[특허]System for compensating for disturbance of motor for motor driven power steering

System for compensating for disturbance of motor for motor driven power steering 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	H02P-006/08 B62D-005/04 H02P-006/28
출원번호	US-0232295 (2016-08-09)
등록번호	US-10167011 (2019-01-01)
우선권정보	KR-10-2015-0177858 (2015-12-14)
발명자 / 주소	Han, Min Woo Sung, Woo Je Lee, Jong Ho Kim, Sung Jun Kim, Kyung Soo Kim, Yong Hun
출원인 / 주소	Hyundai Motor Company
대리인 / 주소	Mintz Levin Cohn Ferris Glovsky and Popeo, P.C.
인용정보	피인용 횟수 : 0 인용 특허 : 28

초록 ▼

A system for compensating for disturbance of a motor for motor driven power steering is provided. The system for compensating for disturbance of a motor for motor driven power steering compensates for the disturbance based on a closed loop based input value prediction model unit, separately predicts an input value from a command by a closed loop based input value prediction model unit, and compensates for disturbance in accordance with a desired disturbance frequency band when there is a difference between the predicted input value and an input value error-compensated by a feedback controller.

대표청구항 ▼

1. A system for compensating for disturbance of a motor for motor driven power steering, the system comprising: a feedback controller configured to output a voltage value obtained by compensating for an error between a current command value and a current output value;a closed-loop based input prediction model unit configured to separately predict an input voltage value for the motor based on the current command value separately from the feedback controller; anda disturbance compensating unit configured to, when there is a difference between the input voltage value predicted by the closed-loop based input prediction model unit and the voltage value output from the feedback controller, determine that the disturbance exists and perform a disturbance compensation control for the output voltage of the feedback controller,wherein the closed loop based input prediction model unit is configured to predict the input voltage value for the motor based on the current command value, and is a combination of a motor model (Pn) and the feedback controller (C), and expressed by Equation: C1+Pn⁢C,wherein C represents the feedback controller and Pn represents the motor model,wherein the disturbance compensating unit outputs a disturbance compensation value calculated by the Equation d^=β⁢⁢Pn⁢C(β+1)⁢Pn⁢C+1⁢d, and wherein d represents disturbance, {circumflex over (d)} represents a disturbance compensation value, Pn represents a motor nominal model, C represents the feedback controller, and β represents a disturbance compensating unit function, andwherein the error-compensated voltage value output from the feedback controller by the disturbance compensation control by the disturbance compensating unit is input into the motor. 2. The system of claim 1, wherein the disturbance compensating unit outputs the disturbance compensation value in a form of following a disturbance sum, so that the β is set with a value adjustable in accordance with a disturbance frequency. 3. The system of claim 1, wherein when it is assumed that a disturbance target frequency function is H when the disturbance compensating unit calculates a disturbance compensation value, β is set by the Equation β=H1-H⁢(1+1Pn⁢C) according to the disturbance target frequency function, wherein d represents disturbance, {circumflex over (d)} represents a disturbance compensation value, Pn represents a motor nominal model, C represents the feedback controller, and β represents a disturbance compensating unit function. 4. The system of claim 3, wherein when PnC is sufficiently large in the Equation β=H1-H⁢(1+1Pn⁢C), the Equation β=H1-H⁢(1+1Pn⁢C) is approximated to the Equation β≈H1-H, so that the disturbance compensating unit performs the disturbance compensation following the target frequency function, wherein d represents disturbance, {circumflex over (d)} represents a disturbance compensation value, Pn represents a motor nominal model, C represents the feedback controller, and β represents a disturbance compensating unit function.

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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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System for compensating for disturbance of motor for motor driven power steering 원문보기

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System for compensating for disturbance of motor for motor driven power steering 원문보기

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연구과제 타임라인

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