WO2006051894A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
- Publication number
- WO2006051894A1 WO2006051894A1 PCT/JP2005/020701 JP2005020701W WO2006051894A1 WO 2006051894 A1 WO2006051894 A1 WO 2006051894A1 JP 2005020701 W JP2005020701 W JP 2005020701W WO 2006051894 A1 WO2006051894 A1 WO 2006051894A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- steering
- output
- torque
- torque signal
- frequency
- Prior art date
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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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
- B62D5/0472—Controlling the motor for damping vibrations
Definitions
- the present invention has a torque detection device that detects torque applied to a steering member, a control amount corresponding to the torque detected by the torque detection device, and a torque dead zone that does not output the control amount
- the present invention relates to an electric power steering apparatus including a control unit and a steering assisting electric motor that is driven and controlled based on a control amount output by the control unit.
- An electric power steering device installed in a vehicle assists the steering force of the vehicle with an electric motor.
- the steering member is connected to a steering mechanism in which a steering member (steering) and a steering shaft are connected.
- a steering assist force according to the steering torque detected by the torque sensor by providing a torque sensor for detecting the steering torque applied to the steering wheel and a steering assist electric motor for assisting the operation of the steering mechanism.
- the electric motor By driving the electric motor, the operation force to the steering member is reduced.
- the steering assist force according to the vehicle speed can be obtained so that the operation force on the steering member is not too light.
- Patent Document 1 a first current controller that outputs a first control signal based on a difference between a target current value and a current current value of the motor, and a motor that is generated from the target voltage signal and the current detection value.
- a disturbance voltage estimator that estimates an estimated disturbance voltage value corresponding to the disturbance voltage
- a second current controller that outputs a second control signal based on the output of the disturbance voltage estimator
- a first Adding means for adding the outputs of the current controller and the second current controller to output a target voltage signal, and the disturbance voltage estimator is connected to the secondary side at least on the input side and the output side.
- a current control device for an electric power steering device having the above-described high-nos filter is described.
- Patent Document 2 provides a torque signal mixed and filtered by the first and second filter means connected in parallel, and the first filter means has a torque frequency smaller than the mixing frequency.
- the second filter means has a first function characteristic, and the second filter means has a second function characteristic at a torque frequency greater than the mixing frequency.
- An electrical assist 'steering system control device is described that maintains the width during system operation.
- Patent Document 1 Japanese Patent Laid-Open No. 2002-249061
- Patent Document 2 Japanese Patent No. 2838053 (US 5 4 7 3231, US 55 04403)
- the present invention has been made in view of the circumstances as described above, and it is possible to clearly switch between control for suppressing disturbance input from a tie rod and steering control, and to disturbance disturbance.
- An object of the present invention is to provide an electric power steering device capable of suppressing the influence of the above.
- An electric power steering apparatus is a torque detection device that detects torque stored in a steering member, and outputs a control amount corresponding to a torque signal output from the torque detection device.
- An electric power steering apparatus comprising: a first control unit having a dead zone of the torque signal that does not output the control amount; and a steering assist electric motor that is driven and controlled based on the control amount output by the first control unit.
- a second control unit that outputs a control amount and a dead zone that does not output the control amount; and a torque gain output unit that outputs gain data only when the torque signal detected by the torque detection device is within a predetermined range; Means for detecting the steering angular velocity of the steering member; angular velocity gain output means for outputting gain data only when the steering angular velocity detected by the means is within a predetermined range; and the given vehicle speed is equal to or higher than the predetermined speed. Only when the vehicle speed gain output means for outputting gain data, the gain data output by the torque gain output means, the angular speed gain output means and the vehicle speed gain output means, and the control amount output by the second control means are multiplied. And means for adding the result of multiplication by the means to the control amount output by the first control means.
- the first frequency is 7.5 Hz
- the second frequency is 10 Hz
- the phase advance filter means attenuates and outputs the torque signal when the frequency of the applied torque signal is lower than the first frequency, When higher than the 1st frequency and higher than the 2nd frequency, the phase is advanced and a torque signal is output.
- the second control means outputs a control amount corresponding to the torque signal output from the phase advance filter means, and has a dead zone that does not output the control amount.
- the torque gain output means detects the torque signal detected by the torque detection device. Gain data is output only when is within the specified range.
- the angular velocity gain output means outputs gain data only when the steering angular velocity is within a predetermined range
- the vehicle speed gain output means outputs gain data only when the given vehicle speed is equal to or higher than the predetermined speed.
- the multiplying means multiplies each gain data output from the torque gain output means, angular velocity gain output means and vehicle speed gain output means, and the control amount output from the second control means, and the adding means adds the multiplication result. Add to the control amount output by the first control means.
- FIG. 1 is a block diagram showing a main configuration of an embodiment of an electric power steering apparatus according to the present invention.
- FIG. 2 is a Bode diagram showing input / output characteristics of a third-order high-pass filter.
- FIG. 3 is a characteristic diagram showing input / output characteristics of a controlled variable map.
- FIG. 4 is a characteristic diagram showing input / output characteristics of a torque gain map.
- FIG. 5 is a characteristic diagram showing input / output characteristics of a steering angular velocity gain map.
- FIG. 6 is a characteristic diagram showing input / output characteristics of a vehicle speed gain map.
- FIG. 7 is a characteristic diagram showing test results of a bench test of the electric power steering apparatus according to the present invention.
- Tonolek gain map (Tonolek gain output means)
- Vehicle speed gain map (vehicle speed gain output means)
- FIG. 1 is a block diagram showing a main configuration of an embodiment of an electric power steering apparatus according to the present invention.
- This electric power steering apparatus is sampled by a steering torque signal force interface 20 output from a torque sensor 21 that detects a steering torque applied to a steering member (steering, steering wheel) (not shown), and the sampled steering torque signal Ts is given to the phase compensation unit 11.
- the phase compensation unit 11 performs phase compensation of the steering torque signal Ts.
- the steering torque signal T phase-compensated by the phase compensator 11 is given to the function generator 12 (first control means).
- the function generation unit 12 is also provided with a vehicle speed signal V output by the vehicle speed sensor 3 that detects the traveling speed of the vehicle and sampled by the interface 4.
- the target current 1 (control amount) increases proportionally as the steering torque signal T increases
- a function that saturates the target current I when the steering torque signal T exceeds a predetermined value is variably determined according to the vehicle speed signal V.
- the function is such that as the vehicle speed signal V increases, the ratio of the target current I to the steering torque signal T decreases and the saturation value of the target current I decreases.
- the target current I determined by the function generator 12 is given to the adding means 13.
- the sampled steering torque signal Ts is also supplied to the third-order high-pass filter 17 (advanced filter means; for example, a filter in which three stages of RC filters are stacked).
- the tertiary high-pass filter 17 has input / output characteristics as shown in the Bode diagram of FIG. 2 according to the frequency of the steering torque signal Ts. For example, when a given steering torque signal Ts has a frequency (including a third-order component) lower than 7.5 Hz, the steering torque signal Ts is attenuated and output. To prevent the increase.
- the steering torque signal Ts is amplified by a gain of 1 or more, and the phase of the steering torque signal Ts is set to 90 to Odeg. Advance and output.
- the target output by the control amount map 18 described later is output.
- the current Ic control amount
- a second-order high-pass filter or a fourth-order or higher-order high-pass filter may be used.
- the steering torque signal Ts output from the third-order high-pass filter 17 is given to the control amount map 18 (second control means).
- the control amount map 18 has a function with a large dead zone, and outputs a target current Ic (control amount) corresponding to the steering torque signal Ts.
- the steering torque signal Ts is also given to the torque gain map 22 (torque gain output means).
- the torque gain map 22 shows gain data (for example, 1.0 to 1.0.0) only when a given steering torque signal Ts is, for example, -1.0 to + 1.ON'm. 9N-m; 0 to 1, -0. 9 to + 0. 9N'm; l, 0.9 to 1. ON'm; 1 to 0). This eliminates the effect of suppressing disturbance when the vehicle is steered greatly (for example, other than -1.0 to + 1. ON ⁇ ⁇ ), and prevents an increase in viscosity.
- the steering angular velocity sensor 8 outputs the steering angular velocity signal force sampled by the interface 9 and is given to the steering angular velocity gain map 23 (angular velocity gain output means). As shown in FIG. 5, the steering angular velocity gain map 23 is obtained only when a given steering angular velocity signal is, for example, ⁇ 100 to +100 deg / s. ⁇ + 90degZs; l, 90 ⁇ : L00deg; l ⁇ 0) is output. This eliminates the disturbance suppression effect when the vehicle is steered quickly (for example, other than ⁇ 100 to +100 degZs), and prevents an increase in viscosity.
- the vehicle speed sensor 3 outputs the vehicle speed signal force sampled by the interface 4 and is given to the vehicle speed gain map 24 (vehicle speed gain output means). As shown in FIG. 6, the vehicle speed gain map 24 outputs gain data (for example, 60 to 80 kmZh; 0 to 1, 80 kmZh to 1) only when the given vehicle speed signal is 60 kmZs or more, for example.
- gain data for example, 60 to 80 kmZh; 0 to 1, 80 kmZh to 1
- the target current Ic output from the control amount map 18 and the gain data output from the torque gain map 22, the steering angular velocity gain map 23, and the vehicle speed gain map 24 are given to the multiplication means 19 and multiplied.
- the multiplied result is given to the adding means 13, and the function generator 12 It is added to the set target current I.
- the addition result of the adding means 13 is given to the subtracting means 15.
- the subtracting means 15 is also provided with a motor current detection signal Is output from a motor current detection circuit 7 that detects a current flowing through the electric motor 6 that assists steering.
- the subtraction means 15 subtracts the addition result force motor current detection signal Is of the addition means 13 and gives the subtraction result to the motor voltage calculation section 16.
- the motor voltage calculation unit 16 performs PID calculation on the given subtraction result, and gives a PWM signal based on the calculation result to the motor drive circuit 5.
- the motor drive circuit 5 drives the electric motor 6 by the given PWM signal.
- Phase compensation unit 11, function generation unit 12, third-order high-pass filter 17, control amount map 18, torque gain map 22, steering angular velocity gain map 23, vehicle speed gain map 24, multiplication unit 19, addition means 13, the subtracting means 15 and the motor voltage calculation unit 16 constitute a control unit 1.
- the control unit 1 can also be configured in hardware without using a force microcomputer configured in software with a microcomputer, for example.
- control unit 1 reads the sampled steering torque signal Ts, steering angular velocity signal, vehicle speed signal V, and motor current detection signal Is.
- the steering torque signal Ts is given to the third-order high-pass filter 17 and the torque gain map 22.
- the phase compensation unit 11 performs phase compensation on the read steering torque signal Ts, and the steering torque signal T subjected to phase compensation is given to the function generation unit 12.
- the function generator 12 determines and outputs the target current I by the above-described function based on the steering torque signal T and the vehicle speed signal V given from the phase compensator 11.
- the third-order high-pass filter 17 processes the sampled steering torque signal Ts according to the above-described frequency characteristic (FIG. 2), and gives it to the control amount map 18 (second control means).
- the control amount map 18 determines and outputs a target current Ic (control amount) corresponding to the steering torque signal Ts by the function described above (FIG. 3).
- the torque gain map 22 outputs gain data having the above-described characteristics (FIG. 4) based on the read steering torque signal Ts.
- the steering angular velocity gain map 23 outputs gain data having the above-described characteristics (FIG. 5) based on the read steering angular velocity signal.
- the vehicle speed gain map 24 outputs gain data having the above-described characteristics (FIG. 6) based on the read vehicle speed signal.
- the multiplying means 19 multiplies the target current Ic output from the control amount map 18 by the gain data output from the torque gain map 22, the steering angular velocity gain map 23, and the vehicle speed gain map 24, and multiplies the result Ic. * Is given to the adding means 13.
- the frequency of the steering torque signal Ts (including the third-order component) is 10 Hz or higher, which is the frequency of the steering torque signal Ts due to disturbance.
- the result of multiplication by the multiplying means 19 is a control amount advanced by 0 to 90 degrees when there is an influence of disturbance on the steering torque signal Ts, and there is no influence of disturbance on the steering torque signal Ts. In this case, it is 0.
- the addition result of the adding means 13 is influenced by disturbance on the steering torque signal Ts. If present, the influence of the disturbance is suppressed by the target current Ic advanced by 0 to 90 degrees. When there is no disturbance effect on the steering torque signal Ts, the target current I determined by the function generator 12 is not affected, and the steering feeling is not affected.
- the addition result of the adding means 13 is given to the subtracting means 15, and the subtracting means 15 subtracts the addition result force motor current detection signal Is of the adding means 13, and the subtraction result is given to the motor voltage calculating section.
- the motor voltage calculation unit 16 performs PID calculation on the given subtraction result, and gives a PWM signal based on the calculation result to the motor drive circuit 5.
- the motor drive circuit 5 drives the electric motor 6 with the given PWM signal.
- FIG. 7 shows the application of the electric power steering device as described above to a rack and pinion type steering device, and the disturbance is detected from the end of the axle integrated with the rack (329N'm calorie).
- FIG. 6 is a characteristic diagram showing test results of a bench test.
- the present invention can be applied to an electric power steering apparatus that detects torque applied to a steering member and drives and controls a steering assist electric motor in accordance with the detected torque.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/719,262 US7684912B2 (en) | 2004-11-12 | 2005-11-11 | Electric power steering apparatus |
EP05806267A EP1839998B1 (en) | 2004-11-12 | 2005-11-11 | Electric power steering device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004329388A JP4525306B2 (ja) | 2004-11-12 | 2004-11-12 | 電動パワーステアリング装置 |
JP2004-329388 | 2004-11-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006051894A1 true WO2006051894A1 (ja) | 2006-05-18 |
Family
ID=36336568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/020701 WO2006051894A1 (ja) | 2004-11-12 | 2005-11-11 | 電動パワーステアリング装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7684912B2 (ja) |
EP (1) | EP1839998B1 (ja) |
JP (1) | JP4525306B2 (ja) |
WO (1) | WO2006051894A1 (ja) |
Cited By (2)
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JP2010012933A (ja) * | 2008-07-03 | 2010-01-21 | Mitsubishi Electric Corp | 電動パワーステアリング制御装置 |
JP2016022927A (ja) * | 2014-07-24 | 2016-02-08 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
Families Citing this family (29)
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JP4419997B2 (ja) | 2006-08-28 | 2010-02-24 | トヨタ自動車株式会社 | 電動パワーステアリング装置 |
JP4967829B2 (ja) * | 2007-06-04 | 2012-07-04 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
JP5262005B2 (ja) * | 2007-07-13 | 2013-08-14 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
JP4281828B2 (ja) | 2007-08-08 | 2009-06-17 | トヨタ自動車株式会社 | 電動パワーステアリング装置 |
JP5200033B2 (ja) * | 2007-12-14 | 2013-05-15 | 三菱電機株式会社 | 電動パワーステアリング制御装置 |
JP4637933B2 (ja) * | 2008-05-29 | 2011-02-23 | 三菱電機株式会社 | 電動パワーステアリング装置 |
US7765858B2 (en) * | 2008-08-08 | 2010-08-03 | Gm Global Technology Operations, Inc. | Method of measuring torsional dynamics of a steering column at small dynamic amplitudes |
DE102009028448B4 (de) | 2009-08-11 | 2021-01-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erkennen von Lenkraddrehschwingungen in einem Lenksystem sowie zu deren Behandlung |
JP5383818B2 (ja) | 2009-10-30 | 2014-01-08 | 三菱電機株式会社 | 電動パワーステアリング制御装置 |
JP5093295B2 (ja) | 2010-05-24 | 2012-12-12 | トヨタ自動車株式会社 | 操舵装置及び操舵制御装置 |
DE102010031211A1 (de) | 2010-07-12 | 2012-01-12 | Zf Lenksysteme Gmbh | Verfahren und Vorrichtung zur Kompensation von Lenkraddrehschwingungen in einem Lenksystem |
US8798864B2 (en) * | 2011-11-18 | 2014-08-05 | Steering Solutions Ip Holding Corporation | Road wheel disturbance rejection |
US9676409B2 (en) | 2013-03-11 | 2017-06-13 | Steering Solutions Ip Holding Corporation | Road wheel disturbance rejection based on hand wheel acceleration |
US9809246B2 (en) | 2013-04-23 | 2017-11-07 | Nsk Ltd. | Electric power steering apparatus |
EP2799310B1 (en) | 2013-04-30 | 2016-06-08 | Steering Solutions IP Holding Corporation | Providing assist torque without hand wheel torque sensor |
JP6160860B2 (ja) * | 2013-06-11 | 2017-07-12 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
US9540044B2 (en) | 2013-11-15 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Hand wheel angle from vehicle dynamic sensors or wheel speeds |
JP6274888B2 (ja) * | 2014-01-31 | 2018-02-07 | 株式会社ショーワ | 電動パワーステアリング装置 |
JP6378887B2 (ja) * | 2014-02-04 | 2018-08-22 | Kyb株式会社 | 電動パワーステアリング装置 |
JP5935960B2 (ja) * | 2014-03-25 | 2016-06-15 | 日本精工株式会社 | 電動パワーステアリング装置 |
US9540040B2 (en) | 2014-06-26 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Phase plane based transitional damping for electric power steering |
US10144445B2 (en) | 2014-09-15 | 2018-12-04 | Steering Solutions Ip Holding Corporation | Modified static tire model for providing assist without a torque sensor for zero to low vehicle speeds |
US9409595B2 (en) | 2014-09-15 | 2016-08-09 | Steering Solutions Ip Holding Corporation | Providing assist torque without hand wheel torque sensor for zero to low vehicle speeds |
JP6394520B2 (ja) * | 2015-07-03 | 2018-09-26 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
JP6394519B2 (ja) * | 2015-07-03 | 2018-09-26 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
US10464594B2 (en) | 2015-09-03 | 2019-11-05 | Steering Solutions Ip Holding Corporation | Model based driver torque estimation |
US10336363B2 (en) | 2015-09-03 | 2019-07-02 | Steering Solutions Ip Holding Corporation | Disabling controlled velocity return based on torque gradient and desired velocity error |
US10155534B2 (en) | 2016-06-14 | 2018-12-18 | Steering Solutions Ip Holding Corporation | Driver intent estimation without using torque sensor signal |
JP6918967B2 (ja) | 2017-04-06 | 2021-08-11 | コングスバーグ インコーポレイテッドKongsberg Inc. | パワーステアリングシステムおよびその作動方法 |
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FR2837161B1 (fr) * | 2002-03-13 | 2004-06-11 | Soc Mecanique Irigny | Procede d'amortissement des vibrations parasites issues du train avant d'un vehicule automobile |
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- 2005-11-11 WO PCT/JP2005/020701 patent/WO2006051894A1/ja active Application Filing
- 2005-11-11 EP EP05806267A patent/EP1839998B1/en active Active
- 2005-11-11 US US11/719,262 patent/US7684912B2/en not_active Expired - Fee Related
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JP2002059860A (ja) * | 2000-06-07 | 2002-02-26 | Mitsubishi Electric Corp | 電動パワーステアリング装置 |
JP2002104220A (ja) * | 2000-09-28 | 2002-04-10 | Toyoda Mach Works Ltd | 電動パワーステアリング装置の制御装置 |
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JP2010012933A (ja) * | 2008-07-03 | 2010-01-21 | Mitsubishi Electric Corp | 電動パワーステアリング制御装置 |
JP2016022927A (ja) * | 2014-07-24 | 2016-02-08 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
Also Published As
Publication number | Publication date |
---|---|
US20090143938A1 (en) | 2009-06-04 |
EP1839998A4 (en) | 2010-06-09 |
JP2006137341A (ja) | 2006-06-01 |
EP1839998A1 (en) | 2007-10-03 |
JP4525306B2 (ja) | 2010-08-18 |
EP1839998B1 (en) | 2011-11-02 |
US7684912B2 (en) | 2010-03-23 |
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