TWI634031B - Method for evaluating the health of a belt drive in an electric power steering system - Google Patents
Method for evaluating the health of a belt drive in an electric power steering system Download PDFInfo
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Abstract
本發明提供一種評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法。其運用偵測電動助力轉向系統中所產生的滑齒現象及滑齒現象發生的頻率，甚至考量馬達的出力，來判斷皮帶傳動裝置健康狀態。藉此，來讓使用者確實了解電動助力轉向系統的皮帶傳動裝置健康狀態。The present invention provides a method of evaluating the health of a belt drive in an electric power steering system. It uses the detection of the slip tooth phenomenon and the frequency of the slip tooth phenomenon generated in the electric power steering system, and even considers the output of the motor to judge the health status of the belt transmission device. In this way, the user can really understand the health of the belt drive of the electric power steering system.
Description
本發明係與評估電動助力轉向系統有關，特別是指一種評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法。The present invention relates to the evaluation of an electric power steering system, and more particularly to a method of evaluating the health of a belt drive in an electric power steering system.
隨著汽車科技的發展以及環保意識的抬頭，汽車已朝向用電動助力轉向系統逐漸地取代傳統的液壓助力轉向系統，其原因在於：With the development of automotive technology and the rise of environmental awareness, cars have gradually replaced traditional hydraulic power steering systems with electric power steering systems because of:
1、傳統的液壓助力轉向系統在引擎運轉時，液壓泵浦一直處於工作狀態而消耗引擎的部分動力，使得整個引擎油消耗量增加。反觀電動助力轉向系統，是以電池為能源來源，獨立於引擎運作而不增加引擎的動力耗損，此外工作效率較液壓助力轉向系統高，節省燃油消耗。1. Traditional hydraulic power steering system When the engine is running, the hydraulic pump is always in working state and consumes part of the power of the engine, so that the total engine oil consumption is increased. In contrast, the electric power steering system uses a battery as an energy source, operates independently of the engine without increasing the power consumption of the engine, and is more efficient than the hydraulic power steering system, saving fuel consumption.
2、電動助力轉向系統可以整合在同一裝置上，增加裝配及保養的便利。液壓助力轉向系則將不同功能的元件配置在不同的地方，透過管線配置產生轉向輔助功能。2. The electric power steering system can be integrated on the same device to increase the convenience of assembly and maintenance. The hydraulic power steering system arranges the components of different functions in different places and generates the steering assist function through the pipeline configuration.
3、電動助力轉向系統沒有液壓助力轉向系統的液壓油更換問題，對於環境較為友善。3. The electric power steering system does not have the hydraulic oil replacement problem of the hydraulic power steering system, and is more friendly to the environment.
4、電動助力轉向系統透過軟體控制可以針對不同的駕駛情況調整輔助力量改善汽車操縱的穩定性和舒適性。液壓助力轉向系統則是維持固定的輔助力量，不能隨行車狀況改變輔助力量。4. The electric power steering system can adjust the auxiliary force to improve the stability and comfort of the car operation for different driving situations through the software control. The hydraulic power steering system maintains a fixed auxiliary force and cannot change the auxiliary force with the driving condition.
對於電動助力轉向系統而言，可以分為管柱助力式電動助力轉向系統（Column-Type EPS）、小齒輪助力式電動助力轉向系統（Pinion-Type EPS）以及齒條助力式電動助力轉向系統（Rack-Type EPS）。For electric power steering systems, it can be divided into column-assisted electric power steering system (Column-Type EPS), pinion-assisted electric power steering system (Pinion-Type EPS) and rack-assisted electric power steering system ( Rack-Type EPS).
對於齒條助力式電動助力轉向系統（Rack-Type EPS）而言，其運作方式是在使用者轉動方向盤後，透過方向機柱驅動齒輪囓合轉向架的齒條部分，帶動轉向架移動，在此同時，裝設在方向機柱上的扭矩感測器會傳輸資訊至電子控制單元，再由電子控制單元控制馬達以驅動主動輪後帶動皮帶，而由皮帶驅動套設在螺帽外的被動輪旋轉並帶動螺帽旋轉，再由螺帽驅動轉向架上的螺桿部分移動，而產生對於使用者提供轉向輔助力量的功效。For the rack-assisted electric power steering system (Rack-Type EPS), the operation mode is that after the user turns the steering wheel, the steering column drive gear meshes with the rack portion of the bogie to drive the bogie to move. At the same time, the torque sensor mounted on the steering column transmits information to the electronic control unit, and then the electronic control unit controls the motor to drive the driving wheel to drive the belt, and the belt drives the passive wheel outside the nut. Rotating and driving the nut to rotate, and then the nut portion of the bogie driving the bogie is moved to produce the steering assisting force for the user.
此種型式的電動助力轉向系統中，選用皮帶時，可以透過皮帶參數以及安裝方式大略得知皮帶於不同張力之下可以承受的最高扭矩上限，但皮帶的張力在長期使用後可能因為機構和皮帶的鬆動、變形或是老化使得其張力降低，令可承受扭矩上限降低進而導致主動輪、皮帶或被動輪之間的轉動不一致而發生滑齒現象。如此一來，滑齒現象代表皮帶傳動裝置的老化，將會使電動助力轉向系統產生輔助力量不足，或者當皮帶斷裂時產生使用者轉向時突然失去輔助力量的情況進而發生行車危險。因此，如何藉由滑齒現象的評估，來讓使用者確實了解電動助力轉向系統皮帶傳動裝置的健康狀態，顯得必須也重要。In this type of electric power steering system, when the belt is selected, the belt torque and the installation method can be used to roughly know the maximum torque limit that the belt can withstand under different tensions, but the belt tension may be due to the mechanism and belt after long-term use. The looseness, deformation or aging causes the tension to decrease, and the upper limit of the tolerable torque is lowered, which causes the rotation between the driving wheel, the belt or the driven wheel to be inconsistent and the sliding tooth phenomenon occurs. In this way, the sliding tooth phenomenon represents the aging of the belt transmission device, which will cause the electric power steering system to generate insufficient auxiliary force, or when the belt is broken, the user suddenly loses the auxiliary force when the vehicle turns, and the driving danger occurs. Therefore, how to make the user understand the health status of the belt drive of the electric power steering system by the evaluation of the sliding tooth phenomenon must also be important.
對於電動助力轉向系統的健康狀態指標(State of Health, SOH)，已有美國US8634986A1號專利提出，其主要技術內容有以下步驟：透過動態模型計算第一個輪胎自動回正力矩。透過狀態估測器獲得第二個輪胎自動回正力矩。計算第一個輪胎自動回正力矩與第二個輪胎自動回正力矩之間的差異。透過持續觀測此差異計算出一個介於0到1的健康狀態指標。並根據此健康狀態指標決定控制行為。用此方法獲得健康指標是包含整個電動輔助轉向系統的狀態，無法單獨探討各部件的健康狀態，也就無法單獨得知驅動皮帶的健康狀態來事先避免皮帶突然斷裂對駕駛者造成的影響。For the State of Health (SOH) of the electric power steering system, it has been proposed in US Pat. No. 8,634,986 A1. The main technical content has the following steps: calculating the first tire automatic returning moment through the dynamic model. The second tire automatic return torque is obtained through the state estimator. Calculate the difference between the first tire's automatic return torque and the second tire's automatic return torque. A health indicator of 0 to 1 is calculated by continuously observing this difference. The control behavior is determined based on this health status indicator. The health indicator obtained by this method is the state of the entire electric assisted steering system. The health status of each component cannot be separately discussed, and the health status of the driving belt cannot be separately known to avoid the influence of the sudden break of the belt on the driver.
此外還有WO2017061257 A1號專利提出，其係提供角度感測器失效時的應對方式，並同時具備系統異常之診斷。然而只能偵測突然發生的異常狀況，還是無法瞭解電動輔助轉向系統的健康狀態。In addition, WO2017061257 A1 patent is proposed, which provides a response mode when the angle sensor fails, and at the same time has a diagnosis of system abnormality. However, it is only possible to detect sudden abnormal conditions and still cannot understand the health status of the electric assist steering system.
本發明之主要目的乃在於提供一種評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法，其藉由滑齒現象的評估來讓使用者可確實了解電動助力轉向系統中皮帶傳動裝置的健康狀態，降低遇到電動助力轉向系統失效的風險。The main object of the present invention is to provide a method for evaluating the health of a belt drive in an electric power steering system, which allows the user to know the health of the belt drive in the electric power steering system by evaluating the slip tooth phenomenon. Reduce the risk of failure of the electric power steering system.
緣是，依據本發明所提供之一種評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法，係運用在一電動助力轉向系統，該電動助力轉向系統包含有一個轉向機構，具有一個殼體和一個轉向架，該殼體具有一個第一開口和一個第二開口；該轉向架，設置在該殼體並且分別穿出該第一開口和該第二開口，該轉向架具有一個齒條部和一個螺桿部；一個齒輪，固接一個轉向機柱，並囓合該齒條部；一個螺帽，在該殼體內螺接該螺桿部；一個馬達，固接該殼體，該馬達具有至少一個轉子和一支輸出軸，該轉子帶動該輸出軸轉動；一個主動輪固接該輸出軸；一個被動輪套設在該螺帽；一條皮帶，套設在該主動輪和該被動輪；該評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法的特徵在於包含下列步驟：資訊測量：使用一個第一感測器量測該轉向機柱每個運作時間點的轉動，產生一第一量測資訊；使用一個第二感測器量測該轉子每個時間點的轉動，產生一個第二量測資訊；資訊判讀：使用一個電子控制單元(ECU)，讀取該第一量測資訊和該第二量測資訊；該電子控制單元預先儲存一個數據資料庫，該數據資料庫儲存該轉子對應該轉向機柱彼此的一個轉動關係以及各判斷依據；滑齒狀態判斷：該電子控制單元運用該第一量測資訊/該第二量測資訊，配合該數據資料庫中的該轉動關係，產生一個比對資訊；該電子控制單元比對該第二量測資訊/該第一量測資訊與該比對資訊，若該兩者之間相差小於一門檻值 ，則判定正常；若兩者之間相差超過該門檻值，則判定產生滑齒現象。According to the present invention, a method for evaluating the health of a belt drive in an electric power steering system according to the present invention is applied to an electric power steering system including a steering mechanism having a housing and a a bogie having a first opening and a second opening; the bogie being disposed in the housing and respectively passing through the first opening and the second opening, the bogie having a rack portion and a a screw portion; a gear fixed to a steering column and engaging the rack portion; a nut in which the screw portion is screwed; a motor fixed to the housing, the motor having at least one rotor and An output shaft, the rotor drives the output shaft to rotate; a driving wheel is fixed to the output shaft; a passive wheel sleeve is disposed on the nut; a belt is sleeved on the driving wheel and the driven wheel; The method of steering the health of the belt drive in the system is characterized by the following steps: information measurement: measuring the steering column each using a first sensor Rotating the time point to generate a first measurement information; using a second sensor to measure the rotation of the rotor at each time point to generate a second measurement information; information interpretation: using an electronic control unit (ECU And reading the first measurement information and the second measurement information; the electronic control unit pre-stores a data database, the data database stores a rotation relationship between the rotor and the steering column, and each judgment basis Sliding tooth state judgment: the electronic control unit uses the first measurement information/the second measurement information to cooperate with the rotation relationship in the data database to generate a comparison information; the electronic control unit compares the first The second measurement information/the first measurement information and the comparison information, if the difference between the two is less than a threshold value, the determination is normal; if the difference between the two exceeds the threshold value, it is determined that the sliding tooth phenomenon occurs. .
藉此，當發生滑齒現象，代表電動助力轉向系統的皮帶傳動裝置健康狀態下降，可以先行提醒使用者，降低遇到電動助力轉向系統失效的風險。Thereby, when the slip tooth phenomenon occurs, the belt transmission device representing the electric power steering system is degraded, and the user can be reminded first to reduce the risk of failure of the electric power steering system.
其中，該第一量測資訊和該第二量測資訊為轉動角度、角速度、角加速度其中之一或其組合。The first measurement information and the second measurement information are one or a combination of a rotation angle, an angular velocity, and an angular acceleration.
此外，在步驟c)中，判定產生滑齒現象後，該電子控制單元產生一個警告資訊，被運用在發出警示來警告使用者。Further, in step c), after it is determined that the slip tooth phenomenon is generated, the electronic control unit generates a warning message and is used to issue an alert to warn the user.
值得一提的是，更有一個步驟d)健康狀態判斷：該電子控制單元記錄滑齒現象發生的時間點，並且判斷在預先設定的一個時段中，若滑齒現象發生頻率小於由預先儲存在該電子控制單元的一個門檻頻率，則判定警戒狀態；若滑齒現象發生頻率大於該門檻頻率，則判定危險狀態。同樣地，在步驟d)中，判定危險狀態後，該電子控制單元產生一個警告資訊，被運用在發出警示來警告使用者。It is worth mentioning that there is a step d) health state judgment: the electronic control unit records the time point at which the slip tooth phenomenon occurs, and judges that in a preset period, if the slip tooth phenomenon occurs less frequently than is stored in advance The threshold frequency of the electronic control unit determines the warning state; if the frequency of the sliding tooth phenomenon is greater than the threshold frequency, the dangerous state is determined. Similarly, in step d), after determining the dangerous state, the electronic control unit generates a warning message and is used to issue an alert to alert the user.
或者在步驟d)中，更使用一個位於轉向機柱上的扭力感測器量測駕駛者出力或更使用一個電流感測器評估馬達出力，輸出一個出力訊號到該電子控制單元；設定一個高出力條件，當該出力訊號代表的出力值大於該高出力條件，則定義為高出力狀態；若滑齒現象沒有發生，定義為正常狀態；若在非高出力狀態下發生滑齒現象，定義為危險狀態；若在高出力狀態發生滑齒現象但發生頻率小於該門檻頻率，判定警戒狀態；若在高出力狀態發生滑齒現象且發生頻率大於該門檻頻率，則判定為危險狀態。如此可以更細緻地劃分使用情況，更貼近使用者需求。Or in step d), using a torsion sensor on the steering column to measure the driver's output or using a current sensor to evaluate the motor output, output a force signal to the electronic control unit; set a high The output condition is defined as a high output state when the output value represented by the output signal is greater than the high output condition; if the slip tooth phenomenon does not occur, it is defined as a normal state; if a slip tooth phenomenon occurs in a non-high output state, it is defined as Dangerous state; if the slip tooth phenomenon occurs in the high output state but the frequency is less than the threshold frequency, the warning state is determined; if the slip tooth phenomenon occurs in the high output state and the occurrence frequency is greater than the threshold frequency, the dangerous state is determined. In this way, the usage can be divided more carefully, which is closer to the user's needs.
為了詳細說明本發明之技術特點所在，茲舉以下之較佳實施例並配合圖式說明如後，其中：In order to explain the technical features of the present invention in detail, the following preferred embodiments will be described with reference to the drawings, wherein:
如第1-3圖所示，本發明第一較佳實施例所提供之一種評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法，係運用在一電動助力轉向系統10，該電動助力轉向系統包含有一個轉向機構11、一個齒輪12、一個螺帽13和一個馬達14。As shown in Figures 1-3, a method for evaluating the health of a belt drive in an electric power steering system according to a first preferred embodiment of the present invention is applied to an electric power steering system 10, the electric power steering system. A steering mechanism 11, a gear 12, a nut 13 and a motor 14 are included.
該轉向機構11具有一個殼體111和一轉向架112，該殼體111具有一個第一開口111a和一個第二開口111b。該轉向架112，設置在該殼體111並且分別穿出該第一開口111a和該第二開口111b，該轉向架112具有一個齒條部112a和一個螺桿部112b。連接車輪的複數橫拉桿21分別連接該轉向架112，而受到該轉向架112驅動。The steering mechanism 11 has a housing 111 and a bogie 112 having a first opening 111a and a second opening 111b. The bogie 112 is disposed in the housing 111 and passes through the first opening 111a and the second opening 111b, respectively. The bogie 112 has a rack portion 112a and a screw portion 112b. A plurality of tie rods 21 connecting the wheels are respectively coupled to the bogie 112 and are driven by the bogie 112.
齒輪12，固接一轉向機柱121，並囓合該齒條部112a。該齒輪12會受到該轉向機柱121帶動轉動，並且帶動該齒條部112a使得該轉向架112移動The gear 12 is fixed to a steering column 121 and engages the rack portion 112a. The gear 12 is rotated by the steering column 121, and the rack portion 112a is driven to move the bogie 112.
該螺帽13，在該殼體111內螺接該螺桿部112b。當該螺帽13轉動，可以驅動該螺桿部112b移動。The nut 13 is screwed into the screw portion 112b in the housing 111. When the nut 13 is rotated, the screw portion 112b can be driven to move.
該馬達14，固接該殼體111，該馬達14具有至少一個轉子(此部分為一般技術，圖中未示)和一支輸出軸142。一個主動輪143，固接該輸出軸142。一個被動輪144套設在該螺帽13。以及一條皮帶145，套設在該主動輪143和該被動輪144。當該馬達14受到控制讓該轉子帶動輸出軸142旋轉，會將動力透過該主動輪143帶動該皮帶145運行，再由該被動輪144傳遞到該螺帽13，而能夠帶動螺桿部112b移動。The motor 14 is secured to the housing 111. The motor 14 has at least one rotor (this portion is a general technique, not shown) and an output shaft 142. A driving wheel 143 is fixed to the output shaft 142. A driven wheel 144 is sleeved on the nut 13. And a belt 145 sleeved on the driving wheel 143 and the driven wheel 144. When the motor 14 is controlled to rotate the output shaft 142, the power will be transmitted through the driving wheel 143 to drive the belt 145, and then the driven wheel 144 is transmitted to the nut 13, so that the screw portion 112b can be moved.
再請參閱第1-5圖，該評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法的特徵在於包含下列步驟： a) 資訊測量：使用一個第一感測器15量測該轉向機柱121每個運作時間點的轉動，產生一第一量測資訊。使用一個第二感測器16量測該轉子每個時間點的轉動，產生一個第二量測資訊。 b) 資訊判讀：使用一個電子控制單元17(Electronic Control Unit, ECU)，讀取該第一量測資訊和該第二量測資訊。該電子控制單元17預先儲存一個數據資料庫D，該數據資料庫儲存該轉子對應該轉向機柱121彼此的一個轉動關係以及各判斷依據。該轉動關係，係在電動助力轉向系統健康的情況下，該轉子和該轉向機柱121間的轉動比例關係。Referring again to Figures 1-5, the method of evaluating the health of the belt drive in the electric power steering system is characterized by the following steps: a) Information measurement: measuring the steering column 121 using a first sensor 15 The rotation of each operating time point produces a first measurement information. A second sensor 16 is used to measure the rotation of the rotor at each time point to produce a second measurement information. b) Information interpretation: The first measurement information and the second measurement information are read using an electronic control unit (Electronic Control Unit, ECU). The electronic control unit 17 pre-stores a data database D, which stores a rotation relationship of the rotor corresponding to the steering column 121 and each determination basis. The rotation relationship is a proportional relationship between the rotation of the rotor and the steering column 121 in the case where the electric power steering system is healthy.
舉例來說，如第4圖所示，當主動輪143齒數 、轉子轉動角度 、被動輪144齒數 、螺帽13轉動角度 時，因為透過皮帶145傳動，有以下關係 For example, as shown in Figure 4, the number of teeth of the driving wheel 143 Rotor rotation angle Passive wheel 144 teeth , the rotation angle of the nut 13 When it is transmitted through the belt 145, the following relationship
又，被動輪144帶動螺帽13轉動，而螺帽13轉動圈數與轉向架112移動的距離為固定比例關係；以及，當該轉向架112移動時，該齒輪12也被該轉向架112的該齒條部112a帶動轉動，該齒輪12轉動角度 與該轉向架移動距離有固定比例關係（線角傳動比），而該齒輪12轉動角度等於該轉向機柱轉動角度 Moreover, the driven wheel 144 drives the nut 13 to rotate, and the number of turns of the nut 13 is fixedly proportional to the distance moved by the bogie 112; and when the bogie 112 moves, the gear 12 is also used by the bogie 112. The rack portion 112a drives the rotation, and the gear 12 rotates at an angle a fixed proportional relationship (the line angle transmission ratio) with the moving distance of the bogie, and the rotation angle of the gear 12 is equal to the rotation angle of the steering column
若 ；被動輪144齒數 ；當螺帽13轉360度時，轉向架112移動 ；當齒輪12轉360度時，轉向架112移動 由上述關係推知 If ; Passive wheel 144 teeth When the nut 13 is turned 360 degrees, the bogie 112 moves When the gear 12 is rotated 360 degrees, the bogie 112 moves Inferred from the above relationship
主動輪143及轉子轉 度時，螺帽轉0.3243 度 Drive wheel 143 and rotor turn When the degree is turned, the nut turns 0.3243 degree
螺帽轉0.3243 度，轉向架112和齒條部112a移動 Nut turn 0.3243 Degree, the bogie 112 and the rack portion 112a move
轉向架112齒條部112a移動 ，則該齒輪12和該轉向機柱轉動角度 為 即為該轉子和該轉向機柱121間的轉動比例關係。 c) 滑齒狀態判斷：該電子控制單元17運用該第一量測資訊/該第二量測資訊，配合該數據資料庫D中的該轉動關係，產生一個比對資訊，在本實施例中係以第二量測資訊為例，也可以採用第一量測資訊。該電子控制單元17比對該第二量測資訊/該第一量測資訊與該比對資訊，若該兩者之間相差小於一門檻值 例如百分之十，則判定正常；若兩者之間相差超過此門檻值，則判定產生滑齒現象。 The bogie 112 rack portion 112a moves , the gear 12 and the steering column rotation angle for That is, the rotational proportional relationship between the rotor and the steering column 121. c) Sliding tooth state determination: the electronic control unit 17 uses the first measurement information/the second measurement information to cooperate with the rotation relationship in the data database D to generate a comparison information, in this embodiment Taking the second measurement information as an example, the first measurement information may also be used. The electronic control unit 17 compares the second measurement information/the first measurement information with the comparison information, and if the difference between the two is less than a threshold value, for example, 10%, the determination is normal; If the difference between the values exceeds this threshold value, it is determined that a slip tooth phenomenon occurs.
藉此，當發生滑齒現象，代表電動助力轉向系統的皮帶145、主動輪143以及被動輪144之組合健康狀態下降，可以先行提醒使用者，降低遇到電動助力轉向系統失效的風險。Thereby, when the slip tooth phenomenon occurs, the combination of the belt 145, the driving wheel 143 and the driven wheel 144 representing the electric power steering system is in a healthy state, and the user can be reminded first to reduce the risk of failure of the electric power steering system.
值得一提的是，該第一量測資訊和該第二量測資訊為轉動角度、角速度、角加速度其中之一或其組合。It is worth mentioning that the first measurement information and the second measurement information are one or a combination of a rotation angle, an angular velocity, and an angular acceleration.
此外，在本實施例中，可以選擇在步驟c)中，判定產生滑齒現象後，該電子控制單元17產生一個警告資訊，被運用在發出警示來警告使用者，其中，該警告資訊以文字、聲音或其它方式呈現。In addition, in this embodiment, in step c), after determining that the sliding tooth phenomenon is generated, the electronic control unit 17 generates a warning message, and is used to issue a warning to warn the user, wherein the warning information is in words. , sound or other means.
請參閱第1-4、6圖，接著介紹本發明第二較佳實施例所提供之一種評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法。其與第一較佳實施例的不同在於，更有一個步驟d)健康狀態判斷：該電子控制單元17記錄滑齒現象發生的時間點，並且判斷在預先設定的一個時段中，例如2秒，若滑齒現象發生頻率小於由預先儲存在該電子控制單元的一個門檻頻率（例如：2次/2秒），則判定警戒狀態；若滑齒現象發生頻率大於該門檻頻率，則判定危險狀態。同樣地，在步驟d)中，判定為危險狀態後，該電子控制單元17產生一個警告資訊，被運用在發出警示來警告使用者。值得一提的是，健康狀態判斷的結果以顯示不同燈號的方式提醒駕駛者。Referring to Figures 1-4 and 6, a method for evaluating the health of the belt drive in the electric power steering system according to the second preferred embodiment of the present invention will be described. It differs from the first preferred embodiment in that there is a step d) health state determination: the electronic control unit 17 records the time point at which the slip tooth phenomenon occurs, and judges that it is in a predetermined period, for example, 2 seconds, If the frequency of the sliding tooth phenomenon is less than a threshold frequency (for example, 2 times/2 seconds) stored in advance in the electronic control unit, the warning state is determined; if the frequency of the sliding tooth phenomenon is greater than the threshold frequency, the dangerous state is determined. Similarly, in step d), after determining that it is in a dangerous state, the electronic control unit 17 generates a warning message and is used to issue an alert to alert the user. It is worth mentioning that the result of the health status judgment reminds the driver by displaying different lights.
除此之外，請參閱第7圖，也可以選擇在步驟d)中，更使用一個位於轉向機柱121上的扭力感測器18(torque sensor)量測駕駛者出力或更使用一個電流感測器19評估馬達14出力，輸出一個出力訊號到該電子控制單元17；設定一個高出力條件，當該出力訊號代表的出力值大於該高出力條件，則定義為高出力狀態；若滑齒現象沒有發生，定義為正常狀態；若在非高出力狀態下發生滑齒現象，定義為危險狀態；若在高出力狀態發生滑齒現象但發生頻率小於該門檻頻率，判定警戒狀態；若在高出力狀態發生滑齒現象但發生頻率大於該門檻頻率，則判定為危險狀態。如此可以更細緻地劃分使用情況，更貼近使用者需求。In addition, please refer to FIG. 7 , and optionally in step d), a torque sensor 18 on the steering column 121 is used to measure the driver's output or use a sense of current. The detector 19 evaluates the output of the motor 14 and outputs a force output signal to the electronic control unit 17; setting a high output condition, when the output value represented by the output signal is greater than the high output condition, it is defined as a high output state; if the sliding tooth phenomenon If it does not occur, it is defined as the normal state; if the slip tooth phenomenon occurs in the non-high output state, it is defined as the dangerous state; if the slip tooth phenomenon occurs in the high output state, but the frequency is less than the threshold frequency, the warning state is determined; If the state has a slip tooth phenomenon but the frequency is greater than the threshold frequency, it is judged to be a dangerous state. In this way, the usage can be divided more carefully, which is closer to the user's needs.
10‧‧‧電動助力轉向系統10‧‧‧Electric power steering system
11‧‧‧轉向機構(pinion steering mechanism)11‧‧‧pinion steering mechanism
111‧‧‧殼體111‧‧‧Shell
111a‧‧‧第一開口111a‧‧‧first opening
111b‧‧‧第二開口111b‧‧‧second opening
112‧‧‧轉向架(steering rack)112‧‧‧steering rack
112a‧‧‧齒條部(toothed portion)112a‧‧‧toothed portion
112b‧‧‧螺桿部(screwed portion)112b‧‧‧screwed portion
12‧‧‧齒輪(pinion)12‧‧‧ Gears (pinion)
121‧‧‧轉向機柱(steering column)121‧‧‧steering column
13‧‧‧螺帽13‧‧‧ Nuts
14‧‧‧馬達14‧‧‧Motor
142‧‧‧輸出軸142‧‧‧ Output shaft
143‧‧‧主動輪143‧‧‧Drive wheel
144‧‧‧被動輪144‧‧‧passive wheel
145‧‧‧皮帶145‧‧‧Land
15‧‧‧第一感測器15‧‧‧First sensor
16‧‧‧第二感測器16‧‧‧Second sensor
17‧‧‧電子控制單元17‧‧‧Electronic Control Unit
18‧‧‧扭力感測器18‧‧‧Torque sensor
19‧‧‧電流感測器 19‧‧‧ Current Sensor
21‧‧‧橫拉桿(tie rod)21‧‧‧Tie rod
D‧‧‧數據資料庫D‧‧‧Data Database
第1圖係本發明第一較佳實施例之立體圖，顯示電動助力轉向系統。 第2圖係本發明第一較佳實施例之剖面示意圖，顯示電動助力轉向系統。 第3圖係本發明第一較佳實施例之部分立體圖，顯示電動助力轉向系統。 第4圖係本發明第一較佳實施例之系統示意圖，顯示電動助力轉向系統。 第5圖係本發明第一較佳實施例之流程方塊圖，顯示評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法。 第6圖係本發明第二較佳實施例之流程方塊圖，顯示評估電動助力轉向系統中皮帶傳動裝置健康狀態的方法。 第7圖係本發明第二較佳實施例之另一態樣的流程方塊圖，其中，增加高出力狀態的判斷條件。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a first preferred embodiment of the present invention showing an electric power steering system. Figure 2 is a schematic cross-sectional view showing a first preferred embodiment of the present invention showing an electric power steering system. Figure 3 is a partial perspective view of a first preferred embodiment of the present invention showing an electric power steering system. Figure 4 is a schematic view of the system of the first preferred embodiment of the present invention showing the electric power steering system. Figure 5 is a block diagram of a first preferred embodiment of the present invention showing a method of evaluating the health of a belt drive in an electric power steering system. Figure 6 is a block diagram of a second preferred embodiment of the present invention showing a method of evaluating the health of a belt drive in an electric power steering system. Figure 7 is a flow block diagram showing another aspect of the second preferred embodiment of the present invention, wherein the judgment condition of the high force state is increased.
Claims (5)
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI443523B (en) * | 2012-03-16 | 2014-07-01 | ||
| CN105480296A (en) * | 2014-10-06 | 2016-04-13 | 日立汽车***转向器株式会社 | Electric power steering device and control device of electric power steering device |
| CN107154084A (en) * | 2016-03-03 | 2017-09-12 | 通用汽车环球科技运作有限责任公司 | Method and system for Fault Isolation in electric motor driven power steering system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI443523B (en) * | 2012-03-16 | 2014-07-01 | ||
| CN105480296A (en) * | 2014-10-06 | 2016-04-13 | 日立汽车***转向器株式会社 | Electric power steering device and control device of electric power steering device |
| CN107154084A (en) * | 2016-03-03 | 2017-09-12 | 通用汽车环球科技运作有限责任公司 | Method and system for Fault Isolation in electric motor driven power steering system |
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