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EPS sub-systems

Motor Gearing

30 November 2011

Murali

AGENDA

 EPS Software  Order of Execution  Gearing  Gearing Functionality  Calculations

26 February 2012

EPS Software
The EPS Software shall be partitioned into Base Software and Electric Power Steering (EPS) Software. Base Software has the objective of fulfilling Electronic Control Unit (ECU) requirements, by controlling the ECU hardware and EPS motor. Base Software is a sub-system of the ECU. The definition of this software will be wholly controlled by TRW Electronic Engineering (TEE) since it will be a sub-system which is involved in fulfilling the EPS ECU requirements. EPS Software has the objective of turning the ECU and other electrical sub-systems into a functional EPS, by fulfilling the Gen 3 EPS Software Requirements generating a torque demand for the base software to apply to the EPS motor as a result of torque sensor and other signals available from the base software. 26 February 2012

Order of Execution
In order to get the best control performance therefore, the order of execution of timing critical components shall be scheduled as follows: TRQ (Torque Sensor) GRG (Gearing) * TAV (Torques, Angles & Velocities) STC (Steering Torque Controller) ATR (Assistance Torque Reduction) GRG (Gearing) ** * Execute the feedback conversion paths (all except calculation of MOTOR TORQUE DEMAND). ** Execute the forward conversion path to calculate MOTOR TORQUE DEMAND.

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Gearing

The gearing component will deal with conversion of positions velocities and torques at the motor to the column and vice versa. The gearing component may contain either a basic model dealing with fixed scaling and efficiency, or may contain a more complex model simulating steering gear/gearbox dynamics.

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The following figure shows the Gearing module interface with the remaining software architectural components

"MOTOR MECHANICAL POSITION" "MOTOR TORQUE ESTIMATE" "MOTOR MECHANICAL VELOCITY" "MOTOR TORQUE DEMAND"

"SCALED MOTOR POSITION"

"SCALED MOTOR TORQUE ESTIMATE"

<<Core Lib>> Gearing

"SCALED MOTOR VELOCITY" "REDUCED ASSISTANCE TORQUE DEMAND"

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Gearing Functionality EPS Functionality:

The primary function of the EPS is to assist the driver. The torque applied by the driver is measured by the torque sensor module. The measured torque is then processed by the EPS Application Software to generate the assistance torque. The ECU functionality will drive the motor to deliver the calculated assistance torque.

ECU Functionality:

Gearing Functionality: The assistance torque produced by

the motor is scaled and transmitted to the steering column through a worm and wheel mechanical Gearing assembly.

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Calculations
Initialisation : At power up, gear torsion shall be set to zero. Scheduling : The Gearing function shall be scheduled at every 1 ms
10 %.

Torque Transmission : The mechanical Gearing assembly allows

the torque transmission by interfacing the motor shaft to the steering column shaft. The Gearing assembly scales the low torque at the motor interface, into high torque at the steering column interface and vice versa. The associated torque parameters shall be scaled to incorporate the gearbox transmission ratio and efficiency characteristics. The MOTOR TORQUE DEMAND shall be calculated as follows:
" MOTOR TORQUE DEMAND" !

" MOTOR TORQUE ESTIMATE" v GEAR POLARITY" GEAR EFFICIENCYv GEAR RATIO

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The "SCALED MOTOR TORQUE ESTIMATE" shall be calculated as follows:

" SCALED MOTOR TORQUE ESTIMATE" ! " MOTOR TORQUE ESTIMATE"v GEAR EFFICIENCY v GEAR RATIO v GEAR POLARITY

Gear Torsion: It is the deflection of the motor shaft and the gear assembly under motor torque. Gear Torsion characteristic is assumed to be linear in both forward and backward direction of the motor travel. Gear Torsion shall be calculated as follows:

gear torsion ! " MOTOR TORQUE ESTIMATE"v GEAR COMPLIANCE

Speed Transmission : The mechanical gearing couples the motor shaft rotation with column rotation. The gearing function translates angular velocity and position at the motor into column coordinates. The SCALED MOTOR POSITION: VALUE shall be calculated as follows:

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" SCALED MOTOR POSITION : VALUE" ! (" MOTOR MECHANICAL POSITION : VALUE"  gear torsion ) v GEAR RATIO v GEAR POLARITY

The SCALED MOTOR POSITION: QF shall be set equal to the "MOTOR MECHANICAL POSITION: QF". The SCALED MOTOR VELOCITY: VALUE shall be calculated as follows:
" SCALED MOTOR VELOCITY : VALUE" !

" MOTOR MECHANICAL VELOCITY : VALUE"v GEAR POLARITY

GEAR RATIO

The "SCALED MOTOR VELOCITY: QF" shall be set equal to the "MOTOR MECHANICAL VELOCITY: QF".

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Development Tune Parameters The following parameters shall be defined as Development Tune Parameters:
Parameter Name GEAR EFFICIENCY GEAR COMPLIANCE Minimum Value Required Value Maximum Value 100 Units Resolution Notes

50

85

0.006

0.0168

0.1

Deg/ Nm

0.001

GEAR COMPLIANCE factor is defined with reference to the motor axis.

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Constant Parameters: The following parameters shall be defined as constants in the software:
Parameter Name GEAR POLARITY GEAR RATIO Minimum Value -1 0 Required Value 1 20.5 Maximum Value 1 30 Notes

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26 February 2012