2017229216A (en) | Motor control device | |
| JP5353195B2 (en) | Motor control device and electric power steering device | |
| JP2014183613A (en) | Control method and control device for brushless motor | |
| US10348235B2 (en) | Motor control unit | |
| EP3487062B1 (en) | Motor control device | |
| JP6163375B2 (en) | Brushless motor control method and brushless motor control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 702, Building 16, 1000 Jinhai Road, Pudong New Area, Shanghai Applicant after: Shanghai Nasen Automobile Electronics Co Ltd Address before: Room J365, 4 Blocks, Zone B, 925 Yecheng Road, Jiading District, Shanghai, 2003 Applicant before: Shanghai Nasen Automobile Electronics Co Ltd |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171205 |
|
| RJ01 | Rejection of invention patent application after publication |