KR101357942B1 - Method and apparatus for compensating voltage drop imbalance, and motor driven power steering system - Google Patents

Method and apparatus for compensating voltage drop imbalance, and motor driven power steering system Download PDF

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KR101357942B1
KR101357942B1 KR1020100036178A KR20100036178A KR101357942B1 KR 101357942 B1 KR101357942 B1 KR 101357942B1 KR 1020100036178 A KR1020100036178 A KR 1020100036178A KR 20100036178 A KR20100036178 A KR 20100036178A KR 101357942 B1 KR101357942 B1 KR 101357942B1
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South Korea
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voltage
motor
applied voltage
application timing
calculated
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KR1020100036178A
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Korean (ko)
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KR20110116645A (en
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이윤형
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주식회사 만도
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  • Power Steering Mechanism (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention relates to a method and apparatus for compensating for voltage drop imbalance and an electric power steering system. More specifically, a voltage drop imbalance compensation method and apparatus for compensating an applied voltage to be applied to a motor in consideration of a voltage drop to compensate for voltage drop imbalance that may occur in an electronic control apparatus used to drive the motor, and The present invention relates to an electric power steering system that can prevent motor torque ripple, thereby improving motor durability and control performance.

Description

METHOD AND APPARATUS FOR COMPENSATING VOLTAGE DROP IMBALANCE, AND MOTOR DRIVEN POWER STEERING SYSTEM}

The present invention relates to a method and apparatus for compensating for voltage drop imbalance and an electric power steering system. More specifically, a voltage drop imbalance compensation method and apparatus for compensating an applied voltage to be applied to a motor in consideration of a voltage drop to compensate for voltage drop imbalance that may occur in an electronic control apparatus used to drive the motor, and The present invention relates to an electric power steering system that can prevent motor torque ripple, thereby improving motor durability and control performance.

In the electronic control apparatus used for driving the motor, voltage drops may occur for each phase (u, v, w), and the magnitude of the voltage drop occurring for each of these phases should ideally be the same. In reality, however, they may not all be the same.

Due to the voltage drop imbalance of each phase, an unbalanced applied voltage applied to the motor is applied to the motor, which causes the torque ripple component to exist in the output torque generated in the motor. The torque ripple component may generate vibrations or noises of the motor, reduce the durability of the motor, and may cause problems in control performance through the motor.

In this background, it is an object of the present invention to compensate for voltage unbalance in each phase which may occur in an electronic control apparatus used for driving a motor.

In addition, another object of the present invention, by preventing the torque ripple that may occur in the motor driven by the electronic control device, by reducing the vibration or noise of the motor, to increase the durability of the motor, improve the control performance through the motor To give.

In order to achieve the above object, in one aspect, the present invention, an applied voltage calculation unit for calculating an applied voltage for applying to the motor at the first voltage application timing; And measuring an applied voltage actually applied to the motor at the first voltage application timing, and based on a difference value between the calculated applied voltage and the measured applied voltage, a second voltage application timing subsequent to the first voltage application timing. And an applied voltage compensating unit configured to compensate for the next applied voltage after being calculated to be applied to the motor.

In another aspect, the present invention provides a method comprising the steps of: (a) storing an applied voltage calculated for applying to a motor at a first voltage application timing; (b) measuring an applied voltage actually applied to the motor at the first voltage application timing; (c) calculating a difference value between the stored applied voltage and the measured applied voltage; And (d) compensating the applied voltage calculated for applying to the motor at the second voltage application timing following the first voltage application timing using the calculated difference value. Provide an imbalance compensation method.

In another aspect, the present invention, the motor is driven in accordance with the applied voltage to generate an output torque; And calculating an applied voltage for applying to the motor at a current voltage application timing, measuring an applied voltage actually applied to the motor at a previous voltage application timing, and applying the voltage to the motor at the previous voltage application timing. And an electronic control device for compensating and applying the calculated voltage applied to the motor at the current voltage application timing based on the difference value between the calculated applied voltage and the measured applied voltage. It provides an electric power steering system.

As described above, according to the present invention, by compensating the applied voltage to be applied to the motor in consideration of the voltage drop, there is an effect of compensating the voltage drop imbalance which may occur in the electronic control apparatus used for driving the motor.

In addition, according to the present invention, the electronic control device compensates the applied voltage in consideration of the voltage drop and applies it to the motor, thereby preventing torque ripple that may occur in the motor driven by the electronic control device, and thus It reduces noise, increases the durability of the motor, and improves the control performance through the motor.

1 is a block diagram of a voltage drop imbalance compensation device according to an embodiment of the present invention.
2 is a flowchart illustrating a voltage drop imbalance compensation method according to an embodiment of the present invention.
3 is a conceptual diagram of voltage drop imbalance compensation according to an embodiment of the present invention.
4 is a block diagram of an electric power steering system according to an embodiment of the present invention.
5 is a diagram illustrating a resistance imbalance of each phase that causes a voltage drop imbalance according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating a voltage drop imbalance compensation effect according to the voltage drop imbalance compensation according to an embodiment of the present invention, and thus a torque ripple removing effect in the motor.

The present invention relates to a method and apparatus for compensating for voltage drop imbalance and an electric power steering system. More specifically, a voltage drop imbalance compensation method and apparatus for compensating an applied voltage to be applied to a motor in consideration of a voltage drop to compensate for voltage drop imbalance that may occur in an electronic control apparatus used to drive the motor, and The present invention relates to an electric power steering system that can prevent motor torque ripple, thereby improving motor durability and control performance.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a block diagram of a voltage drop imbalance compensation device 100 according to an embodiment of the present invention.

Referring to FIG. 1, the voltage drop imbalance compensation device 100 according to an embodiment of the present invention includes an applied voltage calculator 110 that calculates an applied voltage for applying to the motor 10 at a first voltage application timing. And measuring the applied voltage actually applied to the motor 10 at the first voltage application timing, and based on the difference value between the applied voltage and the measured applied voltage calculated for the first voltage application timing, This includes an applied voltage compensator 120 for compensating the applied voltage calculated for applying to the motor 10 at the second voltage application timing.

1, the voltage drop imbalance compensation device 100 according to an embodiment of the present invention, the voltage applied timing (first voltage application timing, second voltage application timing,... It further includes a voltage applying unit 130 for applying to each, this voltage applying unit 130 applies the applied voltage compensated by the applied voltage compensation unit 120 to the motor 10.

The above-described applied voltage calculation unit 110 calculates the applied voltage for applying to the motor 10 in accordance with the input torque signal. The calculated applied voltage is an ideal "target applied voltage" that should be applied to the motor 10 at a specific voltage application timing.

The applied voltage calculated by the above-described applied voltage calculator 110 may not be correctly applied to the motor 10 due to various reasons, and a loss may occur. That is, when there is no applied voltage compensation function by the applied voltage compensator 120, a loss (ie, a voltage drop) of an applied voltage (target applied voltage) to be applied to the motor 10 may occur. The driving of 10 may not be performed as desired, which may cause a problem that a system function (eg, steering function) using a motor drive does not operate correctly.

Therefore, the applied voltage compensator 120 included in the voltage drop compensator 100 according to an embodiment of the present invention calculates the voltage to apply to the motor 10 even if a loss of the applied voltage, that is, a voltage drop occurs. A function of compensating the applied voltage is performed so that a voltage having the same magnitude as the applied applied voltage (target applied voltage) can be accurately applied to the motor 10.

When the above-described motor 10 is a three-phase motor driven by receiving an applied voltage for three-phase (u, v, w), the voltage drop imbalance compensation device 100 according to an embodiment of the present invention, By performing the same applied voltage compensation for the phases, it is possible to compensate the imbalance for the voltage drop (loss) in each phase.

The voltage drop imbalance compensation device 100 according to the embodiment of the present invention is an electronic control unit (ECU) including a micro controller unit (MCU) in an electric power steering system, It may be a device for compensating for the voltage drop imbalance occurring in the electronic control device.

2 is a flowchart illustrating a voltage drop imbalance compensation method according to an embodiment of the present invention.

2, in the voltage drop imbalance compensation method provided by the voltage drop imbalance compensation device 100 according to an embodiment of the present invention, an applied voltage calculated to be applied to the motor 10 at a first voltage application timing. (S202) storing the step, measuring the applied voltage actually applied to the motor 10 at the first voltage application timing (S202), and the applied voltage stored in the step S200 and the application measured in step S202 By using the difference value calculated in step S204 and the step S204 and the difference value calculated in step S204, the applied voltage calculated for applying to the motor 10 at the second voltage application timing following the first voltage application timing is applied. Compensating (S206);

In the above-described step S206, to apply to the motor 10 at the second voltage application timing by adding the difference value calculated in step S204 to the applied voltage calculated to be applied to the motor 10 at the second voltage application timing. The calculated applied voltage can be compensated for. The compensated applied voltage is applied to the motor 10 at the second voltage application timing.

A concept of a voltage drop imbalance compensation method according to an embodiment of the present invention described above with reference to FIGS. 1 and 2 will be described with reference to FIG. 3.

3 is a conceptual diagram of voltage drop imbalance compensation according to an embodiment of the present invention.

Referring to FIG. 3, the voltage drop imbalance compensation device 100 calculates an applied voltage 300 to be applied to the motor 10 at a first voltage application timing, and applies the calculated voltage 300 to the motor. To (10). In this case, for various reasons such as resistance imbalance, a loss (voltage drop) with respect to the applied voltage 300 that the voltage drop imbalance compensation device 100 wants to apply to the motor 10 may occur. Accordingly, the applied voltage 310, which is reduced by the loss magnitude in the calculated applied voltage 300, is actually applied to the motor 10. The voltage drop imbalance compensation device 100 measures the applied voltage 310 actually applied to the motor 10, and calculates the difference between the measured applied voltage 310 and the calculated applied voltage 300 (the aforementioned loss of loss). In order to apply to the motor 10 at the first voltage application timing (= first voltage application timing + voltage application timing interval) after calculating the first voltage application timing (= 320). The calculated applied voltage and the calculated difference value 320 may be added to compensate the calculated applied voltage 300. When the voltage drop imbalance compensation device 100 applies the compensated applied voltage 330 to the motor 10, the applied voltage 340 that is actually applied to the motor 10 even if the same amount of loss occurs as described above. ) Is equal to the applied voltage calculated for applying to the motor 10 at the second voltage application timing (= first voltage application timing + voltage application timing interval).

In the above-described voltage drop imbalance compensation method according to an embodiment of the present invention, by applying an applied voltage according to the input torque to the motor, by using the output torque generated by the motor, electric power steering such as steering angle control It can be applied to an electric power steering system that performs (MDPS: Motor Driven Power Steering) control. This electric power steering system will be described with reference to FIG. 4.

4 is a block diagram of the electric power steering system 400 according to an embodiment of the present invention.

4 is a diagram illustrating an electric power steering system 400 according to an embodiment of the present invention, wherein the motor 10 is driven according to an applied voltage to generate an output torque, and a current voltage is applied according to an input torque (second voltage is applied). The applied voltage for applying to the motor 10 at the timing), and is actually applied to the motor 10 at the previous voltage application timing (first voltage application timing) before the current voltage application timing (second voltage application timing). The current voltage application timing (second voltage application) is measured based on a difference value between the applied voltage and the measured applied voltage calculated to apply the voltage to the motor 10 at the previous voltage application timing (first voltage application timing). Electronic control device 410 or the like that compensates the applied voltage calculated to be applied to the motor 10 to the motor 10.

The aforementioned electronic control device 410 may be an electronic control unit (ECU), and the electronic control device 410 may include a micro controller unit (MCU). In addition, the electronic control device 410 may include or be the voltage drop imbalance compensation device 100 in FIG. 1.

The voltage drop imbalance that the voltage drop imbalance compensation device 100 and the electronic control device 410 intends to compensate for and the cause of the voltage drop imbalance described above with reference to FIG. 5. Find out.

Within the electronic control device 410, the voltage drops occurring in each phase (u, v, w) should ideally be all the same. In practice, however, within the electronic control device 410, the magnitude of the voltage drop in each phase (u, v, w) may be different. In other words, the voltage drop on u phase, the voltage drop on v phase and the voltage drop on w phase may not all be the same. Therefore, an unbalanced applied voltage applied to the motor 10 is applied to the motor 10, which is not predicted by the electronic control device 410, so that the output torque generated in the motor 10 has a torque ripple component. This may generate vibration or noise of the motor 10.

The voltage drop unbalance of each phase which causes such a problem can be caused by a number of causes, such as the resistance of each phase that may be caused by the elements in the large current path, the length of the path, the contact resistance of the connector, and the resistance value change due to heat. Resistance imbalance can be one of several reasons.

5 is a diagram illustrating a resistance imbalance of each phase that causes a voltage drop imbalance according to an embodiment of the present invention.

Referring to FIG. 5, the u phase resistance R uth , the v phase resistance R vth and the w phase resistance R wth may not all be the same (ie, R uth ≠ R vth ≠ R wth ). The resistance imbalance of each phase generates a voltage drop unknown to the electronic control apparatus 410, and the magnitude of the voltage drop generated in each phase is also changed for each phase, and the applied voltage of each phase having such a voltage drop imbalance. When actually applied to the motor 10, the output torque generated by the motor 10 has a torque ripple component, which generates vibrations or noise of the motor 10, resulting in durability of the motor 10 and A problem arises that degrades the control performance through (10).

The voltage drop imbalance compensation effect in the voltage drop imbalance compensation device 100 and the electronic control device 410 according to an embodiment of the present invention capable of compensating (resolving) such a voltage drop imbalance, and thereby the motor 10 Torque ripple cancellation effect at will be described with reference to FIG.

Referring to FIG. 6, when the voltage drop imbalance compensation method according to an embodiment of the present invention is not applied, when the applied voltage 600 calculated to be applied to the motor 10 is applied to the motor 10 as it is. In the applied voltage 612 actually applied to the motor 10 and measured, a voltage drop having a different magnitude occurs for each phase. For this reason, it can be confirmed that the torque ripple component exists in the output torque 622 generated by the motor 10.

In contrast, referring to FIG. 6, when the voltage drop imbalance compensation method according to the exemplary embodiment of the present invention is applied, the calculated voltage 600 applied to the motor 10 is applied to the motor 10 as it is. Instead, using the difference between the applied voltage calculated at the previous voltage application timing and the applied voltage actually applied to the motor 10, the applied voltage 600 calculated for applying to the motor 10 is compensated for. The compensated applied voltage is applied to the motor 10. Accordingly, it can be seen that in the applied voltage 611 actually applied to the motor 10, the voltage drop imbalance of each phase does not occur but a balanced voltage drop occurs. Accordingly, it can be confirmed that the torque ripple component does not exist even in the output torque 621 generated by the motor 10.

As described above, according to the present invention, by compensating an applied voltage to be applied to the motor 10 in consideration of the voltage drop, compensating for the voltage drop imbalance that may occur in the electronic control device 420 used for driving the motor. It is effective.

In addition, according to the present invention, the voltage drop imbalance compensation device 100 or the electronic control device 420 compensates the applied voltage in consideration of the voltage drop and applies it to the motor 10, thereby driving by the electronic control device 10. It prevents torque ripple that may occur in the motor, thereby reducing the vibration or noise of the motor 10, thereby increasing the durability of the motor 10, and improving the control performance through the motor 10. have.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

10: Motor
100: voltage drop imbalance compensation device
110: applied voltage calculator
120: applied voltage compensation unit
130: voltage applying unit
300: The applied voltage calculated for applying to the motor at the first voltage application timing
310: an applied voltage measured by being actually applied to a motor at a first voltage application timing
320: difference between the applied voltage calculated at the first voltage application timing and the measured applied voltage
330: an applied voltage compensated for the applied voltage calculated for applying to the motor at the second voltage application timing
340: The applied voltage actually measured and applied to the motor at the second voltage application timing
400: electric power steering system
410: electronic control unit

Claims (6)

An applied voltage calculator configured to calculate an applied voltage for applying to the motor at a first voltage application timing; And
Measure an applied voltage actually applied to the motor at the first voltage application timing, and based on the difference value between the calculated applied voltage and the measured applied voltage, at a second voltage application timing following the first voltage application timing An applied voltage compensator for compensating the next applied voltage calculated for applying to the motor
Voltage drop imbalance compensation device comprising a. The method of claim 1,
The applied voltage calculation unit,
The voltage drop imbalance compensation device for calculating the applied voltage for applying to the motor in accordance with the input torque signal. The method of claim 1,
When the motor is a three-phase motor, the voltage drop imbalance compensation device,
A voltage drop imbalance compensation device for performing phase voltage compensation on each phase. (a) storing the calculated applied voltage for applying to the motor at the first voltage application timing;
(b) measuring an applied voltage actually applied to the motor at the first voltage application timing;
(c) calculating a difference value between the stored applied voltage and the measured applied voltage; And
(d) compensating the calculated applied voltage for applying to the motor at the second voltage application timing following the first voltage application timing using the calculated difference value;
Voltage drop imbalance compensation method comprising a. 5. The method of claim 4,
The step (d)
Compensating the applied voltage calculated for applying to the motor at the second voltage application timing by adding the calculated difference value to the applied voltage calculated for applying to the motor at the second voltage application timing. Voltage drop imbalance compensation method. A motor driven according to an applied voltage to generate an output torque; And
To calculate the applied voltage for applying to the motor at the current voltage application timing according to the input torque, to measure the applied voltage actually applied to the motor at the previous voltage application timing, to apply to the motor at the previous voltage application timing An electronic control apparatus for compensating and applying the calculated applied voltage to the motor at the current voltage application timing based on the difference between the calculated applied voltage and the measured applied voltage.
Electric power steering system comprising a.
KR1020100036178A 2010-04-20 2010-04-20 Method and apparatus for compensating voltage drop imbalance, and motor driven power steering system KR101357942B1 (en)

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KR1020100036178A KR101357942B1 (en) 2010-04-20 2010-04-20 Method and apparatus for compensating voltage drop imbalance, and motor driven power steering system

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KR101357942B1 true KR101357942B1 (en) 2014-02-04

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KR102045869B1 (en) 2013-07-26 2019-11-18 현대모비스 주식회사 Apparatus and Method for timing control of Motor Driven Power Steering Electronic Control Unit

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08216910A (en) * 1995-02-15 1996-08-27 Aisin Seiki Co Ltd Steering controller of vehicle
JP2004299490A (en) 2003-03-31 2004-10-28 Mazda Motor Corp Electric power steering device of automobile
JP2005130570A (en) 2003-10-22 2005-05-19 Koyo Seiko Co Ltd Power steering arrangement and gain difference compensating method of current-detecting means
JP2009081951A (en) 2007-09-26 2009-04-16 Jtekt Corp Motor control device and electric power steering system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08216910A (en) * 1995-02-15 1996-08-27 Aisin Seiki Co Ltd Steering controller of vehicle
JP2004299490A (en) 2003-03-31 2004-10-28 Mazda Motor Corp Electric power steering device of automobile
JP2005130570A (en) 2003-10-22 2005-05-19 Koyo Seiko Co Ltd Power steering arrangement and gain difference compensating method of current-detecting means
JP2009081951A (en) 2007-09-26 2009-04-16 Jtekt Corp Motor control device and electric power steering system

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