Steering Gear Steering Rack for Hyundai Sonata VI 09-14
STEP 1: Measure the currents already flowing in the motor windings. As seen in Figure 1, it's only necessary to measure two of the three motor phase currents, since the algebraic sum of the currents flowing in two windings must equal the current flowing out of the third winding (unless of course there's another path for current flow, such as a winding short to the motor frame). The current flowing through each stator winding creates a magnetic field oriented along an axis at a specific angle. In a three-phase machine, the windings are spatially configured around the circumference of the machine so that the magnetic axes for each phase are spatially separated from each other by 120º. These magnetic fields add together vectorally as shown in Figure 1 to create a net stator magnetic vector of a specific magnitude and angle, which is a function of the current in each coil.
In high-power industrial systems, these current measurements are typically obtained by looking at the motor phase currents directly (for example, a LEM sensor on each phase). However, this approach is way too costly for EPS systems; a more economical technique must be used. One method gaining in popularity is to measure the DC bus current at specific intervals during the PWM cycle to reconstruct the phase current waveforms. This is one reason why every digital signal controller from Freescale incorporates a hardware trigger mechanism from the PWM module to the ADC, so that the conversions can be acquired at precise moments during the PWM cycle.
STEP 2: Compare the currents to desired values and generate error signals. At this point, let's digress for a moment. On a DC motor, there's a direct correlation between motor current and torque because the commutator keeps the rotor flux and stator field properly aligned at all times. But we don't have a commutator on an AC motor. Instead, we must control the alignment ourselves. As indicated in Step 1, we control the net stator field angle by controlling the currents in each phase. To control motor torque, therefore, all we have to do is determine what component of the stator currents is producing a magnetic field that's orthogonal to the rotor flux at this instant in time and regulate that current component just like we would in a DC motor.
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