JPH02241869A - Control method for electric power steering device - Google Patents
Control method for electric power steering deviceInfo
- Publication number
- JPH02241869A JPH02241869A JP1061443A JP6144389A JPH02241869A JP H02241869 A JPH02241869 A JP H02241869A JP 1061443 A JP1061443 A JP 1061443A JP 6144389 A JP6144389 A JP 6144389A JP H02241869 A JPH02241869 A JP H02241869A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- torque
- vehicle speed
- assist
- steering angle
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 12
- 230000006870 function Effects 0.000 description 33
- 238000013016 damping Methods 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 10
- 230000007935 neutral effect Effects 0.000 description 9
- 230000001186 cumulative effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000723438 Cercidiphyllum japonicum Species 0.000 description 1
- 241000283074 Equus asinus Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、電動式パワステアリング装置の制御方法に関
するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method of controlling an electric power steering device.
従来の技術
操舵時のハンドル操作の軽減をはかるために、操舵トル
クに応じて電動モータの出力を可変的に制御し、該電動
モータにて操舵トルクに応じた操舵補助力即ちアシスト
トルクを発生させると共に、各車速に応じた適切な操舵
力を得るためにＬ記アシスｌ−）ルクに車速依存性を持
たせた車両用の車速感応型電動式パワステアリング装置
において、ハンドル操舵角を検出する舵角センサを設け
、舵角に応じて舵を中立位置に戻す方向に復元トルクを
発生させることにより転舵後のハンドルの戻りを良くし
、往つ上記舵角センサからの舵角信号を微分して舵角速
度を求め、該舵角速度に応じて舵の進む方向と逆方向に
減衰トルクを発生する減衰制御を行い、この制御によっ
て舵の復元速度を調整したり、或は又舵角と車速の情報
から車両の横方向加速度を求め、該横加速度に応じた舵
の復元トルクを発生すると言った各種制御を組合せ、低
速から高速までの舵の復元性と車両の安定性を両立させ
た制御装置を、本出願人１ζおいて既に開発し、特開昭
６３−３０Ｂ９６８号公報として公開されている。Conventional technology In order to reduce steering wheel operations during steering, the output of an electric motor is variably controlled according to the steering torque, and the electric motor generates a steering assist force, that is, an assist torque according to the steering torque. In addition, in a vehicle speed-sensitive electric power steering device for vehicles in which the torque is made dependent on vehicle speed in order to obtain an appropriate steering force according to each vehicle speed, there is a steering wheel that detects the steering angle. An angle sensor is installed to improve the return of the steering wheel after steering by generating a restoring torque in the direction of returning the rudder to the neutral position according to the rudder angle. The rudder angular speed is determined by the rudder angle, and damping control is performed to generate a damping torque in the direction opposite to the direction in which the rudder moves in accordance with the rudder angular speed, and the restoring speed of the rudder is adjusted by this control, or the rudder angle and vehicle speed are A control device that combines various controls such as determining the vehicle's lateral acceleration from information and generating a rudder restoring torque according to the lateral acceleration, thereby achieving both rudder restorability and vehicle stability from low to high speeds. has already been developed by the present applicant 1ζ and published as Japanese Patent Application Laid-Open No. 63-30B968.
尚上記舵角センサどり、ては、従来よりロータリエンコ
ーダが用いられることが多い（例えば実開昭６２−５１
２１４号公報参照）。In addition, for the above-mentioned steering angle sensor, a rotary encoder is often used conventionally (for example,
(See Publication No. 214).
発明が解決しようとする課題
上記舵角検出用のロータリエンコーダは、円周を等分割
するようなピッチで成剤状にスリットを設けたスリット
円板をステアリングシャフトに固定し、該スリット円板
のスリット部を両側からはさむように発光素子と受光素
子をステアリングコラム等の固定側に取付け、スリット
を通して受光した受光素子のパルスの数をカウントする
ことによりステアリングシャフトの回転角度変位量（即
ち相対舵角）を検出するものである。Problems to be Solved by the Invention The above-mentioned rotary encoder for detecting a steering angle is provided by fixing a slit disk, in which slits are formed in the form of a compound at a pitch that equally divides the circumference, to a steering shaft; A light-emitting element and a light-receiving element are attached to a fixed side such as a steering column so as to sandwich the slit part from both sides, and the number of pulses of the light-receiving element received through the slit is counted. ).
このようなロータリエンコーダを用いて絶対舵角を求め
るためには、人為的に何らかの方法で実際の偵進状態位
置即ぢ舵角ゼロの位置を初工）肌没定し、その舵角ゼロ
の位置（以下中立位置と称す）からＬ記ロータリエンコ
ーダが発するパルス（転舵の方向によって＋、−の符号
をもつ）の数を累積計数して行くことにより、その累桔
１１数が連続する限り常に舵角ゼロを基準とした絶対舵
角を検出することができる。In order to obtain the absolute rudder angle using such a rotary encoder, it is necessary to artificially determine the actual reconnaissance state position (i.e., the position of zero rudder angle) by some method, and then determine the position of the zero rudder angle. By cumulatively counting the number of pulses (with + and - signs depending on the direction of steering) emitted by the L rotary encoder from the position (hereinafter referred to as the neutral position), as long as the cumulative number of 11 is continuous, It is possible to always detect the absolute steering angle based on zero steering angle.
しかし、例えばバッテリのターミナルを取りはずしたと
き、その他の何らかの原因で計数装δ（例えばマイクロ
コンピュータ）の電源が一１切れると、それまでの累積
計数値の記憶は消滅し、再び電源が入っても絶対舵角検
出のための上記中立位置を再設定しなければ以後の絶対
舵角検出は不可能となる。However, if the power to the counting device δ (for example, a microcomputer) is turned off for some other reason, such as when the battery terminal is removed, the memory of the cumulative count value up to that point will be erased, and even if the power is turned on again. Unless the neutral position for absolute steering angle detection is reset, subsequent absolute steering angle detection will be impossible.
このように絶対舵角検出ができない状態で、前述したよ
うな？を動式パワステアリング装置の復元制御が行われ
るのは危険である。In this state where absolute rudder angle detection is not possible, what happens as mentioned above? It is dangerous to perform restoration control on the dynamic power steering system.
本発明は上記のような問題に対処することを主目的とす
るものである。The main purpose of the present invention is to address the above-mentioned problems.
課題を解決するための手段
本発明は、少なくとも操舵トルクに応じたアシストトル
ク制御と、少なくとも舵角に応じた復元トルク制御とで
、操舵補助力を発生ずる電動モータの出力を制御するよ
うにした電動式パワステアリング装置において、」−記
舵角の検出部が絶対舵角を検出していないと判断１．た
とき、警報器を作動させ、丘つ車速が設定車速以下であ
れば復元トルク制御は行わずアシスｌ−）ルク制御のみ
で電動モータの出力制御を行い、上記設定車速を越えた
車速範囲では復元トルク制御及びアシストトルク制御の
すべての制御を行わずマニュアル操舵状態とする制御ロ
バ２ツクを電動式パワステアリング装置の制御装置に組
込んだことを特徴とするものである。Means for Solving the Problems The present invention controls the output of an electric motor that generates steering assist force by at least assist torque control according to steering torque and restoring torque control at least according to steering angle. In the electric power steering system, it is determined that the steering angle detection section is not detecting the absolute steering angle.1. If the vehicle speed on a hill is below the set vehicle speed, restoring torque control is not performed and the electric motor output is controlled only with assist l-) torque control. The present invention is characterized in that two control donkeys that perform manual steering without performing any of the restoring torque control and assist torque control are incorporated into the control device of the electric power steering device.
作用
上記にて、何らかの原因により電源が一時的に切れ舵角
検出部が絶対舵角検出のための基準位置の記憶を喪失し
てしまったとき、絶対舵角の検出ができなくなっている
ことをＪＷ報器の作動にてドライバに知らせると共に、
例えば中。Effect As stated above, if the power is temporarily cut off for some reason and the rudder angle detection section loses memory of the reference position for detecting the absolute rudder angle, it will become impossible to detect the absolute rudder angle. In addition to notifying the driver by activating the JW alarm,
For example, inside.
高速走行時はマニュアル操舵状態とすることで安全性の
向−１−をはかり２低速時は舵角情報に基づく復元トル
ク制御は行わず操舵トルクに応じたアシストトルク１１
８のみを行うことで車庫入れ等大転舵を必要とする操舵
時の操舵力軽減機能は確保し便利さを持たせることがで
きる。When driving at high speeds, manual steering is used to improve safety.2 At low speeds, restoring torque control based on steering angle information is not performed and assist torque is applied according to steering torque.11
By performing only step 8, it is possible to ensure the steering force reduction function during steering that requires a large turn, such as when parking the vehicle in a garage, thereby providing convenience.
実施例 以下未発ＩＪＩの実施例を付図を参照して説明する。Example Examples of unoccurred IJI will be described below with reference to the accompanying drawings.
第１図は本発明を適用すべき電動式パワステアリング装
ごの制御システムの＝−例を示すブロック図であって、
１はアシスト指令部、？は復元指令部である。FIG. 1 is a block diagram showing an example of a control system for an electric power steering device to which the present invention is applied,
1 is the assist command department, ? is the restoration command section.
アシスト指令部１は、アシストトルク関数部１１と位相
補償部１２と位相補償関数部１３とからなり、ハンドル
の操舵トルクを検出するトルクセンサ３の操舵トルク信
号と、該操舵トルク信号を位相補償部１２が全会しある
係数を乗算して得た微分信号とを加算した信号の入力に
より、アシストトルク関数部１１が予め設定されている
アシストトルク関数に基づきアシストトルク値を演算す
ると共に、前記位相補償関数部１３が位相補償部１２か
らの微分信号の入力により予め設定されている位相補償
関数に基づき位相補償値を求め、該位相補償値をＬデア
シストトルク関数部１１が求めたアシストトルク値に加
算してアシストトルク指令値どし、該アシストトルク指
令値に後述する復元指令部２の復元トルク指令値を加え
た指令値に基づきモータ制御部６がモータ７の回転方向
とモータ″ｆｔｒ、流とを制御してモータ７を回転駆動
させ、１４記指令値通りのトルクを操舵系に与えるよう
になっている。The assist command section 1 includes an assist torque function section 11, a phase compensation section 12, and a phase compensation function section 13. 12 and a differential signal obtained by multiplying by a certain coefficient are input, the assist torque function section 11 calculates an assist torque value based on a preset assist torque function, and also calculates the phase compensation. The function unit 13 calculates a phase compensation value based on a preset phase compensation function based on the input of the differential signal from the phase compensation unit 12, and converts the phase compensation value into the assist torque value calculated by the L de-assist torque function unit 11. Based on the command value obtained by adding the restoring torque command value of the restoration commanding part 2, which will be described later, to the assist torque command value, the motor control part 6 controls the rotational direction of the motor 7, the motor "ftr, the flow rate, The motor 7 is rotated by controlling the motor 7, and the torque corresponding to the command value No. 14 is applied to the steering system.
復元指令部２は、復元）・ルク関数部２１と、横加速度
復元トルク関数部２２と、減衰トルク関数部２３とから
なり、ハンドル操舵角を検出する舵角センサ４の舵角０
桂により復元トルク関数部２１が予め設定されでいる復
元トルク関数に基づき舵を中立位置へ戻そうとする復元
トルク値を求め、横加速度復元トルク関数部２２は舵角
センサ４の舵角信号ど車速センサ５の車速信号とから車
両に発生する横加速度を演算にて求め、該横加速度に応
じた復元トルク値を予め設定されている横加速度復元ト
ルク関数に基づき求める。又舵角センサの舵角信号を微
分して得た舵角速度信号は減速トルク関数部２３に入力
され、該減速トノ１／り関数部２３は舵角速度に応じて
舵の進む方向とは逆方向の減衰Ｉ・ルク値を予め設定さ
れている減衰トルク関数に基づき求め、Ｌ記復元（・ル
ク関数部２１が求めた復元トルク値ど横加速度復元ｌ・
ルク関数部２２が求めた復元トルク値と減衰トルク関数
部２３が求めた減衰ｌ・ルク値を加算して復元トルク指
令値とし、該復元トルク指令値はＬ述したようにアシス
ト指令部１のアシストトルク指令値に加算されモータ制
御部６に指令値として入力される。The restoration command section 2 includes a restoration torque function section 21, a lateral acceleration restoration torque function section 22, and a damping torque function section 23, and is configured to control the steering angle 0 of the steering angle sensor 4 that detects the steering wheel steering angle.
According to Katsura, the restoring torque function section 21 calculates the restoring torque value to return the rudder to the neutral position based on the preset restoring torque function, and the lateral acceleration restoring torque function section 22 calculates the rudder angle signal of the rudder angle sensor 4. The lateral acceleration generated in the vehicle is calculated from the vehicle speed signal from the vehicle speed sensor 5, and the restoring torque value corresponding to the lateral acceleration is found based on a preset lateral acceleration restoring torque function. Further, the steering angular velocity signal obtained by differentiating the steering angle signal of the steering angle sensor is input to the deceleration torque function section 23, and the deceleration tonneau 1/r function section 23 operates in a direction opposite to the direction in which the rudder travels according to the steering angular velocity. The damping I and torque values are determined based on a preset damping torque function, and the lateral acceleration is restored according to the restoring torque value determined by the torque function section 21.
The restoring torque value obtained by the torque function section 22 and the damping l/lux value obtained by the damping torque function section 23 are added to obtain a restoring torque command value. It is added to the assist torque command value and inputted to the motor control unit 6 as a command value.
一ヒ記アシストトルク関数部ｌｌ及び減衰］・ルク関数
部２３にはそれぞれ車速センサ５の車速信号が入力され
、車速に応じてアシストトルク値及び減衰トルク値を変
化させるよう構成されている。1) Assist Torque Function Unit 11 and Damping] - The torque function unit 23 is configured to receive a vehicle speed signal from the vehicle speed sensor 5 and change the assist torque value and the damping torque value in accordance with the vehicle speed.
上記において、アシスト指令部１では、アシストトルク
関数部１１へ操舵トルク信号に加え該操舵トルクの微分
値に比例する信号が入力されることにより、回路中の信
号伝達の遅れを補償し追随性の向上をはかることができ
、又位相補償関数部１３が求めた位相補償値をアシスト
トルク関数部１１が求めたアシストトルク値に加算する
ことによりモータの慣性補償を行い通常操舵時の舵力変
動と急操舵時のひっかかり感を防止することができる。In the above, in the assist command unit 1, in addition to the steering torque signal, a signal proportional to the differential value of the steering torque is input to the assist torque function unit 11, thereby compensating for delays in signal transmission in the circuit and improving followability. Furthermore, by adding the phase compensation value determined by the phase compensation function section 13 to the assist torque value determined by the assist torque function section 11, motor inertia compensation is performed, and the fluctuation in steering force during normal steering is compensated for. It is possible to prevent the feeling of getting caught during sudden steering.
尚り記において、アシストトルク関数は入力信号のゼロ
及びゼロ近傍に不感帯範囲を有し該不感帯範囲以外では
入力信号が大となるに従ってアシストトルクが大となる
車速をパラメータとした関数であり、復元トルク関数は
舵角が中立点近傍の所定範囲では舵角が大となるに従っ
て復元トルクは大となり該所定範囲を越えると復元トル
クが一定値となる関数であり、横加速度復元トルク関数
は横加速Ｉｍ゛が所定値以下の範囲では復元トルクは横
加速度の増大に応じて大となり（横加速度のゼロ近傍範
囲に不感帯を設けても良い）−［−記範囲を越えると復
元トルクが一定値となる関数であり、又減衰トルク関数
は舵角速度のゼロ近傍範囲に不感帯を有し該不感帯範囲
を越えある所定信置Ｆの舵角速度範囲では舵角速度が大
となるに従って該舵角速度の方向とは逆方向の減衰トル
クは徐々に大となり該ある所定値を越えると該減衰トル
クが一定値となる重速をパラメータとした関数である。In addition, the assist torque function is a function that has a dead band range at and near zero of the input signal, and outside the dead band range, the assist torque increases as the input signal increases, and the parameter is the vehicle speed. The torque function is a function in which the restoring torque increases as the steering angle increases within a predetermined range near the neutral point, and the restoring torque becomes a constant value when the rudder angle exceeds the predetermined range.The lateral acceleration restoring torque function In the range where Im゛ is less than a predetermined value, the restoring torque increases as the lateral acceleration increases. The damping torque function has a dead band in the range near zero of the steering angular velocity, and in the steering angular velocity range of a certain predetermined station F beyond the dead zone, as the steering angular velocity increases, the direction of the steering angular velocity changes. The damping torque in the opposite direction gradually increases, and when it exceeds a certain predetermined value, the damping torque becomes a constant value.It is a function using the heavy speed as a parameter.
ここで上記舵角センサとしては、ロータリエンコーダ等
の相対舵角検出器が用いられることが多く、この場合は
ハンドルの実際の直進状態位置即ち中立位置を初期設定
しその中立位置から上記相対舵角検出器が検出した舵角
変ｇＪ丑（操舵の方向によって＋、−の符号をもつ）を
連続して累積計数して行くことにより絶対舵角を連続し
て検出することができるが５例えばバッテリのターミナ
ル取りはずし等により上記累積計数を行う演算部の電源
が一旦切れてしまうと、それまでの累積値の記憶は消滅
し、その後電源が入っても例えば人手等により中立位首
を再設定しそこからの舵角変動量を得ることができるよ
うにしない限り絶対舵角の検出は不可能となる。Here, as the above-mentioned steering angle sensor, a relative steering angle detector such as a rotary encoder is often used. In this case, the actual straight-ahead position of the steering wheel, that is, the neutral position is initially set, and the above-mentioned relative steering angle is measured from the neutral position. The absolute steering angle can be continuously detected by continuously cumulatively counting the steering angle change gJ (which has a + or - sign depending on the direction of steering) detected by the detector. Once the power to the arithmetic unit that performs the cumulative counting is turned off due to removal of the terminal, etc., the memory of the cumulative value up to that point will be erased, and even if the power is turned on again, the neutral position will have to be reset manually, for example. Detection of the absolute steering angle becomes impossible unless it is possible to obtain the amount of fluctuation in the steering angle from the steering angle.
このように何らかの原因で演算部の電源が一旦切れた後
電源が入ってから中立位と再設定までの絶対舵角検出が
できなくなっている間に、相対舵角検出器が検出した相
対舵角に基づいて第１図に示すようなパワステアリング
装置の制御を行うことは極めて危険であるや
そこで本発明では、例えば上記演算部の電源が一旦切れ
た後電源が入り七の後中立位置の設定信号が出たか出な
いか等により絶対舵角検出が行われているかいないかを
判断し、第２図に示すように絶対舵角検出が行われてい
ないと判断したとき、フェイルランプ等の警報器にて異
常をドライバに知らせ、且つ車速Ｖが設定車速ＶＯを越
えていると、第１図に示すパワステアリング装置の制御
はすべて停止しマニュアル操舵とすると共にモータ７に
クラッチが付いている場合は該クラッチを切離してマニ
ュアル操舵におけるモータ慣性の影響をなくし、車速が
設定車速Ｖｏ以下であると第１図の復元指令部２の制御
は停止させアシスト指令部ｌのアシスト指令値のみでモ
ータ７の駆動制御を行う状態とし、絶対舵角検出が行わ
れていると判断したときは第１図示の装置すべてが作動
して正常なパワアシスト制御を行う状態とする制御ロジ
ックを、電動式パワステアリング装置の制御装置に組込
んだことを特徴とするものである。In this way, the relative steering angle detected by the relative steering angle detector is detected while the absolute steering angle cannot be detected from the time when the power is turned on after the power of the calculation unit is turned off for some reason until it is reset to the neutral position. It is extremely dangerous to control the power steering device as shown in FIG. It is determined whether absolute rudder angle detection is being performed or not based on whether a signal is output or not, and when it is determined that absolute rudder angle detection is not being performed as shown in Figure 2, a warning such as a fail lamp is activated. If the driver is notified of the abnormality by the device and the vehicle speed V exceeds the set vehicle speed VO, all control of the power steering device shown in Fig. 1 will be stopped and manual steering will be performed, and if the motor 7 is equipped with a clutch. The clutch is disengaged to eliminate the influence of motor inertia during manual steering, and when the vehicle speed is less than the set vehicle speed Vo, the control of the restoration command section 2 shown in FIG. When it is determined that absolute steering angle detection is being performed, all the devices shown in Figure 1 operate to perform normal power assist control. It is characterized by being incorporated into the control device of the device.
上記のように絶対舵角検出が行われない状態では、例え
ば中、高速走行時パワアシスト制御を行わずマニュアル
操舵とすることで安全性を高めると共に、低速時は舵角
情報に基づく制御は行わず操舵トルクに応じたパワアシ
ストのみを作動させることで車庫入れ等大転舵を必要と
する運転時の操舵力軽減をはかりうろことができると言
う便利さは充分確保できる。In a state where absolute steering angle detection is not performed as described above, for example, when driving at medium or high speeds, power assist control is not performed and manual steering is used to improve safety, and at low speeds, control based on steering angle information is not performed. By operating only the power assist that corresponds to the steering torque, the convenience of being able to reduce the steering force during driving that requires a large turn, such as when parking the vehicle, can be ensured.
尚本発明は、第１図示のもの１限らず、少なくとも操舵
トルクに応じてアシストトルク指令値を発するアシスト
指令部と４少なくとも舵角に応じて復元トルク指令値を
発する復元指令部とをもち、上記アシストトルク指令値
と復元トルク指令値の加算値でモータの出力制御を行う
電動式パワステアリング装置にはすべて適用可能である
。The present invention is not limited to the one shown in the first diagram, but includes an assist command section that issues an assist torque command value in accordance with at least the steering torque, and a restoration command section that issues a restoration torque command value in accordance with at least the steering angle. The present invention is applicable to all electric power steering devices that control the output of the motor using the sum of the assist torque command value and the restoring torque command value.
発明の効果
以上のように本発明によれば、少なくとも操舵トルクに
応じたアシストトルク制御と、舵角に応じた復元トルク
制御とを行う電動式パワステアリング装置の制御ｌ装置
において、絶対舵角の検出ができなくなっている間は、
設定車速以下の車速範囲では復元トルク制御は行わずア
シストトルク制御のみを行い設定車速を越えると復元ト
ルク制御とアシストトルク制御のすべての制御を行わず
マニュアル操舵とする制御方法を採ることにより、中２
高速走行時の安全性を高めると共に、低速時のパワアシ
ストは確保し操舵力の軽減をはかり車庫入れ等での使い
易さをもたせることができるもので、実用上多大の効果
をもたらし得るものである。Effects of the Invention As described above, according to the present invention, in a control device for an electric power steering device that performs at least assist torque control according to steering torque and restoring torque control according to steering angle, While detection is no longer possible,
By adopting a control method in which restoring torque control is not performed and only assist torque control is performed in the vehicle speed range below the set vehicle speed, and when the set vehicle speed is exceeded, both restoring torque control and assist torque control are not performed and manual steering is performed. 2
In addition to increasing safety when driving at high speeds, it also ensures power assistance at low speeds, reduces steering effort, and makes it easier to use when parking in a garage, etc., and can have great practical effects. be.
第１図は本発明を適用すべき電動式パワステアリング装
置の制御回路の一例を示すブロック図、第２図は本発明
における制御方法の一例を示すフローチャートである。
ｌ・・・アシスト指令部、２・・・復元指令部、３・・
・トルクセンサ、４・・・舵角センサ、５・・・車速セ
ンサ、６・・・モータ制御部、７・・・モータ。
以 上FIG. 1 is a block diagram showing an example of a control circuit of an electric power steering device to which the present invention is applied, and FIG. 2 is a flowchart showing an example of a control method in the present invention. l...assist command unit, 2...restoration command unit, 3...
- Torque sensor, 4... Rudder angle sensor, 5... Vehicle speed sensor, 6... Motor control unit, 7... Motor. that's all
Claims (1)
少なくとも舵角に応じた復元トルク制御とで、操舵補助
力を発生する電動モータの出力を制御するようにした電
動式パワステアリング装置において、上記舵角の検出部
が絶対舵角を検出していないと判断したとき、警報器を
作動させ、且つ車速が設定車速以下であれば復元トルク
制御は行わずアシストトルク制御のみで電動モータの出
力制御を行い、上記設定車速を越えた車速範囲では復元
トルク制御及びアシストトルク制御のすべての制御を行
わずマニュアル操舵状態とすることを特徴とする電動式
パワステアリング装置の制御方法。Assist torque control according to at least steering torque;
In an electric power steering device that controls the output of an electric motor that generates steering assist force by at least restoring torque control according to the steering angle, the steering angle detection section does not detect the absolute steering angle. When it is determined that this is the case, the alarm is activated, and if the vehicle speed is below the set vehicle speed, restoration torque control is not performed and the electric motor output is controlled only with assist torque control, and in the vehicle speed range exceeding the set vehicle speed, restoration torque is not applied. A method for controlling an electric power steering device, characterized in that a manual steering state is achieved without performing all controls such as control and assist torque control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1061443A JPH02241869A (en) | 1989-03-14 | 1989-03-14 | Control method for electric power steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1061443A JPH02241869A (en) | 1989-03-14 | 1989-03-14 | Control method for electric power steering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02241869A true JPH02241869A (en) | 1990-09-26 |
Family
ID=13171214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1061443A Pending JPH02241869A (en) | 1989-03-14 | 1989-03-14 | Control method for electric power steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02241869A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002308133A (en) * | 2001-04-13 | 2002-10-23 | Toyota Motor Corp | Driving operation device |
| KR100940534B1 (en) * | 2001-11-30 | 2010-02-10 | 가부시키가이샤 제이텍트 | Electric power steering apparatus |
-
1989
- 1989-03-14 JP JP1061443A patent/JPH02241869A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002308133A (en) * | 2001-04-13 | 2002-10-23 | Toyota Motor Corp | Driving operation device |
| JP4513227B2 (en) * | 2001-04-13 | 2010-07-28 | トヨタ自動車株式会社 | Driving device |
| KR100940534B1 (en) * | 2001-11-30 | 2010-02-10 | 가부시키가이샤 제이텍트 | Electric power steering apparatus |
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