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 PDFInfo
- 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
Links
- 238000011144 upstream manufacturing Methods 0.000 abstract 1
Classifications
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- 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
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- 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).
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)
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)
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 |
-
2018
- 2018-01-08 FR FR1850124A patent/FR3076530B1/fr active Active
-
2019
- 2019-01-04 DE DE112019000362.3T patent/DE112019000362T5/de active Pending
- 2019-01-04 BR BR112020013896-7A patent/BR112020013896A2/pt not_active IP Right Cessation
- 2019-01-04 US US16/960,785 patent/US11345394B2/en active Active
- 2019-01-04 JP JP2020537211A patent/JP7260549B2/ja active Active
- 2019-01-04 CN CN201980017884.2A patent/CN111819127A/zh active Pending
- 2019-01-04 WO PCT/FR2019/050013 patent/WO2019135056A1/fr active Application Filing
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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