| CPC H02P 21/18 (2016.02) [H02P 23/14 (2013.01); G01P 3/00 (2013.01)] | 20 Claims |
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17. An apparatus for determining motor velocity, the apparatus comprising:
a processor; and
a memory including instructions that, when executed by the processor, cause the processor to:
receive motor angle data from at least one motor angle associated with an electric motor associated with an electronic power steering system, the motor angle data including a plurality of motor angle measurements and respective time values;
determine an average time value based on the respective time values for each motor sensor measurement;
generate a first gain value, a second gain value, and a third gain value, the first gain value being generated based on at least the average time value and the second gain value being generated based on at least the first gain value and the average time value;
estimate a motor velocity based on at least one motor angle measurement, the average time value, the first gain value, the second gain value, the third gain value, and at least one previously estimated motor velocity; and
control the electric motor based on the estimated motor velocity to provide steering assist to an operator of a vehicle.
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