JPH0325075A - Motor-driven power steering - Google Patents
Motor-driven power steeringInfo
- Publication number
- JPH0325075A JPH0325075A JP1158357A JP15835789A JPH0325075A JP H0325075 A JPH0325075 A JP H0325075A JP 1158357 A JP1158357 A JP 1158357A JP 15835789 A JP15835789 A JP 15835789A JP H0325075 A JPH0325075 A JP H0325075A
- Authority
- JP
- Japan
- Prior art keywords
- torque
- detecting means
- dead zone
- detection
- sensors
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000001681 protective effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Power Steering Mechanism (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
(産業上の利用分野〉
本発明は、電動機を用いて自動車のハンドルの操舵力を
軽減する電動パワーステアリング装置に係り,特にトル
クセンサの故障を検出して安全性を向上させた電動パワ
ーステアリング装置に関するものである.
(従来の技術)
電動パワーステアリング装置はハンドルの燥舵力をトル
クセンサにより検出し,そのトルク検出信号に応じて電
動機の電流を調節しアシストトルクを発生させて操舵力
を軽減するように制御するものである.
従って、トルクセンサの故障は致命的な影響を及ぼすの
で種々の保護方式が提案されている。[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to an electric power steering device that uses an electric motor to reduce the steering force of a steering wheel of an automobile, and in particular, to detect a failure of a torque sensor. This invention relates to an electric power steering device that improves safety by using a torque sensor. (Prior technology) An electric power steering device detects the steering force of the steering wheel using a torque sensor, and adjusts the current of the electric motor according to the torque detection signal. The torque sensor is controlled so as to reduce the steering force by generating assist torque.Therefore, since failure of the torque sensor has a fatal effect, various protection methods have been proposed.
(発明が解決しようとする課題)
特に、トルクセンサの異常により操舵トルクの方向と逆
方向の極性でトルク検出信号が出力されると運転“者の
意に反する方向にアシストトルクが加えられ危険な状態
になる.
本発明は、このような最も危険な故障モードとなるトル
クセンサの故障に対して検出を行い保護動作を行うこと
を目的としたものである。(Problem to be solved by the invention) In particular, if a torque detection signal is output with a polarity opposite to the direction of steering torque due to an abnormality in the torque sensor, assist torque is applied in a direction contrary to the driver's intention, which can be dangerous. The object of the present invention is to detect and take protective action against torque sensor failure, which is the most dangerous failure mode.
(aII!題を解決するための手段と作用)上記目的を
達成するため本発明は、ハンドルの捩りトルクを検出す
るトルクセンサを備え、そのトルク検出信号に応じて電
動機の電流を調節しアシストトルクを制御する電動パワ
ーステアリング装置において、第1図に示すようにハン
ドルの捩りトルクを検出する2個のトルクセンサと,こ
の2個のトルクセンサの検出信号からそれぞれ捩りトル
クの方向を判別しトルク方向の不一致を判別するトルク
方向不一致検出手段と、一方のトルクセンサの検出信号
が一定の範囲外にあることを検出する不感帯検出手段を
設け、上記トルク方向不一致検出手段の出力信号と不感
帯検出手段の出力信号の論理積からトルクセンサの故障
を判定して保護動作を可能とした電動パワーステアリン
グ装置である。(aII! Means and operation for solving the problem) In order to achieve the above object, the present invention includes a torque sensor that detects the torsional torque of the steering wheel, and adjusts the current of the electric motor according to the torque detection signal to generate assist torque. As shown in Figure 1, an electric power steering device that controls a steering wheel uses two torque sensors that detect the torsional torque of the steering wheel, and determines the direction of the torsional torque from the detection signals of these two torque sensors and determines the torque direction. A torque direction mismatch detection means for determining a mismatch between the torque direction mismatch detection means and a dead zone detection means for detecting that the detection signal of one of the torque sensors is outside a certain range is provided. This is an electric power steering device that enables protective operation by determining failure of the torque sensor from the AND of output signals.
(実施例) 本発明の実施例を第2図に示す。(Example) An embodiment of the invention is shown in FIG.
第2図においてlは、図示しないハンドルの捩りトルク
を検出しアシストトルク制御に使用するトルクセンサ、
2はトルクセンサ1と同様にハンドルの捩りトルクを検
出し故障検出のために使用するトルクセンサ、3はトル
クセンサ1の検出信号に応じてモーター4の電流を調節
する制御部である.制御部3はアナログ量のトルク検出
信号Tiをディジタル量のトルク検出信号Tiウに変換
するA/D変換手段3a、この信号T1Xに応じて電流
基増工,を定める電流基準決定手段3b.it流基準工
、に応じてモーター4の電流Iを制御する電流制御手段
3c.電流検出手段3dから構成される。In FIG. 2, l is a torque sensor (not shown) that detects the torsional torque of the handle and is used for assist torque control;
2 is a torque sensor that detects the twisting torque of the steering wheel and is used to detect failures, similar to the torque sensor 1; 3 is a control unit that adjusts the current of the motor 4 in accordance with the detection signal of the torque sensor 1; The control section 3 includes an A/D conversion means 3a for converting an analog torque detection signal Ti into a digital torque detection signal Ti, a current reference determining means 3b for determining a current base increase according to this signal T1X. a current control means 3c for controlling the current I of the motor 4 according to the IT style standard construction; It is composed of current detection means 3d.
5Aはトルクセンサ1と2の検出信号からトルク方向の
不一致を判別するトルク方向不一致検出手段で,トルク
センサ1,2の信号から捩りトルクの方向を判定するコ
ンパレータ5a, 5b、トルク方向の不一致を検出す
る排他的論理和( E xclusive○R)回路5
c、検出レベルを設定する調整抵抗器5fから構成され
る.また、本実施例では不感帯検出手段5dを制御部3
の内部に設けディジタル量のトルク検出信号TIXによ
り捩りトルクが一定範囲外にあることを検出するように
構成している。Reference numeral 5A denotes a torque direction mismatch detecting means for determining a mismatch in torque direction from the detection signals of torque sensors 1 and 2. Comparators 5a and 5b determine the direction of torsional torque from the signals of torque sensors 1 and 2; Detecting exclusive OR (Exclusive○R) circuit 5
c. Consists of an adjustment resistor 5f for setting the detection level. Further, in this embodiment, the dead zone detection means 5d is
It is configured to detect that the torsional torque is outside a certain range using a digital torque detection signal TIX.
上記実施例において、トルクセンサ1.2の検出特性は
第3図の特性Aに示すように出力電圧はハンドル捩りト
ルクが零のときv0で正トルクのとき増大し負1−ルク
のとき減少する。In the above embodiment, the detection characteristics of the torque sensor 1.2 are as shown in characteristic A in FIG. 3, where the output voltage is v0 when the steering wheel twisting torque is zero, increases when the torque is positive, and decreases when the torque is negative 1. .
トルクセンサの検出特性は上記特性Aを目標として製作
されるが量産時のバラツキ,周囲温度変化や経年変化等
により特性B,Cのように特性Aに対して士△Vの誤差
を生じる。The detection characteristic of the torque sensor is manufactured with the above-mentioned characteristic A as the target, but due to variations during mass production, changes in ambient temperature, changes over time, etc., an error of ∆V with respect to characteristic A occurs as in characteristics B and C.
不感イfF検出手段5dはトルクセンサ1の出力電圧が
v0±2ΔVの範囲を不感帯としそれ以外の電圧のとき
論理値“1″の信号DEを出力する。The dead fF detecting means 5d sets the range of the output voltage of the torque sensor 1 in the range v0±2ΔV as a dead zone, and outputs a signal DE having a logical value of "1" when the output voltage is other than that range.
調整抵抗器5fの検出レベルは上記v0に設定され、
コンパレータ5a,5bはこの■。とトルクセンサ1,
2の出力電圧を比較して捩りトルクの方向を判定する。The detection level of the adjustment resistor 5f is set to the above v0,
The comparators 5a and 5b are this ■. and torque sensor 1,
The direction of the torsional torque is determined by comparing the two output voltages.
すなわち、トルクセンサの出力電圧がV0より大であれ
ば正トルクと判定して論理値“l”を出力し, v0よ
り小であれば負トルクと判定して論理値{1 0 j#
を出力する.?他的論理和回路5cはコンパレータ5a
, 5bの論理出力が不一致のときトルク方向不一致と
判定して論理値# I ITの信号CSを出力する.上
記信号DEとCSが共にat 1 uになったときアン
ド回路5eはトルクセンサの故障信号FDを出力して電
流制御手段3cの運転を停止させモーター4の電流を零
にしてアシストトルクを零にしフェールセーフ動作を行
う。この場合トルクセンサ1の検出特性が第3図の特性
Aのとき±τ2の捩りトルク範囲が不感帯として除外さ
れるのでトルクセンサ2の検出特性が特性B,Cの範囲
で誤差を生じても誤検出されることはない.
また、トルクセンサ1の検出特性が特性Bまたは特性C
のとき,捩りトルクの一τ,〜τ■または−τ■〜τ,
の範囲が不感借として除外されトルクセンサ2の検出特
性が逆方向にΔVの誤差を生じても誤検出されることは
ない。That is, if the output voltage of the torque sensor is greater than V0, it is determined to be a positive torque and a logical value "l" is output; if it is smaller than v0, it is determined to be a negative torque and a logical value {1 0 j#
Outputs . ? The alternative OR circuit 5c is a comparator 5a
, 5b do not match, it is determined that the torque direction does not match, and a signal CS of logic value #IIT is output. When both the signals DE and CS become at 1 u, the AND circuit 5e outputs a torque sensor failure signal FD, stops the operation of the current control means 3c, and reduces the current of the motor 4 to zero, thereby reducing the assist torque to zero. Perform fail-safe operation. In this case, when the detection characteristic of torque sensor 1 is characteristic A in Fig. 3, the torsional torque range of ±τ2 is excluded as a dead zone, so even if the detection characteristic of torque sensor 2 has an error in the range of characteristics B and C, it will cause an error. It will never be detected. Also, the detection characteristic of torque sensor 1 is characteristic B or characteristic C.
When , the torsional torque is 1τ, 〜τ■ or −τ■〜τ,
This range is excluded as insensitive, and even if the detection characteristic of the torque sensor 2 has an error of ΔV in the opposite direction, it will not be erroneously detected.
本実施例によれば不感帯検出手段の機能をマイクロコン
ピュータで実施することができ、ハードウエアの構成要
素が少なくなり信頼性,経済性が更に向上する。According to this embodiment, the function of the dead zone detection means can be implemented by a microcomputer, and the number of hardware components is reduced, further improving reliability and economical efficiency.
本発明によれば、トルクセンサの検出信号に異常が生じ
、特にハンドルの捩りトルク方向の逆方向にトルク検出
信号が発生するような異常を検出して保護動作を可能に
したので自動車の走行上の安全性,信頼性を向上させる
ことができ、また、構成がシンプルで調整が容易であり
、経済的で大量生産に適した電動パワーステアリング装
置を堤供することができる。According to the present invention, it is possible to perform a protective operation by detecting an abnormality in the detection signal of the torque sensor, especially when the torque detection signal is generated in the direction opposite to the direction of the twisting torque of the steering wheel. In addition, it is possible to provide an electric power steering device that is simple in structure and easy to adjust, and is economical and suitable for mass production.
第1図は本発明の電動パワーステアリング装置の構成図
,第2図は本発明の実施例図、第3図はトルクセンサの
検出特性図である。
1・・・トルクセンサ 3・・・制御部3a・・・A
/D変換手段 3b・・・電流基準決定手段3c・・・
電流制御手段 3d・・・電流検出手段4・・・モー
ター 5・・・トルクセンサ故障検出手段5a,5b・
・・トルク方向判別手段(コンパレータ)5c・・・不
一致検出手段
5d・・・不感帯検出手段
5e・・・アンド回路
(排他的論理和回路)
5f・・・調整抵抗器FIG. 1 is a block diagram of an electric power steering device of the present invention, FIG. 2 is a diagram of an embodiment of the present invention, and FIG. 3 is a detection characteristic diagram of a torque sensor. 1... Torque sensor 3... Control section 3a...A
/D conversion means 3b...Current reference determining means 3c...
Current control means 3d... Current detection means 4... Motor 5... Torque sensor failure detection means 5a, 5b.
...Torque direction determining means (comparator) 5c...Discrepancy detecting means 5d...Dead zone detecting means 5e...AND circuit (exclusive OR circuit) 5f...Adjusting resistor
Claims (1)
そのトルク検出信号に応じて電動機の電流を調節しアシ
ストトルクを制御する電動パワーステアリング装置にお
いて、ハンドルの捩りトルクを検出する2個のトルクセ
ンサと、この2個のトルクセンサの検出信号からそれぞ
れ捩りトルクの方向を判別しトルク方向の不一致を判別
するトルク方向不一致検出手段と、一方のトルクセンサ
の検出信号が一定の範囲外にあることを検出する不感帯
検出手段を設け、上記トルク方向不一致検出手段の出力
信号と不感帯検出手段の出力信号の論理積からトルクセ
ンサの故障を判定することを特徴とする電動パワーステ
アリング装置。Equipped with a torque sensor that detects the twisting torque of the handle.
In an electric power steering device that controls the assist torque by adjusting the current of the electric motor according to the torque detection signal, two torque sensors detect the torsional torque of the steering wheel, and each torsion is detected from the detection signals of these two torque sensors. The torque direction mismatch detection means includes a torque direction mismatch detection means for determining the direction of torque and a mismatch in the torque direction, and a dead zone detection means for detecting that the detection signal of one of the torque sensors is outside a certain range. An electric power steering device characterized in that a failure of a torque sensor is determined from a logical product of an output signal of the dead zone detection means and an output signal of the dead zone detection means.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1158357A JPH0325075A (en) | 1989-06-22 | 1989-06-22 | Motor-driven power steering |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1158357A JPH0325075A (en) | 1989-06-22 | 1989-06-22 | Motor-driven power steering |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0325075A true JPH0325075A (en) | 1991-02-01 |
Family
ID=15669902
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1158357A Pending JPH0325075A (en) | 1989-06-22 | 1989-06-22 | Motor-driven power steering |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0325075A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003276634A (en) * | 2002-03-27 | 2003-10-02 | Honda Motor Co Ltd | Electric power steering device |
JP2017193197A (en) * | 2016-04-18 | 2017-10-26 | 株式会社ジェイテクト | Steering control device |
-
1989
- 1989-06-22 JP JP1158357A patent/JPH0325075A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003276634A (en) * | 2002-03-27 | 2003-10-02 | Honda Motor Co Ltd | Electric power steering device |
JP2017193197A (en) * | 2016-04-18 | 2017-10-26 | 株式会社ジェイテクト | Steering control device |
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