FR3076530B1 - Systeme de direction assistee de type steer by wire utilisant des actionneurs rendus transparents par l’utilisation de boucles d’asservissement locales en couple et/ou effort - Google Patents

Systeme de direction assistee de type steer by wire utilisant des actionneurs rendus transparents par l’utilisation de boucles d’asservissement locales en couple et/ou effort Download PDF

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Publication number
FR3076530B1
FR3076530B1 FR1850124A FR1850124A FR3076530B1 FR 3076530 B1 FR3076530 B1 FR 3076530B1 FR 1850124 A FR1850124 A FR 1850124A FR 1850124 A FR1850124 A FR 1850124A FR 3076530 B1 FR3076530 B1 FR 3076530B1
Authority
FR
France
Prior art keywords
steer
steering system
wire power
level mechanism
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1850124A
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English (en)
Other versions
FR3076530A1 (fr
Inventor
Pascal Moulaire
Andre Michelis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JTEKT Europe SAS
Original Assignee
JTEKT Europe SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1850124A priority Critical patent/FR3076530B1/fr
Application filed by JTEKT Europe SAS filed Critical JTEKT Europe SAS
Priority to DE112019000362.3T priority patent/DE112019000362T5/de
Priority to CN201980017884.2A priority patent/CN111819127A/zh
Priority to US16/960,785 priority patent/US11345394B2/en
Priority to JP2020537211A priority patent/JP7260549B2/ja
Priority to BR112020013896-7A priority patent/BR112020013896A2/pt
Priority to PCT/FR2019/050013 priority patent/WO2019135056A1/fr
Publication of FR3076530A1 publication Critical patent/FR3076530A1/fr
Application granted granted Critical
Publication of FR3076530B1 publication Critical patent/FR3076530B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/003—Backup systems, e.g. for manual steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0475—Controlling other elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/18—Steering knuckles; King pins

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un système de direction assistée (1) de type steer-by-wire comprenant un mécanisme de niveau inférieur (10) qui comprend un moteur d'assistance (11) ainsi qu'une roue directrice (12), et un mécanisme de niveau supérieur (20) qui comprend un volant de conduite (22) ainsi qu'un moteur auxiliaire (21), le mécanisme de niveau inférieur (10) étant asservi en boucle fermée, à effort nul, par une boucle locale basse (30) comprenant une branche de rétroaction (32) qui mesure ou estime un effort aval effectif (F10_actual) en aval du moteur d'assistance (11) et en amont du contact (12C) de la roue (12) avec le sol (2), de sorte à rendre le moteur d'assistance (11) transparent, tandis que le mécanisme de niveau supérieur (20) est asservi en boucle fermée, à couple nul, par une boucle locale haute (40) comprenant une branche de rétroaction (42) qui mesure ou estime un couple conducteur effectif (T20_actual) entre le moteur auxiliaire (21) et le volant de conduite (22) de sorte à rendre le moteur auxiliaire (21) transparent, et les boucles locales basse (30) et haute (40) étant commandées par un même contrôleur global (50).
FR1850124A 2018-01-08 2018-01-08 Systeme de direction assistee de type steer by wire utilisant des actionneurs rendus transparents par l’utilisation de boucles d’asservissement locales en couple et/ou effort Active FR3076530B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1850124A FR3076530B1 (fr) 2018-01-08 2018-01-08 Systeme de direction assistee de type steer by wire utilisant des actionneurs rendus transparents par l’utilisation de boucles d’asservissement locales en couple et/ou effort
CN201980017884.2A CN111819127A (zh) 2018-01-08 2019-01-04 使用借助局部扭矩和/或力控制回路变透明的致动器的线控动力转向***
US16/960,785 US11345394B2 (en) 2018-01-08 2019-01-04 Steer-by-wire power steering system using actuators made transparent through the use of local torque and/or force control loops
JP2020537211A JP7260549B2 (ja) 2018-01-08 2019-01-04 ローカルトルク及び／又は荷重制御ループの使用により透明性を有するアクチュエータを用いたワイヤ操舵パワーステアリングシステム
DE112019000362.3T DE112019000362T5 (de) 2018-01-08 2019-01-04 Steer-by-Wire-Servolenkungssystem unter Verwendung von transparent gemachten Stellgliedern von lokalen Drehmoment- und/oder Kraftregelkreisen
BR112020013896-7A BR112020013896A2 (pt) 2018-01-08 2019-01-04 sistema de direção assistida por comando eletrônico que usam acionadores transparentes através do uso de torque local e/ou circuitos de controle de força
PCT/FR2019/050013 WO2019135056A1 (fr) 2018-01-08 2019-01-04 Système de direction assistée de type steer by wire utilisant des actionneurs rendus transparents par l'utilisation de boucles d'asservissement locales en couple et/ou effort

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1850124 2018-01-08
FR1850124A FR3076530B1 (fr) 2018-01-08 2018-01-08 Systeme de direction assistee de type steer by wire utilisant des actionneurs rendus transparents par l’utilisation de boucles d’asservissement locales en couple et/ou effort

Publications (2)

Publication Number Publication Date
FR3076530A1 FR3076530A1 (fr) 2019-07-12
FR3076530B1 true FR3076530B1 (fr) 2020-01-10

Family

ID=62143321

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1850124A Active FR3076530B1 (fr) 2018-01-08 2018-01-08 Systeme de direction assistee de type steer by wire utilisant des actionneurs rendus transparents par l’utilisation de boucles d’asservissement locales en couple et/ou effort

Country Status (7)

Country Link
US (1) US11345394B2 (fr)
JP (1) JP7260549B2 (fr)
CN (1) CN111819127A (fr)
BR (1) BR112020013896A2 (fr)
DE (1) DE112019000362T5 (fr)
FR (1) FR3076530B1 (fr)
WO (1) WO2019135056A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT522442B1 (de) * 2019-11-08 2020-11-15 Ivan Tochev Anordnung einer Lenkvorrichtung
DE102021202278A1 (de) * 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Beeinflussen und/oder Betreiben eines Lenksystems und Lenksystem insbesondere für ein Fahrzeug
DE102021202285A1 (de) * 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zur Beeinflussung eines Fahrzeugverhaltens
KR102585084B1 (ko) 2021-08-31 2023-10-05 현대모비스 주식회사 차량의 전자식 조향장치 및 그 제어방법

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3874473A (en) * 1973-10-05 1975-04-01 Fulton Industries Power steering apparatus for towing
JP3554841B2 (ja) * 1997-02-07 2004-08-18 光洋精工株式会社 自動車の舵取装置
JP3675613B2 (ja) * 1997-08-04 2005-07-27 光洋精工株式会社 車両用操舵装置
ATE308446T1 (de) * 2000-08-31 2005-11-15 Peugeot Citroen Automobiles Sa Elektrische servolenkeinrichtung für ein kraftfahrzeug
FR2821045B1 (fr) * 2001-02-21 2003-05-16 Peugeot Citroen Automobiles Sa Ensemble de direction assistee electrique pour vehicule automobile et procede de commande associe
DE10205632A1 (de) * 2001-03-13 2002-10-02 Bosch Gmbh Robert Verfahren zur Positionsregelung eines elektrischen Antriebs und zum Lenken eines Kraftfahrzeugs mit einer Steer-by-Wire-Lenkung
FR2839037B1 (fr) * 2002-04-30 2004-06-25 Renault Sa Procede de commande d'une direction assistee electrique de vehicule automobile et dispositif de mise en oeuvre
JP3875188B2 (ja) * 2002-12-16 2007-01-31 株式会社ジェイテクト 電動モータ装置
JP4492230B2 (ja) * 2004-07-06 2010-06-30 日産自動車株式会社 車両用操舵制御装置
JP2007190985A (ja) 2006-01-18 2007-08-02 Honda Motor Co Ltd 車両用操舵装置
DE102006017440A1 (de) * 2006-04-13 2007-10-18 Zf Lenksysteme Gmbh Verfahren zum Betrieb eines elektrischen Servolenksystems
DE102006044088B4 (de) * 2006-09-20 2009-09-24 Ford Global Technologies, LLC, Dearborn Verfahren zum Ausgleich von Antriebseinflüssen eines Antriebsstranges eines Kraftfahrzeuges
PL2383167T3 (pl) 2010-04-27 2014-05-30 Thyssenkrupp Presta Ag Sposób sterowania układem kierowniczym
JP6213233B2 (ja) 2013-12-26 2017-10-18 日産自動車株式会社 操舵制御装置
FR3023612B1 (fr) 2014-07-09 2016-07-29 Jtekt Europe Sas Procede d’estimation en temps reel de l’effort aux biellettes au sein d’un mecanisme de direction assistee
KR101694763B1 (ko) * 2015-10-06 2017-01-10 주식회사 만도 조향 제어 장치 및 조향 제어 방법
US10358162B2 (en) * 2016-10-03 2019-07-23 Jtekt Corporation Steering control device
JP2018187998A (ja) * 2017-05-01 2018-11-29 株式会社ジェイテクト 操舵制御装置
JP7067405B2 (ja) * 2018-10-11 2022-05-16 株式会社デンソー 回転検出装置、操舵システム

Also Published As

Publication number Publication date
JP7260549B2 (ja) 2023-04-18
CN111819127A (zh) 2020-10-23
FR3076530A1 (fr) 2019-07-12
JP2021509379A (ja) 2021-03-25
WO2019135056A1 (fr) 2019-07-11
DE112019000362T5 (de) 2020-10-01
US20200331515A1 (en) 2020-10-22
BR112020013896A2 (pt) 2020-12-01
US11345394B2 (en) 2022-05-31

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