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1.发明授权Brushless DC motor having reduced torque ripple for electric power steering 失效具有用于电动助力转向的转矩波动减小的无刷直流电动机
公开(公告)号：US5982067A
公开(公告)日：1999-11-09
申请号：US650519
申请日：1996-05-20
CPC分类号： B62D5/0403 , H02K21/16 , H02P6/182 , H02P2209/07
摘要： A brushless DC motor has a permanent magnet rotor comprising p magnetic poles and a stator having an integer multiple of 6*p*n slots containing windings, n being a positive, non-zero integer, and the poles and slots being skewed by one slot pitch with respect to each other. The windings in the slots are electrically connected in two separate groups of three-phase windings with each group having three phase terminals, the windings of each group being distributed in phase belts occupying alternate sectors of 30 electrical degrees and the windings of the first group alternating with the windings of the second group. Since the trapezoidal back EMF voltage curve has a wider top it exhibits less droop, compared with an equivalent three-phase brushless DC motor of the prior art, over the 60 electrical degree period centered on maximum back EMF in which torque producing current is applied. In addition, the maxima of back EMF voltage across pairs of terminals in the two groups of three phase windings are 30 electrical degrees out of phase with each other, so that variations in back EMF voltage in the two groups tend to cancel each other as torque producing current is applied to both groups. The result is significantly less torque ripple due to back EMF variation, compared with an equivalent three-phase brushless DC motor of the prior art, and less vibration coupled to the steering wheel of an electric power steering system in which the motor is used as a power assist actuator.
摘要翻译： 无刷直流电动机具有包括p个磁极的永磁转子和具有包含绕组的6 * p * n个槽的整数倍的定子，n是正的，非零的整数，并且极和槽被歪斜一个槽 相对于彼此的间距。 槽中的绕组以两组独立的三相绕组电连接，每组具有三相端子，每组的绕组分布在相位带中，占相位30度的交替扇形，第一组的绕组交替 与第二组的绕组。 由于梯形反电动势电压曲线具有较宽的顶部，与现有技术的等效三相无刷直流电动机相比，以施加转矩产生电流的最大反电动势为中心的60个电度周期，其下降幅度较小。 此外，两组三相绕组中的两对端子之间的反电动势电压的最大值彼此相差30电角度，使得两组中的反电动势电压的变化趋向于相互抵消作为转矩 生产电流被应用于两组。 结果是与现有技术的等效三相无刷直流电动机相比，由于反EMF变化而导致的转矩波动显着更小，并且较少的振动耦合到电动转向系统的方向盘，其中电动机用作 动力辅助致动器。
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2.发明授权公开(公告)号：US07190135B2
公开(公告)日：2007-03-13
申请号：US10458091
申请日：2003-06-10
IPC分类号： H02K23/00
CPC分类号： B62D5/0463 , H02M7/53875 , H02M2001/0025
摘要： A method for implementing control signal linearization for an electric motor is disclosed. In an exemplary embodiment, the method includes receiving a desired voltage command to be applied to the motor and determining whether the magnitude of the desired voltage command falls between a first value and a second value. If the magnitude of the desired voltage command falls between the first value and the second value, then modulating a voltage command between the first and the second value over a determined sample period, thereby resulting in the application of a modulated voltage command to the motor.
摘要翻译： 公开了一种用于实现电动机的控制信号线性化的方法。 在示例性实施例中，该方法包括接收要施加到电动机的期望电压指令，并确定期望电压指令的幅度是否落在第一值和第二值之间。 如果期望电压指令的幅度落在第一值和第二值之间，则在确定的采样周期之后调制第一和第二值之间的电压指令，从而导致向电动机施加调制电压指令。
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公开(公告)号：US07075290B2
公开(公告)日：2006-07-11
申请号：US10205848
申请日：2002-07-26
IPC分类号： G01P3/44
摘要： A method and apparatus for determining the velocity of a rotating device is described herein. The apparatus includes a magnet assembly affixed to a rotating shaft of a rotating device and a circuit assembly. The circuit assembly includes a circuit interconnection having a sense coil and sensors affixed thereto. The circuit assembly is adapted to be in proximity to the magnet assembly, wherein the magnet assembly combines with the circuit assembly to form an air core electric machine such that voltages generated from the sense coil exhibits an amplitude proportional to the velocity.
摘要翻译： 本文描述了用于确定旋转装置的速度的方法和装置。 该装置包括固定到旋转装置的旋转轴和电路组件的磁体组件。 电路组件包括具有感测线圈和固定到其上的传感器的电路互连。 电路组件适于靠近磁体组件，其中磁体组件与电路组件组合以形成气芯电机，使得从感测线圈产生的电压呈现与速度成比例的振幅。
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公开(公告)号：US06452405B1
公开(公告)日：2002-09-17
申请号：US09663846
申请日：2000-09-18
IPC分类号： G01R2708
CPC分类号： G01R35/005 , G01R1/203 , G01R19/0092 , G01R35/00
摘要： Disclosed is a current sensing system for measuring the current flowing through a current sensing resistance. The system has a calibration resistance coupled to the current sensing resistance and a pair of input resistances each having a first end coupled to one of the ends of the current sensing resistance and a second end coupled to one of the ends of the calibration resistance. A voltage is created across the calibration resistance and the calibration resistance is set at a predetermined level to compensate for the current sensing resistance deviating from a reference value. The voltage is filtered and amplified to produce an output representative of the measured current.
摘要翻译： 公开了一种用于测量流过电流感测电阻的电流的电流感测系统。 该系统具有耦合到电流感测电阻的校准电阻和一对输入电阻，每一个具有耦合到电流感测电阻的一个端部的第一端和耦合到校准电阻的一个端部的第二端。 在校准电阻之间产生电压，并且将校准电阻设置在预定电平以补偿偏离参考值的电流感测电阻。 电压被滤波和放大以产生表示测量电流的输出。
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5.发明授权Transient compensation voltage estimation for feedforward sinusoidal brushless motor control 有权用于前馈正弦无刷电机控制的瞬态补偿电压估计公开(公告)号：US07157878B2
公开(公告)日：2007-01-02
申请号：US10300146
申请日：2002-11-19
IPC分类号： G05B19/10
CPC分类号： B62D5/046 , G05B2219/42063 , H02P6/15 , H02P6/16
摘要： A method for controlling a voltage mode controlled electric machine comprising: receiving a torque value representative of a desired torque; obtaining a speed value indicative of a rotational velocity of the electric machine; acquiring a phase advance value indicative of a desired phase advance angle; generating a voltage command responsive to the torque value, the position value; the generating is responsive to the torque value, the speed value, and the phase advance value.
摘要翻译： 一种用于控制电压模式控制电机的方法，包括：接收代表期望转矩的转矩值; 获得表示电机旋转速度的速度值; 获取指示期望的相位提前角的相位超前值; 响应于所述转矩值产生电压指令，所述位置值; 该产生响应扭矩值，速度值和相位超前值。
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公开(公告)号：US06448724B1
公开(公告)日：2002-09-10
申请号：US09658352
申请日：2000-09-11
IPC分类号： H02K2300
CPC分类号： B62D5/046 , B62D5/0463 , H02P6/10 , H02P6/14
摘要： A brushless DC motor modifies motor commutation events to reduce noise by providing overlapping activation of the switch being deactivated with the switch being newly activated so that three switches are temporarily activated. The newly activated switch is pulse width modulated with a motor torque controlling duty cycle, and the switch being deactivated is pulse width modulated synchronously with the newly activated switch but with a duty cycle decreasing from the torque controlling duty cycle. The decreasing modulation of the switch being deactivated allows a slower current decrease in the phase turning off to reduce or eliminate the disturbances, and thus the noise. The decreasing modulation is preferably exponential in manner, with a time constant varying inversely with motor speed so that the duty cycle reaches a predetermined minimum in a predetermined maximum number of motor electrical degrees. The decreasing modulation may be switched on at low motor speeds where its noise reduction is required and switched off at higher motor speeds where the potential for interference with commutation is greater. The decreasing modulation is applicable in a dual switching mode in which each activated switch, except for the switch being deactivated in commutation, is pulse width modulated at the torque controlling duty cycle, or in a modified single switching mode in which the activated switch of one of the upper or lower groups is always closed continuously during its activation, except for commutation, during which the switch remaining on, which alternates between the groups, is closed continuously. Each mode of operation is applied in the motor speed/torque region to which it is best suited.
摘要翻译： 无刷直流电动机通过在开关被新激活的情况下通过提供交换机的重叠激活来改变电动机换向事件以减少噪声，从而使三个开关暂时被激活。 新启动的开关通过电机转矩控制占空比进行脉冲宽度调制，并且禁用的开关与新启动的开关同步脉宽调制，但占空比从转矩控制占空比下降。 开关减小的调制被禁用允许相位关断中的较慢的电流减小以减少或消除干扰，从而减少噪声。 减小的调制优选地是指数方式，其中时间常数与电动机速度成反比变化，使得占空比在预定的最大数量的电动机电度中达到预定的最小值。 降低的调制可以在需要减少噪声的低电机速度下接通，并且在更换电机的电机速度更高的情况下关闭。 减小的调制适用于双重切换模式，其中除了开关在换向中被禁用之外，每个被激活的开关在扭矩控制占空比下进行脉宽调制，或者在修改的单次切换模式中，其中一个 上，下组在其激活期间总是被连续地闭合，除了换向之外，在组中之间交替存在的开关被连续地闭合。 每种操作模式都适用于最适合的电机速度/转矩区域。
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7.发明授权Brushless DC motor control method and apparatus for reduced commutation noise 失效无刷直流电动机控制方法及减少换向噪音的装置
公开(公告)号：US6002226A
公开(公告)日：1999-12-14
申请号：US99007
申请日：1998-06-17
CPC分类号： H02P6/10
摘要： A brushless DC motor modifies motor commutation events to reduce noise by providing overlapping activation of the switch being deactivated with the switch being newly activated so that three switches are temporarily activated. The newly activated switch is pulse width modulated with a motor torque controlling duty cycle, and the switch being deactivated is pulse width modulated synchronously with the newly activated switch but with a duty cycle decreasing from the torque controlling duty cycle. The decreasing modulation of the switch being deactivated allows a slower current decrease in the phase turning off to reduce or eliminate the disturbances, and thus the noise. The decreasing modulation is preferably exponential in manner, with a time constant varying inversely with motor speed so that the duty cycle reaches a predetermined minimum in a predetermined maximum number of motor electrical degrees. The decreasing modulation may be switched on at low motor speeds where its noise reduction is required and switched off at higher motor speeds where the potential for interference with commutation is greater. The decreasing modulation is applicable in a dual switching mode in which each activated switch, except for the switch being deactivated in commutation, is pulse width modulated at the torque controlling duty cycle, or in a modified single switching mode in which the activated switch of one of the upper or lower groups is always closed continuously during its activation, except for commutation, during which the switch remaining on, which alternates between the groups, is closed continuously. Each mode of operation is applied in the motor speed/torque region to which it is best suited.
摘要翻译： 无刷直流电动机通过在开关被新激活的情况下通过提供交换机的重叠激活来改变电动机换向事件以减少噪声，从而使三个开关暂时被激活。 新启动的开关通过电机转矩控制占空比进行脉冲宽度调制，并且禁用的开关与新启动的开关同步脉宽调制，但占空比从转矩控制占空比下降。 开关减小的调制被禁用允许相位关断中的较慢的电流减小以减少或消除干扰，从而减少噪声。 减小的调制优选地是指数方式，其中时间常数与电动机速度成反比变化，使得占空比在预定的最大数量的电动机电度中达到预定的最小值。 降低的调制可以在需要减少噪声的低电机速度下接通，并且在更换电机的电机速度更高的情况下关闭。 减小的调制适用于双重切换模式，其中除了开关在换向中被禁用之外，每个被激活的开关在扭矩控制占空比下进行脉宽调制，或者在修改的单次切换模式中，其中一个 上，下组在其激活期间总是被连续地闭合，除了换向之外，在组中之间交替存在的开关被连续地闭合。 每种操作模式都适用于最适合的电机速度/转矩区域。
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8.发明授权Electro-hydraulic power steering control with motor speed switching and fluid temperature compensation of standby switch-points 失效电动液压动力转向控制，具有电机转速和待机切换点的液温补偿
公开(公告)号：US5967253A
公开(公告)日：1999-10-19
申请号：US962194
申请日：1997-10-31
IPC分类号： B62D6/00 , B62D5/065 , B62D5/07 , B62D107/00 , B62D137/00 , B62D5/06
CPC分类号： B62D5/065
摘要： A vehicle power steering system uses an electric motor to drive a pump at a variable speed to provide power steering fluid at a variable flow for power assist to operator steering efforts. The system has a speed control for the electric motor which derives a command speed signal from a power steering load signal, senses motor speed and controls electric power to the motor in response thereto to vary the speed of the electric motor in the direction of the command speed signal. In a switching region of the power steering fluid pressure signal, the speed control switches between a low speed for standby operation and a higher speed to supply the power steering operation demands. The speed control modifies the switch-point load value in response to the power steering fluid temperature sensor to compensate for temperature dependent losses. Separate switch-points are preferably provided for increasing and decreasing power steering load to provide hysteresis; and both switch-points are preferably compensated.
摘要翻译： 车辆动力转向系统使用电动机以可变速度驱动泵，以便以可变流动提供动力转向流体，以对操作者转向努力进行动力辅助。 该系统具有用于电动机的速度控制，其从动力转向负载信号导出指令速度信号，感测电动机速度并响应于此控制对电动机的电力，以改变电动机在指令方向上的速度 速度信号。 在动力转向液压信号的切换区域中，速度控制在用于待机操作的低速和较高速度之间切换以提供动力转向操作需求。 速度控制根据动力转向液温度传感器修改开关点负载值，以补偿与温度有关的损耗。 优选地提供分开的切换点用于增加和减少动力转向负载以提供滞后; 并且优选地补偿两个切换点。
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公开(公告)号：US06791217B2
公开(公告)日：2004-09-14
申请号：US10116284
申请日：2002-04-04
IPC分类号： G01P300
CPC分类号： G01P3/487 , G01D5/145 , G01D5/2033 , G01D5/24461 , G01D5/2448 , G01D5/24495 , Y10S310/06
摘要： A method and system for determining the velocity of a rotating device is described herein. The system includes an apparatus with a set of sense magnets affixed to a rotating shaft of the rotating device and a circuit assembly. The circuit assembly includes a circuit interconnection having a plurality of sense coils and sensors affixed thereto. The circuit assembly is adapted be in proximity to the set of sense magnets on the rotating part. A controller is coupled to the circuit assembly, where the controller executes an adaptive algorithm that determines the velocity of the rotating device. The algorithm is a method of combining a derived velocity with a velocity from the tachometer. The algorithm includes a plurality of functions including: receiving a position signal related to the rotational position of the shaft; determining a derived velocity from the position signal; generating a plurality of tachometer velocity signals; determining a compensated velocity in response to the plurality tachometer velocity signals; and blending the compensated velocity with derived velocity to generate a blended velocity output.
摘要翻译： 本文描述了用于确定旋转装置的速度的方法和系统。 该系统包括具有固定到旋转装置的旋转轴的一组感测磁体和电路组件的装置。 电路组件包括具有多个感测线圈和固定到其上的传感器的电路互连。 电路组件适于靠近旋转部件上的感测磁体组。 控制器耦合到电路组件，其中控制器执行确定旋转装置的速度的自适应算法。 该算法是将派生速度与转速计的速度相结合的方法。 该算法包括多个功能，包括：接收与轴的旋转位置相关的位置信号; 从所述位置信号确定导出的速度; 产生多个转速计速度信号; 响应于所述多个转速计速度信号确定补偿速度; 并将补偿速度与导出速度混合以产生混合速度输出。
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10.发明授权Thermal current limiting apparatus and method for vehicle system with electric motor actuator 有权具有电动执行器的车辆系统热流限制装置和方法
公开(公告)号：US6166502A
公开(公告)日：2000-12-26
申请号：US329874
申请日：1999-06-11
CPC分类号： H02P29/02
摘要： An electric motor actuator used in an environment of varying loads for varying time periods is efficiently designed to a predetermined specification in terms of both motor load and time and operated up to but not exceeding this specification over the full expected operating range. A motor load signal is low pass filtered with a plurality of time constants spanning a range of expected motor operation to generate a plurality of filtered motor load signals each associated with one of the time constants. Each of these filtered motor load signals is compared with a predetermined reference value corresponding to the associated time constant. If one or more of the filtered motor load signals exceeds the predetermined reference value with which it is compared, the one that so exceeds by the greatest margin is selected. A command current limit factor is derived from the selected filtered motor load signal and used to limit the commanded motor current. The motor load signal preferably indicates motor operating current and may be derived from a motor current sensor or from the limited command current signal, motor speed and operating voltage to compensate for a decrease of current with motor speed due to inductance/slope compensation and voltage limit effects.
摘要翻译： 在电动机负载和时间方面，在负载变化的环境中使用的电动机致动器在电动机负载和时间方面被有效地设计成预定的规格，并且在整个预期工作范围内被操作达到但不超过该规范。 电动机负载信号通过多个时间常数进行低通滤波，该时间常数跨越预期的电动机运行的范围，以生成每个与时间常数之一相关联的多个过滤的电动机负载信号。 将这些滤波的马达负载信号中的每一个与对应于相关联的时间常数的预定参考值进行比较。 如果一个或多个滤波的电动机负载信号超过与其进行比较的预定参考值，则选择超过最大余量的参考值。 指令电流限制因子来自所选滤波的电机负载信号，用于限制指令的电机电流。 电动机负载信号优选地表示电动机工作电流，并且可以从电动机电流传感器或从限制的指令电流信号，电动机速度和工作电压得出，以补偿由于电感/斜率补偿和电压限制引起的电动机速度的降低 效果。
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