JPS6212458A - Safety device for motor-driven power steering for automobile - Google Patents
Safety device for motor-driven power steering for automobileInfo
- Publication number
- JPS6212458A JPS6212458A JP60151082A JP15108285A JPS6212458A JP S6212458 A JPS6212458 A JP S6212458A JP 60151082 A JP60151082 A JP 60151082A JP 15108285 A JP15108285 A JP 15108285A JP S6212458 A JPS6212458 A JP S6212458A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- current value
- value
- current
- electric 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
Links
Landscapes
- Power Steering Mechanism (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は自動車用電動式パワステアリング装置の安全装
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 safety 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
サを設け、該トルクセンサにより検出した操舵トルクを
電気量に変換し二接電気量の変化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
応じた操舵方向へのパワアシストを行うと共に、車速を
検出する車速センサを設け、該車速センサの信号により
電動モータの出力を小さくし高速走行時のハンドルの切
り過ぎを防ぐようにした電動式パワステアリング装置は
既に開光されている（例えば特公昭４９−１８０８号公
報参照）。Conventional Technology In order to reduce the need for steering wheel operations during steering, in automobiles, a torque sensor is provided to detect the steering torque during steering operations, and the steering torque detected by the torque sensor is converted into an electrical quantity. The output of the electric motor is variably controlled according to changes in the amount of electricity, and the electric motor provides power assist in the steering direction according to the steering torque, and a vehicle speed sensor is provided to detect the vehicle speed. An electric power steering device that reduces the output of an electric motor in response to a signal to prevent excessive turning of the steering wheel during high-speed driving has already been developed (see, for example, Japanese Patent Publication No. 1808/1983).
発明が解決しようとする問題点
上記のような電動式パワステアリング装［４１転舵操作
時は電動モータの駆動によるパワアシストにて転舵方向
への操舵力は軽減されるが、トルクセンサ或いは制御回
路の故障等により過大なパワアシストが与えられてハン
ドルがとられたりするような問題を生ずることがある。Problems to be Solved by the Invention The above-mentioned electric power steering system [41 During steering operation, the steering force in the steering direction is reduced by power assist driven by the electric motor, but the Due to a circuit failure or the like, excessive power assist may be applied, causing problems such as the steering wheel being turned off.
本発明はこのような問題に対処することを目的とするも
のである。The present invention aims to address such problems.
問題点を解決するための手段
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の回転によ
り転舵方向へのパワアシストを行うと共に、車速センサ
からの車速信号が犬となるに従って転舵方向へのパフア
シストを次第に小となるようにした電動式パワステアリ
ング装置において、車速センサからの車速信号が犬とな
るに従って次第に小となるモータ許容電流値信号を発す
る許容電流値指示関数部と、上記電動モータの電機子［
流がモータ許容電流値より犬となったとき電動式パワス
テアリング装置のシステム線断機構及び警告装置を作動
させる信号を発する異常判別部を設けたことを特徴とす
るものである。Means for Solving the Problems The present invention controls the current to the electric motor according to the torsional torque of the steering shaft, and uses the rotation of the electric motor to provide power assist in the steering direction. In an electric power steering device that gradually reduces puff assist in the steering direction as the signal becomes more variable, a motor permissible current value signal is generated that gradually becomes smaller as the vehicle speed signal from the vehicle speed sensor becomes more specific. The allowable current value indication function section and the armature of the electric motor [
The present invention is characterized by being provided with an abnormality determining section that issues a signal to activate a system wire disconnection mechanism and a warning device of the electric power steering device when the current exceeds the motor allowable current value.
作用
本発明は上記の構成を採ることにより、捩りトルクセン
サ或いは制御回路等の故障による電機子を流の異常値を
停止時及び通常走行時のいずれにおいても適確迅速に検
出し″ｃ′ｆＩＬ勤式パワステアリング装置のシステム
速断機構を作動させて〜ｇル操舵に切替えると共に警告
？＝置を作動させて乗員に異常事態の発生にっき置台を
与えることができる。By adopting the above-described configuration, the present invention can accurately and quickly detect an abnormal value of the armature flow due to a failure of the torsional torque sensor or control circuit, etc., both when stopped and during normal running. It is possible to actuate the system quick cut mechanism of the automatic power steering device to switch to -guru steering, and to actuate the warning position to give the occupants a chance to prepare for the occurrence of an abnormal situation.
実施例 本発明の実施例を附図を参照して説明する。Example Embodiments of the present invention will be described with reference to the accompanying drawings.
第１図において、１はモータ電流指示部であり、該モー
タ電流指示部１は、ステアリングシャフトの捩りトルク
を検出し捩りトルクに比例する捩りトルク信号ｖＴを発
する捩りトルクセンサ１１と、該捩りトルクセンサ１１
の捩りトルク信号ｖＴに応じて例えば第２図の実線りで
示すような関数に基づきモータ電流指令値ｔを発する出
力トルク値指示関数部１２と、車速を検出して車速に比
例する車速信号Ｓを発する車速センサ１３と、停止時に
は１で車速か大となるに従って１より次第に小となる例
えば１− ｋ’ｓで表わされるような単連係数信号ｋを
発し鰺轡俺俸娠萄〜〜幾發軛該車速係数信号ｋを上記出
力トルク値指示関数部１２のモータ′電流指令値−に乗
算させる単連係数演算部１４とからなり、該モータ電流
指示部１の出力信号ｋｉにて制御回路２を介して電動モ
ータ３を駆動し、操舵機構４にパワアシストを与えるよ
うになっている。In FIG. 1, reference numeral 1 denotes a motor current indicating section, which includes a torsional torque sensor 11 that detects the torsional torque of the steering shaft and generates a torsional torque signal vT proportional to the torsional torque; Sensor 11
an output torque value instruction function section 12 that issues a motor current command value t based on a function such as that shown by the solid line in FIG. 2 in response to a torsional torque signal vT; The vehicle speed sensor 13 emits a constant coefficient signal k, which is 1 when stopped and becomes gradually smaller than 1 as the vehicle speed increases, for example, expressed as 1-k's. It consists of a single coefficient calculation section 14 that multiplies the vehicle speed coefficient signal k by the motor current command value - of the output torque value instruction function section 12, and a control circuit using the output signal ki of the motor current instruction section 1. The electric motor 3 is driven via the motor 2 to provide power assist to the steering mechanism 4.
制御回路２は、前記モータ電流指示部１の出力信号Ｈの
正負を判別する正負判別部２１と、該出力信号ｋｉの絶
対値１＆ｚｌを採る絶対値変換部２３と、該正負判別部
２１の信号にて電動モータの回転方向を決定すると共に
絶対値変換部２３の電流指令値にて電動モータ３を駆動
させる電動モータ駆動部２２と、電機子電流検出部２５
にて検出した電動モータの電機子１［と上記絶対値変換
部２３の電流指令値とを比較しデユーティ制御を行うデ
ユーティ制御部２４とからなる。The control circuit 2 includes a positive/negative determining section 21 that determines whether the output signal H of the motor current indicating section 1 is positive or negative, an absolute value converting section 23 that takes the absolute value 1&zl of the output signal ki, and a signal of the positive/negative determining section 21. an electric motor drive unit 22 that determines the rotational direction of the electric motor and drives the electric motor 3 based on the current command value of the absolute value conversion unit 23; and an armature current detection unit 25.
The duty control section 24 performs duty control by comparing the armature 1 of the electric motor detected by the current command value of the absolute value conversion section 23 with the current command value of the absolute value conversion section 23.
上記において、捩りトルク信号ｖＴに対するモータ電流
指令値ｉの変化特性は第２図に示すように停止時には単
連係数信号ｋが１となるため実線示りとなり車速信号Ｓ
が大となるに従って１より次第に小となるので鎖線示Ｍ
を経て点線示Ｈへと推移し、走行速度が増加するに従っ
てパワアシストを次第に減少させ適度の操舵反力！与え
ハンドルの切過ぎ等を防止することができる。In the above, the change characteristic of the motor current command value i with respect to the torsional torque signal vT is as shown in FIG.
As becomes larger, it gradually becomes smaller than 1, so the chain line M
After that, it changes to the dotted line H, and as the traveling speed increases, the power assist is gradually reduced to a moderate steering reaction force! It is possible to prevent the feed handle from being turned too far.
上記のような従来の電動式パワステアリング装置におい
て本発明は、第１図に示すように車速センサ１３からの
車速信号Ｓが犬となるに従って次第に小となるモータ許
容電流値ｉ−信号を発する許容電流値指示関数部５１と
、制御回路２の電機子電流検出部２５にて検出した電機
子電流の起動電流のようなピーク値を吸収する例えば単
一の電気容量素子を用いた低域ｆ波器のような一次遅れ
フィルタ５２と、上記モータ許容′ｗＬ流値６と一次遅
れフィルタ５２の出力電流値とを比較し該−次遅れフィ
ルタ５２の出力電流値がモータ許容電流値ｉ＃より大と
なったとき電動式パワステアリング装置のシステム遮断
機構６及び警告装置７を作動させる信号を発する異常判
別部５３とからなる安全装置５を設けたことを特徴とす
るものである、
即ち、許容電流値指示関数部５１は第６図において実線
で示されるように車速か大となるに従って次第に小とな
るモータ許容電流値ｔ＃を発するよう構成されており、
該モータ許容電流値ｉｇは同じく第３図鎖線示の通常走
行の際に必要とされる車速による修正を行ったパワアシ
ストに相当する電機子電流値を若干上廻るよう設定され
ているので、第３図点線示のようにヒユーズ或いはサー
キットプレ７カ等を用いて電機子電流が一定の大きさに
達したときに電動式パワステアリング装置のシステム遮
断機構を作動させるようにしたものと比較したとき、停
止時及び通常走行時のいずれにおいても電機子電流の異
常値を迅速に検出できるようにしたことにより電動式パ
ワステアリング装置の安全性を向上させるようにしたも
のである。In the conventional electric power steering device as described above, the present invention provides an allowable motor current value i-signal that gradually decreases as the vehicle speed signal S from the vehicle speed sensor 13 becomes smaller as shown in FIG. A low-frequency f wave using, for example, a single capacitance element that absorbs a peak value such as the starting current of the armature current detected by the current value indicating function section 51 and the armature current detection section 25 of the control circuit 2. The output current value of the first-order lag filter 52 is compared with the motor allowable current value 6 and the output current value of the first-order lag filter 52 is larger than the motor allowable current value i#. The present invention is characterized by the provision of a safety device 5 comprising an abnormality determination section 53 that issues a signal to activate a system cut-off mechanism 6 and a warning device 7 of the electric power steering device when the allowable current is exceeded. The value indicating function unit 51 is configured to issue a motor allowable current value t# that gradually decreases as the vehicle speed increases, as shown by the solid line in FIG.
The motor allowable current value ig is also set to be slightly higher than the armature current value corresponding to power assist, which is corrected according to the vehicle speed required during normal driving as shown by the chain line in FIG. When compared with a system in which the system cut-off mechanism of the electric power steering device is activated when the armature current reaches a certain level using a fuse or circuit pre-circuit, as shown by the dotted line in Figure 3. The safety of the electric power steering device is improved by making it possible to quickly detect an abnormal value of the armature current both when stopped and when the vehicle is running normally.
尚電機子電流の起動％流のピーク値による誤動作を防ぐ
ために一次遅れフィルタを用いたが、二次遅れフィルタ
な用いてもよいことは勿論である。Although a first-order lag filter is used to prevent malfunctions due to the peak value of the starting percentage flow of the armature current, it goes without saying that a second-order lag filter may also be used.
又電動モータ３及び操舵機構４間にクラッチ機構が設け
られている場合はシステム遮断機構としてｔａ式パワス
テアリング装置の電源回路をオフする代りにクラッチ機
構をオフさせてもよく或いは電源回路とクラッチ機構の
双方をオフさせてもよい。In addition, if a clutch mechanism is provided between the electric motor 3 and the steering mechanism 4, the clutch mechanism may be turned off instead of turning off the power circuit of the TA type power steering device as a system cutoff mechanism, or the power circuit and the clutch mechanism may be turned off. Both may be turned off.
発明の効果
上記のように本発明によれば、電動式パワステアリング
装置において、捩りトルクセンサ或いは制御回路等の故
障による′電動モータの電機子電流の異常値を停止時或
いは通常走行時のいずれにおいても適確迅速に検出して
電動式パワステアリング装置のシステム濾断機構及び警
告装置を作動させて１ｔｉＪＪモータの暴走やロック状
態に起因する事故の発生を防止でき安全性を高めること
ができるもので、構造の簡単なることと相俟って実用上
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 an electric power steering device, an abnormal value of the armature current of the electric motor due to a failure of the torsional torque sensor or control circuit, etc., can be detected either when stopped or during normal running. It is possible to accurately and quickly detect accidents and activate the system filtration mechanism and warning device of the electric power steering device to prevent accidents caused by the runaway or locked state of the 1tiJJ motor, thereby increasing safety. This, combined with the simple structure, can bring about great practical effects.
第１図は本発明の一冥施例を示すブロックダイヤグラム
、第２図は摸りトルク信号に対するモータ電流指令値特
性図、第３図は車速信号に対する許容′ｆ１．流値及び
電機子電流特性図である。
１・・・モータ電流指示部、２・・・制御回路、３・・
・ｖ１動モータ、４・・・操舵機構、５・・・安全装置
、５１・・・許容電流値指示関数部、５２・・・−次遅
れフィルタ、５３・・・異常判別部、６・・・システム
遮断機構、・７・・・柵告装置
以 上FIG. 1 is a block diagram showing one embodiment of the present invention, FIG. 2 is a motor current command value characteristic diagram for the simulated torque signal, and FIG. 3 is a graph showing the allowable 'f1.' for the vehicle speed signal. It is a current value and armature current characteristic diagram. 1...Motor current instruction section, 2...Control circuit, 3...
-v1 dynamic motor, 4... Steering mechanism, 5... Safety device, 51... Allowable current value indication function unit, 52...-Next lag filter, 53... Abnormality determination unit, 6...・System cutoff mechanism, ・7...Fence notification device and above
Claims (1)
への電流制御を行い該電動モータの回転により転舵方向
へのパワアシストを行うと共に、車速センサからの車速
信号が大となるに従つて転舵方向へのパワアシストを次
第に小となるようにした電動式パワステアリング装置に
おいて、車速センサからの車速信号が大となるに従つて
次第に小となるモータ許容電流値信号を発する許容電流
値指示関数部と、上記電動モータの電機子電流がモータ
許容電流値より大となつたとき電動式パワステアリング
装置のシステム遮断機構及び警告装置を作動させる信号
を発する異常判別部を設けたことを特徴とする自動車用
電動式パワステアリング装置の安全装置。The current to the electric motor is controlled according to the torsional torque of the steering shaft, and power assist is provided in the steering direction by the rotation of the electric motor, and as the vehicle speed signal from the vehicle speed sensor increases, the steering direction is increased. In an electric power steering device in which power assist is gradually decreased, an allowable current value indicating function unit that issues a motor allowable current value signal that becomes gradually smaller as a vehicle speed signal from a vehicle speed sensor becomes larger; An electric motor vehicle for an automobile, characterized in that it is provided with an abnormality determination section that issues a signal that activates a system cutoff mechanism and a warning device of an electric power steering device when the armature current of the electric motor exceeds a motor allowable current value. Safety device for power steering system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60151082A JPS6212458A (en) | 1985-07-09 | 1985-07-09 | Safety device for motor-driven power steering for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60151082A JPS6212458A (en) | 1985-07-09 | 1985-07-09 | Safety device for motor-driven power steering for automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6212458A true JPS6212458A (en) | 1987-01-21 |
Family
ID=15510922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60151082A Pending JPS6212458A (en) | 1985-07-09 | 1985-07-09 | Safety device for motor-driven power steering for automobile |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6212458A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6003380A (en) * | 1996-09-19 | 1999-12-21 | Fujikoki Corporation | Strain gage pressure sensor wherein a gap is maintained between the diaphragm and the substrate |
| KR100455674B1 (en) * | 2000-12-28 | 2004-11-08 | 주식회사 만도 | Apparatus for power steering of vehicle having monitoring unit |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5038228A (en) * | 1973-08-14 | 1975-04-09 | ||
| JPS60209365A (en) * | 1984-04-03 | 1985-10-21 | Nippon Seiko Kk | Trouble detector in electrically-driven type power steering device |
-
1985
- 1985-07-09 JP JP60151082A patent/JPS6212458A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5038228A (en) * | 1973-08-14 | 1975-04-09 | ||
| JPS60209365A (en) * | 1984-04-03 | 1985-10-21 | Nippon Seiko Kk | Trouble detector in electrically-driven type power steering device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6003380A (en) * | 1996-09-19 | 1999-12-21 | Fujikoki Corporation | Strain gage pressure sensor wherein a gap is maintained between the diaphragm and the substrate |
| KR100455674B1 (en) * | 2000-12-28 | 2004-11-08 | 주식회사 만도 | Apparatus for power steering of vehicle having monitoring unit |
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