JPS6198670A - Controller for motor power steering system - Google Patents

Controller for motor power steering system

Info

Publication number
JPS6198670A
JPS6198670A JP59218157A JP21815784A JPS6198670A JP S6198670 A JPS6198670 A JP S6198670A JP 59218157 A JP59218157 A JP 59218157A JP 21815784 A JP21815784 A JP 21815784A JP S6198670 A JPS6198670 A JP S6198670A
Authority
JP
Japan
Prior art keywords
motor current
signal
steering
section
current command
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.)
Granted
Application number
JP59218157A
Other languages
Japanese (ja)
Other versions
JPH0339860B2 (en
Inventor
Saiichiro Oshita
宰一郎 大下
Toyohiko Mori
毛利　豊彦
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.)
Subaru Corp
Original Assignee
Fuji Heavy Industries Ltd
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 Fuji Heavy Industries Ltd filed Critical Fuji Heavy Industries Ltd
Priority to JP59218157A priority Critical patent/JPS6198670A/en
Publication of JPS6198670A publication Critical patent/JPS6198670A/en
Publication of JPH0339860B2 publication Critical patent/JPH0339860B2/ja
Granted legal-status Critical Current

Links

Classifications

    • 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
    • B62D5/046—Controlling the motor
    • B62D5/0466—Controlling the motor for returning the steering wheel to neutral position

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

PURPOSE:To improve the returning characteristic of steering wheel to the neutral position by driving a control circuit through an added signal of returning direction motor current command for returning the steering in straight advance direction with correspondence to the steering angle and assist direction motor current command level. CONSTITUTION:A multiplied signal of returning direction motor current command level from returning direction motor current indicating section 1 and a multiplying factor signal from multiplying factor setting section 3 is added with a signal from assist direction motor current indicating section 2 to produce an added signal which is fed to a control circuit 4. The control circuit 4 will decide the polarity of signal in positive/negative deciding section 41 thus to decide the output direction of motor through motor drive section 42. While an absolute value converting section 43 will produce the absolute value of signal which is compared with the output from an armature current detecting section 45 in duty control section 43 to determine the duty factor such that the motor current will be as indicated thus to control the motor drive section 42.

Description

【発明の詳細な説明】 産業上の利用分野 本発明は自動車用電動式パワステアリング装置の制御装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a control device for an electric power steering device for an automobile.

従来の技術 自動車において、転舵時のハンドル操作の軽減をはかる
ために転舵操作時の操舵トルクを検出するトルクセンザ
を設け、これにより転舵トルクを電気量に変換して、こ
の電気量の変化に応じて電動装置の出力を可変的に制御
し操」ヒトルクに応じたパワアシストを行うようにした
電動式パワステアリング装置は既に開発されている（例
えば特公昭４５−４１２４６号公報参照）。Conventional technology In automobiles, in order to reduce the need for steering wheel operations during steering, a torque sensor is installed to detect the steering torque during steering operations.This converts the steering torque into an electrical quantity and detects changes in this electrical quantity. An electric power steering device has already been developed which variably controls the output of the electric device according to the steering torque and provides power assist according to the steering torque (for example, see Japanese Patent Publication No. 45-41246).

考案が解決しようとする問題，６ 車両のステアリングハンドルの操舵力を電動モータの出
力によってアシストし、操舵力の軽減をはかるようにし
た’＋［１ｊｌ＋式バｌノステアリング装置においては
、転舵後のハンドルの戻りが電動モータの１ｕ性力もモ
ータ減速器のフリクション等によって著しく恕〈なろと
言う間開を有している。Problem to be solved by the invention: 6 In the '+ [1jl+ type barno steering system, which aims to reduce the steering force by assisting the steering force of the vehicle's steering wheel with the output of the electric motor, When the handle returns, the electric motor's 1U force has a significant gap due to the friction of the motor speed reducer.

本発明は極めて簡単なる手ｌ夕によってハンドルの直進
位寵即ち中立位僅への戻り特性を向上させると共に、そ
の戻り特性を運転者の好みに応じて選択できるようにし
たものである。The present invention improves the return characteristic of the steering wheel from a straight-ahead position, that is, a neutral position, through extremely simple steps, and also allows the driver to select the return characteristic according to his/her preference.

問題を解決するためのヒ段 本発明は、ステアリングシャフトの捩りトルクに応じて
電動モータへの電流制御を行い該電動モータにより転舵
方向へのパワアシストを行うようにした′ｅ動式パワス
テアリング装討において、転舵角に応じて直進方向に戻
す方向に所定値の戻し方向モータ電流指令値を発するツ
バし方向モータ電流指示部の該戻し方向モータ甫、流指
令値と、上記ステアリングシャフトの捩りトルク信号に
基づきアシスト方向モータ電流指令値を発するアシスト
方向モータ電流指示部の該アシスト方向モータ電流指令
値との加算信号にて電ｏ４＋＋モータによるパワアシス
ト制仙１を行う制御回路を駆動すると共に、上記戻し方
向モータ電流指令仙に乗算されその大きさを変化させる
乗算係数イへ号を発する乗算係数設定部を設け、該乗り
係数設定部の信号を前記戻し方向モータ市流指令佃に乗
算させたことを特徴とするものである。To solve the problem, the present invention provides a dynamic power steering system that controls current to an electric motor according to the torsional torque of a steering shaft, and uses the electric motor to provide power assist in the steering direction. In the design, the return direction motor current command value of the collar direction motor current instruction section which issues a return direction motor current command value of a predetermined value in the direction of returning to the straight running direction according to the steering angle, and the return direction motor current command value of the steering shaft are determined. A control circuit that performs power assist control 1 by the electric O4++ motor is driven by a signal added to the assist direction motor current command value of an assist direction motor current instruction section that issues an assist direction motor current command value based on the torsion torque signal. , a multiplication coefficient setting unit is provided for issuing a multiplication coefficient A which is multiplied by the return direction motor current command and changes the magnitude thereof, and the signal from the multiplication coefficient setting unit is multiplied by the return direction motor current command Tsukuda. It is characterized by:

作用 本発明は上記の構成を採ることにより下記のように作用
する。Operation The present invention operates as follows by employing the above configuration.

（１）、転舵角に応じて１１進方向に戻す方向の所定の
大きさを有する戻し方向モータ電流指令値とステアリン
グシャフトの換りトルク信号に基づくアシスト方向モー
タ電流指令値との加算信号で１ｌｉｌｌ　Ｉ’ｌ￥４１
［！；ｉ１路を駆動するようにしたので、ステアリング
シャフトのアシスト方向モータ電流指令値が写又は零に
近いとき上記戻し方向モータ電流指令値により電動モー
タを直進方向に戻す方向に１１′ｌ力させハンドルの戻
り方向の運動に対する抵抗分を打消すことができる。(1) is an addition signal of a return direction motor current command value having a predetermined magnitude in the direction of returning to the 11-decimal direction according to the steering angle and an assist direction motor current command value based on the steering shaft switching torque signal. 1lill I'l￥41
[! ; Since the i1 path is driven, when the assist direction motor current command value of the steering shaft is close to zero or zero, the electric motor is forced 11'l in the direction to return the electric motor to the straight-ahead direction using the return direction motor current command value. The resistance to movement in the return direction can be canceled out.

ｆ２１、戻し方向モータ電流指令値に乗算し該指令値の
大きさを変化させる乗算係数信号を運転者の好みに応じ
て設定することにより各人の運転感覚に合せたステアリ
ングハンドル戻しトルクを操舵系に与えることができる
。f21, by setting a multiplication coefficient signal that multiplies the return direction motor current command value and changes the magnitude of the command value according to the driver's preference, the steering system adjusts the steering wheel return torque to suit each individual's driving sense. can be given to

実施例 本発明を付図実施例を参照して詳細に説明する。Example The present invention will be explained in detail with reference to the accompanying drawings.

第１図は本発明の１実施例を示すブロックダイヤグラム
で、１はステアリングハンドルのハンドル角を検出する
舵角センサ１１、及びその信号に基づき戻し方向モータ
電流指令値を発する戻しトルク値指示関数部１２よりな
る戻し方向モータ電流指示部で、上記戻しトルク値指示
関数部１２は転舵角がある角Ｊｆ　ｌθ°ＩＪソ下の範
ｆｆ？？では連続的に変化し、１θ°１以上では直進方
向に戻す方向に一定ｊｉｒｉの戻し方向モータ電流指令
値ｔｏを発生させるよう構成さレテいる。FIG. 1 is a block diagram showing one embodiment of the present invention, in which reference numeral 1 denotes a steering angle sensor 11 that detects the steering wheel angle, and a return torque value instruction function unit that issues a return direction motor current command value based on the signal. In the return direction motor current instruction section 12, the return torque value instruction function section 12 has a steering angle in a range below a certain angle Jf lθ° IJ ff? ? The motor current command value to changes continuously at 1θ° 1 or more, and is configured to generate a constant return direction motor current command value to in the direction of returning to the straight traveling direction.

２はステアリングシャフトの捩りトルクを検出する捩り
トルクセンサ２１及びそれによりアシスト方向モータ′
市流指令値を発する出力トルク値指示関数部２２よりな
るアシスト方向モータ電流指示部である。2 is a torsional torque sensor 21 that detects the torsional torque of the steering shaft, and an assist direction motor'
This is an assist direction motor current instruction section consisting of an output torque value instruction function section 22 that issues a commercial command value.

３は一ヒ記戻しトルク値指示関数部１２の戻し方向モー
タ電流指令値に乗算され、その大きさを変化させる乗算
係数信号を発する乗算係数信号部で、該乗算係数信号は
乗算演算部３１により上記戻し方向モータ電流指令値と
乗算されるよう構成されている。Reference numeral 3 denotes a multiplication coefficient signal unit that issues a multiplication coefficient signal that is multiplied by the return direction motor current command value of the return torque value instruction function unit 12 and changes its magnitude; It is configured to be multiplied by the return direction motor current command value.

４は正負判別部４１．市動モータ駆動部４２゜絶対値変
換部４３．デユーティ制御部４４．電磯子電流検出部４
５よりなる従来の電動式パワステアリング装置の制御回
路で、該制御回路４の出力により電動モータ５を駆動し
操舵機構６にパワアシストを与える。4 is a positive/negative discrimination unit 41. City motion motor drive unit 42° absolute value conversion unit 43. Duty control section 44. Denisogo current detection section 4
5, the output of the control circuit 4 drives an electric motor 5 to provide power assist to a steering mechanism 6.

即ち、戻し方向モータ電流指示部１の戻し方向モータ電
流指令値と乗算係数設定部３０粱算係数信号とを乗算し
た芽・分信号とアシスト方向モータ電流指示部２からの
信号とを加算した加算信号が上記制御力１路４に入力さ
れると、正狗判別部４１によりその信号の極性が判別さ
れ電動モータ駆動部４２により電動モータの出力方向が
決定されると共に、絶対領置換部４３によりその信号の
絶対価を採り、デユーティ制御部４４により該信号の絶
対値と電機子電流検出部４５の出力とを比較してモータ
電流が指示価（上記信号の絶対値）通りになるようデユ
ーティ比を決め電動モータ駆動部４２を制御するように
なっている。That is, the sum of the signal from the assist direction motor current instruction section 2 and the signal obtained by multiplying the return direction motor current command value of the return direction motor current instruction section 1 and the multiplication coefficient signal of the multiplication coefficient setting section 30. When a signal is input to the control force 1 path 4, the polarity of the signal is determined by the polarity determining section 41, the electric motor driving section 42 determines the output direction of the electric motor, and the absolute direction changing section 43 determines the polarity of the signal. The absolute value of the signal is taken, and the duty control unit 44 compares the absolute value of the signal with the output of the armature current detection unit 45, and adjusts the duty ratio so that the motor current matches the indicated value (absolute value of the signal). is determined and the electric motor drive section 42 is controlled.

本発明装置の作動状況を説明する前に電動式パワステア
リング装置の一般的な同面１態様を説明する。Before explaining the operating situation of the device of the present invention, one general aspect of the electric power steering device will be explained.

従来の電動式パワステアリング装置は、原理的にはステ
アリングシャフトの倹りトルクを検出し第２図に示すよ
うな伽りトルク信号ＶＴを発する捩りトルクセンサ２１
を用い、この捩りトルク信号ＶＴに応じて第３図に示す
ような電動モータへのアシスト方向モータ電流指令値ｉ
を兄する出力トルク値指示関数部２２の該指令イｊｊｊ
ｉをｊｌｉｌ＋　御回路４に人力することにより駆動時
のパワアシスト制御を行っている。A conventional electric power steering device basically uses a torsional torque sensor 21 that detects the slack torque of the steering shaft and generates a stray torque signal VT as shown in FIG.
The assist direction motor current command value i to the electric motor is determined according to this torsional torque signal VT as shown in FIG.
The command Ijjj of the output torque value instruction function unit 22 that
Power assist control during driving is performed by manually inputting i to jlil+ control circuit 4.

即ち転１柁に際しステアリングハンドルをわずかにＸｌ
！！ｌｊシたところで捩りトルク信号ＶＴが第２１し１
のＶＲ，又はＶＬＩに達すると、その信号ＶＲ。In other words, when turning, turn the steering wheel slightly
! ! At the point lj, the torsional torque signal VT becomes 21st and 1st.
When the signal VR or VLI is reached, the signal VR.

又はＶＬ、によりハンドルの操作方向か右切りか左切り
かであるかを判断し電１動モータに流すべき電流の方向
を定めろ。史にハンドルを回転繰Ｍ　Ｌ、捩すトルク信
号ｖＴＩＪ″−ＶＲ２又’ｔ’！、　Ｖｒ、　２（７，
）　ｖベルに達するとその信号によって制御回路が作動
しはじめ、それ以後は捩りトルク信号に応じて第３図に
示すような電流制御を行い、ステアリングシャフトの捩
りトルクに応じた電動モータのパワアシストを得るよう
になっている。Or, use VL to determine whether the steering wheel is turned to the right or to the left, and determine the direction of the current that should flow through the electric motor. Rotate the handle ML, twist the torque signal vTIJ''-VR2 and 't'!, Vr, 2 (7,
) When V-bell is reached, the control circuit begins to operate according to the signal, and from then on, the current is controlled as shown in Figure 3 according to the torsional torque signal, and the power assist of the electric motor is performed according to the torsional torque of the steering shaft. It is now possible to obtain

本発明では第１図に示すように、従来のステアリングシ
ャフトの捩りトルクを検出する捩りトルクセンサ２１及
びその捩りトルク信号ＶＴに方向モータ電流指示部２に
加え、ステアリングハンドルのハンドル角を検出する舵
角センサ１１、及びその信号に基づき戻し方向モータ電
流指令値ｉθを発する戻しトルク値指示関数部１２より
なる戻し方向モータ電流指示部１と上６己戻し方向モー
タ電流指令値に乗算されその大きさを変化させる乗算係
数信号Ｋを発する乗算係数設定部３とを用い、上記アシ
スト方向モータ電流指示部２のアシスト方向モータ電流
指令（［ｚＫ戻し方向モータ電流指示部１の戻し方向モ
ータ電流指令値ｔｏと乗算係数信号にとの乗算信号に−
ｉθを加算した加算信号ｉ　十Ｋ　−ｉθにて電動モー
タによるパワアシストを行９制（財）回路４を駆動する
ようにしたことを特徴とするものである。In the present invention, as shown in FIG. 1, in addition to a conventional torsional torque sensor 21 for detecting the torsional torque of a steering shaft and its torsional torque signal VT, a directional motor current indicator 2 is also used for detecting the steering wheel angle of the steering wheel. A return direction motor current instruction section 1 is made up of an angle sensor 11 and a return torque value instruction function section 12 that issues a return direction motor current command value iθ based on the signal thereof. The assist direction motor current command of the assist direction motor current instruction section 2 ([zK return direction motor current command value of the return direction motor current instruction section 1 to and the multiplication coefficient signal and the multiplication signal of -
This is characterized in that the power assist by the electric motor is driven by the row 9 system circuit 4 using the sum signal i 10K - iθ obtained by adding iθ.

即ち、戻し方向モータを流指示部１は第４図に示すよう
に転舵角がある角度１θ°１以下の範囲では連続的に変
化し、１θ°１以上では直進方向に一定値の戻し方向モ
ータ電流指令（１ｍ　ｉθを発生させるよう構成されて
いる。That is, as shown in FIG. 4, the return direction motor direction control unit 1 changes continuously within a certain angle range of 1θ°1 or less, and returns the motor to a constant value in the straight direction when the steering angle is greater than 1θ°1. It is configured to generate a motor current command (1 m iθ).

例えばハンドルを右に切った場合この舵角による戻し方
向モータ電流指令値−１θと前記筆算係数信号にとを乗
算した乗算信号−に−ｉθを第６図のアシスト方向モー
タ電流指令値ｔに加えると、この加算によりアシスト方
向モータ電流指令値りは徐々に下方に平行移動し、舵角
が０゜を越えると第５図に示すようにアシスト方向モー
タ電流指令値ｉｌＪ″−に弓θだけ下方に平行移動した
信号を得ることになる。For example, when the steering wheel is turned to the right, -iθ is added to the return direction motor current command value -1θ due to this steering angle and the multiplication signal obtained by multiplying the written coefficient signal by -iθ to the assist direction motor current command value t in Fig. 6. As a result of this addition, the assist direction motor current command value gradually moves downward in parallel, and when the steering angle exceeds 0°, as shown in FIG. You will get a signal that is translated in parallel to .

この出力信−号に基づき、側部）回路４は第５図におい
て実線示の従来の電流制御特性を点線示のように１（弓
θに相当する分だけ下方向に平行移動した電流制御特性
にて電動モータ５の回転制御を行い操舵機構６にパワア
シストを行う。Based on this output signal, the side circuit 4 changes the conventional current control characteristic shown by the solid line in FIG. The rotation of the electric motor 5 is controlled and the steering mechanism 6 is provided with power assist.

以上のように電動モータ５によるパワアシストを伴う転
舵が完了し直進走行に戻る際にステアリングハンドルの
操作力をアシスト方向モータ電流指令値ｔは零となる。As described above, when steering with power assist by the electric motor 5 is completed and the vehicle returns to straight running, the assist direction motor current command value t, which is applied to the operating force of the steering wheel, becomes zero.

そのとき転舵角は当然００以上であるので、制御回路４
０制御特性は第５図点線示のように下方向に１（・Ｌθ
に相当する分だけ平行移動した状態となっており、・従
って捩りトルクが所定値以下のとき−に−ｉ０で表わさ
れろ左切り方向の出力を発し、電動モータ５はハンドル
戻り方向に出力を発生する。At that time, the steering angle is naturally greater than 00, so the control circuit 4
The zero control characteristic changes downward to 1(・Lθ) as shown by the dotted line in Figure 5.
Therefore, when the torsional torque is less than a predetermined value, an output is generated in the left-turning direction (expressed as -i0), and the electric motor 5 generates an output in the steering wheel return direction. do.

その電動モータ５の回転トルクは′電動モータの慣性・
力や減速機のフリクション等よりなるハンドル戻り方向
の連動に対１“る抵抗弁を打消すので操舵機構６は車輪
側のキャスタ効果等によって適確に直進方向に戻る。The rotational torque of the electric motor 5 is 'the inertia of the electric motor
Since the resistance valve against the interlocking movement of the steering wheel in the return direction due to force, friction of the speed reducer, etc. is canceled, the steering mechanism 6 accurately returns to the straight direction due to the caster effect on the wheel side.

操舵枠構が直進位１ａ近くになりモ［宜角がθ°以内の
範囲に入ると第４図のように戻し方向モータ電流指令値
は徐々に寡に近ずくので、１Ｉｉｌｌ＠ＡＩ　ＩＮ！：
路４の制御特性は第５図の、壱細示の状態から徐々に上
方向に平行移動し、左切り方向の出力−に−ｉθも徐々
に小となり、直進位置に戻ったところで、制御回路４の
制御１特ｆ１は第５図実線示のように紙米のものと同じ
状態に戻る。When the steering frame approaches the straight-ahead position 1a and the motor angle enters the range within θ°, the return direction motor current command value gradually approaches a small value as shown in Fig. 4, so 1Iill@AI IN! :
The control characteristic of path 4 is as shown in FIG. 5. From the state shown in FIG. The control 1 characteristic f1 of No. 4 returns to the same state as that of paper rice, as shown by the solid line in FIG.

尚上記においてアシスト方向モータ電流指令値番が零の
状態における戻り方向トルクを発生させるべき戻し方向
モータ箪流指令仙ｔθは戻しトルク値（１７ボ関数都１
２によって決ガミされるので、該戻しトルク飴指示関数
都１２の関数を；ｉ５ｊ　ｊ；ｊｌに設定することによ
りキャスタ効果等による車輪側からのハンドル戻し力に
抵抗となる央素を丁度打消すべきモータトルクの発生を
得ろことかできる。In the above, when the assist direction motor current command value number is zero, the return direction motor flow command tθ that should generate the return direction torque is the return torque value (17
2, so by setting the return torque instruction function 12 to ;i5j j;jl, the center element that resists the steering wheel return force from the wheel side due to the caster effect etc. can be exactly canceled. It is possible to obtain the desired motor torque generation.

尚手記実施例においては卯月センサとしてステアリング
ハンドルのハンドル角を検出するものを用いたが、ラッ
クピニオン式ギヤボックスを用いたものにおいてはラッ
ク軸のストローク搦又はキングピン回転角を用いろこと
かできるのは勿論である。Note: In the example, a sensor that detects the steering wheel angle was used as the Uzuki sensor, but in the case of a rack and pinion type gearbox, it is also possible to use the stroke rate of the rack shaft or the rotation angle of the king pin. Of course.

又戻し方向モータ電流指示部１２はある角度１θ°１以
上では直進方向に戻す方向に−Ｗ値の戻し方向モータ′
市流指令佃−を発するものをあげた力瓢転祉Ｉ−角が犬
となるに従って犬又は小となる戻し方向モータ市流指令
仙を発するものを用いてもよい。Further, the return direction motor current indicating section 12 indicates that the return direction motor' of -W value is returned to the straight direction at a certain angle 1θ°1 or more.
A motor that emits a commercial command may be used, but a return direction motor that emits a commercial command that becomes smaller as the angle becomes dog or dog may also be used.

尚アシスト方向モータ電流指令イ１１又は戻し方向モー
タ電流指令イ１１を１ｊ速に伴ない可変的に制御しパワ
アシスト量を車速か大となるに従って次第に小となるよ
うにしたものに本発明を適用できることは勿論である。The present invention is applied to a vehicle in which the assist direction motor current command A 11 or the return direction motor current command A 11 is variably controlled according to the 1j speed, and the power assist amount is gradually decreased as the vehicle speed increases. Of course it can be done.

発明の効果 本発明は上記の構成を採ることにより下記のように実用
上多大の効果をもたらし得るものである。Effects of the Invention By employing the above configuration, the present invention can bring about many practical effects as described below.

（１）、ステアリングシャフトの捩りトルク信号による
アシスト方向モータ電流指令値に舵角に応じて直進方向
に戻す方向に所定価の戻し方向モータ電流指令値を発す
る戻し方向モータ電流指示部の該戻し方向モータ電流指
令値を加算し、この両信号の加算信号にて電動モータへ
の電流制御特性な転舵方向が右切りの場合は下方向に左
切り方向の場合は上方向に平行移動させ、これによりア
シスト方向モータ電流指令値が零又は零に近い状態で７
１ンドル戻り方向に電動モータ出力を発生させるように
したもので、電動モータの慣性力や減速機のフリクショ
ン等よりなるノ１ンドルの戻り方向に対する抵抗弁を打
消すことができ市、ｍＪ式パワステアリング装置の舵の
戻り特性の著しい改善をはかり得るものである。(1) The return direction motor current instruction section issues a return direction motor current command value of a predetermined value in the direction of returning to the straight traveling direction according to the steering angle in accordance with the assist direction motor current command value based on the torsional torque signal of the steering shaft. The motor current command value is added, and the current control characteristic of the electric motor is controlled by the sum of these two signals.If the steering direction is right-handed, the steering direction is downward, and if the steering direction is left-handed, the current is shifted upward. 7 when the assist direction motor current command value is zero or close to zero.
This is designed to generate electric motor output in the direction of the return of the steering wheel, and can cancel the resistance valve in the direction of the steering wheel return, which is caused by the inertia of the electric motor and the friction of the reducer. The return characteristics of the rudder of the steering device can be significantly improved.

（２）、乗算係数信号を設定範囲内で運転者か選択設定
することにより運転者の好みに合せてノ１７ドル戻し力
を調整できるので、希望の操舵フィーリングが得られる
。(2) By selectively setting the multiplication coefficient signal within the setting range by the driver, the return force can be adjusted according to the driver's preference, so that the desired steering feeling can be obtained.

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

第１図は本発明の実施例を示すブロックダイヤグラム、
第２図及び第６図は従来の電動式ノくワステアリング装
置の制御態様を示すもので、第２図はステアリングシャ
フトの捩りトルク信号特性図、第３図は捩りトルク信号
に基づく電動モータへの電流制御特性図である。第４図
及び第５図は本発明による電動式パワステアリング装置
の制＃態様の１例を示す図で、第４図は舵角信号特性図
、第５図はアシスト方向モータｉ（流指令仙と戻し方向
モータ電流指令値との加算信号に基づく電動モータへの
電流制御特性図である。 １・・・戻し方向モータ電流指示部、１１・・・舵角セ
ンサ、１２・・・戻しトルク値指示関数部、２・・・ア
ノスト方向モータ電流指示部、２１・・・捩りトルクセ
ンサ、２２・・・出力トルク値指示関数部、３・・・乗
算係数設定部、３１・・・乗算演算部、４・・・制御回
路、５・・・電動モータ、６・・・操舵機構。 以　　　上FIG. 1 is a block diagram showing an embodiment of the present invention;
Fig. 2 and Fig. 6 show the control mode of the conventional electrically operated steering device. FIG. 3 is a current control characteristic diagram. 4 and 5 are diagrams showing an example of the control mode of the electric power steering device according to the present invention. FIG. 4 is a steering angle signal characteristic diagram, and FIG. 5 is a diagram showing assist direction motor i (flow command signal It is a characteristic diagram of the current control to the electric motor based on the addition signal of and the return direction motor current command value. 1... Return direction motor current instruction section, 11... Rudder angle sensor, 12... Return torque value Indication function section, 2... Anost direction motor current instruction section, 21... Torsional torque sensor, 22... Output torque value instruction function section, 3... Multiplication coefficient setting section, 31... Multiplication calculation section , 4... control circuit, 5... electric motor, 6... steering mechanism.

Claims (1)

【特許請求の範囲】[Claims] （１）、ステアリングシャフトの捩りトルクに応じて電
動モータへの電流制御を行い該電動モータにより転舵方
向へのパワアシストを行うようにした電動式パワステア
リング装置において、転舵角に応じて直進方向に戻す方
向に所定値の戻し方向モータ電流指令値を発する戻し方
向モータ電流指示部の該戻し方向モータ電流指令値と、
上記ステアリングシャフトの捩りトルク信号に基づきア
シスト方向モータ電流指令値を発するアシスト方向モー
タ電流指示部の該アシスト方向モータ電流指令値との加
算信号にて電動モータによるパワアシスト制御を行う制
御回路を駆動すると共に、上記戻し方向モータ電流指令
値に乗算されその大きさを変化させる乗算係数信号を発
する乗算係数設定部を設け、該乗算係数設定部の信号を
前記戻し方向モータ電流指令値に乗算させたことを特徴
とする電動式パワステアリング装置の制御装置。(1) In an electric power steering device that controls the current to an electric motor according to the torsional torque of the steering shaft and uses the electric motor to provide power assist in the steering direction, the electric power steering device is configured to control the electric current to the electric motor according to the torsional torque of the steering shaft, and to provide power assist in the steering direction according to the steering angle. a return direction motor current command value of a return direction motor current instruction section that issues a return direction motor current command value of a predetermined value in the return direction;
A control circuit that performs power assist control by the electric motor is driven by a signal added to the assist direction motor current command value of an assist direction motor current instruction section that issues an assist direction motor current command value based on the torsional torque signal of the steering shaft. In addition, a multiplication coefficient setting section is provided for emitting a multiplication coefficient signal that is multiplied by the return direction motor current command value and changes its magnitude, and the signal of the multiplication coefficient setting section is multiplied by the return direction motor current command value. A control device for an electric power steering device characterized by:
JP59218157A 1984-10-17 1984-10-17 Controller for motor power steering system Granted JPS6198670A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59218157A JPS6198670A (en) 1984-10-17 1984-10-17 Controller for motor power steering system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59218157A JPS6198670A (en) 1984-10-17 1984-10-17 Controller for motor power steering system

Publications (2)

Publication Number Publication Date
JPS6198670A true JPS6198670A (en) 1986-05-16
JPH0339860B2 JPH0339860B2 (en) 1991-06-17

Family

ID=16715531

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59218157A Granted JPS6198670A (en) 1984-10-17 1984-10-17 Controller for motor power steering system

Country Status (1)

Country Link
JP (1) JPS6198670A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2613310A1 (en) * 1987-03-24 1988-10-07 Honda Motor Co Ltd POWER ASSISTED STEERING SYSTEM FOR VEHICLES
US5065325A (en) * 1989-07-28 1991-11-12 Fuji Jukogyo Kabushiki Kaisha Device for determining malfunctioning of electric-motor-assisted power steering system of motor vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2613310A1 (en) * 1987-03-24 1988-10-07 Honda Motor Co Ltd POWER ASSISTED STEERING SYSTEM FOR VEHICLES
US5065325A (en) * 1989-07-28 1991-11-12 Fuji Jukogyo Kabushiki Kaisha Device for determining malfunctioning of electric-motor-assisted power steering system of motor vehicle

Also Published As

Publication number Publication date
JPH0339860B2 (en) 1991-06-17

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