초록 ▼

Systems and methodologies are disclosed for detecting faults and adverse conditions associated with electric motors. The method comprises obtaining a current signal associated with the motor, calculating a space vector from the current signal, determining a space vector angular fluctuation from the

Systems and methodologies are disclosed for detecting faults and adverse conditions associated with electric motors. The method comprises obtaining a current signal associated with the motor, calculating a space vector from the current signal, determining a space vector angular fluctuation from the space vector, and analyzing the space vector angular fluctuation in order to detect at least one fault associated with the motor. Systems are disclosed having a diagnostics component adapted to obtain a space vector angular fluctuation from a current signal relating to operation of the motor, and to analyze the space vector angular fluctuation in order to detect at least one fault in the motor.

대표청구항 ▼

Systems and methodologies are disclosed for detecting faults and adverse conditions associated with electric motors. The method comprises obtaining a current signal associated with the motor, calculating a space vector from the current signal, determining a space vector angular fluctuation from the

Systems and methodologies are disclosed for detecting faults and adverse conditions associated with electric motors. The method comprises obtaining a current signal associated with the motor, calculating a space vector from the current signal, determining a space vector angular fluctuation from the space vector, and analyzing the space vector angular fluctuation in order to detect at least one fault associated with the motor. Systems are disclosed having a diagnostics component adapted to obtain a space vector angular fluctuation from a current signal relating to operation of the motor, and to analyze the space vector angular fluctuation in order to detect at least one fault in the motor. aim 1 wherein the predetermined time lapse is about 0.5 second. 8. The method of claim 1 further comprising generating the road wheel command reference signal indicative of a road wheel command reference, the road wheel command reference being based on a predetermined steering ratio and the steering wheel angle. 9. The method of claim 1 further comprising: calculating the extra road wheel angle, if the yaw error is determined to be greater than an error threshold; and calculating a road wheel angle based on the extra road wheel angle. 10. The method of claim 4 further comprising: calculating the estimated side slip angle based on the road wheel angle, speed and the yaw rate of the vehicle. 11. The method of claim 1 further comprising: sensing lateral acceleration of the vehicle; generating a desired yaw rate signal indicative of a desired yaw rate, the desired yaw rate being based on the steering wheel angle and the vehicle speed; generating a yaw error signal indicative of a yaw error, the yaw error being based on the desired yaw rate and the measured yaw rate; determining the desired yaw rate based on the steering wheel angle and the vehicle speed; and determining the yaw error based on the desired yaw rate and the measured yaw rate. 12. The method of claim 11 further comprising determining whether an estimated side slip is greater than a side slip threshold. 13. The method of claim 12 further comprising: generating an estimated side slip signal indicative of the estimated side slip of the vehicle based on the road wheel angle, speed, and the yaw rate of the vehicle; and generating a steering wheel angle signal indicative of the steering wheel angle, a lateral acceleration signal indicative of lateral acceleration, a vehicle speed signal indicative of vehicle speed, a yaw rate signal indicative of yaw rate, and an estimated side slip signal indicative of the estimated side slip. 14. The method of claim 1 wherein the compensating steering angle has a maximum angle based on the speed of the vehicle. 15. The method of claim 14 wherein the maximum steering angle is about +/-3° if the vehicle speed is determined to be less than 20 miles per hour and the maximum steering angle is about +/-1°, if the vehicle speed is determined to be greater than 60 miles per hour. 16. The method of claim 1 wherein generating the desired yaw rate signal includes: receiving the steering wheel angle and the vehicle speed; and prefiltering the steering wheel angle and vehicle speed. 17. The method of claim 16 wherein the step of filtering includes: rdesis indicative of desired yaw rate; L is indicative of wheelbase of the vehicle; K is indicative of understeer coefficient; Vh Spd is indicative of vehicle speed; and SWA is indicative of steering wheel angle. 18. The method of claim 1 wherein generating the compensating steering angle signal and generating the extra road wheel angle signal are performed, if a yaw error is determined to be greater than an error threshold. 19. The method of claim 18 wherein the error threshold is 1 degree per second. 20. The method of claim 1 wherein the error threshold is about 0.1 to 2.0 degrees per second. 21. A method of controlling a vehicle having a steer-by-wire system with enhanced yaw stability during a yaw motion disturbance, the method comprising: sensing a steering wheel angle, lateral acceleration, speed, and a yaw rate of the vehicle; generating a desired yaw rate signal indicative of a desired yaw rate, the desired yaw rate being based on the steering wheel angle and the vehicle speed; generating a yaw error signal indicative of a yaw error, the yaw error being based on the desired yaw rate and the measured yaw rate; generating a compensating, steering angle signal of the steer-by-wire system implementing a gain scheduled proportional-integral control strategy and an instant proportional-integral control strategy the compensating steering angle signal bei ng indicative of a compensating steering angle, if the yaw error is determined to be greater than an error threshold; generating an extra road wheel angle signal indicative of an extra road wheel angle to compensate for the yaw motion disturbance defining a time zero, if the yaw error is determined to be greater than an error threshold; generating a road wheel angle signal indicative of a road wheel angle, the road wheel angle being based on the extra road wheel angle and a steering wheel angle before a predetermined time lapse, the road wheel angle being based on the steering wheel angle after the predetermined time lapse relative to the time zero; and applying torque to the road wheels to move the road wheels consistent with the road wheel angle. 22. The method of claim 21 wherein the Gain scheduled proportional-integrated control strategy includes: where Kpis indicative of proportional gain; Kiis indicative of integral gain; Vspdis indicative of Vehicle speed; P1,P2,kpare constants for gain-scheduled proportional control; and I1,I2,kiare constants for gain-scheduled integral control. 23. The method of claim 22 wherein the instant Proportional-integral control strategy includes: where zkis indicative of time shift operator which shifts the time by k units; kipis indicative of gain for P attenuator; kiiis indicative of gain for I attenuator; apk,bpkare indicative of constants for P attenuator; and aik,bikare indicative of constants for I attenuator. 24. The method of claim 23 wherein the estimated side slip includes a saturator for control output including: where Yawerroris indicative of a difference between the measured yaw rate and the desired yaw rate; and Controlthdis indicative of a control threshold, the control threshold being determined by: where Controlmaxis indicative of maximal control output; Lat is indicative of lateral acceleration; Sideslip is indicative of sideslip angle; Controlvpd,kvpdis indicative of constants of saturator with respect to vehicle speed; Controllat,klatis indicative of constants of saturator with respect to vehicle's lateral acceleration; and Controlss,kssis indicative of constants of saturator with respect to vehicle's sideslip angle. 25. The method of claim 1 further comprising comparing the yaw error with the error thresholds. 26. The method of claim 1 wherein the error threshold is 1 degree per second. 27. The method of claim 1 wherein the predetermined time lapse is about 0.5 second. 28. The method of claim 1 further comprising generating the road wheel command reference signal indicative of a road wheel command reference, the road wheel command reference being based on a predetermined steering ratio and the steering wheel angle. 29. The method of claim 1 further comprising: calculating the extra road wheel angle, if the yaw error is determined to be greater than an error threshold; and calculating a road wheel angle based on the extra road wheel angle. 30. The method of claim 4 further comprising: calculating the estimated side slip angle based on the road wheel angle speed and the yaw rate of the vehicle. 31. The method of claim 21 further comprising: determining the desired yaw rate based on the steering wheel angle and the vehicle speed; and determining the yaw error based on the desired yaw rate and the measured yaw rate. 32. The method of claim 31 further comprising determining whether an estimated side slip is greater than a side slip threshold. 33. The method of claim 32 further comprising: generating an estimated side slip signal indicative of the estimated side slip of the vehicle based on the road wheel angle, speed, and the yaw rate of the vehicle; and generating a steeri