WO2008015856A1 - Système de direction assistée électrique - Google Patents
Système de direction assistée électrique Download PDFInfo
- Publication number
- WO2008015856A1 WO2008015856A1 PCT/JP2007/062812 JP2007062812W WO2008015856A1 WO 2008015856 A1 WO2008015856 A1 WO 2008015856A1 JP 2007062812 W JP2007062812 W JP 2007062812W WO 2008015856 A1 WO2008015856 A1 WO 2008015856A1
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- WIPO (PCT)
- Prior art keywords
- induced voltage
- motor
- current
- axis
- command value
- Prior art date
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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
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- 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
Definitions
- the present invention relates to an electric power steering apparatus using a brushless motor, so-called harmonic motor, having three or more phases in which harmonic components are superimposed on an induced voltage.
- the current command value Iref and the rotor electrical angle ⁇ e Motor drive control device that suppresses harmonic slip of harmonic motor by calculating q-axis current Iq, which determines motor torque based on induced voltage model eq ( ⁇ e), ed ( ⁇ e) and d-axis current Id Is known (see, for example, Patent Document 2).
- Patent Document 1 Japanese Patent Laid-Open No. 2005-20930
- Patent Document 2 Japanese Unexamined Patent Application Publication No. 2004-201487
- Patent Document 3 Japanese Patent Laid-Open No. 2006-158198
- the harmonic component is contained in the induced voltage, and even when the rectangular wave or the pseudo-rectangular wave induced voltage is obtained, the torque clip is suppressed.
- the motor cannot be optimally controlled because the force S that can improve the output of the motor, the specific method of containing harmonic components, and the cogging torque are not considered. .
- the present invention clarifies a motor optimum setting method as an EPS motor, and suppresses torque ripple and improves motor output performance without deteriorating cogging torque performance. It is an object to provide an electric power steering device using this.
- Current control means for supplying a phase current for driving the brushless motor; current command value setting means for determining a command value for the phase current;
- the brushless motor is a stator of the motor.
- the skew angle is set so that the cogging torque is less than the predetermined value.
- the induced voltage is set to a skew angle that contains harmonic components of the 7th order or less.
- each phase current command value is output using an induced voltage of the brushless motor.
- the current command value setting means is
- advance control means for performing advance control to determine the phase current command value waveform to improve the motor rotation performance with respect to the induced voltage waveform
- a brushless motor having three or more phases in which the induced voltage includes harmonic components other than the fundamental component is applied, and the content of the harmonic components Is adjusted by the skew angle, for example, the motor can be set optimally, such as improving the motor's torque performance and stopping the cogging torque below a predetermined value.
- the phase current command value is calculated based on the induced voltage, and the phase current is supplied to the motor based on the calculated value. Therefore, it is possible to suppress the generation of torque ripple caused by the harmonic induced voltage.
- the electric power steering device of the present invention it is possible to reduce the size and weight of the motor as the torque performance of the motor is improved, and to improve the vehicle mountability. If you can S, you can get the effect.
- FIG. 1 is a schematic configuration diagram of a vehicle in an embodiment of the present invention.
- FIG. 2 is a block diagram illustrating an example of a steering assist control device.
- FIG. 3 is a block diagram showing a specific configuration of the control arithmetic device in FIG. 2.
- FIG. 4 is a characteristic diagram showing a steering assist current command value calculation map.
- FIG. 5 is a block diagram showing a specific configuration of a dq-axis command current calculation unit.
- FIG. 6 is a characteristic diagram showing a d-axis current DC component calculation map.
- FIG. 7 is a characteristic diagram showing an amplitude coefficient calculation map of d-axis current.
- FIG. 8 is a diagram showing the internal structure of a three-phase brushless motor 12.
- FIG. 9 is a diagram showing the relationship between the motor skew angle, cogging torque, and harmonic content of the induced voltage.
- FIG. 10 is a diagram showing the relationship between the induced voltage and the primary component when harmonic components are included.
- FIG. 11 is a comparison diagram of induced voltage waveforms and control current waveforms when harmonic components are included.
- FIG. 12 is a motor characteristic diagram.
- FIG. 13 is a motor characteristic diagram during advance angle control. Explanation of symbols
- FIG. 1 shows an embodiment when the present invention is applied to an electric power steering apparatus.
- reference numeral 1 denotes a steering wheel
- a steering force applied to the steering wheel 1 by a driver force is transmitted to a steering shaft 2 having an input shaft 2a and an output shaft 2b.
- the steering shaft 2 has one end of the input shaft 2 a connected to the steering wheel 1 and the other end connected to one end of the output shaft 2 b via the torque sensor 3.
- the steering force transmitted to the output shaft 2 b is transmitted to the lower shaft 5 via the universal joint 4 and further transmitted to the pinion shaft 7 via the universal joint 6.
- the steering force transmitted to the pinion shaft 7 is transmitted to the tie rod 9 via the steering gear 8 to steer a steered wheel (not shown).
- the steering gear 8 is configured in a rack and pinion type having a pinion 8a coupled to the pinion shaft 7 and a rack 8b meshing with the pinion 8a, and the rotational motion transmitted to the pinion 8a is racked. It has been converted into a straight movement.
- a steering assist mechanism 10 for transmitting a steering assist force to the output shaft 2b is connected to the output shaft 2b of the steering shaft 2.
- the steering assist mechanism 10 includes a reduction gear 11 connected to the output shaft 2b, and a three-phase brushless motor 12 as an electric motor connected to the reduction gear 11 and generating a steering assist force for the steering system. ing.
- the torque sensor 3 detects the steering torque applied to the steering wheel 1 and transmitted to the input shaft 2a.
- the torque sensor 3 is a torsion bar (not shown) interposed between the input shaft 2a and the output shaft 2b.
- the torsion angle displacement is converted into a torsion angle displacement, and the torsion angle displacement is detected by, for example, a potentiometer.
- the three-phase brushless motor 12 is connected to one end of a U-phase coil Lu, a V-phase coil Lv, and a W-phase coil Lw to form a star connection, and each coil Lu, Lv And the other end of Lw is connected to the steering assist control device 20, and motor drive currents Iu, lv, and Iw are individually supplied.
- the three-phase brushless motor 12 includes a rotor position detection circuit 13 that includes a resolver, a rotary encoder, and the like that detect the rotational position of the rotor.
- the steering assist control device 20 receives the steering torque T detected by the torque sensor 3 and the vehicle speed detection value Vs detected by the vehicle speed sensor 21 and is detected by the rotor position detection circuit 13.
- the output rotor rotation angle ⁇ is input and further output from the motor current detection circuit 22 that detects the motor drive currents Iu, Iv, and Iw supplied to the phase coils Lu, Lv, and Lw of the three-phase brushless motor 12.
- Motor drive current detection values Iud, Ivd and Iwd are input.
- the steering assist control device 20 calculates a steering assist target current value based on the steering torque T, the vehicle speed detection value Vs, and the rotor rotation angle ⁇ , and outputs motor voltage command values Vu, Vv, and Vw.
- a control arithmetic unit 23 composed of a microcomputer
- a motor drive circuit 24 composed of a field effect transistor (FET) that drives a three-phase brushless motor 12, and a phase voltage command output from the control arithmetic unit 23
- FET gate drive circuit 25 for controlling the gate current of the field effect transistor of the motor drive circuit 24 based on the values Vu, Vv and Vw.
- the control arithmetic unit 23 uses the excellent characteristics of vector control to determine the current command value (target current value) of the vector control d and q components, and then The target current setting unit 30 that converts the value to each phase current command value Iu, Iv * and Iw * corresponding to each excitation coil Lu to Lw and outputs it, and this external control device command value calculation circuit 30
- a drive voltage control unit 40 that controls the drive voltage by performing current feedback processing with the phase current command values Iu, Iv * and Iw * and the motor current detection values Iud, Ivd and Iwd detected by the motor current detection circuit 22; It has.
- the target current setting unit 30 corresponds to the current command value setting means
- the drive voltage control unit 40, the motor drive circuit 24, and the FET gate drive circuit 25 correspond to the current control means.
- the target current setting unit 30 receives the steering torque detected by the torque sensor 3 and the vehicle speed Vs detected by the vehicle speed sensor 21, and based on these, the steering assist current command value
- An electrical angle conversion unit 32 that converts the rotor rotation angle ⁇ thus output into an electrical angle ⁇ e, and a differentiation circuit 33 that calculates the electrical angular velocity ⁇ by differentiating the electrical angle 6 e output from the electrical angle conversion unit 32.
- Induced voltage model calculation unit 35 Induced voltage model calculation unit 35, d-axis EM F component e and q-axis EMF component e output from this induced voltage model calculation unit 35, and d-axis target current dO qO output from d-axis target current calculation unit 34
- Q-axis target current iq * is calculated based on rer based on the current id * and steering assist current command value I output from the steering assist current command value I.
- q-axis target current calculator 36 and d-axis target current calculation Converts d-axis target current id * output from section 34 and q-axis target current iq * output from q-axis target current calculation section 36 to three-phase current command values Iu *, Iv * and Iw * 2 Phase Z3 phase converter 37.
- This target current setting unit 30 is based on the steering assist current command value I, the electrical angle ⁇ e, the electrical angular velocity ⁇ rer e and the motor constant information, and has a frequency 6 times as large as one electrical angle cycle and
- the d-axis target current Id * which is driven in opposite phase to the shaft current, is calculated, and the steering assist current command value I and the electric ref air angle ⁇ e Dq axis EMF component e ( ⁇ e), e ( ⁇ e) and d axis target current Id *, motor torque d0 qO
- the constant torque equation is a relationship or equation represented by the following equation (1) using the induced voltages ed and eq of the dq axis.
- T is the motor torque
- ⁇ is the motor mechanical angular velocity
- ⁇ is the motor torque constant
- i is the motor mt ref motor torque command current
- i is the U phase current
- i is the V phase current
- i is the W phase current
- e is the U Phase induced voltage
- EMF V-phase induced voltage
- EMF W-phase induced voltage
- I q-axis current
- V w q d is the d-axis current
- e is the q-axis induced voltage (EMF)
- e is the d-axis induced voltage (EMF).
- the steering assist current command value calculation unit 31 described above calculates the steering assist current command value I based on the steering torque T and the vehicle speed Vs with reference to the steering assist current command value calculation map shown in FIG.
- the steering assist current command value calculation map has a parabolic ref with the steering torque T on the horizontal axis, the steering assist command value I on the vertical axis, and the vehicle speed Vs as a parameter.
- the steering assist command value I is between the steering torque T from "0" to a set value Tsl in the vicinity thereof.
- the steering assist command value I initially increases relatively slowly as the steering torque T increases. Then, the steering assist command value I is set so as to increase sharply with respect to the increase.
- the characteristic curve is set so that the inclination becomes smaller as the vehicle speed increases.
- the d-axis target current calculation unit 34 outputs the steering assist current command value I output from the steering assist current command value calculation unit 31 and the electrical angle conversion unit 32. Ruden
- the d-axis target current calculation unit 34 performs the operation shown in FIG. 6 based on the input steering assist current command value I.
- D-axis amplitude coefficient calculation unit 34b that calculates the determined amplitude coefficient I, and steering assist current command value
- the inverse phase component of the amplitude component of the d-axis current is calculated.
- the d-axis target current I ( ⁇ e) is
- the d-axis DC component calculation map referred to by the d-axis DC component calculation unit 34a is as shown in FIG. 6 when the steering assist current command value I is between “0” and a predetermined value I.
- the characteristic line is set so that the d-axis DC component I force S "0" is obtained.
- the relationship with the ref-axis amplitude coefficient I is a characteristic diagram.
- EMF amplitude component e ( ⁇ e e) and d-axis dACO e dACO dAC calculated by d-axis DC component calculator 34a
- i ( ⁇ e) 1 + i cos (6 ⁇ e) + i sin (6 ⁇ e) (3)
- the d-axis current amplitude component calculation unit 34d reverses the sign of the AC component excluding the q-axis direct current component I in the first term on the right side in the above equation (4), and calculates the amplitude component based on the following equation (5).
- Inversion qDC Inversion qDC
- i ( ⁇ ⁇ ) — (i cos (6 ⁇ e) -i sin (6 ⁇ e)) (5)
- the d-axis current calculation unit 34e includes a d-axis DC component I, a d-axis amplitude coefficient I, and an anti-phase component i of the d-axis dDC dAmp amplitude component.
- i ( ⁇ e) 1 —I (i cos (6 ⁇ e) -i sin (6 ⁇ e)) (6)
- the d-axis current command value i ( ⁇ e) is driven in the opposite phase to the q-axis current i ( ⁇ e).
- the q-axis target current calculation unit 36 generates a d-axis current command value i ( ⁇ e), an electrical angular velocity ⁇ , and a d-axis ⁇ de.
- the voltage control unit 40 in FIG. 3 applies to each phase coil Lu, Lv, Lw detected by the current detection circuit 22 from the current command values Iu *, Iv *, Iw * supplied from the target current setting unit 30.
- Subtractors 41u, 41v, and 41w for subtracting the detected motor phase current detection values Iud, Ivd, and Iwd to obtain each phase current error ⁇ ⁇ ⁇ , ⁇ ⁇ , and ⁇ Iw, and the obtained phase current errors ⁇ ⁇ ⁇ ,
- a PI controller 42 that performs proportional integral control on ⁇ and ⁇ Iw to calculate command voltages Vu, Vv, and Vw.
- the motor drive circuit 24 includes switching elements Qua, Qub, Qva, Qvb composed of N-channel MOSFETs connected in series corresponding to the respective phase coils Lu, Lv, and Lw. And Qwa, Qwb are connected in parallel, and the switching element Qua, Qub connection point, Qva, Qvb connection point, and Qwa, Qwb connection point are included in each phase coil Lu, Lv, and Lw. It is connected to the opposite side of the sex point Pn.
- the PWM (pulse width modulation) signal output from the FET gate drive circuit 25 is supplied to the gates of the switching elements Qua, Qub, Qva, Qvb and Qwa, Qwb that constitute the motor drive circuit 24. .
- FIG. 8 is a cross-sectional view showing the internal structure of the three-phase brushless motor 12.
- a rotor 52 is attached to an output shaft 51 that transmits torque and rotation to the outside, and a magnet 53 for generating torque is attached to the outer periphery of the rotor 52.
- the output shaft 51 is supported in the axial direction by bearings 56a and 56b attached to the case 54 and the flange 55, and can freely rotate in the rotational direction.
- a stator 57 is disposed inside the case 54, and a coil 58 is wound around the stator 57. When energized, the stator 57 generates an armature magnetomotive force, and the rotor magnetomotive force generates a stator. Generate rotational force on 52.
- the motor connection method is star connection, and the rotor 52 At least one of the mounted magnet 53 and stator 57 is skewed.
- the skew has a rotor (magnet) skew and a status cue.
- a rotor (magnet) skew can be realized by magnetizing or by shifting the rotor magnet position stepwise in the axial direction, the process can be simplified.
- the status cue can be realized by shifting the position of the steel sheet for each lamination of the stator core, and it can realize smooth skew, and the skew angle is determined by the mechanical position accuracy, so the skew angle accuracy is good. It is a feature.
- the induced voltage of the three-phase brushless motor 12 is assumed to contain a harmonic component in addition to the fundamental wave component (sine wave component), and the content rate of the harmonic component is set to the skew described above. Set by angle.
- the skew angle is set to a skew angle at which the induced voltage is smaller than the skew angle at which the induced voltage becomes a sine wave and the cogging torque is equal to or less than the predetermined target value Tel.
- the skew angle shall be set within the range where the induced voltage contains as much as possible the higher harmonic component of the 7th order (0.1% or less with respect to the fundamental wave component).
- the target value Tel is set to, for example, about 0.020 [Nm] in order to obtain a good cogging torque due to the relationship between noise and vibration.
- the horizontal axis represents the skew angle
- the vertical axis represents the cogging torque or harmonic content of the induced voltage.
- the solid line indicates the cogging torque
- the alternate long and short dash line indicates the fifth harmonic content of the induced voltage
- the broken line indicates the seventh harmonic content of the induced voltage.
- the induced voltage contains higher-order harmonic components of the seventh or higher order at an angle smaller than the skew angle j31.
- the cogging torque at the skew angle j3 1 is about 0.020 [Nm], which corresponds to the target value Tel.
- the cogging torque is minimized at the skew angle j3 2, and the induced voltage waveform is a sine wave at the skew angle j3 3.
- the skew angle / 3 is set in a range larger than / 31 and smaller than ⁇ 3. In this range of ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ 3, the cogging torque is below the target value Tel. Next, the operation and effect of this embodiment will be described.
- the steering wheel 1 When the steering wheel 1 is now steered, the steering torque T at that time is detected by the torque sensor 3 and the vehicle speed Vs is detected by the vehicle speed sensor 21.
- the detected steering torque T and vehicle speed Vs are input to the steering auxiliary current command value calculation unit 31 in the target current setting unit 30 of the control calculation device 23, whereby the steering auxiliary current command value calculation unit 31 Calculate steering assist current command value I with reference to the steering assist current command value calculation map in Fig. 4 ref
- Axis EMF component e ( ⁇ e), q-axis EMF component e ( ⁇ e) are calculated, and these are calculated as d-axis current calculator 34
- the d-axis current calculation unit 34 refers to the d-axis DC component calculation map in FIG. 6 based on the steering auxiliary current command value I in the d-axis DC component calculation unit 34a.
- the d-axis amplitude coefficient calculator 34b calculates the q-axis amplitude ref in Fig. 7 based on the steering assist current command value I.
- the pseudo q-axis current calculation unit 34c calculates the pseudo q-axis current i ( ⁇ e) 'based on the equation (2).
- the d-axis current amplitude component calculator 34d calculates the d-phase anti-phase component i ( ⁇ ) ′ based on the equation (5).
- the d-axis target current calculation unit 34e performs the calculation of the equation (6) to obtain the d-axis target current i ( ⁇
- the d-axis target current i calculated by the d-axis target current calculation unit 34e.
- the stream i (6 e) is supplied to the 2-phase / 3-phase converter 37.
- the d-axis target current i ( ⁇ e) and the q-axis target current i ( ⁇ e) are approximately 180 degrees out of phase d q
- the d-axis voltage Vd and q-axis voltage Vq are also approximately 180 degrees out of phase. The phase is reversed.
- the d-axis target current i ( ⁇ e) and the q-axis target current i ( ⁇ e) are converted into 3 d q by the 2-phase / 3-phase converter 37.
- Phase current command values Iu, Iv *, and Iw * are converted to voltage control unit 40 and three-phase current command values Iu *, IV *, and Iw * and motor current detection values Iud, Ivd detected by motor current detection circuit 22 And Iwd to calculate the phase voltage commands Vu, Vv and Vw. Then, PWM signals PWMua to PW Mwb calculated based on the phase voltage commands Vu, Vv and Vw are output to the FET gate drive circuit 25.
- the FET gate drive circuit 25 controls the gate current of the field effect transistor of the motor drive circuit 24 based on the PWM signal. As a result, the generated torque of the three-phase brushless motor 12 is converted to the rotational torque of the steering shaft 2 via the reduction gear 11, and the driver's steering force is assisted.
- the skew angle j3 is set so that the induced voltage includes harmonic components in addition to the fundamental wave component (sine wave component).
- the skew angle ⁇ is set smaller than the angle 3 at which the induced voltage becomes a sine wave.
- the primary component (fundamental wave component) of the interphase coil induced voltage increases as compared to the sine wave induced voltage, as shown in FIG. Since the induced voltage constant is dominated by the primary component (fundamental wave component), the induced voltage constant increases as the primary component (fundamental wave component) of the interphase induced voltage rises.
- T m is the motor torque
- EMF is the coil phase induced voltage
- ⁇ is the motor speed
- I is the motor phase current
- ⁇ is the induced voltage constant
- ⁇ is the motor torque constant
- the output performance of the motor can be improved by setting the skew angle ⁇ to be smaller than the angle [33] at which the induced voltage becomes a sine wave.
- the skew angle ⁇ is set smaller than the angle ⁇ 3 at which the induced voltage becomes a sine wave.
- the induced voltage contains harmonic components.
- the target current setting unit 30 employs a current control method in which the phase current command value is output using the induced voltage of the motor including the harmonic component. As a result, generation of torque clip due to the harmonic induced voltage can be suppressed.
- the cogging torque is not the minimum. Cogging torque is related to motor noise 'vibration.
- EPS such as column type EPS
- the motor is capable of vibration and noise because the distance to the driver is close. It is necessary to reduce as much as possible.
- the skew angle ⁇ is set smaller than the angle 3 at which the induced voltage becomes a sine wave, and the cogging torque is set to a skew angle (> ⁇ 1) that is equal to or less than the target value Tel, as described above.
- it has the effect of suppressing noise and vibration of the motor as much as possible within the range where noise and vibration are not a concern.
- the motor vibration and noise are allowed, and in the type of EPS in which the motor is arranged in the vehicle engine room (for example, pinion type EPS), the motor output is increased. Therefore, the skew angle can be set smaller than the skew angle that minimizes cogging. In this case, if the skew angle is reduced, higher-order harmonic components are included in the induced voltage.
- a current control method for suppressing torque ripple caused by the harmonic component of the induced voltage is used.
- a harmonic current is also generated in the phase current flowing to the motor. Contains wave components. For this reason, the phase current waveform becomes complicated, and if the frequency of the contained harmonic component exceeds the response frequency of the current control, it becomes difficult to realize the waveform, and the torque ripple cannot be effectively suppressed.
- the skew angle ⁇ is smaller than the skew angle / 33 at which the induced voltage becomes a sine wave, and the induced voltage does not contain higher order harmonic components than the seventh order. Since it is set in the range, that is, / 3 1 ⁇ / 3 ⁇ / 33, it is possible to easily generate a current waveform that suppresses torque ripple, and to effectively suppress torque clip.
- Fig. 11 shows that the inter-coil induced voltage, the inter-terminal induced voltage, and the torque ripple are suppressed when the skew angle is made smaller than the angle at which the induced voltage becomes a sine wave and the induced voltage contains a harmonic component.
- the control current waveform is shown.
- (a) is when the induced voltage is a sine wave
- (b) is when the induced voltage contains a harmonic component (the induced voltage between the coil phases is a pseudo-rectangular wave)
- (c) Is the case where harmonic components are included in the induced voltage (the induced voltage between terminals is a pseudo-rectangular wave).
- phase of the harmonics contained in the induced voltage when the skew angle is reduced differs depending on the motor pole / slot relationship, the stator shape, the winding method, and the type of magnet. As shown in (c), there are two types of induced voltage waveforms.
- FIG. 12 shows a motor characteristic diagram in the case of the same size and the same ridge structure, and the induced voltage is a sine wave and a pseudo rectangular wave.
- the broken line is a sine wave induced voltage motor
- the solid line is a motor whose terminal-to-terminal induced voltage is a pseudo-rectangular wave
- the alternate long and short dash line is a characteristic diagram of the motor whose coil-phase induced voltage is a pseudo-rectangular wave.
- Fig. 13 shows a characteristic diagram when the advance angle control is used for the motor of the pseudo square wave induced voltage.
- (a) is a characteristic diagram of a motor whose inter-terminal induced voltage is a pseudo-rectangular wave
- (b) is a characteristic diagram of a motor whose inter-coil induced voltage is a pseudo-rectangular wave.
- the power of the motor S can improve the rotational performance by the advance angle control.
- a three-phase brushless motor in which a harmonic component other than the fundamental wave component is included in the induced voltage is applied, and the phase current of this motor is controlled.
- the harmonic content of the brushless motor is adjusted by the skew angle of at least one of the rotor and the stator that are components of the brushless motor. For example, the torque performance of the motor is improved or the cogging torque is set to a predetermined value.
- the motor can be set optimally such that it can be stopped below.
- the phase current command value is calculated using the induced voltage including the harmonic component, and the phase current is supplied to the motor based on the calculated value, thereby suppressing the occurrence of torque ripple due to the harmonic induced voltage. Can do.
- the skew angle is set to an angle smaller than the skew angle at which the induced voltage becomes the fundamental wave, the induced voltage constant ( The motor torque constant) can be increased, and the motor torque performance can be reliably improved.
- the skew angle is set to a skew angle at which the cogging torque is less than or equal to the target value, noise / vibration as EPS is suppressed as much as possible within the range where the feeling does not matter. Can do.
- the skew angle is set to the skew angle so that the induced voltage does not contain higher-order harmonic components in the induced voltage, the current for suppressing the torque ripple caused by the harmonic induced voltage is set. It is easy to generate waveforms and can effectively suppress torque clip.
- the lead angle control is performed to determine the phase current command value waveform so as to improve the motor rotation performance with respect to the induced voltage waveform, it is possible to realize high rolling performance and to improve the EPS performance. Can be improved.
- the d-axis target current i ( ⁇ e) and the q-axis target current i ( ⁇ e) are the same as the above embodiment.
- the case where the two-phase / three-phase conversion unit 37 converts to the three-phase target currents Iu *, Iv *, and Iw * and then supplies them to the voltage control unit 40 has been described.
- the present invention is not limited to this.
- the three-phase conversion unit 37 is omitted, and instead, the motor currents Idu, Idv and Idw detected by the current detection circuit 22 are supplied to the three-phase Z2 phase conversion unit to convert them into d-axis detection current and q-axis detection current.
- phase control voltage may be calculated.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
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Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07767618A EP2048061A1 (en) | 2006-07-31 | 2007-06-26 | Electric power steering system |
US12/375,842 US20090322268A1 (en) | 2006-07-31 | 2007-06-26 | Electric power steering apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006208141A JP2008030675A (ja) | 2006-07-31 | 2006-07-31 | 電動パワーステアリング装置 |
JP2006-208141 | 2006-07-31 |
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Publication Number | Publication Date |
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WO2008015856A1 true WO2008015856A1 (fr) | 2008-02-07 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/062812 WO2008015856A1 (fr) | 2006-07-31 | 2007-06-26 | Système de direction assistée électrique |
Country Status (5)
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US (1) | US20090322268A1 (ja) |
EP (1) | EP2048061A1 (ja) |
JP (1) | JP2008030675A (ja) |
CN (1) | CN101495359A (ja) |
WO (1) | WO2008015856A1 (ja) |
Cited By (1)
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CN117782645A (zh) * | 2024-02-28 | 2024-03-29 | 苏州澳佰特智能科技有限公司 | 一种汽车电动助力转向器的性能测试装备 |
Families Citing this family (11)
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JP5314669B2 (ja) * | 2008-03-10 | 2013-10-16 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
JP4606476B2 (ja) | 2008-04-08 | 2011-01-05 | 三菱電機株式会社 | 電動パワーステアリング制御装置 |
US8018187B2 (en) * | 2009-01-05 | 2011-09-13 | GM Global Technology Operations LLC | Initial polarity detection for permanent magnet motor drives |
JP5402414B2 (ja) * | 2009-09-02 | 2014-01-29 | 日本精工株式会社 | 電動パワーステアリング装置 |
US8862328B2 (en) * | 2010-05-14 | 2014-10-14 | Steering Solutions Ip Holding Corporation | System and method for determining an absolute position of a motor shaft in an electric steering system |
US9434407B2 (en) | 2010-05-14 | 2016-09-06 | Steering Solutions Ip Holding Corporation | Wake-up circuit in an electric steering system |
KR101680898B1 (ko) * | 2010-05-20 | 2016-11-29 | 엘지이노텍 주식회사 | 스티어링 시스템의 토크 센서 |
IT1400456B1 (it) * | 2010-06-04 | 2013-05-31 | St Microelectronics Srl | Metodo di controllo di un motore sincrono trifase a magneti permanenti per ridurre il rumore acustico e relativo dispositivo di controllo |
JP6519650B2 (ja) * | 2015-04-10 | 2019-06-05 | 日本精工株式会社 | モータ制御装置及びそれを搭載した電動パワーステアリング装置 |
JP2019088065A (ja) * | 2017-11-02 | 2019-06-06 | トヨタ自動車株式会社 | モータの制御装置 |
DE102018200995A1 (de) * | 2018-01-23 | 2019-07-25 | Robert Bosch Gmbh | Verfahren zum Betrieb eines Lenksystems mit einer Kompensationsvorrichtung zur Reduktion einer Drehmomentwelligkeit einer Drehstrommaschine |
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JP2006174692A (ja) * | 2004-11-19 | 2006-06-29 | Nippon Densan Corp | ブラシレスモータ |
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JP4617716B2 (ja) * | 2004-05-11 | 2011-01-26 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
JP4783012B2 (ja) * | 2004-12-28 | 2011-09-28 | 日立オートモティブシステムズ株式会社 | 電動パワーステアリング用モータ及びその製造方法 |
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2006
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2007
- 2007-06-26 WO PCT/JP2007/062812 patent/WO2008015856A1/ja active Application Filing
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- 2007-06-26 CN CNA2007800285413A patent/CN101495359A/zh active Pending
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JP2006158198A (ja) * | 2002-11-28 | 2006-06-15 | Nsk Ltd | モータ駆動制御装置及び電動パワーステアリング装置 |
JP2006174692A (ja) * | 2004-11-19 | 2006-06-29 | Nippon Densan Corp | ブラシレスモータ |
Cited By (1)
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CN117782645A (zh) * | 2024-02-28 | 2024-03-29 | 苏州澳佰特智能科技有限公司 | 一种汽车电动助力转向器的性能测试装备 |
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CN101495359A (zh) | 2009-07-29 |
EP2048061A1 (en) | 2009-04-15 |
US20090322268A1 (en) | 2009-12-31 |
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