Control system and method applied to hydraulic power steering apparatus

Abstract

Provided are a control system and method applied to a hydraulic power steering apparatus. The control system (100, 100a) applied to a hydraulic power steering apparatus comprises a memory (1102) and a processor (1104), wherein the processor is electrically connected to the memory, determines an interval, to which three-phase current information belongs, and calculates reconstructed current information on the basis of the magnitude of the three-phase current information and an initial filtering rate, and determines a ripple current value of the total current and calculates a compensation angle value, so as to control a hydraulic power steering apparatus. Thus, using current reconstruction and angle compensation can suppress error signals and reduce ripples.

Description

Control systems and methods applied to hydraulic power steering devices Technical Field

[0001] This invention relates to a control system and method for a vehicle, and more particularly to a control system and method for a hydraulic power steering system. Background Technology

[0002] Electronic power steering (ESP) offers numerous advantages such as energy saving, environmental friendliness, and safety, making it a current research hotspot in the electrification of power steering. Currently, Electro-Hydraulic Power Steering (EHPS) systems can be controlled without sensors. However, conventional sensorless control suffers from reduced efficiency due to motor angle deviation under high load conditions caused by the lack of sensors. Furthermore, when the transistor switching time in sensorless control is shorter than the current sampling time, it may be susceptible to noise, resulting in erroneous current information and affecting system stability. Therefore, there is currently a lack of a control system and method on the market that can suppress sampling errors, reproduce a more accurate current waveform, increase control efficiency, and reduce ripple for hydraulic power steering devices. Consequently, industry players are actively seeking solutions.

[0003] Summary of the Invention

[0004] The purpose of this invention is to provide a control system and method for hydraulic power steering devices. By using current reconstruction and angle compensation, it can solve the problems of conventional sensorless control where the lack of sensors leads to motor angle deviation under high load conditions, resulting in decreased efficiency, and the possibility of obtaining incorrect current information due to noise when the transistor switching time of sensorless control is less than the current sampling time, thereby affecting system stability.

[0005] According to one embodiment of the present invention, a control system for a hydraulic power steering device is provided, which controls a hydraulic power steering device and includes a memory and a processor. The memory stores three-phase current information, an initial filter rate, and an observer angle. The three-phase current information corresponds to the hydraulic power steering device. The processor is electrically connected to the memory and receives the three-phase current information, the initial filter rate, and the observer angle. The processor is configured to perform operations including: performing a current reconstruction operation, a current calculation operation, and an angle compensation operation. The current reconstruction operation includes determining a range to which the three-phase current information belongs based on the magnitude of the three-phase current information to generate a range determination result, and calculating a reconstructed current information based on the range determination result and the initial filter rate. The current calculation operation includes calculating a total current based on the reconstructed current information. The angle compensation operation includes determining a ripple current value of the total current to generate a ripple determination result, and calculating a compensation angle value based on the ripple determination result and the observer angle, thereby controlling the hydraulic power steering device with the compensation angle value.

[0006] Therefore, the control system of this invention applied to a hydraulic power steering device uses current reconstruction. By processing the data to determine the range of three-phase current information and using filter rate judgment and correction, a more accurate current value can be obtained, thereby suppressing erroneous information during sampling and achieving the effect of restoring a more realistic current waveform. Furthermore, this invention uses angle compensation. The processing device determines the magnitude of current ripple and calculates the compensation angle value of the motor angle based on the determination result, thereby increasing control efficiency and reducing ripple.

[0007] Other embodiments of the aforementioned implementation are as follows: The aforementioned three-phase current information corresponds to one of multiple intervals and includes a first current, a second current, and a third current. These intervals include a first interval, a second interval, a third interval, a fourth interval, a fifth interval, and a sixth interval. The current reconstruction operation further includes: performing a first confirmation operation, a second confirmation operation, and a third confirmation operation. The first confirmation operation includes confirming whether the first current is greater than 0 to generate a first confirmation result; the second confirmation operation includes confirming whether the second current is greater than 0 to generate a second confirmation result; and the third confirmation operation includes confirming whether the third current is greater than 0 to generate a third confirmation result. When the first confirmation result is yes, the second confirmation result is yes, and the third confirmation result is no, the three-phase current information belongs to the first interval. When the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is yes, the three-phase current information belongs to the second interval. When the first confirmation result is no, the second confirmation result is yes, and the third confirmation result is yes, the three-phase current information belongs to the third interval. When the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is no, the three-phase current information belongs to the fourth interval. When the first confirmation result is negative, the second confirmation result is positive, and the third confirmation result is negative, the three-phase current information belongs to the fifth interval. When the first confirmation result is negative, the second confirmation result is negative, and the third confirmation result is positive, the three-phase current information belongs to the sixth interval.

[0008] Other embodiments of the aforementioned implementation are as follows: The aforementioned current reconstruction operation further includes: determining whether the three-phase current information belongs to one of the first interval, the second interval, and the third interval to generate a first determination result; determining whether the three-phase current information belongs to a fourth interval to generate a second determination result; determining whether the three-phase current information belongs to a fifth interval to generate a third determination result; and determining whether the three-phase current information belongs to a sixth interval to generate a fourth determination result. The processor generates interval determination results based on the first determination result, the second determination result, the third determination result, and the fourth determination result.

[0009] Other embodiments of the aforementioned implementation are as follows: The aforementioned memory stores three-phase voltage information and a preset threshold value. The three-phase voltage information includes a first voltage, a second voltage, and a third voltage. The current reconstruction operation further includes: when the first judgment result is negative and the second judgment result is positive, calculating a first calculated current based on the second current and the third current, and comparing whether the first voltage is greater than the preset threshold value to generate a first comparison result. When the first comparison result is positive, calculating a first reconstructed current based on the first calculated current, a filter rate, and a first update current, and updating the filter rate based on an addition operation. The initial value of the first update current is equal to the first current. Furthermore, when the first judgment result is negative, the second judgment result is negative, and the third judgment result is positive, calculating a second calculated current based on the first current and the third current, and comparing whether the second voltage is greater than the preset threshold value to generate a second comparison result. When the second comparison result is positive, calculating a second reconstructed current based on the second calculated current, the filter rate, and a second update current, and updating the filter rate based on an addition operation. The initial value of the second update current is equal to the second current. Furthermore, when the first judgment result is negative, the second judgment result is negative, the third judgment result is negative, and the fourth judgment result is positive, a third calculated current is calculated based on the first current and the second current, and a third comparison result is generated by comparing whether the third voltage is greater than a preset threshold value. When the third comparison result is positive, a third reconstructed current is calculated based on the third calculated current, the filter rate, and a third update current, and the filter rate is updated by addition. The initial value of the third update current is equal to the third current. Additionally, the first update current, the second update current, and the third update current are set as the first reconstructed current, the second reconstructed current, and the third reconstructed current, respectively, and then the current reconstruction operation is re-executed. The initial value of the filter rate is equal to the initial filter rate, and the reconstructed current information includes the first reconstructed current, the second reconstructed current, and the third reconstructed current.

[0010] Other embodiments of the aforementioned implementation are as follows: The aforementioned memory stores a preset ripple rate, an observer angle weighting ratio, and a set of relational parameters, wherein the set of relational parameters includes a correspondence between velocity and observer angle. The angle compensation operation further includes: calculating a current ripple rate based on the ripple current value of the total current, and determining whether the current ripple rate is greater than the preset ripple rate to generate a ripple judgment result; and calculating the compensation angle value based on the ripple judgment result, the observer angle, the observer angle weighting ratio, and the set of relational parameters.

[0011] According to one embodiment of the present invention, a control method for a hydraulic power steering device is provided, which controls a hydraulic power steering device and includes: configuring a processor to perform a signal reading operation, a current reconstruction operation, a current calculation operation, and an angle compensation operation. The signal reading operation includes reading three-phase current information, an initial filter rate, and an observer angle from a memory, wherein the three-phase current information corresponds to the hydraulic power steering device. The current reconstruction operation includes determining a range to which the three-phase current information belongs based on its magnitude, generating a range determination result, and calculating reconstructed current information based on the range determination result and the initial filter rate. The current calculation operation includes calculating a total current based on the reconstructed current information. The angle compensation operation includes determining a ripple current value of the total current, generating a ripple determination result, and calculating a compensation angle value based on the ripple determination result and the observer angle, thereby controlling the hydraulic power steering device with the compensation angle value.

[0012] Therefore, the control method of this invention applied to hydraulic power steering devices uses current reconstruction to determine the range of three-phase current information, and by judging and correcting the filter rate, a more accurate current value can be obtained, thereby suppressing erroneous information during sampling and achieving the effect of restoring a more realistic current waveform. Furthermore, this invention uses angle compensation to determine the magnitude of current ripple and calculates the compensation angle value of the motor angle based on the judgment result, thereby increasing control efficiency and reducing ripple.

[0013] Other embodiments of the aforementioned implementation are as follows: The aforementioned three-phase current information corresponds to one of multiple intervals and includes a first current, a second current, and a third current. These intervals include a first interval, a second interval, a third interval, a fourth interval, a fifth interval, and a sixth interval. The current reconstruction operation further includes: performing a first confirmation operation, a second confirmation operation, and a third confirmation operation. The first confirmation operation includes confirming whether the first current is greater than 0 to generate a first confirmation result; the second confirmation operation includes confirming whether the second current is greater than 0 to generate a second confirmation result; and the third confirmation operation includes confirming whether the third current is greater than 0 to generate a third confirmation result. When the first confirmation result is yes, the second confirmation result is yes, and the third confirmation result is no, the three-phase current information belongs to the first interval. When the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is yes, the three-phase current information belongs to the second interval. When the first confirmation result is no, the second confirmation result is yes, and the third confirmation result is yes, the three-phase current information belongs to the third interval. When the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is no, the three-phase current information belongs to the fourth interval. When the first confirmation result is negative, the second confirmation result is positive, and the third confirmation result is negative, the three-phase current information belongs to the fifth interval. When the first confirmation result is negative, the second confirmation result is negative, and the third confirmation result is positive, the three-phase current information belongs to the sixth interval.

[0014] Other embodiments of the aforementioned implementation are as follows: The aforementioned current reconstruction operation further includes: determining whether the three-phase current information belongs to one of the first interval, the second interval, and the third interval to generate a first determination result; determining whether the three-phase current information belongs to a fourth interval to generate a second determination result; determining whether the three-phase current information belongs to a fifth interval to generate a third determination result; and determining whether the three-phase current information belongs to a sixth interval to generate a fourth determination result. The processor generates interval determination results based on the first determination result, the second determination result, the third determination result, and the fourth determination result.

[0015] Other embodiments of the aforementioned implementation are as follows: The aforementioned signal reading operation further includes reading three-phase voltage information and a preset threshold value from memory. The three-phase voltage information includes a first voltage, a second voltage, and a third voltage. The current reconstruction operation further includes: when the first judgment result is negative and the second judgment result is positive, calculating a first calculated current based on the second current and the third current, and comparing whether the first voltage is greater than the preset threshold value to generate a first comparison result. When the first comparison result is positive, calculating a first reconstructed current based on the first calculated current, a filter rate, and a first update current, and updating the filter rate based on an addition operation. The initial value of the first update current is equal to the first current. Furthermore, when the first judgment result is negative, the second judgment result is negative, and the third judgment result is positive, calculating a second calculated current based on the first current and the third current, and comparing whether the second voltage is greater than the preset threshold value to generate a second comparison result. When the second comparison result is positive, calculating a second reconstructed current based on the second calculated current, the filter rate, and a second update current, and updating the filter rate based on an addition operation. The initial value of the second update current is equal to the second current. Furthermore, when the first judgment result is negative, the second judgment result is negative, the third judgment result is negative, and the fourth judgment result is positive, a third calculated current is calculated based on the first and second currents, and a third comparison result is generated by comparing the third voltage to a preset threshold value. When the third comparison result is positive, a third reconstructed current is calculated based on the third calculated current, the filter rate, and a third update current, and the filter rate is updated using addition. The initial value of the third update current is equal to the third current. Additionally, the first update current, the second update current, and the third update current are set as the first reconstructed current, the second reconstructed current, and the third reconstructed current, respectively, and then the current reconstruction operation is re-executed. The initial value of the filter rate is equal to the initial filter rate, and the reconstructed current information includes the first reconstructed current, the second reconstructed current, and the third reconstructed current.

[0016] Other embodiments of the aforementioned implementation are as follows: The aforementioned signal reading operation further includes reading a preset ripple rate, an observer angle weighting ratio, and a set of relational parameters from the memory, wherein the set of relational parameters includes a correspondence between velocity and observer angle. The angle compensation operation further includes: calculating a current ripple rate based on the ripple current value of the total current, and determining whether the current ripple rate is greater than the preset ripple rate to generate a ripple judgment result; and calculating a compensation angle value based on the ripple judgment result, the observer angle, the observer angle weighting ratio, and the set of relational parameters. Attached Figure Description

[0017] Figure 1 is a schematic diagram illustrating the control system of the first embodiment of the present invention applied to a hydraulic power steering device;

[0018] Figure 2 is a flowchart illustrating a control method applied to a hydraulic power steering device according to a second embodiment of the present invention;

[0019] Figure 3 is a schematic diagram illustrating the control system of the third embodiment of the present invention applied to a hydraulic power steering device;

[0020] Figure 4 is a schematic diagram illustrating the current reconstruction operation of Figure 2;

[0021] Figure 5 is a schematic diagram illustrating the interval judgment operation in Figure 4;

[0022] Figure 6 is a schematic diagram illustrating the three-phase current information corresponding to multiple intervals in this invention;

[0023] Figure 7A is a schematic diagram illustrating the three-phase voltage information corresponding to the first interval of the present invention;

[0024] Figure 7B is a schematic diagram illustrating the three-phase voltage information corresponding to the second interval of the present invention;

[0025] Figure 7C is a schematic diagram illustrating the three-phase voltage information corresponding to the third interval of the present invention;

[0026] Figure 7D is a schematic diagram illustrating the three-phase voltage information corresponding to the fourth interval of the present invention;

[0027] Figure 7E is a schematic diagram illustrating the three-phase voltage information corresponding to the fifth interval of the present invention;

[0028] Figure 7F is a schematic diagram illustrating the three-phase voltage information corresponding to the sixth interval of the present invention;

[0029] Figure 8A is a schematic diagram illustrating the normal signal of the three-phase voltage information in the sampling interval of the present invention;

[0030] Figure 8B is a schematic diagram illustrating the signal anomalies of the three-phase voltage information in the sampling interval of the present invention;

[0031] Figure 9 is a schematic diagram illustrating the angle compensation operation shown in Figure 2;

[0032] Figure 10 is a waveform diagram illustrating the operation of the first current without current reconstruction and the operation with current reconstruction of the three-phase current information of the present invention; and

[0033] Figure 11 is a waveform diagram illustrating the first current of the three-phase current information of the present invention before and after angle compensation.

[0034] [Symbol Explanation]

[0035] 100, 100a: Control System

[0036] 110: Processing device

[0037] 1102: Memory

[0038] 1104: Processor

[0039] 110a: Microcontroller Unit

[0040] 111: Current Reconfiguration Module

[0041] 112: Clark Conversion Module

[0042] 113: DC Link Current Module

[0043] 114: Observer

[0044] 115: Angle Compensation Module

[0045] 116: Parker Conversion Module

[0046] 117: Proportional-Integral Controller

[0047] 118: Anti-Parker Conversion Module

[0048] 119: Anti-Clark Conversion Module

[0049] 120, 120a: Inverter

[0050] 130: Hydraulic power steering system

[0051] 130a: BLDC motor

[0052] A: Relational parameter group

[0053] CR1, CR2: Current ripple rate

[0054] Id, IdR, Iq, IqR, iα, iβ: Current

[0055] ia: First current

[0056] ia1: First calculated current

[0057] ia2: First reconstruction current

[0058] ib: Second current

[0059] ib1: Second calculated current

[0060] ib2: Second reconstruction current

[0061] ic: Third current

[0062] ic1: Third current calculation

[0063] ic2: Third reconstruction current

[0064] IDC: Total Current

[0065] Last_ia: First update current

[0066] Last_ib: Second update current

[0067] Last_ic: Third update current

[0068] MAX_Limit: Preset threshold value

[0069] PR: Preset Ripple Rate

[0070] PWMAH: First voltage

[0071] PWMAL: First reverse voltage

[0072] PWMBH: Second voltage

[0073] PWMBL: Second reverse voltage; PWMCH: Third voltage

[0074] PWMCL: Third Reverse Voltage

[0075] R1, R2: Waveform region

[0076] S0: Control Method

[0077] S02: Signal Reading Operation

[0078] S04: Current Reconfiguration Operation

[0079] S041, S042, S043, S044, S0441, S0442, S0443, S0444, S0445, S045, S0451, S0452, S0453, S0454, S0455, S046, S0461, S0462, S0463, S0464, S0465, S047, S048, S081, S082, S083, S084, S085, S086, S087, S088, S089: Steps

[0080] S0421: First Confirmation Operation

[0081] S0422: Second confirmation operation

[0082] S0423: Third Confirmation Operation

[0083] S06: Current Calculation Operation

[0084] S08: Angle Compensation Operation

[0085] T: Sampling interval

[0086] T1, T2, T3: Width

[0087] ti1: First interval

[0088] ti2: Second interval

[0089] ti3: Third Interval

[0090] ti4: Fourth Interval

[0091] ti5: Fifth Interval

[0092] ti6: Sixth Interval

[0093] Timer: a timer

[0094] Vd, Vq, Vα, Vβ: Voltage

[0095] θ: Observer angle

[0096] θc: Compensation angle value

[0097] ω, ωR: velocity Detailed Implementation

[0098] Several embodiments of the present invention will now be described with reference to the accompanying drawings. For clarity, many practical details will be set forth in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential. Furthermore, for the sake of simplicity in the drawings, some conventional structures and elements will be illustrated in a simple schematic manner; and repeated elements may be denoted by the same reference numerals.

[0099] Furthermore, in this document, when a component (or unit, module, etc.) is "connected" to another component, it can mean that the component is directly connected to the other component, or that the component is indirectly connected to the other component, meaning that there is another component between the component and the other component. Only when it is explicitly stated that a component is "directly connected" to another component does it indicate that there is no other component between the component and the other component. The terms "first," "second," and "third" are only used to describe different components and do not limit the components themselves; therefore, "first component" can also be referred to as "second component." Moreover, the combinations of components / units / circuits in this document are not combinations generally known, conventional, or customary in this field. Whether the components / units / circuits themselves are customary cannot be used to determine whether their combination relationships are easily performed by someone of ordinary skill in the art.

[0100] Please refer to Figures 1 and 2 together. Figure 1 is a schematic diagram illustrating a control system 100 applied to a hydraulic power steering device 130 according to a first embodiment of the present invention. Figure 2 is a flowchart illustrating a control method S0 applied to a hydraulic power steering device 130 according to a second embodiment of the present invention. As shown, the control system 100 can execute the control method S0. The control system 100 is used to control a hydraulic power steering device 130 and includes a processing unit 110, an inverter 120, and the hydraulic power steering device 130. The processing unit 110 includes a memory 1102 and a processor 1104. The inverter 120 is connected between the processing unit 110 and the hydraulic power steering device 130. The memory 1102 stores three-phase current information, an initial filter rate, and an observer angle. The three-phase current information corresponds to the hydraulic power steering device 130. The processor 1104 is electrically connected to the memory 1102 and receives the three-phase current information, the initial filter rate, and the observer angle. The processor 1104 is configured to perform operations including: performing a signal readout operation S02, a current reconstruction operation S04, a current calculation operation S06, and an angle compensation operation S08.

[0101] The signal reading operation S02 includes reading the three-phase current information, initial filter rate, and observer angle from memory 1102. The current reconstruction operation S04 includes determining the interval to which the three-phase current information belongs based on its magnitude, generating an interval determination result, and calculating reconstructed current information based on the interval determination result and the initial filter rate. The current calculation operation S06 includes calculating a total current based on the reconstructed current information. The angle compensation operation S08 includes determining the ripple current value of the total current, generating a ripple determination result, and calculating a compensation angle value based on the ripple determination result and the observer angle, thereby controlling the hydraulic power steering device 130 using the compensation angle value.

[0102] Therefore, the control system 100 and control method S0 of the present invention applied to the hydraulic power steering device 130 can determine the range of three-phase current information through the processing device 110, and obtain a more accurate current value by judging and correcting the filter rate, thereby suppressing erroneous information during sampling and achieving the effect of restoring a more realistic current waveform. Furthermore, the present invention can determine the magnitude of current ripple through the processing device 110, and calculate the compensation angle value of the motor angle based on the judgment result, thereby increasing control efficiency and reducing ripple. In summary, the present invention utilizes current reconstruction and angle compensation to solve the problems of conventional sensorless control where the lack of sensors leads to motor angle deviation under high load conditions, resulting in decreased efficiency, and the potential for erroneous current information due to noise when the transistor switching time of sensorless control is less than the current sampling time, thus affecting system stability.

[0103] In one embodiment, the processing device 110 may be a microcontroller unit (MCU), an electronic control unit (ECU), a computer, a mobile device processing device, a cloud processing device, or other computing processing device. The memory 1102 may be random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions for execution by the processor 1104; the processor 1104 may be a central processing unit (CPU), a microprocessor, a mobile device processor, a cloud processor, or other computing processor. Furthermore, the hydraulic power steering device 130 may be a brushless DC (BLDC) motor (hydraulic power steering pump). The present invention is not limited to the above description.

[0104] Please refer to Figures 1, 2, and 3 together, wherein Figure 3 is a schematic diagram illustrating the control system 100a of the hydraulic power steering device 130 according to the third embodiment of the present invention. The control system 100a includes a microcontroller unit 110a, an inverter 120a, and a BLDC motor 130a. The microcontroller unit 110a includes a current reconstruction module 111, a Clark conversion module 112, a DC link current module 113, an observer 114, an angle compensation module 115, a Park conversion module 116, multiple proportional-integral controllers (PI controllers) 117, a RevPark conversion module 118, and a RevClark conversion module 119. The microcontroller unit 110a corresponds to the processing device 110, and the BLDC motor 130a corresponds to the hydraulic power steering device 130. The inverter 120a is connected between the microcontroller unit 110a and the BLDC motor 130a.

[0105] The current reconstruction module 111 is connected to the inverter 120a, the BLDC motor 130a, the Clark converter module 112, and the DC link current module 113. The current reconstruction module 111 receives the three-phase current (ia, ib, ic) from the inverter 120a, performs the current reconstruction operation S04, and generates reconstructed currents (ia2, ib2, ic2) to the Clark converter module 112 and the DC link current module 113.

[0106] The Clarke converter module 112 connects to the current reconstruction module 111, the DC-link current module 113, the observer 114, and the Parker converter module 116. The Clarke converter module 112 receives the reconstruction currents (ia2, ib2, ic2) from the current reconstruction module 111 and generates currents iα and iβ to the observer 114 and the Parker converter module 116. The DC-link current module 113 connects to the inverter 120a, the inverse Clarke converter module 119, the current reconstruction module 111, the Clarke converter module 112, and the angle compensation module 115. The DC-link current module 113 receives the reconstruction currents (ia2, ib2, ic2) from the current reconstruction module 111 and the three-phase voltage information (PWMAH, PWMBH, PWMCH, PWMAL, PWMBL, PWMCL) from the inverse Clarke converter module 119, and generates the total current IDC to the angle compensation module 115.

[0107] Observer 114 is connected to Clarke conversion module 112, angle compensation module 115, and Parker conversion module 116. Observer 114 receives voltages Vα and Vβ and currents iα and iβ from Clarke conversion module 112, and generates observer angle θ and velocity ω to angle compensation module 115. Angle compensation module 115 is connected to DC link current module 113, observer 114, Parker conversion module 116, and inverse Parker conversion module 118. Angle compensation module 115 receives the total current IDC from DC link current module 113 and observer angle θ and velocity ω from observer 114, performs angle compensation operation S08, then generates a compensated angle value θc to Parker conversion module 116 and inverse Parker conversion module 118, and outputs velocity ω for subsequent use.

[0108] Parker conversion module 116 is connected to Clarke conversion module 112, observer 114, and angle compensation module 115. Parker conversion module 116 receives currents iα and iβ from Clarke conversion module 112 and the compensation angle value θc from angle compensation module 115, and generates currents Iq and Id for subsequent use. Proportional-integral (PI) controllers 117 are connected to angle compensation module 115, Parker conversion module 116, and inverse Parker conversion module 118. A first PI controller 117 receives the result of calculating velocity ωR and velocity ω, and generates current IqR. A second PI controller 117 receives the result of calculating current IdR and current Id, and generates voltage Vd to inverse Parker conversion module 118. In one embodiment, velocity ωR is the target velocity, and current IdR is equal to 0. A third PI controller 117 receives the result of calculating current IqR and current Iq, and generates voltage Vq to inverse Parker conversion module 118.

[0109] The inverse Parker converter module 118 is connected to the proportional-integral controller 117, the angle compensation module 115, and the inverse Clarke converter module 119. The inverse Parker converter module 118 receives voltages Vd and Vq from the proportional-integral controller 117 and the compensation angle value θc from the angle compensation module 115, and generates voltages Vα and Vβ to the inverse Clarke converter module 119. The inverse Clarke converter module 119 is connected to the inverse Parker converter module 118, the DC-link current module 113, and the inverter 120a. The inverse Clarke converter module 119 receives voltages Vα and Vβ from the inverse Parker converter module 118 and generates three-phase voltage information (PWMAH, PWMBH, PWMCH, PWMAL, PWMBL, PWMCL). The inverter 120a is connected to the current reconstruction module 111, the DC-link current module 113, the inverse Clarke converter module 119, and the BLDC motor 130a. Inverter 120a receives three-phase voltage information (PWMAH, PWMBH, PWMCH, PWMAL, PWMBL, PWMCL) from anti-Clark conversion module 119 and generates three-phase currents (ia, ib, ic).

[0110] Please refer to Figures 1, 2, 4, 5, 6, 7A, 7B, 7C, 7D, 7E, and 7F. Figure 4 is a schematic diagram illustrating the current reconstruction operation S04 of Figure 2; Figure 5 is a schematic diagram illustrating the interval judgment operation (step S042) of Figure 4; Figure 6 is a schematic diagram illustrating the three-phase current information of the present invention corresponding to multiple intervals; Figure 7A is a schematic diagram illustrating the three-phase voltage information of the present invention corresponding to the first interval ti1; Figure 7B is a schematic diagram illustrating the three-phase voltage information of the present invention corresponding to the second interval ti2; Figure 7C is a schematic diagram illustrating the three-phase voltage information of the present invention corresponding to the third interval ti3; Figure 7D is a schematic diagram illustrating the three-phase voltage information of the present invention corresponding to the fourth interval ti4; Figure 7E is a schematic diagram illustrating the three-phase voltage information of the present invention corresponding to the fifth interval ti5; and Figure 7F is a schematic diagram illustrating the three-phase voltage information of the present invention corresponding to the sixth interval ti6. The current reconfiguration operation S04 includes steps S041, S042, S043, S044, S0441, S0442, S0443, S0444, S0445, S045, S0451, S0452, S0453, S0454, S0455, S046, S0461, S0462, S0463, S0464, S0465, S047, and S048.

[0111] Step S041 is "Setting the initial filter rate", which sets a filter rate as the initial filter rate. Step S042 is "Interval judgment", which determines the interval to which the three-phase current information belongs based on the magnitude of the three-phase current information.

[0112] In the interval determination operation (step S042), the three-phase current information corresponds to one of multiple intervals and includes a first current ia, a second current ib, and a third current ic. These intervals include a first interval ti1, a second interval ti2, a third interval ti3, a fourth interval ti4, a fifth interval ti5, and a sixth interval ti6. Step S042 also includes performing a first confirmation operation S0421, a second confirmation operation S0422, and a third confirmation operation S0423. The first confirmation operation S0421 includes confirming whether the first current ia is greater than 0 to generate a first confirmation result; the second confirmation operation S0422 includes confirming whether the second current ib is greater than 0 to generate a second confirmation result; the third confirmation operation S0423 includes confirming whether the third current ic is greater than 0 to generate a third confirmation result.

[0113] When the first confirmation result is yes, the second confirmation result is yes, and the third confirmation result is no, the three-phase current information belongs to the first interval ti1. When the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is yes, the three-phase current information belongs to the second interval ti2. When the first confirmation result is no, the second confirmation result is yes, and the third confirmation result is yes, the three-phase current information belongs to the third interval ti3. When the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is no, the three-phase current information belongs to the fourth interval ti4. When the first confirmation result is no, the second confirmation result is yes, and the third confirmation result is no, the three-phase current information belongs to the fifth interval ti5. When the first confirmation result is no, the second confirmation result is no, and the third confirmation result is yes, the three-phase current information belongs to the sixth interval ti6.

[0114] Step S043 is "ti1, ti2, ti3?", which determines whether the three-phase current information belongs to one of the first interval ti1, the second interval ti2, or the third interval ti3, and generates a first judgment result. Step S044 is "ti4?", which determines whether the three-phase current information belongs to the fourth interval ti4, and generates a second judgment result. Step S045 is "ti5?", which determines whether the three-phase current information belongs to the fifth interval ti5, and generates a third judgment result. Step S046 is "ti6?", which determines whether the three-phase current information belongs to the sixth interval ti6, and generates a fourth judgment result. The processor 1104 generates interval judgment results based on the first, second, third, and fourth judgment results.

[0115] If the first judgment result of step S043 is yes, steps S047 and S048 are executed; if the first judgment result is no, step S044 is executed. At this time, memory 1102 stores three-phase voltage information and a preset threshold value MAX_Limit. The three-phase voltage information includes a first voltage PWMAH, a second voltage PWMBH, and a third voltage PWMCH. In other words, the signal reading operation S02 also includes reading the three-phase voltage information and the preset threshold value MAX_Limit from memory 1102.

[0116] If the second judgment result of step S044 is yes, execute steps S0441 and S0442; if the second judgment result is no, execute step S045. Step S0441 is "Calculate ia1", which calculates a first calculated current ia1 based on the second current ib and the third current ic (e.g., ia1 = -ib - ic). Step S0442 is "PWMAH > MAX_Limit?", which compares whether the first voltage PWMAH is greater than the preset threshold value MAX_Limit to generate a first comparison result. If the first comparison result is yes, execute steps S0443 and S0444; if the first comparison result is no, execute step S0445. Step S0443 is "ia2 = (ia1 × filter rate) + Last_ia × (100% - filter rate)", which calculates a first reconstructed current ia2 based on the first calculated current ia1, a filter rate, and a first update current Last_ia. The initial value of the filter rate is equal to the initial filter rate, and the initial value of the first update current Last_ia is equal to the first current ia. Step S0444 is "Filter rate + 1%", which updates the filter rate based on an addition operation (i.e., filter rate = filter rate + 1%). Step S0445 is "Set initial filter rate", which sets the filter rate to the initial filter rate.

[0117] If the third judgment result of step S045 is yes, execute steps S0451 and S0452; if the third judgment result is no, execute step S046. Step S0451 is "Calculate ib1", which calculates a second calculated current ib1 based on the first current ia and the third current ic (e.g., ib1 = -ia - ic). Step S0452 is "PWMBH > MAX_Limit?", which compares whether the second voltage PWMBH is greater than the preset threshold value MAX_Limit to generate a second comparison result. If the second comparison result is yes, execute steps S0453 and S0454; if the second comparison result is no, execute step S0455. Step S0453 is "ib2 = (ib1 × filter rate) + Last_ib × (100% - filter rate)", which calculates a second reconstructed current ib2 based on the second calculated current ib1, the filter rate, and a second update current Last_ib. The initial value of the filter rate is equal to the initial filter rate, and the initial value of the second update current Last_ib is equal to the second current ib. Steps S0454 and S0455 are the same as the aforementioned steps S0444 and S0445, respectively, and will not be described again.

[0118] If the third judgment result of step S046 is yes, proceed to steps S0461 and S0462; if the third judgment result is no, proceed to steps S047 and S048. Step S0461 is "Calculate ic1", which calculates a third calculated current ic1 based on the first current ia and the second current ib (e.g., ic1 = -ia - ib). Step S0462 is "PWMCH>MAX_Limit?", which compares whether the third voltage PWMCH is greater than the preset threshold value MAX_Limit to generate a third comparison result. If the third comparison result is yes, proceed to steps S0463 and S0464; if the third comparison result is no, proceed to step S0465. Step S0463 is "ic2 = (ic1 × filter rate) + Last_ic × (100% - filter rate)", which calculates a third reconstructed current ic2 based on the third calculated current ic1, the filter rate, and a third update current Last_ic. The initial value of the filter rate is equal to the initial filter rate, and the initial value of the third update current Last_ic is equal to the third current ic. Steps S0464 and S0465 are the same as the aforementioned steps S0444 and S0445, and will not be repeated here.

[0119] Step S047 is "Retain Read Values", which means retaining uncalculated read values. For example, if the current reconstruction operation S04 will execute steps S0461, S0462, S0463, and S0464 (i.e., calculate ic1), then step S047 will retain the first current ia, the second current ib, the first updated current Last_ia, and the second updated current Last_ib for use in subsequent re-execution operations.

[0120] Step S048 is “Last_ia=ia2”, “Last_ib=ib2” and “Last_ic=ic2”, which means setting the first update current Last_ia, the second update current Last_ib and the third update current Last_ic as the first reconstruction current ia2, the second reconstruction current ib2 and the third reconstruction current ic2 respectively.

[0121] Next, step S042 of the current reconstruction operation S04 is executed again. The reconstructed current information includes the first reconstructed current ia2, the second reconstructed current ib2, and the third reconstructed current ic2. In Figures 7A to 7F, "Timer" represents a timer used to implement pulse-width modulation (PWM). "PWMAL", "PWMBL", and "PWMCL" represent the reverse voltages of the first voltage PWMAH, the second voltage PWMBH, and the third voltage PWMCH, respectively.

[0122] In one embodiment, the aforementioned preset threshold value MAX_Limit can be 95%, and the initial filtering rate can be 50%, depending on the requirements. This invention is not limited thereto.

[0123] Please refer to Figures 7F, 8A, and 8B together. Figure 8A is a schematic diagram illustrating normal three-phase voltage information in sampling interval T according to the present invention; and Figure 8B is a schematic diagram illustrating abnormal three-phase voltage information in sampling interval T according to the present invention. As shown in the figures, taking the sixth interval ti6 as an example, the pulse widths of the first reverse voltage PWMAL, the second reverse voltage PWMBL, and the third reverse voltage PWMCL are widths T1, T2, and T3, respectively. Noise is generated during PWM switching, and noise can adversely affect signal acquisition, thereby affecting system stability. When there is no noise in sampling interval T, it means the signal is normal and signal reconstruction is not required, as shown in Figure 8A. Conversely, when there is noise in sampling interval T, it means the signal is abnormal and signal reconstruction is required, as shown in Figure 8B.

[0124] Please refer to Figures 2, 3, and 9 together, where Figure 9 is a schematic diagram illustrating the angle compensation operation S08 of Figure 2. The angle compensation operation S08 includes steps S081, S082, S083, S084, S085, S086, S087, S088, and S089. At this time, memory 1102 stores a preset ripple rate PR, an observer angle weight ratio, and a relational parameter set A (relationship table). The relational parameter set A contains the correspondence between velocity ω and observer angle θ. In other words, the signal reading operation S02 also includes reading the preset ripple rate PR, the observer angle weight ratio, and the relational parameter set A from memory 1102.

[0125] Step S081 is "Reading Total Current and Observer Angles", which reads multiple total current IDCs from the DC link current module 113 and multiple observer angles θ from the observer 114. Step S082 is "Calculating Average Total Current", which calculates an average total current from these total current IDCs. Step S083 is "Calculating Total Current Ripple", which calculates a total current ripple based on the average total current, i.e., calculates the ripple current value. Step S084 is "Calculating Current Ripple Rate", which calculates the current ripple rate based on the total current ripple; in other words, the current ripple rate can be calculated based on the ripple current value of the total current IDCs. Step S085 is "Current Ripple Rate > PR?", which determines whether the current ripple rate is greater than the preset ripple rate PR and generates a ripple judgment result. When the ripple judgment result is yes, steps S086 and S087 are executed; when the ripple judgment result is no, steps S088 and S089 are executed.

[0126] Steps S086, S087, S088, and S089 involve calculating the compensation angle value θc based on the ripple judgment result, the observer angle θ, the observer angle weight ratio, and the relational parameter group A. Specifically, step S086 is "reading the observer angle weight ratio," which reads the observer angle weight ratio from memory 1102. Step S087 is "compensation angle = (observer angle × observer angle weight ratio) + (A × (100% - observer angle weight ratio))," which calculates the compensation angle value θc based on the observer angle θ, the observer angle weight ratio, and the relational parameter group A, and outputs the compensation angle value θc. Step S088 is "calculating the relationship between velocity and observer angle in steady state (represented by A)," which calculates the relational parameter group A based on velocity ω and observer angle θ, where relational parameter group A contains the correspondence between velocity ω and observer angle θ. Step S089 is "observer angle output", which outputs the observer angle θ, that is, the compensation angle value θc of the angle compensation module 115 is equal to the observer angle θ.

[0127] In one embodiment, the aforementioned preset ripple rate PR can be greater than or equal to 10% and less than or equal to 30%, with a preferred value of 20%. The observer angle weighting can be greater than or equal to 10% and less than or equal to 50%, depending on the requirements, and the present invention is not limited thereto.

[0128] Please refer to Figures 2, 3, 10, and 11 together. Figure 10 is a waveform diagram illustrating the operation S04 (top) before current reconstruction and the operation S04 (bottom) after current reconstruction of the first current ia of the three-phase current information of the present invention; and Figure 11 is a waveform diagram illustrating the operation S08 (top) before angle compensation and the operation S08 (bottom) after angle compensation of the first current ia of the three-phase current information of the present invention. In Figure 10, the top diagram represents the waveform region R1 before current reconstruction, which shows an abnormality; the bottom diagram represents the waveform region R2 after current reconstruction, which shows a normal waveform. In other words, the waveform is abnormal before current reconstruction due to the acquisition of noise, and a more normal waveform can be obtained after current reconstruction, thereby suppressing the erroneous information during sampling and achieving the effect of restoring a more realistic current waveform. In addition, in Figure 11, the top diagram represents the current ripple rate CR1 of 30% before angle compensation; the bottom diagram represents the current ripple rate CR2 of 13% after angle compensation. In other words, before angle compensation, the angle offset causes large ripples. After angle compensation, the required compensation angle value θc can be calculated, thereby increasing control efficiency and reducing ripples.

[0129] As can be seen from the above embodiments, the present invention has the following advantages: First, by using a processing device to determine the range of three-phase current information and by using the judgment and correction of the filter rate, a more accurate current value is obtained, thereby suppressing erroneous information during sampling and achieving the effect of restoring a more realistic current waveform. Second, by using a processing device to determine the magnitude of current ripple and by calculating the compensation angle value of the motor angle based on the judgment result, the control efficiency is increased and the ripple is reduced. Third, by using current reconstruction and angle compensation, the present invention can effectively solve the problems of conventional sensorless control where the lack of sensors leads to motor angle deviation under high load conditions, resulting in decreased efficiency, and the possibility that the transistor switching time of sensorless control may be affected by noise and obtain incorrect current information when it is less than the current sampling time, thus affecting the system stability.

[0130] Although the present invention has been disclosed above by way of embodiments, it is not intended to limit the present invention. Any person skilled in the art may make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the invention shall be determined by the appended claims.

Claims

1. A control system for a hydraulic power steering device, used to control a hydraulic power steering device, characterized in that, The control system applied to the hydraulic power steering system includes: A memory module stores three-phase current information, an initial filter rate, and an observer angle; the three-phase current information corresponds to the hydraulic power steering device. A processor, electrically connected to the memory, receives the three-phase current information, the initial filter rate, and the observer angle. The processor is configured to perform operations including: Perform a current reconstruction operation, which includes determining the interval to which the three-phase current information belongs based on the magnitude of the three-phase current information to generate an interval determination result, and calculating a reconstructed current information based on the interval determination result and the initial filter rate. Perform a current calculation operation, which includes calculating a total current based on the reconstructed current information; and An angle compensation operation is performed, which includes determining a ripple current value of the total current to generate a ripple determination result, and calculating a compensation angle value based on the ripple determination result and the observer angle, thereby causing the compensation angle value to control the hydraulic power steering device.

2. The control system applied to a hydraulic power steering device as described in claim 1, characterized in that, The three-phase current information corresponds to one of multiple intervals and includes a first current, a second current, and a third current. The multiple intervals include a first interval, a second interval, a third interval, a fourth interval, a fifth interval, and a sixth interval. The current reconstruction operation further includes: Perform a first confirmation operation, the first confirmation operation including confirming whether the first current is greater than 0 and generating a first confirmation result; Perform a second confirmation operation, the second confirmation operation including confirming whether the second current is greater than 0 to generate a second confirmation result; and Perform a third confirmation operation, which includes confirming whether the third current is greater than 0 and generating a third confirmation result; Specifically, when the first confirmation result is yes, the second confirmation result is yes, and the third confirmation result is no, the three-phase current information belongs to the first interval; Specifically, when the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is yes, the three-phase current information belongs to the second interval; Wherein, when the first confirmation result is no, the second confirmation result is yes, and the third confirmation result is yes, the three-phase current information belongs to the third interval; Specifically, when the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is no, the three-phase current information belongs to the fourth interval; Specifically, when the first confirmation result is negative, the second confirmation result is positive, and the third confirmation result is negative, the three-phase current information belongs to the fifth interval. Specifically, when the first confirmation result is negative, the second confirmation result is negative, and the third confirmation result is positive, the three-phase current information belongs to the sixth interval.

3. The control system applied to a hydraulic power steering device as described in claim 2, characterized in that, The current reconstruction operation also includes: A first judgment result is generated by determining whether the three-phase current information belongs to one of the first interval, the second interval, and the third interval. A second judgment result is generated by determining whether the three-phase current information belongs to the fourth interval; A third judgment result is generated by determining whether the three-phase current information belongs to the fifth interval; and A fourth judgment result is generated by determining whether the three-phase current information belongs to the sixth interval; The processor generates the interval judgment result based on the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

4. The control system for a hydraulic power steering device as described in claim 3, characterized in that, The memory stores three-phase voltage information and a preset threshold value. The three-phase voltage information includes a first voltage, a second voltage, and a third voltage. The current reconstruction operation also includes: When the first judgment result is negative and the second judgment result is positive, a first calculated current is calculated based on the second current and the third current, and a first comparison result is generated by comparing whether the first voltage is greater than the preset threshold value. When the first comparison result is yes, a first reconstructed current is calculated based on the first calculated current, a filter rate and a first updated current, and the filter rate is updated based on an addition operation. The initial value of the first updated current is equal to the first current. When the first judgment result is negative, the second judgment result is negative, and the third judgment result is positive, a second calculated current is calculated based on the first current and the third current, and the second voltage is compared with the first current. If the result exceeds the preset threshold, a second comparison result is generated. When the second comparison result is yes, a second reconstructed current is calculated based on the second calculated current, the filter rate, and a second updated current, and the filter rate is updated based on the addition operation. The initial value of the second updated current is equal to the second current. When the first judgment result is negative, the second judgment result is negative, the third judgment result is negative and the fourth judgment result is positive, a third calculated current is calculated based on the first current and the second current, and a third comparison result is generated by comparing whether the third voltage is greater than the preset threshold value. When the third comparison result is yes, a third reconstructed current is calculated based on the third calculated current, the filter rate, and a third updated current, and the filter rate is updated based on the addition operation. The initial value of the third updated current is equal to the third current; and Set the first update current, the second update current, and the third update current as the first reconstruction current, the second reconstruction current, and the third reconstruction current, respectively, and then re-execute the current reconstruction operation; The initial value of the filter rate is equal to the initial filter rate, and the reconstructed current information includes the first reconstructed current, the second reconstructed current, and the third reconstructed current.

5. The control system applied to a hydraulic power steering device as described in claim 1, characterized in that, The memory stores a preset ripple rate, an observer angle weighting ratio, and a set of relational parameters. This set of parameters includes a correspondence between velocity and the observer angle. The angle compensation operation further includes: A current ripple rate is calculated based on the ripple current value of the total current, and the ripple judgment result is generated by determining whether the current ripple rate is greater than the preset ripple rate. and The compensation angle value is calculated based on the ripple judgment result, the observer angle, the observer angle weight ratio, and the set of relational parameters.

6. A control method for a hydraulic power steering device, used to control a hydraulic power steering device, characterized in that, The control method applied to hydraulic power steering systems includes: A processor is configured to perform a signal reading operation, which includes reading three-phase current information, an initial filter rate, and an observer angle from a memory, the three-phase current information corresponding to the hydraulic power steering device. The processor is configured to perform a current reconfiguration operation, which includes operations based on the three phases. The magnitude of the current information determines the interval to which the three-phase current information belongs, thus generating an interval judgment result. Based on the interval judgment result and the initial filter rate, a reconstructed current information is calculated. Configure the processor to perform a current calculation operation, which includes calculating a total current based on the reconstructed current information; as well as The processor is configured to perform an angle compensation operation, which includes determining a ripple current value of the total current to generate a ripple determination result, and calculating a compensation angle value based on the ripple determination result and the observer angle, thereby enabling the compensation angle value to control the hydraulic power steering device.

7. The control method for a hydraulic power steering device as described in claim 6, characterized in that, The three-phase current information corresponds to one of multiple intervals and includes a first current, a second current, and a third current. The multiple intervals include a first interval, a second interval, a third interval, a fourth interval, a fifth interval, and a sixth interval. The current reconstruction operation further includes: Perform a first confirmation operation, the first confirmation operation including confirming whether the first current is greater than 0 and generating a first confirmation result; Perform a second confirmation operation, the second confirmation operation including confirming whether the second current is greater than 0 to generate a second confirmation result; and Perform a third confirmation operation, which includes confirming whether the third current is greater than 0 and generating a third confirmation result; Specifically, when the first confirmation result is yes, the second confirmation result is yes, and the third confirmation result is no, the three-phase current information belongs to the first interval; Specifically, when the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is yes, the three-phase current information belongs to the second interval; Wherein, when the first confirmation result is no, the second confirmation result is yes, and the third confirmation result is yes, the three-phase current information belongs to the third interval; Specifically, when the first confirmation result is yes, the second confirmation result is no, and the third confirmation result is no, the three-phase current information belongs to the fourth interval; Specifically, when the first confirmation result is negative, the second confirmation result is positive, and the third confirmation result is negative, the three-phase current information belongs to the fifth interval. Specifically, when the first confirmation result is negative, the second confirmation result is negative, and the third confirmation result is positive, the three-phase current information belongs to the sixth interval.

8. The control method for a hydraulic power steering device as described in claim 7, characterized in that, The current reconstruction operation also includes: A first judgment result is generated by determining whether the three-phase current information belongs to one of the first interval, the second interval, and the third interval. A second judgment result is generated by determining whether the three-phase current information belongs to the fourth interval; A third judgment result is generated by determining whether the three-phase current information belongs to the fifth interval; and A fourth judgment result is generated by determining whether the three-phase current information belongs to the sixth interval; The processor generates the interval judgment result based on the first judgment result, the second judgment result, the third judgment result, and the fourth judgment result.

9. The control method applied to a hydraulic power steering device as described in claim 8, characterized in that, The signal reading operation also includes reading three-phase voltage information and a preset threshold value from the memory. The three-phase voltage information includes a first voltage, a second voltage, and a third voltage. The current reconstruction operation also includes: When the first judgment result is negative and the second judgment result is positive, a first calculated current is calculated based on the second current and the third current, and a first comparison result is generated by comparing whether the first voltage is greater than the preset threshold value. When the first comparison result is yes, a first reconstructed current is calculated based on the first calculated current, a filter rate and a first updated current, and the filter rate is updated based on an addition operation. The initial value of the first updated current is equal to the first current. When the first judgment result is negative, the second judgment result is negative, and the third judgment result is positive, a second calculated current is calculated based on the first current and the third current, and a second comparison result is generated by comparing whether the second voltage is greater than the preset threshold value. When the second comparison result is yes, a second reconstructed current is calculated based on the second calculated current, the filter rate, and a second updated current, and the filter rate is updated based on the addition operation. The initial value of the second updated current is equal to the second current. When the first judgment result is negative, the second judgment result is negative, the third judgment result is negative, and the fourth judgment result is positive, a third calculation is performed based on the first current and the second current. Calculate the current and compare it with the third voltage to see if it is greater than the preset threshold value to generate a third comparison result; When the third comparison result is yes, a third reconstructed current is calculated based on the third calculated current, the filter rate, and a third updated current, and the filter rate is updated based on the addition operation. The initial value of the third updated current is equal to the third current; and Set the first update current, the second update current, and the third update current as the first reconstruction current, the second reconstruction current, and the third reconstruction current, respectively, and then re-execute the current reconstruction operation; The initial value of the filter rate is equal to the initial filter rate, and the reconstructed current information includes the first reconstructed current, the second reconstructed current, and the third reconstructed current.

10. The control method applied to a hydraulic power steering device as described in claim 6, characterized in that, The signal reading operation also includes reading a preset ripple rate, an observer angle weighting ratio, and a set of relational parameters from the memory, the set of relational parameters containing a correspondence between velocity and the observer angle; and The angle compensation operation also includes: A current ripple rate is calculated based on the ripple current value of the total current, and the ripple judgment result is generated by determining whether the current ripple rate is greater than the preset ripple rate. and The compensation angle value is calculated based on the ripple judgment result, the observer angle, the observer angle weight ratio, and the set of relational parameters.

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