CPC H02P 21/0017 (2013.01) [G06F 30/23 (2020.01); H02P 21/0025 (2013.01); G06F 2111/10 (2020.01)] | 25 Claims |
1. A method comprising the steps of:
Obtaining a plurality of winding flux linkage values or terminal voltages of a motor, each corresponding to a different combination of phase current magnitude and phase advance,
Transforming the plurality of flux-linkage values or terminal voltages of the motor into a rotor dq reference frame to provide one or more dq-axis flux-linkage values or terminal voltages,
Fitting the flux linkage model to the one or more dq-axis flux-linkage values or terminal voltages and their linked phase current magnitude and phase advance using a process of parametric optimization, wherein fitting the flux linkage model to the one or more dq-axis flux-linkage values or terminal voltages and their linked phase current magnitude and phase advance comprises:
using the one or more dq-axis flux-linkage values or terminal voltages to generate at least one map for the d-axis and q-axis flux-linkages, each of the at least one map grouping together flux linkage values or terminal voltages having a common phase advance, and
fitting the flux linkage model to the at least one map using a process of parametric optimisation;
receiving a torque demand signal at an electric power steering system associated with the motor; and
applying, via the motor, a torque to a part of a steering mechanism according to the flux linkage model and the torque demand signal.
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