JPH02290780A - Control for electric motor in power steering device for vehicle - Google Patents
Control for electric motor in power steering device for vehicleInfo
- Publication number
- JPH02290780A JPH02290780A JP1083222A JP8322289A JPH02290780A JP H02290780 A JPH02290780 A JP H02290780A JP 1083222 A JP1083222 A JP 1083222A JP 8322289 A JP8322289 A JP 8322289A JP H02290780 A JPH02290780 A JP H02290780A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- electric motor
- power
- vehicle speed
- vehicle
- 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 claims description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000219112 Cucumis Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 239000011521 glass Substances 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、電動モータで駆動される油圧ポンプから吐出
する圧油により操舵力をアシストする車両用パワーステ
アリング装置における電動モータの制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a method for controlling an electric motor in a vehicle power steering device that assists steering force with pressure oil discharged from a hydraulic pump driven by an electric motor.
(従来の技術)
従来、特開昭58−188752号公報により、車速セ
ンサからの信号を入力して車速に比例した電圧信号を出
力する手段と、操舵速度センサからの信号を入力して操
舵速度に反比例した電圧信号を出力する手段と、該両手
段からの人力信号を加算する加算手段と、該加算手段か
らの出力信号により電動モータの供給電力を制御する制
御手段とを備え、該電動モータの供給電力を、車速が早
くなるにつれて減少し且つ操舵速度が早くなるにつれて
増大するようにアナログ制御するものは知られている。(Prior Art) Conventionally, Japanese Unexamined Patent Publication No. 188752/1987 discloses a means for inputting a signal from a vehicle speed sensor and outputting a voltage signal proportional to the vehicle speed, and a means for inputting a signal from a steering speed sensor to output a voltage signal proportional to the vehicle speed. a means for outputting a voltage signal inversely proportional to , an adding means for adding the human power signals from the two means, and a control means for controlling the power supplied to the electric motor by the output signal from the adding means, It is known that analog control is performed to reduce the power supplied to the vehicle as the vehicle speed increases and to increase it as the steering speed increases.
(発明が解決しようとする課題)
ところで、近年は、マイクロコンピュータから成る電子
制御回路を用いて車両搭載機器の制御を行なう傾向にあ
り、かかる電子制御回路によりパワーステアリングの制
御を行なう場合、電動モータの供給電力を車速と操舵速
度とをパラメータとして検索するデータテーブルを用い
て、電動モータの供給電力を制御することが考えられる
が、かかるデータテーブルの記憶には相当の記憶容量を
必要とし、電子制御回路が高価になる。(Problem to be Solved by the Invention) In recent years, there has been a tendency to use electronic control circuits consisting of microcomputers to control on-vehicle equipment, and when controlling power steering using such electronic control circuits, electric motor It is conceivable to control the power supplied to the electric motor by using a data table that searches for the power supplied to the electric motor using the vehicle speed and steering speed as parameters, but storing such a data table requires a considerable amount of storage capacity, and the electronic Control circuit becomes expensive.
そこで、便宜的に高低複数段に区分けした操舵速度域を
設定して、電動モータの供給電力と車速との関係を規定
する制御マップを該各操舵速度域ごとに異った設定とし
、操舵速度域の判別結果に対応する制御マップに従って
該電動モータの供給電力を制御する方法が考えられる。Therefore, for convenience, we set a steering speed range that is divided into multiple high and low stages, and set a control map that defines the relationship between the electric motor supply power and vehicle speed differently for each of the steering speed ranges. A possible method is to control the electric power supplied to the electric motor according to a control map corresponding to the result of the area determination.
しかし、高低複数段に区分けした操舵速度域に対応する
制御マップによる制御では、低操舵速から高操舵速まで
広範なステアリング操作を行なう低速走行時には問題な
いが、比較的低い操舵速度で微妙なステアリング操作を
行なう高速走行時には適切な制御を行ない得なくなり、
操作フィーリングが悪化する問題がある。However, with control using a control map that corresponds to a steering speed range divided into multiple stages of high and low speeds, there is no problem when driving at low speeds where a wide range of steering operations are performed from low to high steering speeds. When driving at high speeds, it becomes impossible to control the vehicle properly.
There is a problem that the operation feeling deteriorates.
本発明の目的は、安価な電子制御回路によりパワーステ
アリングを制御でき且つ高速走行時にステアリングの操
作フィーリングを良好にした制御方法を提供することに
ある。SUMMARY OF THE INVENTION An object of the present invention is to provide a control method that can control power steering using an inexpensive electronic control circuit and provides a good steering feel during high-speed driving.
(課題を解決するための手段)
上記目的を達成すべく、本発明では、電動モータで駆動
される油圧ボンブから吐出する圧油により操舵力をアシ
ストする車両用パワーステアリング装置において、操舵
速度を検出する操舵速度センサと、車速センサと、これ
らセンサからの信号により該電動モータの供給電力を制
御するコントロール手段とを設け、高低複数段に区分け
した操舵速度域を設定して、車速と電動モータの供給電
力との関係を規定する制御マップを該各操舵速度域ごと
に異った設定とし、操舵速度域の判別結果に対応する制
御マップに従って該電動モータの供給電力を制御すると
共に、該各操舵速度域の区分けに車速を関与させ、高車
速領域では各操舵速度域の境界値を低車速領域に比較し
て小さく設定した。(Means for Solving the Problems) In order to achieve the above object, the present invention detects steering speed in a power steering device for a vehicle that assists steering force with pressure oil discharged from a hydraulic bomb driven by an electric motor. A steering speed sensor, a vehicle speed sensor, and a control means for controlling the electric power supplied to the electric motor based on signals from these sensors are provided. A control map that defines the relationship with the power supply is set differently for each of the steering speed ranges, and the power supply to the electric motor is controlled according to the control map corresponding to the determination result of the steering speed range. Vehicle speed is involved in the classification of speed ranges, and the boundary values of each steering speed range are set smaller in high vehicle speed regions than in low vehicle speed regions.
(作 用)
各操舵速度域の区分けに車速を関与させ各操舵速度領域
の境界値を高車速領域では低車速領域に比較して小さく
設定するため、高車速領域では操舵速度の比較的低い範
囲で操舵速度が木目細かく区分けられ、結局操舵速度域
の区分け数を増加せずに、高速走行時において操舵速度
に応じて電動モータの供給電力を木目細かく制御でき、
高速走行時のステアリングの操作フィーリングが良好に
なる。(Function) Vehicle speed is involved in the classification of each steering speed range, and the boundary value of each steering speed range is set smaller in the high vehicle speed range than in the low vehicle speed range, so in the high vehicle speed range, the steering speed range is relatively low. The steering speed is divided into finely divided sections, and the power supplied to the electric motor can be finely controlled according to the steering speed during high-speed driving without increasing the number of divisions in the steering speed range.
The steering feels better when driving at high speeds.
(実施例)
ml図を参照して、〈1)は一端にステアリングホイー
ル(2)と他端にビニオンギャ(3)とを取付けたステ
アリングシャフト、(4)はラック杆(5)に取付けた
ピストン(6)を摺勤自在に収納するパワーシリンダを
示し、該ピニオンギャ(3)を該ラック杆(5)の外周
のラックに噛合すると共に、該ラック杆(5)の両端部
を各操舵輪(7)のナックルアーム(7a)に夫々タイ
ロツド(8)を介して連結した。(Example) Referring to the ml diagram, <1) is a steering shaft with a steering wheel (2) attached to one end and a pinion gear (3) at the other end, and (4) is a piston attached to a rack rod (5). (6) is slidably accommodated in the power cylinder, the pinion gear (3) is engaged with the rack on the outer periphery of the rack rod (5), and both ends of the rack rod (5) are connected to each steering wheel ( They were connected to the knuckle arms (7a) of 7) through tie rods (8), respectively.
図面で(9)はオイルタンク(IOを組付けた油圧ボン
ブであり、該油圧ボンブ(9)のケーシングにこれを駆
動する直流電動モータ(II+を一体的に組付け、該油
圧ボンブ(9)に接続した吐出配管(12a)と戻り配
管(12b)とを前記ステアリングシャフl− (1)
の外周に設けた切換弁(ICの流入ボート(13a)と
流出ポート(13b)とに夫々接続すると共に、前記パ
ワーシリンダ(4)の左右両側の各圧カ室(4a) (
4b)に連なる各配管(14 a)(14 b)の端部
茎該切換弁qつの各ボートに接続し、電動モータ型の車
両用パワーステアリング装置を構成した。In the drawing, (9) is a hydraulic bomb in which an oil tank (IO) is assembled, and a DC electric motor (II+) for driving the oil tank (IO) is integrally assembled in the casing of the hydraulic bomb (9). The discharge pipe (12a) and return pipe (12b) connected to the steering shaft l-(1)
The switching valves (connected to the inflow port (13a) and outflow port (13b) of the IC, respectively) provided on the outer periphery of the IC, and the respective pressure chambers (4a) on both left and right sides of the power cylinder (4)
The end stems of each of the pipes (14a) and (14b) connected to 4b) were connected to each of the q switching valves to form an electric motor type vehicle power steering device.
前記切換弁l′l3は、ステアリングホイール(2》の
操作に連動して各圧力室(4a) (4b)に連なる前
記両配管(14 a)(14 b)の一方を吐出配管(
12a)と他方を戻り配管(12b)とに接続し、パワ
ーシリンダ(4)の一方の室に操舵反力に応じた油圧を
生じさせてステアリングをアシストするように作動する
。The switching valve l'l3 switches one of the pipes (14a) (14b) connected to each pressure chamber (4a) (4b) to the discharge pipe (1) in conjunction with the operation of the steering wheel (2).
12a) and the other are connected to the return pipe (12b), and operate to generate hydraulic pressure in one chamber of the power cylinder (4) according to the steering reaction force to assist steering.
前記電動モータ(I1)はバッテリ等の電源(Is)に
コントロール手段(IGを介して接続されており、操舵
速度及び車速で変化するパワーシリンダ(4)の必要/
rtlffiを過不足くなく供給し得るように、該コン
トロール手段(′IOに、操舵速度を検出する操舵速度
センサ0Dと車速センサ(1&とからの信号を入力し、
電動モータ(+1)の供給電力を該コントロール手段(
IOにより制御するようにした。The electric motor (I1) is connected to a power source (Is) such as a battery via a control means (IG), and the power cylinder (4) is connected to a power source (Is) such as a battery that changes with the steering speed and vehicle speed.
In order to supply just the right amount of rtlffi, signals from the steering speed sensor 0D that detects the steering speed and the vehicle speed sensor (1&) are input to the control means ('IO).
The power supplied to the electric motor (+1) is controlled by the control means (
It was controlled by IO.
該操舵速度センサ117)は、前記ステアリングシャフ
ト(1)に固定した磁石(17a)とコラム等に取付け
られるビックアップコイル(17b)とで操舵速度に比
例した周波数のパルス信号を発生するように構成され、
また車速センサ(13はトランスミッションの出力軸等
に固定される図示しない磁石とミッションケース等に取
付けられる図示しないビックアップコイルとで車速に比
例した周波数のパルス信号を発生するように構成されて
いる。The steering speed sensor 117) is configured to generate a pulse signal with a frequency proportional to the steering speed using a magnet (17a) fixed to the steering shaft (1) and a big up coil (17b) attached to a column or the like. is,
In addition, the vehicle speed sensor (13) is configured to generate a pulse signal with a frequency proportional to the vehicle speed using a magnet (not shown) fixed to the output shaft of the transmission, etc., and a kick-up coil (not shown) attached to the transmission case, etc.
前記コントロール手段(IOは、第2図に示す如く、前
記操舵速度センサ(I7)からのパルス信号を電圧信号
に変換する操舵パルス入力回路(′1つと、前記車速セ
ンサ(Ieからのパルス信号を電圧信号に変換する車速
パルス人力回路■と、該両人力回路(1■■からの出力
信号を入力するマイクロコンピュータから成る電子制御
回路0とを備えており、前記電動モータ(I1)の駆動
回路■にPET Q3(電界効果トランジスタ)を該モ
ータ(I1)と直列に介設し、該電子制御回路■から出
力される信号をPET ドライブ回路QΦに入力し、該
FIET ドライブ回路QΦからの電圧信号を該FET
@のゲー1・に入力するようにした。As shown in FIG. 2, the control means (IO) includes a steering pulse input circuit (') that converts a pulse signal from the steering speed sensor (I7) into a voltage signal, and a steering pulse input circuit (') that converts a pulse signal from the steering speed sensor (I7) into a voltage signal; The drive circuit for the electric motor (I1) is equipped with a vehicle speed pulse human power circuit (■) that converts it into a voltage signal, and an electronic control circuit (0) consisting of a microcomputer that inputs the output signal from both human power circuits (1 (1)). A PET Q3 (field effect transistor) is inserted in series with the motor (I1) in ■, the signal output from the electronic control circuit ■ is input to the PET drive circuit QΦ, and the voltage signal from the FIET drive circuit QΦ is The FET
I changed the input to @'s game 1.
前記電子制御回路■には操舵速度区分マップと該区分マ
ップに対応する電力制御マップとが記憶させてある。The electronic control circuit (2) stores a steering speed classification map and a power control map corresponding to the classification map.
該区分マップは、第3図に示す如く、操舵速度領域をA
,B,C,Dの高低4段階に区分けし、車速をパラメー
タとして高車速領域では各操舵速度域A,B,C,Dの
境界値を低車速領域に比較して小さく設定し、後述する
如く高車速領域において操舵速度に対する電動モータ(
I1)の供給電力の木目細かな制御を可能としている。As shown in FIG. 3, the classification map divides the steering speed region into
. The electric motor (
I1) enables fine-grained control of the supplied power.
電力制御マップは車速をパラメータとして以下の如く設
定する。The power control map is set as follows using vehicle speed as a parameter.
油圧ポンプ(9)の吐出油ffiQと電動モータaつの
供給電力Wとはほぼ比較関係にあり、また吐出圧の上昇
に伴い吐出油量が減少し、かくて縦軸に吐出浦ML Q
s横軸に供給電力W(定I8電力を100%とする)
を取ると、供給電力Wに対する吐出浦瓜Qの特性線は、
第5図に示す如く吐出圧が増大するにつれてPLで示す
特性線からP I1で示す特性線に向って順次シフトす
る。The discharge oil ffiQ of the hydraulic pump (9) and the electric power W supplied to one electric motor a are almost in a comparative relationship, and as the discharge pressure increases, the discharge oil amount decreases, and thus the discharge port ML Q is plotted on the vertical axis.
s The horizontal axis is the supplied power W (constant I8 power is taken as 100%)
Then, the characteristic line of the discharged melon Q with respect to the supplied power W is
As shown in FIG. 5, as the discharge pressure increases, the characteristic line indicated by PL shifts sequentially toward the characteristic line indicated by PI1.
尚、PLは最低吐出圧の特性線、PHは最高吐出圧の特
性線である。Note that PL is a characteristic line of the lowest discharge pressure, and PH is a characteristic line of the highest discharge pressure.
この場合、車速か増大するにつれて走行反力が減少する
ため、吐出圧も車速の増加に伴って減少し、かくて供給
電力に対する吐出油mQの特性線は車速の増加に伴って
PH線からPL線側に順次シフトすることになる。In this case, as the running reaction force increases as the vehicle speed increases, the discharge pressure also decreases as the vehicle speed increases, and thus the characteristic line of the discharge oil mQ with respect to the supplied power changes from the PH line to the PL as the vehicle speed increases. It will be shifted sequentially to the line side.
一方、操舵速度と必要油量との関係は次式で求めること
ができる。On the other hand, the relationship between the steering speed and the required amount of oil can be determined by the following equation.
Q’ −SXLXN
?′・・・必要油量
S ・・・パワーシリンダ(4)のピストン面積L ・
・・ピニオンギャ(3)1回転当りのラック杆(5》の
ストローク
N ・・・操舵速度(r,p,m)
従って、前記第5図のグラスの右側の縦軸に操舵速度N
を吐出浦ffiQに対応させて表すことができ、第5図
に基いて各操舵速度域A,B,C,Dに対応する各制御
マップを設定する。Q'-SXLXN? '... Required oil amount S... Piston area L of power cylinder (4)
...Stroke N of the rack rod (5) per rotation of the pinion gear (3) ...Steering speed (r, p, m) Therefore, the steering speed N is shown on the vertical axis on the right side of the glass in Fig. 5 above.
can be expressed in correspondence with the discharge pressure ffiQ, and each control map corresponding to each steering speed range A, B, C, and D is set based on FIG.
前記各操舵速度域A,B,C,Dの境界値を高速度領域
において段階的に低下させ、A域とB域との境界値を車
速v1以下の低車速領域ではNA,、■,より大きくV
2以下の中車速領域ではNA2、v2より大きい高市速
領域ではNA,に設定し、B域とC域との境界値を上記
車速域に対応させて夫々NB,,NB■,NB,にC域
とD域との境界値を夫々NC,, NC2, NC3に
設定すると共に、D域の代表値を上記車速領域に対応さ
せて夫々N O, , N D2 , N D3に設定
し、前記各特性線P■,PLに基いてこれら境界値及び
代表値に対応す?供給電力Wを第5図のグラフから求め
る。The boundary values of each of the above-mentioned steering speed ranges A, B, C, and D are gradually lowered in the high speed range, and the boundary values between the A range and B range are set to NA, , , and more in the low vehicle speed range below vehicle speed v1. big V
Set to NA2 in the medium vehicle speed range of 2 or less, NA in the high city speed range greater than v2, and set the boundary values between the B range and C range to NB, NB■, NB, respectively, corresponding to the above vehicle speed range. The boundary values of the C area and the D area are set to NC, , NC2, and NC3, respectively, and the representative values of the D area are set to N O, , ND2, and ND3, respectively, corresponding to the above vehicle speed area, and the Based on each characteristic line P■, PL, do they correspond to these boundary values and representative values? The supplied power W is determined from the graph in FIG.
即ち、低車速領域の各境界値NA,, NB,, NC
1及び代表値NO,に対応する供給電力はP■線に基く
上限値が夫々WAo , W B o , W C o
,WDo(100%)、PL線に基く下限値が夫々W
A,, We., WC,, WD,となり、車速の増
加による吐出圧の減少に対応させて供給電力Wを上限値
から下限値に車速の増加に伴って段階的に減少させる。That is, each boundary value NA,, NB,, NC in the low vehicle speed region
1 and the representative value NO, the upper limit values based on the P line are WAo, W B o, and W Co, respectively.
, WDo (100%), the lower limit value based on the PL line is W
A,, We. , WC,, WD, and the supplied power W is gradually decreased from the upper limit value to the lower limit value as the vehicle speed increases in response to the decrease in the discharge pressure due to the increase in vehicle speed.
また、中車速領域の各境界値NA2, NB2, NC
2及び代表値NO2に対応するPt線に基く供給電力は
夫々’WA2, WB2, WC2, wo2、高車速
領域の各境界値NA3, NB,, NC,及び代表値
NO,に対応するPL線に基く供給電力は夫々WA.,
W B! , W C3 W 0!となり、従って各操
舵速度域A.B,C,Dに対応する第4図に示すような
各電力制御マップ八. B’, C’, D’が求めら
れる。In addition, each boundary value NA2, NB2, NC of the medium vehicle speed region
The supplied power based on the Pt line corresponding to 2 and the representative value NO2 is calculated as follows. The power supply based on each WA. ,
W B! , W C3 W 0! Therefore, each steering speed range A. 8. Each power control map as shown in FIG. 4 corresponding to B, C, and D. B', C', and D' are found.
結局、各操舵速度域A,B,C,Dの境界値を高車速領
域では低車速領域に比べて小さく設定することにより、
各操舵速度域A,B,C,Dの速度幅が高車速領域にお
いて小さくなって、高速走行時において操舵速度Nに応
じて1は動モータ(+1)の9%給Tu力Wを木目細く
制御できる。In the end, by setting the boundary values of each steering speed range A, B, C, and D to be smaller in the high vehicle speed region than in the low vehicle speed region,
The speed width of each steering speed range A, B, C, and D becomes smaller in the high vehicle speed region, and when driving at high speed, the 9% supply Tu force W of the dynamic motor (+1) becomes narrower depending on the steering speed N. Can be controlled.
尚、上記実施例では、全車速域において操舵力をアシス
トするようにしたが、これに限るものでなく軽自動車等
の小型の車両に適用する場合には、第6図に示す如《所
定車速以上の領域では電動モータaυへの通電を停止し
アシスト力をカットするように制御マップを設定するこ
とも可能である。In the above embodiment, the steering force is assisted in the entire vehicle speed range. In the above range, it is also possible to set the control map so as to stop energizing the electric motor aυ and cut the assist force.
(発明の効果)
以上の説明から明らかなように、本発明によれば、安価
な電子制御回路によりパワーステアリングを制御できる
と共に、操舵速度域の区分け数を増加せずに高速走行時
において操舵速度に応じて電動モータの供給電力を木口
細く制御でき、高速走行時のステアリングの操作フィー
リグを良好にできる効果を有する。(Effects of the Invention) As is clear from the above description, according to the present invention, power steering can be controlled by an inexpensive electronic control circuit, and the steering speed can be controlled during high-speed driving without increasing the number of divisions in the steering speed range. The electric power supplied to the electric motor can be controlled in a narrow manner according to the current speed, which has the effect of improving the steering feel when driving at high speeds.
第1図は本発明方法を実施する制御装置の例を具備する
車両用パワーステアリング装置全体の説明線図、第2図
はその制御回路図、第3図は車速と操舵速度域との関係
を示す特性図、第4図は電動モータの供給電力と車速と
の関係を示す特性線図、第5図は油圧ボンブの吐出量と
電動モータの供給電力との関係を示す特性図、第6図は
他の実施例の電動モータの供給電力と車速との関係を示
す特性図である。
A, B, C, D・・・操舵速度域A’, B’,
C’, D’・・・制 御 マ ッ プ(9)・・・
油 圧 ボ ン ブ
(1つ・・・電動モータ
qO・・・コントロール手段
(l7)・・・操舵速度センサ
ae・・・車 速 セ ン サ
車遠V(κm/h)
第1図
第4図
車迄■(κm/h)
第2図
第3図
巾違(κm/h)
第5図FIG. 1 is an explanatory diagram of the entire power steering system for a vehicle, which includes an example of a control device that implements the method of the present invention, FIG. 2 is a control circuit diagram thereof, and FIG. 3 shows the relationship between vehicle speed and steering speed range. Fig. 4 is a characteristic diagram showing the relationship between electric motor supply power and vehicle speed; Fig. 5 is a characteristic diagram showing the relationship between hydraulic bomb discharge amount and electric motor supply power; Fig. 6 FIG. 3 is a characteristic diagram showing the relationship between electric power supplied to the electric motor and vehicle speed in another embodiment. A, B, C, D...Steering speed range A', B',
C', D'...Control map (9)...
Hydraulic cylinder (one)...Electric motor qO...Control means (l7)...Steering speed sensor ae...Vehicle speed sensor V (κm/h) Fig. 1 Fig. 4 Figure 2 (κm/h) Figure 2 Figure 3 Width difference (κm/h) Figure 5
Claims (1)
より操舵力をアシストする車両用パワーステアリング装
置において、操舵速度を検出する操舵速度センサと、車
速センサと、これらセンサからの信号により該電動モー
タの供給電力を制御するコントロール手段とを設け、高
低複数段に区分けした操舵速度域を設定して、車速と電
動モータの供給電力との関係を規定する制御マップを該
各操舵速度域ごとに異った設定とし、操舵速度域の判別
結果に対応する制御マップに従って該電動モータの供給
電力を制御すると共に、該各操舵速度域の区分けに車速
を関与させ、高車速領域では各操舵速度域の境界値を低
車速領域に比較して小さく設定したことを特徴とする車
両用パワーステアリング装置における電動モータの制御
方法。A vehicle power steering device that assists steering force with pressure oil discharged from a hydraulic pump driven by an electric motor includes a steering speed sensor that detects steering speed, a vehicle speed sensor, and signals from these sensors to control the electric motor. A control means for controlling the power supply is provided, a steering speed range divided into a plurality of high and low stages is set, and a control map that defines the relationship between the vehicle speed and the power supplied to the electric motor is set differently for each of the steering speed ranges. The power supply to the electric motor is controlled according to the control map corresponding to the determination result of the steering speed range, and the vehicle speed is involved in the classification of each steering speed range, and in the high vehicle speed range, the boundaries of each steering speed range are A method for controlling an electric motor in a power steering device for a vehicle, characterized in that a value is set smaller than in a low vehicle speed region.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1083222A JPH02290780A (en) | 1989-03-31 | 1989-03-31 | Control for electric motor in power steering device for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1083222A JPH02290780A (en) | 1989-03-31 | 1989-03-31 | Control for electric motor in power steering device for vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH02290780A true JPH02290780A (en) | 1990-11-30 |
Family
ID=13796288
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1083222A Pending JPH02290780A (en) | 1989-03-31 | 1989-03-31 | Control for electric motor in power steering device for vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH02290780A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002255054A (en) * | 2001-03-01 | 2002-09-11 | Toyoda Mach Works Ltd | Electric power steering device |
-
1989
- 1989-03-31 JP JP1083222A patent/JPH02290780A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002255054A (en) * | 2001-03-01 | 2002-09-11 | Toyoda Mach Works Ltd | Electric power steering device |
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