System and method for improved speed regulation of electric tilt column

Abstract

A method for controlling a motor includes: determining a position of a steering column in response to receiving a command signal. The method also includes determining a desired direction of the steering column based on the command signal. The method also includes determining a voltage corresponding to movement of the steering column based on the position and the desired direction. The method also includes applying a pulse width modulation signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage. The method also includes selectively adjusting the pulse width modulation signal based on a change in the voltage.

Description

Technical Field

[0001] The present disclosure relates to speed adjustment for a power rake column. Background Art

[0002] Conventional steering columns can be manually operated or electronically adjusted via an actuator. Depending on user requirements, such a column can be adjusted in various directions, including telescopic direction (i.e., along the axis of the column), tilt (i.e., vertical) direction and / or pitch (i.e., swing angle) direction. Steering columns can be telescopic in a variety of ways. For example, some steering columns telescope via telescopic sleeves or shafts. Other examples of steering columns can telescope via fixed shafts and translation sleeve assemblies. Steering columns with tilt adjustment capabilities adjust the rake angle of the steering column relative to the pivot axis.

[0003] A lift assembly for an electric tilt column for a vehicle such as a car, truck, sport utility vehicle, crossover, minivan, or other suitable vehicle can utilize a crank driven by a brushed permanent magnet direct current (PMDC) motor to control the vertical position of the steering wheel. The kinematics of the crank produce a nonlinear relationship between the motor speed and the tilt column speed. In addition, as is generally the case with PMDC motors, the speed of the motor is inversely proportional to the torque output. The position and desired direction of movement of the steering column typically affects the torque required by the motor due to gravity, at least in part. Typically, the lift assembly is designed to make the speed of the tilt column as insensitive as possible to varying loads. However, the combination of the kinematics of the crank and the characteristics of the motor typically produces a tilt column that changes speed and produces varying motor noise. Summary of the invention

[0004] The present disclosure relates to speed adjustment for a motorized tilt column.

[0005] One aspect of the disclosed embodiment includes an apparatus for controlling a motor. The apparatus includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: in response to receiving a command signal: determine a position of a steering column; determine a desired direction of the steering column based on the command signal; determine a voltage corresponding to movement of the steering column based on the position and the desired direction; apply a pulse width modulation signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage; and selectively adjust the pulse width modulation signal based on a change in the voltage.

[0006] Another aspect of the disclosed embodiment includes a method for controlling a motor. The method includes: determining a position of a steering column in response to receiving a command signal. The method includes determining a desired direction of the steering column based on the command signal. The method includes determining a voltage corresponding to movement of the steering column based on the position and the desired direction. The method includes applying a pulse width modulated signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage. The method includes selectively adjusting the pulse width modulated signal based on a change in the voltage.

[0007] Another aspect of the disclosed embodiment includes an apparatus for controlling a motor. The apparatus includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: in response to receiving a command signal: determine a position of a steering column; determine a desired direction of the steering column based on the command signal; determine a voltage corresponding to movement of the steering column based on the position and the desired direction; modify an output signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage; and control a speed of the motor based on the output signal.

[0008] These and other aspects of the disclosure are disclosed in the following detailed description of the embodiments, the appended claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present disclosure is best understood by the following detailed description when read in conjunction with the accompanying drawings. It is emphasized that, according to common practice, the various features of the drawings are not drawn to scale. Instead, the sizes of the various features are arbitrarily expanded or reduced for clarity.

[0010] Figure 1 A vehicle in accordance with the principles of the present disclosure is generally shown.

[0011] Figure 2 A system for controlling an electric machine according to the principles of the present disclosure is generally shown.

[0012] Figure 3 A side view of a steering column according to the principles of the present disclosure is generally shown.

[0013] Figure 4 is a graphical representation of the force required to lift a steering column based on actuator position in one example according to principles of the present disclosure.

[0014] Figure 5 An example of duty cycle control according to the principles of the present disclosure is shown.

[0015] Figure 6 An example of a duty cycle schedule for ramp-up motion at multiple voltages in accordance with the principles of the present disclosure is shown.

[0016] Figure 7is a flow chart generally illustrating a method for controlling an electric machine according to the principles of the present disclosure. DETAILED DESCRIPTION

[0017] The following discussion is directed to various embodiments of the present disclosure. Although one or more of these embodiments may be preferred, the disclosed embodiments should not be interpreted or otherwise used as limiting the scope of the present disclosure, including the claims. In addition, it will be understood by those skilled in the art that the following description has a wide range of applications, and the discussion of any embodiment is intended only to be an exemplary discussion of that embodiment, and is not intended to imply that the scope of the present disclosure, including the claims, is limited to that embodiment.

[0018] As described above, conventional steering columns can be manually operated or electronically adjusted via an actuator. Depending on user requirements, such a column can be adjusted in various directions, including telescopic direction (i.e., along the axis of the column), tilt (i.e., vertical) direction and / or pitch (i.e., swing angle) direction. The steering column can be telescopic in a variety of ways. For example, some steering columns are telescopic via telescopic sleeves or shafts. Other examples of steering columns can be telescopic via a fixed shaft and a translation sleeve assembly. A steering column with tilt adjustment capability adjusts the tilt angle of the steering column relative to a pivot.

[0019] The lift assembly for an electric tilt column for a vehicle such as a car, truck, sport utility vehicle, crossover, minivan or other suitable vehicle typically utilizes a crank driven by a brushed permanent magnet direct current (PMDC) motor to control the vertical position of the steering wheel. The kinematics of the crank produce a non-linear relationship between the motor speed and the tilt column speed. In addition, as is characteristic of PMDC motors, the speed of the motor is inversely proportional to the torque output. The position and desired direction of the steering column typically affect the torque required by the motor due to gravity, at least in part. Typically, the lift assembly is designed to make the speed of the tilt column as insensitive as possible to varying loads. However, the combination of the kinematics of the crank and the characteristics of the motor typically produces a tilt column that changes speed and produces varying motor noise.

[0020] Kinematic prediction algorithms are important for producing a tilt column with uniform speed and sound. In order to provide a uniform tilt column speed, the speed of the motor is controlled via pulse width modulation (PWM) to create a pulse width modulated signal. The average voltage of the pulse width modulated signal can be determined by the duty cycle and can be limited by the system voltage. For example, during a position where the torque requirement is low, the average voltage of the pulse width modulated signal can be reduced by reducing the duty cycle, thereby preventing the motor from accidentally accelerating. In a position where the torque requirement is high, the average voltage can be close to the system voltage to maximize the available torque and prevent the motor from over-decelerating. Therefore, systems and methods such as those described herein are configured to generate a pulse width modulated signal based on the position of the steering column, the command direction of the steering column, and the voltage. In some embodiments, the systems and methods described herein can be configured to selectively adjust the speed of the motor based on the voltage.

[0021] In some embodiments, the systems and methods described herein can be configured to determine the position of the steering column in response to receiving a command signal. The systems and methods described herein can be configured to determine the desired direction of the steering column based on the command signal. The systems and methods described herein can be configured to determine the voltage corresponding to the movement of the steering column based on the position and the desired direction. The systems and methods described herein can be configured to apply a pulse width modulation signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage. The systems and methods described herein can be configured to selectively adjust the pulse width modulation signal based on a change in voltage.

[0022] In some embodiments, the system and method described herein can be configured to control a motor including a processor and a memory. The system and method described herein can be configured to receive a command signal. The system and method described herein can be configured to determine the position of a steering column. The system and method described herein can be configured to determine the desired direction of the steering column based on the command signal. The system and method described herein can be configured to determine the voltage corresponding to the movement of the steering column according to the position and the desired direction. The system and method described herein can be configured to modify the output signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage. The system and method described herein can be configured to control the speed of the motor based on the output signal.

[0023] Now referring to the accompanying drawings, the technical solution will be described with reference to specific embodiments, but not limited to the technical solution. Figure 1A vehicle 10 is generally shown in accordance with the principles of the present disclosure. Vehicle 10 may include any suitable vehicle, such as a car, truck, sport utility vehicle, minivan, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although vehicle 10 is illustrated as a passenger vehicle having wheels and used on a road, the principles of the present disclosure may be applied to other vehicles, such as airplanes, ships, trains, drones, or other suitable vehicles.

[0024] The vehicle 10 includes a vehicle body 12 and a hood 14. A passenger compartment 18 is at least partially defined by the vehicle body 12. Another portion of the vehicle body 12 defines an engine compartment 20. The hood 14 is movably attached to a portion of the vehicle body 12 such that the hood 14 provides access to the engine compartment 20 when the hood 14 is in a first position or an open position and covers the engine compartment 20 when the hood 14 is in a second position or a closed position. In some embodiments, the engine compartment 20 may be located at the rear of the vehicle 10 (compared to what is generally shown).

[0025] The passenger compartment 18 may be disposed rearward of the engine compartment 20, but in embodiments where the engine compartment 20 is disposed in a rearward portion of the vehicle 10, the passenger compartment 18 may be disposed forward of the engine compartment 20. The vehicle 10 may include any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., an electric vehicle), one or more fuel cells, a hybrid (e.g., a hybrid vehicle) propulsion system including a combination of an internal combustion engine, one or more electric motors, and / or any other suitable propulsion system.

[0026] In some embodiments, the vehicle 10 may include a gasoline engine or a gasoline fuel engine, such as a spark ignition engine. In some embodiments, the vehicle 10 may include a diesel fuel engine, such as a compression ignition engine. The engine compartment 20 houses and / or surrounds at least some components of the propulsion system of the vehicle 10. Additionally or alternatively, a propulsion control device (e.g., an accelerator actuator (e.g., an accelerator pedal), a brake actuator (e.g., a brake pedal), a steering wheel, and other such components) are disposed in the passenger compartment 18 of the vehicle 10. The propulsion control device may be actuated or controlled by a driver of the vehicle 10 and may be directly connected to corresponding components of the propulsion system, such as a throttle, brake, axle, vehicle transmission, etc. In some embodiments, the propulsion control device may communicate a signal to a vehicle computer (e.g., drive-by-wire), which in turn may control corresponding propulsion components of the propulsion system. Thus, in some embodiments, the vehicle 10 may be an autonomous vehicle.

[0027] In some embodiments, the vehicle 10 includes a transmission that communicates with the crankshaft via a flywheel or a clutch or a fluid coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. In the case of an internal combustion engine or a hybrid vehicle, the vehicle 10 may include one or more pistons that operate in conjunction with the crankshaft to generate force that is transmitted to one or more shafts through the transmission, which causes the wheels 22 to rotate. When the vehicle 10 includes one or more electric motors, the vehicle battery and / or fuel cell provides energy to the electric motors to rotate the wheels 22.

[0028] The vehicle 10 may include an automatic vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other automatic vehicle propulsion systems, or combinations thereof. The vehicle 10 may be an automatic or semi-automatic vehicle, or other suitable type of vehicle. The vehicle 10 may include additional features or fewer features than those generally shown and / or disclosed herein.

[0029] In some embodiments, the vehicle 10 may include an Ethernet component 24, a controller area network component (CAN) 26, a media oriented system transport component (MOST) 28, a FlexRay component 30 (e.g., a wire control brake system, etc.), and a local interconnect network component (LIN) 32. The vehicle 10 may use the CAN 26, the MOST 28, the FlexRay component 30, the LIN 32, other suitable networks or communication systems, or a combination thereof, to communicate various information from sensors, such as those inside or outside the vehicle, to various processors or controllers, such as those inside or outside the vehicle. The vehicle 10 may include additional or fewer features than those generally shown and / or disclosed herein.

[0030] The vehicle 10 may include a system 100 for controlling an electric machine 102, such as Figure 2 As generally shown. As will be understood from the disclosure herein, the motor is a motor or motor assembly responsible for actuating the movement of the crank and the steering column (discussed in detail below). The system 100 may include a controller 104. The controller 104 may include an electronic control unit or other suitable controller 104. The controller 104 may include a processor 106 and a memory 108, the memory 108 including instructions that, when executed by the processor 106, cause the processor 106 to at least control the speed of the motor 102. The processor 106 may include any suitable processor, such as those described herein. The memory 108 may include a single disk or multiple disks (e.g., a hard disk drive), and include a storage management module that manages one or more partitions within the memory 108. In some embodiments, the memory 108 may include flash memory, semiconductor (solid-state) memory, etc. The memory 108 may include a random access memory (RAM), a read-only memory (ROM), or a combination thereof.

[0031] The system 100 may include a target position input 110, a direction input 112, a position sensor 114, and a voltage 116. The target position input 110 may reflect the desired position of the steering column 118 and may be generated based on a user profile according to a predetermined setting, or may be a manually entered value. The user profile may correspond to a wireless signal having a specific radio frequency identification code or other wireless code. The wireless code may be stored on a key fob, a phone, or other electronic device, and the target input position may be provided to the controller 104 when the presence of a specific wireless signal is determined. The direction input 112 provides the desired direction of the steering column 118, which may be generated via a manual interface (e.g., a switch, button, or human-machine interface (HMI) of the vehicle 10). The voltage 116 may provide a voltage level for the system 100, and / or may be a voltage obtained from a power source (e.g., a battery) of the vehicle 10. Alternatively, the voltage 116 may be local to the system 100 and may vary between a range of 5-20 volts, but may alternatively be in a range of 9-16 volts. It should be appreciated that the system 100 may be integral to or coupled to a column position module (CPM) of the vehicle 10. In some embodiments, the position sensor 114 is monitored by the CPM and the position of the steering column 118 is provided via the CPM.

[0032] The motor 102 may be a power source for moving the steering column 118 and may include one or more measurement devices and / or sensors configured to measure various characteristics and / or parameters of the motor 102. As will be described, the motor 102 may be configured to measure various dynamic parameter values ​​and communicate them to the controller 104 (e.g., the processor 106).

[0033] Figure 3 A side view of a steering column 118 of a vehicle 10 according to the principles of the present disclosure is generally shown. The steering column 118 can be a tilt column. The steering column 118 can extend between a first end 120 and a second end 122 and include a steering interface, such as a steering wheel or other mechanical or electrical interface device, connected at the first end 120 to control the direction of the vehicle 10. A lifting assembly 124 can be operably connected to the steering column 118 for lifting and lowering the steering column 118 so that the steering column 118 rotates relative to a pivot axis P. The pivot axis P can be disposed at any point along the steering column 118. In one embodiment, the pivot axis P can be disposed at the second end 122 of the steering column 118.

[0034] The lifting assembly 124 may include an actuator 126 that is operably connected to the motor 102. The actuator 126 may include a screw shaft assembly 128 or may include any number of linear actuators, such as a ball screw assembly. Referring to the drawings, the screw shaft assembly 128 may include a slotted shaft 130 extending along a central axis A and a nut 132 movably engaged with the shaft 130. A crank 134 may be coupled to the nut 132 and the steering column 118. In the example shown, to lift the steering column 118, the motor 102 may rotate the shaft 130 about the central axis A, thereby moving the nut 132 along the central axis A. The position of the nut 132 on the central axis A may correspond to the position of the first end 120. In other words, as the nut 132 moves along the shaft 130, the crank 134 may push the steering column 118 upward, thereby rotating the steering column 118 about the pivot axis P and forming a tilt angle θ. The tilt angle θ may be at a minimum tilt angle θ. MIN and the maximum tilt angle θ MAX The tilt motion curve R may correspond to a linear position range of the actuator 126 (i.e., the position of the nut 132 on the shaft 130) of 35 millimeters (mm), wherein the actuator position of -18 mm corresponds to the minimum tilt angle θ MIN , and 17mm corresponds to the maximum tilt angle θ MAX It will be appreciated that the relationship between the actuator position and the tilt angle θ may be non-linear, and that the tilt angle θ may correspond to the position of the steering column 118 .

[0035] In some embodiments, the kinematics of the crank 134 produce motion with a constant linear velocity input that does not have a proportionally constant angular velocity output. Because the actuator 126 can be a linear actuator, the angular velocity of the steering column 118 and the force on the actuator 126 vary based on the position and direction of the motion of the steering column 118. For example, if the velocity of the nut 132 is constant along the central axis A, the velocity of the steering column 118 varies. In addition, near the minimum tilt angle θ MIN The force Fx required to lift the steering column 118 at the position of the maximum tilt angle θ may be greater than that near the maximum tilt angle θ. MAX In addition, compared with lowering the steering column 118 (ie, rotating the steering column 118 downward), a greater force may be required to lift the steering column 118 (ie, rotating the steering column 118 upward).

[0036] In some embodiments, the force F required to lift the steering column 118 is x is a function of the tilt angle θ of the steering column 118 and the desired direction, as shown in equation (1):

[0037] F x =f(θ,d)

[0038] Among them, F x is the force required to raise / lower the steering column 118, θ is the tilt angle corresponding to the position of the steering column 118, and d is the desired direction of the steering column 118. Figure 4 As shown in the example in FIG. 1 , the force F required to lift the steering column 118 x There may be a non-linear relationship between and the actuator position. The force F required to lift the steering column 118 x The minimum tilt angle θ MIN and the maximum tilt angle θ MAX It should be understood that the lifting assembly 124 may include another mechanical or electromechanical device other than the crank 134 to achieve the position of the steering column 118 and the force F required to lift the steering column 118. x In some embodiments, lift assembly 124 may be mechanically optimized to keep the required dynamic range as small as possible.

[0039] In some embodiments, the force variation across the motion curve R may also be caused by the type of power source (e.g., the type of motor 102) configured to drive the actuator 126. For example, the motor 102 may be a brushed permanent magnet direct current (PMDC) motor. One characteristic of a PMDC motor is that, when operating at a constant voltage, the slope of the operating curve always makes the armature speed (RPM) of the motor inversely proportional to the torque output. It should be understood that the motor 102 may alternatively be a servo motor, a linear actuator, an AC motor, or any other electromechanical device.

[0040] Therefore, when the force F required to lift the steering column 118 x When the force F required to lift the steering column 118 is large, for example, when the steering column 118 is at a low tilt angle θ, the motor speed may be lower. x When the load is smaller, for example, when the steering column 118 is at a high tilt angle θ, the motor speed may be higher. The net effect is that, at a constant voltage input, the changing load results in a change in operating speed. Under operating conditions, the torque applied by the motor may be at least the force F required to lift the steering column 118. x (i.e., load).

[0041] In some embodiments, the motor can be connected via a voltage V SYS The voltage V SYSWhen applied to the motor, the motor is caused to rotate at a motor speed. When the load does not exceed the torque capacity of the motor, the motor speed can be proportional to the voltage of the signal. For example, when the signal has a higher voltage, the motor has a higher motor speed than when the signal has a lower voltage. In some embodiments, the signal can be a DC signal. Pulse width modulation (PWM) can be applied to the signal to generate a pulse width modulated signal with an adjustable duty cycle. The average voltage V AVG The duty cycle and voltage V of the pulse width modulation signal can be SYS The pulse width modulation signal can reduce the voltage V SYS time applied to the motor. Therefore, under normal operating conditions, the motor speed can be related to the average voltage V AVG Proportional.

[0042] In some embodiments, the pulse width modulated signal is controlled via an algorithm. The algorithm may be based on kinematic predictions specific to the mechanical design. For example, at positions with low torque requirements (e.g., at larger angular positions), the average voltage V of the pulse width modulated signal may be AVG can be reduced by reducing the duty cycle to prevent the motor from accelerating. Similarly, at positions with high torque requirements (e.g., at smaller angular positions), the average voltage V of the pulse width modulated signal AVG The voltage V can be approached by increasing the duty cycle to prevent deceleration SYS In this way, the algorithm can provide a constant velocity over the entire motion profile R, regardless of position. Since the kinematic prediction is a function of tilt position, the efficiency as a function of position can be used to increase or decrease the force (i.e., torque) commanded to the motor via the pulse width modulated signal. In some embodiments, the algorithm can allow the motor 102 to compensate where the mechanics cannot.

[0043] In some embodiments, at the location where the maximum force exists on the lift assembly 124 (eg, the minimum tilt angle θ MIN ) can determine the speed at each position on the motion curve R. For example, as the maximum speed of the steering column 118 at the minimum tilt angle θ MIN The speed of the steering column 118 may be the speed of the steering column 118 over the entire motion curve R as a result of a 100% duty cycle of the pulse width modulated signal at . In some embodiments, the position of the highest load is the lowest position on the motion curve R because the force of gravity on the steering column 118 may be greatest at this position. The desired direction (i.e., lifting or lowering) may also be incorporated into the algorithm to compensate for the weight of the steering wheel, steering column 118, and airbag.

[0044] In some embodiments, the pulse width modulation signal is based on the voltage V SYS Voltage V SYSIt can provide the average voltage V of the pulse width modulation signal AVG The upper limit of the pulse width modulation signal is thus controlled by the average voltage V AVG For example, if the voltage V SYS is 12 volts, then the average voltage V AVG can vary between 0-12 volts based on the duty cycle (e.g., 50% duty cycle = 6V average). Similarly, if the voltage V SYS is 11 volts, then the average voltage V AVG can vary between 0-11 volts based on the duty cycle (e.g., 50% duty cycle = 5.5V average). In some embodiments, the maximum power output of the motor 102 is 12 volts, and the minimum power output corresponds to 0V. Therefore, the algorithm can compensate for the voltage V SYS In some embodiments, the operating voltage of the motor 102 can be 12V to -12V. In some embodiments, the system 100 can include an H-bridge module that can be configured to switch the polarity of the output signal. Switching the polarity of the output signal (e.g., a pulse width modulated signal) can change the polarity of the voltage to reverse the motor speed. For example, when a positive voltage is applied to the motor, a negative voltage may cause the motor to run in a direction opposite to the direction in which the motor is running.

[0045] exist Figure 6 An example of duty cycle control is shown in FIG. In the example shown, although the duty cycle is changed from 12 volts (V SYS_1 ) increases from 50% to 10 volts (V SYS_2 ) at 60% resulting in a voltage V SYS The difference in the average voltage V AVG It should be understood that although V SYS_1 and V SYS_2 The pulse widths of each are shown overlapping each other, but the pulses can be configured to trigger simultaneously.

[0046] In some embodiments, the PWM signal is a combination of the tilt angle θ, the desired direction of the steering column 118, and the voltage V SYS The function is shown in equation (2):

[0047] PW=f(θ,d,V SYS )

[0048] Where PW is the pulse width of the pulse width modulation signal, θ is the position of the steering column 118, d is the desired direction of the steering column 118, and V SYS is the voltage of system 100. In some embodiments, the algorithm may generate a voltage V at at least about 12 volts. SYSA simple polynomial relationship between the duty cycle at φ and the speed of the steering column 118. In some embodiments, the algorithm can generate a polynomial fit that is unique to the kinematics of the mechanical system.

[0049] Figure 6 shows that at various voltages V SYS From θ MIN to θ MAX In some embodiments, the voltage V below 12 volts SYS There may be no modifications available, and at least 12 volts V SYS can be completely modified to provide a constant speed to the steering column 118. In addition, it is expected that the voltage V below 12V SYS Saturation occurs at the voltage V SYS can be attenuated to all voltages above 12V V SYS It should be understood that the algorithm can be continuous over all voltage ranges, and Figure 6 The voltage curves shown are shown to show a typical voltage range. A downward sloping curve may be similar to Figure 6 The example shown, where the PWM duty cycle is shifted towards a lower value. It should also be understood that the algorithm can be added to the soft start routine and the soft stop routine, and can also be combined to compensate for common mechanical efficiencies. In some embodiments, the average voltage V AVG can not increase the voltage beyond V SYS , but can be regulated via PWM to a voltage lower than V SYS In addition, it should be understood that the voltage V SYS may change during movement of the steering column 118, and the system 100 may be configured to actively compensate for the voltage V SYS changes in .

[0050] In some embodiments, the algorithm is open-loop and is subject to noise factors beyond the algorithm prediction. For example, the load applied to the steering wheel while the steering column 118 moves or stops (e.g., the force of the operator's hand or physical obstacles) may not be compensated. In some embodiments, feedback about the improvement of speed may be included in closed-loop control. In some embodiments, the motor 102 may be able to provide feedback status to the controller 104, including actual motor speed, heat dissipation, actual torque, acceleration or any other feedback status. The system 100 may include an encoder for providing the speed, acceleration and position data of the motor 102 to the controller 104. The motor 102 may be controlled by the controller 104 in whole or in part based on feedback status or speed, acceleration or position data. In some embodiments, open-loop control may provide a system with lower cost, and the algorithm may solve the main factors without speed monitoring.

[0051] Figure 7 1 is a flow chart generally illustrating a method 300 for controlling the motor 102 according to the principles of the present invention. At 302, in response to receiving a command signal, the method 300 determines the position of the steering column 118. For example, the controller 104 determines the position of the steering column 118 based on the position sensor 114.

[0052] At 304 , the method 300 determines a desired orientation of the steering column 118 based on the command signal. For example, the controller 104 determines the desired orientation of the steering column 118 .

[0053] At 306 , the method 300 determines the voltage 116 corresponding to the movement of the steering column 118 from the position and the desired direction. For example, the controller 104 determines the voltage 116 .

[0054] At 308, method 300 applies a pulse width modulated signal to motor 102 based on the position of steering column 118, the desired direction of steering column 118, and voltage 116. For example, controller 104 applies a pulse width modulated signal to motor 102 based on the position of steering column 118, the desired direction of steering column 118, and voltage 116.

[0055] At 310 , the method 300 selectively adjusts the pulse width modulated signal based on the change in the voltage 116 . For example, the controller 104 adjusts the pulse width modulated signal based on the change in the voltage 116 .

[0056] In some embodiments, an apparatus for controlling a motor includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: in response to receiving a command signal: determine a position of a steering column; determine a desired direction of the steering column based on the command signal; determine a voltage corresponding to movement of the steering column from the position and the desired direction; apply a pulse width modulation signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage; and selectively adjust the pulse width modulation signal based on a change in the voltage.

[0057] In some embodiments, the instructions further cause the processor to: selectively adjust the pulse width modulated signal based on a change in the position of the steering column. In some embodiments, the instructions further cause the processor to: selectively adjust the pulse width modulated signal in a proportional and non-linear relationship to change the position of the steering column. In some embodiments, the instructions further cause the processor to: determine the speed of the steering column and selectively adjust the pulse width modulated signal based on the difference between the pulse width modulated signal and the speed of the steering column. In some embodiments, the voltage is a digital high voltage of the pulse width modulated signal. In some embodiments, the motor is a permanent magnet DC motor. In some embodiments, the device includes a crank operably coupled to the motor.

[0058] In some embodiments, a method for controlling a motor includes: in response to receiving a command signal: determining a position of a steering column; determining a desired direction of the steering column based on the command signal; determining a voltage corresponding to movement of the steering column from the position and the desired direction; applying a pulse width modulated signal to the motor based on the position of the steering column, the desired direction of the steering column and the voltage; and selectively adjusting the pulse width modulated signal based on a change in the voltage.

[0059] In some embodiments, the method includes selectively adjusting the pulse width modulation signal based on a change in the position of the steering column. In some embodiments, the method includes selectively adjusting the pulse width modulation signal in a proportional and nonlinear relationship to change the position of the steering column. In some embodiments, the method includes determining the speed of the steering column and selectively adjusting the pulse width modulation signal based on the pulse width modulation signal and the speed of the steering column. In some embodiments, the voltage is a digital high voltage of the pulse width modulation signal. In some embodiments, the motor is a permanent magnet DC motor. In some embodiments, the method includes the device including a crank operably coupled to the motor.

[0060] In some embodiments, an apparatus for controlling a motor includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: in response to receiving a command signal: determine a position of a steering column; determine a desired direction of the steering column based on the command signal; determine a voltage corresponding to movement of the steering column from the position and the desired direction; modify an output signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage; and control a speed of the motor based on the output signal.

[0061] In some embodiments, the output signal is a pulse width modulated signal. In some embodiments, the instructions further cause the processor to selectively adjust the output signal based on a change in the position of the steering column. In some embodiments, the instructions further cause the processor to selectively adjust the output signal in a proportional and non-linear relationship to change the position of the steering column. In some embodiments, the instructions further cause the processor to determine the speed of the steering column and selectively adjust the output signal based on the difference between the output signal and the speed of the steering column. In some embodiments, the motor is a permanent magnet DC motor. In some embodiments, the voltage is a digital high voltage of the pulse width modulated signal.

[0062] The above discussion is intended to illustrate the principles and various embodiments of the present invention. Once the above disclosure is fully understood, many changes and modifications will become apparent to those skilled in the art. It is intended that the following claims be interpreted to include all such changes and modifications.

[0063] The word "example" is used herein to mean used as an example, instance or illustration. Any aspect or design described herein as an "example" is not necessarily to be interpreted as being more preferred or advantageous than other aspects or designs. On the contrary, the use of the word "example" is intended to present the concept in a specific way. As used in this application, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clearly seen from the context, "X includes A or B" is intended to represent any natural inclusive arrangement. That is, if X includes A; X includes B; or X includes both A and B, then "X includes A or B" is satisfied in any of the foregoing cases. In addition, the article "a / an" used in this application and the appended claims should generally be interpreted as meaning "one or more", unless otherwise specified or clearly pointed to the singular form from the context. In addition, unless so described, the use of the term "embodiment" or "one embodiment" throughout the text is not intended to represent the same embodiment or embodiment.

[0064] The implementation of the systems, algorithms, methods, instructions, etc. described herein may be implemented in hardware, software, or any combination thereof. The hardware may include, for example, a computer, an intellectual property (IP) core, an application specific integrated circuit (ASIC), a programmable logic array, an optical processor, a programmable logic controller, microcode, a microcontroller, a server, a microprocessor, a digital signal processor, or any other suitable circuit. In the claims, the term "processor" shall be understood to include any of the foregoing hardware, alone or in combination. The terms "signal" and "data" are used interchangeably.

[0065] As used herein, the term module may include a packaged functional hardware unit designed for use with other components, a set of instructions executable by a controller (e.g., a processor executing software or firmware), a processing circuit configured to perform a specific function, and a self-contained hardware or software component that interfaces with a larger system. For example, a module may include an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an electrical circuit, a digital logic circuit, an analog circuit, a combination of discrete circuits, gate circuits, and other types of hardware, or a combination thereof. In other embodiments, a module may include a memory that stores instructions executable by a controller to implement the features of the module.

[0066] Furthermore, in one aspect, for example, the systems described herein may be implemented using a general purpose computer or general purpose processor with a computer program that, when executed, performs any corresponding method, algorithm, and / or instruction described herein. Additionally or alternatively, for example, a special purpose computer / processor may be utilized that may include other hardware for performing any method, algorithm, or instruction described herein.

[0067] In addition, all or part of the implementation of the present disclosure may take the form of a computer program product accessible from, for example, a computer usable or computer readable medium. A computer usable or computer readable medium may be, for example, any device that can tangibly contain, store, communicate, or transport a program for use by or in conjunction with any processor. The medium may be, for example, an electronic, magnetic, optical, electromagnetic device, or a semiconductor device. Other suitable media may also be used.

[0068] The above embodiments, implementations and aspects have been described to allow easy understanding of the present invention and do not limit the present disclosure. On the contrary, the present invention is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims, which scope should be given the broadest interpretation to cover all such modifications and equivalent structures permitted by law.

Claims

1. A device for controlling a motor, the device comprising: processor; as well as a memory comprising instructions that, when executed by the processor, cause the processor to: In response to receiving a command signal: Determine the position of the steering column; determining a desired direction of the steering column based on the command signal; determining a voltage corresponding to movement of the steering column based on the position and the desired direction; applying a pulse width modulated signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage; as well as The pulse width modulated signal is selectively adjusted based on the change in the voltage to maintain movement of the steering column at a constant speed.

2. The device according to claim 1, wherein: The instructions further cause the processor to selectively adjust the pulse width modulation signal based on a change in the position of the steering column.

3. The device according to claim 2, wherein: The instructions further cause the processor to selectively adjust the pulse width modulation signal in a proportional and non-linear relationship to change the position of the steering column.

4. The device according to claim 1, wherein: The instructions further cause the processor to determine a speed of the steering column and selectively adjust the pulse width modulated signal based on a difference between the pulse width modulated signal and the speed of the steering column.

5. The device according to claim 1, wherein: The voltage is a digital high voltage of the pulse width modulation signal.

6. The device according to claim 1, wherein: The motor is a permanent magnet DC motor.

7. The device according to claim 1, wherein: The apparatus includes a crank operably coupled to the motor.

8. A method for controlling a motor, the method comprising: In response to receiving a command signal: Determine the position of the steering column; determining a desired direction of the steering column based on the command signal; determining a voltage corresponding to movement of the steering column based on the position and the desired direction; applying a pulse width modulated signal to the motor based on the position of the steering column, the desired direction of the steering column, and the voltage; as well as The pulse width modulated signal is selectively adjusted based on the change in the voltage to maintain movement of the steering column at a constant speed.

9. The method according to claim 8, comprising: The pulse width modulated signal is selectively adjusted based on a change in the position of the steering column.

10. The method according to claim 9, comprising: The pulse width modulated signal is selectively adjusted in a proportional and non-linear relationship to vary the position of the steering column.

11. The method according to claim 8, comprising: A speed of the steering column is determined and the pulse width modulated signal is selectively adjusted based on the pulse width modulated signal and the speed of the steering column.

12. The method according to claim 8, wherein: The voltage is a digital high voltage of the pulse width modulation signal.

13. The method according to claim 8, wherein: The motor is a permanent magnet DC motor.

14. A device for controlling a motor, the device comprising: processor; as well as a memory comprising instructions that, when executed by the processor, cause the processor to: In response to receiving a command signal: Determine the position of the steering column; determining a desired direction of the steering column based on the command signal; determining a voltage corresponding to movement of the steering column based on the position and the desired direction; modifying an output signal to the motor based on a position of the steering column, a desired direction of the steering column, and the voltage; as well as The speed of the motor is controlled based on the output signal to maintain movement of the steering column at a constant speed.

15. The device according to claim 14, wherein: The output signal is a pulse width modulated signal.

16. The device according to claim 14, wherein: The instructions further cause the processor to selectively adjust the output signal based on a change in the position of the steering column.

17. The device according to claim 16, wherein: The instructions further cause the processor to selectively adjust the output signal in a proportional and non-linear relationship to change the position of the steering column.

18. The device according to claim 14, wherein: The instructions further cause the processor to determine a speed of the steering column and selectively adjust the output signal based on a difference between the output signal and the speed of the steering column.

19. The device according to claim 14, wherein: The motor is a permanent magnet DC motor.

20. The device according to claim 19, wherein The output signal is a pulse width modulated signal, and wherein the voltage is a digital high voltage of the pulse width modulated signal.

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