JPH05301576A - Electric-driven power steering control device - Google Patents

Electric-driven power steering control device

Info

Publication number
JPH05301576A
JPH05301576A JP4107584A JP10758492A JPH05301576A JP H05301576 A JPH05301576 A JP H05301576A JP 4107584 A JP4107584 A JP 4107584A JP 10758492 A JP10758492 A JP 10758492A JP H05301576 A JPH05301576 A JP H05301576A
Authority
JP
Japan
Prior art keywords
steering
steering torque
deviation
value
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.)
Pending
Application number
JP4107584A
Other languages
Japanese (ja)
Inventor
Shunichi Wada
俊一 和田
Yasuo Naito
靖雄 内藤
Kazuhisa Nishino
一寿 西野
Masanori Takagi
雅則 高木
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
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
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP4107584A priority Critical patent/JPH05301576A/en
Priority to KR1019930006359A priority patent/KR970005786B1/en
Priority to US08/051,545 priority patent/US5467279A/en
Priority to DE69304978T priority patent/DE69304978T2/en
Priority to EP93106791A priority patent/EP0567991B1/en
Publication of JPH05301576A publication Critical patent/JPH05301576A/en
Priority to US08/474,187 priority patent/US5631833A/en
Pending legal-status Critical Current

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  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

PURPOSE:To improve the responsiveness of the steering system by executing the phase-lead compensation of the detected steering torque, obtaining the deviation between the steering torque after compensation and the target steering torque, and controlling the motor according to the summation of the proportional value, the integrated value and the differentiated value of this deviation. CONSTITUTION:The steering torque of a steering shaft is detected by a detecting means 2, and the detected signal Tm is outputted. In a phase-lead compensating means 10, the phase-lag due to the inertia or the like of a motor 3 and a reduction gear is compensated, and the steering torque TS after compensation is obtained. TS becomes Tmn+KD1[Tmn-Tm(n-1)]. (Where, KD1 is the differentiation index.). Then, in a subtracting means 16, the deviation Th between the steering torque TS after compensation and the target steering torque Tr is computed. Based on this deviation Tr, the proportional value Pn, the integrated value In, and the differentiated value Dn are computed by the respective means 12-14. Then, the sum of the Pn, In and Dn is obtained by an adding means 17, and the obtained Te is outputted to a motor driving means 15, the optimum auxiliary steering power is generated by the motor 3, and this auxiliary steering power is added to the steering shaft.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】この発明は、ステアリングの操舵
力に応じて補助操舵力を発生させ、滑らかで異和感がな
い一定の操舵トルクを得ることができる電動パワーステ
アリング制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric power steering control device capable of generating an auxiliary steering force in accordance with a steering force of a steering wheel to obtain a constant steering torque which is smooth and has no discomfort. ..

【０００２】[0002]

【従来の技術】従来の電動パワーステアリング制御装置
においては、例えば特願昭６３−２８７００８号に示さ
れているように、ステアリング操舵時に加わる操舵トル
クと目標制御トルクとに基づいて決定した基本補助操舵
力に、目標制御トルクと操舵トルクの誤差量の微分値か
ら求めた補正量を加算して電動機制御量を求めることが
行なわれていた。2. Description of the Related Art In a conventional electric power steering control device, as shown in Japanese Patent Application No. 63-287008, for example, basic auxiliary steering determined based on a steering torque applied during steering and a target control torque. It has been performed to add the correction amount obtained from the differential value of the error amount between the target control torque and the steering torque to the force to obtain the motor control amount.

【０００３】[0003]

【発明が解決しようとする課題】しかしながら、上記の
ように基本補助操舵力に誤差量の微分値から求めた補正
量を加算した制御量は位相遅れの補償がないために応答
性に限界があり、ステアリングの微振動の原因にもなる
という課題があった。However, the control amount obtained by adding the correction amount obtained from the differential value of the error amount to the basic auxiliary steering force as described above has a limit in responsiveness because there is no compensation for the phase delay. However, there is a problem that it may cause a slight vibration of the steering.

【０００４】この発明は上記のような課題を解決するた
めに成されたものであり、良好な応答性と安定した操舵
感覚を実現することができる電動パワーステアリング制
御装置を得ることを目的とする。The present invention has been made to solve the above problems, and an object of the present invention is to obtain an electric power steering control device capable of realizing a good responsiveness and a stable steering feeling. ..

【０００５】[0005]

【課題を解決するための手段】この発明に係る電動パワ
ーステアリング制御装置は、検出操舵トルクの位相進み
補償を行なう手段と、補償後の検出操舵トルクと目標操
舵トルクの偏差を求める手段と、この偏差の比例値、積
分値、微分値の少なくともいずれかの値を求める手段
と、上記求められた値の和に応じて補助操舵トルクを発
生するモータを制御する手段を設けたものである。An electric power steering control apparatus according to the present invention comprises means for compensating a phase lead of a detected steering torque, means for obtaining a deviation between the detected steering torque after compensation and a target steering torque, and A means for obtaining at least one of a proportional value, an integral value, and a differential value of the deviation, and a means for controlling a motor for generating an auxiliary steering torque according to the sum of the obtained values are provided.

【０００６】[0006]

【作用】この発明においては、検出操舵トルクが位相進
み補償され、補償後の検出操舵トルクと目標操舵トルク
の偏差が求められ、この偏差の比例値、積分値、微分値
の少なくともいずれかの値が求められ、この求められた
値の和に応じて補助操舵用のモータが制御される。According to the present invention, the detected steering torque is phase-advanced and the deviation between the compensated detected steering torque and the target steering torque is obtained. At least one of the proportional value, integral value and derivative value of this deviation is obtained. Is calculated, and the motor for auxiliary steering is controlled according to the sum of the calculated values.

【０００７】[0007]

【実施例】以下、この発明の実施例を図面とともに説明
する。図２はこの実施例による電動パワーステアリング
制御装置の基本構成を示し、１はステアリングホイー
ル、２は操舵トルク検出手段であり、ステアリングホイ
ール１の操舵力に応じた出力が得られる。３はモータで
あり、減速機４を介してステアリング軸５に結合されて
いる。６は制御部であり、操舵トルク検出手段２の出力
から制御量を演算し、この制御量に応じてモータ３を制
御する。７は車輪である。Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows the basic configuration of the electric power steering control device according to this embodiment, where 1 is a steering wheel and 2 is a steering torque detecting means, and an output according to the steering force of the steering wheel 1 is obtained. Reference numeral 3 is a motor, which is coupled to the steering shaft 5 via a speed reducer 4. A control unit 6 calculates a control amount from the output of the steering torque detecting means 2 and controls the motor 3 according to the control amount. 7 is a wheel.

【０００８】図１は制御部６の構成を示し、１０は操舵
トルク位相進み補償手段、１１は目標操舵トルク設定手
段、１２は比例手段、１３は積分手段、１４は微分手
段、１５はモータ駆動手段、１６は減算手段、１７は加
算手段である。FIG. 1 shows the configuration of the control unit 6, 10 is a steering torque phase advance compensating means, 11 is a target steering torque setting means, 12 is a proportional means, 13 is an integrating means, 14 is a differentiating means, and 15 is a motor drive. Means, 16 is subtraction means, and 17 is addition means.

【０００９】次に、上記構成の動作を説明する。ステア
リングホイール１が操舵され、ステアリング軸５にトル
クが加わると、操舵トルク検出手段２から検出信号Ｔm
が出力される。位相進み補償手段１０はモータ３や減速
機４の慣性や摩擦による遅れを補償し、補償後の操舵ト
ルクをＴs とすると、 Ｔs ＝Ｔm(n)＋ＫD1（Ｔm(n)−Ｔm(n-1)） となる。ＫD1は微分係数である。減算手段１６は目標操
舵トルクをＴr として偏差Ｔh ＝Ｔs −Ｔr を演算し、
この偏差Ｔh を基にして各手段１２〜１４により比例値
Ｐn 、積分値Ｉn 、微分値Ｄn を演算する。即ち、 Ｐn ＝Ｋp ×Ｔh Ｉn ＝ＫI ×Ｔh ＋Ｉn-1 （０≦Ｉn ≦α） Ｄn ＝ＫD2×（Ｔh(n)−Ｔh(n-1)） である。ここで、Ｋp 、ＫI 、ＫD2はそれぞれ比例、積
分、微分係数であり、ｎ−１は１演算周期前の算出値を
示す。又、Ｉn は適当な値αでクリップを行なう。次
に、加算手段１７によりＰn 、Ｉn 、Ｄn の和を求める
ことにより、モータ３の制御値Ｔe を求める。即ち、 Ｔe ＝Ｐn ＋Ｉn ＋Ｄn である。この制御値Ｔe をモータ駆動手段１５に出力
し、これによりモータ３は最適な補助操舵力を発生し、
この補助操舵力は減速機４を介してステアリング軸５に
加えられる。Next, the operation of the above configuration will be described. When the steering wheel 1 is steered and torque is applied to the steering shaft 5, the steering torque detecting means 2 outputs a detection signal T m.
Is output. The phase lead compensating means 10 compensates for a delay due to inertia and friction of the motor 3 and the speed reducer 4, and assuming that the steering torque after compensation is T s , T s = T m (n) + K D1 (T m (n) − Tm (n-1) ). K D1 is a differential coefficient. The subtraction means 16 calculates the deviation T h = T s −T r with the target steering torque as T r ,
Proportional value P n by the means 12 to 14 and the deviation T h based on the integral value I n, calculates a differential value D n. That is, P n = K p × T h I n = K I × T h + I n-1 (0 ≦ I n ≦ α) D n = K D2 × (T h (n) −T h (n-1) ) Is. Here, K p , K I , and K D2 are proportional, integral, and derivative coefficients, respectively, and n−1 represents a calculated value one calculation cycle before. Also, I n is clipped at an appropriate value α. Next, the control means T e of the motor 3 is obtained by obtaining the sum of P n , I n and D n by the adding means 17. That is, T e = P n + I n + D n . This control value T e is output to the motor drive means 15, whereby the motor 3 generates an optimum auxiliary steering force,
This auxiliary steering force is applied to the steering shaft 5 via the speed reducer 4.

【００１０】モータ駆動手段１５としては、特願昭６３
−２４６１９１号に示されたＨブリッジ回路を用い、こ
れを図３に示す。２１〜２４はトランジスタであり、ト
ランジスタ２１，２２は制御値Ｔe をＰＷＭのデューテ
ィ比とするとともに、Ｔe の最大値でデューティ１００
％出力とし、０以下ではモータ３を駆動させないように
する。As the motor driving means 15, Japanese Patent Application No.
The H-bridge circuit shown in No. 246191 is used and is shown in FIG. Reference numerals 21 to 24 are transistors, and the transistors 21 and 22 use the control value T e as the PWM duty ratio, and the duty 100 at the maximum value of T e.
% Output, and the motor 3 is not driven when the output is 0 or less.

【００１１】なお、上記実施例では位相進み補償の演算
や微分演算に完全微分を用いたが、ノイズの影響を考慮
した不完全微分（位相進み遅れ）を用いても同様の効果
が得られる。又、演算はディジタル演算でもアナログ演
算でもよい。さらに、モータ３の制御量はモータ３の電
圧値でも電流値でもよく、またモータ３の電流制御はフ
ィードバックのマイナループを持っていてもよい。In the above embodiment, the complete differentiation is used for the phase lead compensation calculation and the differential calculation, but the same effect can be obtained by using the incomplete differentiation (phase lead / lag) considering the influence of noise. The calculation may be digital calculation or analog calculation. Further, the control amount of the motor 3 may be a voltage value or a current value of the motor 3, and the current control of the motor 3 may have a feedback minor loop.

【００１２】[0012]

【発明の効果】以上のようにこの発明によれば、検出操
舵トルクを位相進み補償し、補償後の操舵トルクと目標
操舵トルクの偏差に応じてモータを制御しており、ステ
アリング系の応答性を高めることができる。又、該偏差
の比例値、積分値、微分値をモータの制御値としてお
り、目標制御トルクに一致した制御値を求めることがで
きる。As described above, according to the present invention, the detected steering torque is phase-advanced and the motor is controlled according to the deviation between the steering torque after compensation and the target steering torque. Can be increased. Further, the proportional value, integral value, and derivative value of the deviation are used as motor control values, and a control value that matches the target control torque can be obtained.

【図面の簡単な説明】[Brief description of drawings]

【図１】この発明装置の制御部の構成図である。FIG. 1 is a configuration diagram of a control unit of the device of the present invention.

【図２】この発明装置の構成図である。FIG. 2 is a block diagram of the device of the present invention.

【図３】この発明によるモータ駆動手段の構成図であ
る。FIG. 3 is a configuration diagram of a motor drive unit according to the present invention.

【符号の説明】[Explanation of symbols]

１ ステアリングホイール ２ 操舵トルク検出手段 ３ モータ ５ ステアリング軸 ６ 制御部 １０ 位相進み補償手段 １１ 目標操舵トルク設定手段 １２ 比例手段 １３ 積分手段 １４ 微分手段 １５ モータ駆動手段 １７ 加算手段 1 Steering Wheel 2 Steering Torque Detecting Means 3 Motor 5 Steering Shaft 6 Control Unit 10 Phase Lead Compensating Means 11 Target Steering Torque Setting Means 12 Proportional Means 13 Integrating Means 14 Differentiating Means 15 Motor Driving Means 17 Adding Means

─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───

【手続補正書】[Procedure amendment]

【提出日】平成４年１２月１６日[Submission date] December 16, 1992

【手続補正１】[Procedure Amendment 1]

【補正対象書類名】明細書[Document name to be amended] Statement

【補正対象項目名】符号の説明[Correction target item name] Explanation of code

【補正方法】変更[Correction method] Change

【補正内容】[Correction content]

【符号の説明】 １ ステアリングホイール ２ 操舵トルク検出手段 ３ モータ ５ ステアリング軸 ６ 制御部 １０ 位相進み補償手段 １１ 目標操舵トルク設定手段 １２ 比例手段 １３ 積分手段 １４ 微分手段 １５ モータ駆動手段１６ 減算手段 １７ 加算手段[Explanation of reference numerals] 1 steering wheel 2 steering torque detecting means 3 motor 5 steering shaft 6 control section 10 phase lead compensating means 11 target steering torque setting means 12 proportional means 13 integrating means 14 differentiating means 15 motor driving means 16 subtracting means 17 addition means

───────────────────────────────────────────────────── フロントページの続き (72)発明者 西野 一寿 兵庫県姫路市定元町13番地の１ 三菱電機 コントロールソフトウエア株式会社姫路事 業所内 (72)発明者 高木 雅則 兵庫県姫路市千代田町840番地 三菱電機 株式会社姫路製作所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazutoshi Nishino 1 13-13 Sadamoto-cho, Himeji City, Hyogo Prefecture Mitsubishi Electric Control Software Co., Ltd. Himeji Office (72) Inventor Masanori Takagi 840 Chiyoda-cho, Himeji City, Hyogo Prefecture Address Mitsubishi Electric Corporation Himeji Works

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 ステアリングの操舵トルクを検出する手
段と、検出操舵トルクの位相進み補償を行なう位相進み
補償手段と、補償後の検出操舵トルクと目標操舵トルク
の偏差を求める手段と、この偏差の比例値、積分値、微
分値の少なくともいずれかの値を求める手段と、ステア
リングの補助操舵トルクを発生するモータと、上記求め
られた値の和に応じてモータを制御する手段を備えたこ
とを特徴とする電動パワーステアリング制御装置。1. A means for detecting a steering torque of steering, a phase advance compensating means for compensating a phase advance of the detected steering torque, a means for obtaining a deviation between the detected steering torque after compensation and a target steering torque, and a deviation of this deviation. A means for obtaining at least one of a proportional value, an integral value, and a differential value, a motor for generating an auxiliary steering torque of the steering wheel, and a means for controlling the motor according to the sum of the obtained values are provided. A characteristic electric power steering control device.
JP4107584A 1992-04-27 1992-04-27 Electric-driven power steering control device Pending JPH05301576A (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP4107584A JPH05301576A (en) 1992-04-27 1992-04-27 Electric-driven power steering control device
KR1019930006359A KR970005786B1 (en) 1992-04-27 1993-04-15 Motor assisted power steering control device
US08/051,545 US5467279A (en) 1992-04-27 1993-04-26 Motor-assisted power steering control device
DE69304978T DE69304978T2 (en) 1992-04-27 1993-04-27 Control device for a power steering with a motor
EP93106791A EP0567991B1 (en) 1992-04-27 1993-04-27 Motor-assisted power steering control device
US08/474,187 US5631833A (en) 1992-04-27 1995-06-07 Motor-assisted power steering control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4107584A JPH05301576A (en) 1992-04-27 1992-04-27 Electric-driven power steering control device

Publications (1)

Publication Number Publication Date
JPH05301576A true JPH05301576A (en) 1993-11-16

Family

ID=14462871

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4107584A Pending JPH05301576A (en) 1992-04-27 1992-04-27 Electric-driven power steering control device

Country Status (1)

Country Link
JP (1) JPH05301576A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002274404A (en) * 2001-03-21 2002-09-25 Toyoda Mach Works Ltd Electric power steering device
JP2007008292A (en) * 2005-06-29 2007-01-18 Showa Corp Electric power steering device
JP2007008293A (en) * 2005-06-29 2007-01-18 Showa Corp Electric power steering device
CN113972899A (en) * 2021-10-22 2022-01-25 中国科学院光电技术研究所 Novel operational amplification compensation circuit for inertial link and control system thereof

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002274404A (en) * 2001-03-21 2002-09-25 Toyoda Mach Works Ltd Electric power steering device
JP4660947B2 (en) * 2001-03-21 2011-03-30 株式会社ジェイテクト Electric power steering device
JP2007008292A (en) * 2005-06-29 2007-01-18 Showa Corp Electric power steering device
JP2007008293A (en) * 2005-06-29 2007-01-18 Showa Corp Electric power steering device
JP4545055B2 (en) * 2005-06-29 2010-09-15 株式会社ショーワ Electric power steering device
JP4545054B2 (en) * 2005-06-29 2010-09-15 株式会社ショーワ Electric power steering device
CN113972899A (en) * 2021-10-22 2022-01-25 中国科学院光电技术研究所 Novel operational amplification compensation circuit for inertial link and control system thereof
CN113972899B (en) * 2021-10-22 2023-06-30 中国科学院光电技术研究所 Novel operational amplification compensation circuit for inertial link and control system thereof

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