WO2019179849A1 - Correction de l'angle de rotation d'un arbre de direction d'une direction de véhicule à moteur électromécanique, en fonction du couple - Google Patents

Correction de l'angle de rotation d'un arbre de direction d'une direction de véhicule à moteur électromécanique, en fonction du couple Download PDF

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Publication number
WO2019179849A1
WO2019179849A1 PCT/EP2019/056286 EP2019056286W WO2019179849A1 WO 2019179849 A1 WO2019179849 A1 WO 2019179849A1 EP 2019056286 W EP2019056286 W EP 2019056286W WO 2019179849 A1 WO2019179849 A1 WO 2019179849A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
steering column
electric motor
stwa
motor
Prior art date
Application number
PCT/EP2019/056286
Other languages
German (de)
English (en)
Inventor
Tivadar TOTH
Original Assignee
Thyssenkrupp Presta Ag
Thyssenkrupp Ag
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 Thyssenkrupp Presta Ag, Thyssenkrupp Ag filed Critical Thyssenkrupp Presta Ag
Publication of WO2019179849A1 publication Critical patent/WO2019179849A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor

Definitions

  • the present invention relates to an electromechanical motor vehicle steering system with the features of the preamble of claim 1 and a
  • the servo unit may be disposed on the steering column of the steering gear.
  • the servo unit comprises an electric motor with a rotor shaft, which transmits rotational moments or rotational movements to a worm shaft via a coupling and thus acts on the steering shaft by means of the worm gear.
  • the mechanical parts which are arranged between the motor shaft and the steering shaft, have a torsional rigidity which leads to deviations in the calculation of the actual position of the steering shaft. This deviation is dependent on the torque of the electric motor and thus leads to a torque-dependent error in the calculation of the rotation angle of the steering shaft and thereby has a direct influence on the control of the
  • an electromechanical motor vehicle steering which has a steering column which is connected via a steering gear with a displaceably mounted in a housing along a longitudinal axis rack for steering wheels in engagement, and an electric motor for Lenkkraftunter- support, which drives the steering column by means of a gear transmission , And a control device that calculates a Istfoxwinkel the steering column based on a signal of a rotor position sensor of the electric motor.
  • Control device comprises a correction unit, which is set up to correct the actual rotation angle of the steering column, so that a rotation of the components occurring between the electric motor and the steering column caused by the torque of the electric motor is compensated.
  • a torque-dependent error in the calculation of the rotation angle of the steering shaft can thus be corrected in a simple manner.
  • the gear transmission is a worm gear. It may be that a shaft of the gear transmission is connected to the motor shaft via a rubber coupling.
  • the gear transmission is a spur gear.
  • the gear transmission is a bevel gear.
  • the gear transmission is a spur gear.
  • the gear transmission is a Kegelradschraubgetriebe.
  • an estimated motor torque of the electric motor and a value for the average torsional stiffness of the components arranged between the steering column and the electric motor are an input for the correction unit.
  • the correction unit is set up to carry out the following calculation:
  • STWA compensated is the corrected actual rotational angle of the steering column
  • STWA the originally calculated actual rotational angle of the steering column
  • Torsionssteifig speed the average torsional stiffness of the mechanical components between the electric motor and the steering column.
  • a method for operating an electromechanical motor vehicle steering wherein the electromechanical motor vehicle steering a steering column, which is connected via a steering gear with a displaceably mounted in a housing along a longitudinal axis rack for steering wheels in engagement, an electric motor for steering power assistance, which drives the steering column by means of a gear transmission, and has a control device which calculates a Istwarwinkel the steering column based on a signal of a rotor position sensor of the electric motor.
  • the method comprises the following step: Correcting the calculation of the actual rotational angle of the steering column in a correction unit, which is part of the control device, wherein the correction compensates for a rotation of the components occurring between the electric motor and the steering column by a torque of the electric motor.
  • the correction unit receives the estimated motor torque of the electric motor and includes a value for the average
  • the correction unit performs the following Calculation by:
  • STWA Compensated is the corrected actual turning angle of the steering column
  • STWA is the originally calculated actual turning angle of the steering column
  • Ts is the average torsional stiffness of the mechanical parts between the electric motor and the steering column.
  • Ratio between a rotation of the rotor shaft and a corresponding rotation of the steering column is. Further advantageous calculation: where M steering wheel is the torque applied to the steering wheel.
  • the corrected actual rotational angle of the steering column to the
  • the gear transmission is a worm gear. It may be that a shaft of the gear transmission is connected to the motor shaft via a rubber coupling.
  • FIG. 1 is an electromechanical motor vehicle steering system 1 with a steering wheel 2, which is rotatably coupled to an upper steering shaft 3 and a lower steering shaft 4, shown schematically.
  • the upper steering shaft 3 is connected via a torsion bar in functional connection with the lower steering shaft 4.
  • the lower steering shaft 4 is rotatably connected to a pinion, not shown.
  • the pinion meshes in a known manner with a rack 5.
  • the rack 5 is slidably mounted in a steering housing in the direction of its longitudinal axis. At its free end, the rack 5 is connected to tie rods, not shown, which in turn are connected via stub axles, each with a steered wheel 6 of the motor vehicle.
  • a rotation of the steering wheel 2 leads via the connection of the steering shaft 3, 4 and the pinion to a longitudinal displacement of the rack 5 and thus to a pivoting of the steered wheels 6.
  • An electric motor 7 of a servo unit 8 is provided to assist the driver in a steering movement ,
  • the servo unit 8 is arranged on the steering column 9.
  • the electric motor 7 drives the steering column 9 by means of a worm gear 10.
  • the rotor shaft 11 of the electric motor 7 is connected to a worm 12 of the worm gear 10 via a
  • Coupling 13 in particular connected via a rubber coupling.
  • Electric motor 7 has a rotor position sensor (RPS) 14, which measures the angle of rotation of the rotor shaft 11. Based on the signal of the RPS 14, the actual steering angle of the steering column STWA (English steering column position) is determined.
  • RPS rotor position sensor
  • the arranged between the rotor shaft 11 and the steering column 9 components rotate under load, resulting in a torque-dependent error in determining the Istcardwinkels the steering column STWA. Therefore, a correction is provided which takes account of this rotation of the components and thus minimizes the error resulting from the rotation.
  • the correction is based on the estimated engine torque M mo tor, estimated that is already used in the control of the steering system and therefore is a known quantity.
  • the average torsional rigidity of the mechanical components between the rotor shaft 11 and the steering column 9 is used, which is a design parameter of the steering.
  • the corrected actual turning angle of the steering column STWA Compensated is calculated according to the following formula:
  • n is the number of measured rotor revolutions
  • ratio the ratio between a rotation of the rotor shaft and the corresponding rotation of the steering column and Ts the average torsional stiffness the mechanical components between rotor shaft and steering column indicated on the scale of the steering column [° / l ⁇ lm] is.
  • the calculation of the actual rotational angle of the steering column is preferably carried out in a control device 15 of the steering.
  • a correction unit 16 in the control device 15 performs the calculation of the corrected actual rotation angle of
  • Steering column STWA CO Steering column STWA CO mpensated by.
  • the corrected actual turning angle of the steering column STWA compensated flows into the regulation of the power steering assistance according to the calculation. By correcting the steering can be improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne une direction électromécanique de véhicule à moteur (1) présentant une colonne de direction (9), laquelle s'engrène avec une crémaillère (5) montée déplaçable le long d'un axe longitudinal dans un carter, par l'intermédiaire d'un mécanisme de direction, et destinée à diriger des roues (6). La direction électromécanique de véhicule à moteur comporte un moteur électrique (7) pour assurer l'assistance de direction, lequel entraîne la colonne de direction (9) au moyen d'une transmission par engrenages (10), ainsi qu'un dispositif de commande (15) qui calcule un angle de rotation réel de la colonne de direction (STWA) sur la base d'un signal d'un capteur de position de rotor du moteur électrique (14), ledit dispositif de commande (15) présentant une unité de correction (18), conçue de sorte qu'une rotation des composants entre le moteur électrique (7) et la colonne de direction (9), due au couple du moteur électrique (7), est compensée.
PCT/EP2019/056286 2018-03-23 2019-03-13 Correction de l'angle de rotation d'un arbre de direction d'une direction de véhicule à moteur électromécanique, en fonction du couple WO2019179849A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018106997.9 2018-03-23
DE102018106997.9A DE102018106997A1 (de) 2018-03-23 2018-03-23 Drehmomentabhängige Korrektur des Drehwinkels einer Lenkwelle einer elektromechanischen Kraftfahrzeuglenkung

Publications (1)

Publication Number Publication Date
WO2019179849A1 true WO2019179849A1 (fr) 2019-09-26

Family

ID=65894971

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/056286 WO2019179849A1 (fr) 2018-03-23 2019-03-13 Correction de l'angle de rotation d'un arbre de direction d'une direction de véhicule à moteur électromécanique, en fonction du couple

Country Status (2)

Country Link
DE (1) DE102018106997A1 (fr)
WO (1) WO2019179849A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100181140A1 (en) * 2009-01-21 2010-07-22 Jtekt Corporation Electric power steering apparatus
US20150144418A1 (en) * 2013-11-27 2015-05-28 Honda Motor Co., Ltd. Electric power steering apparatus
WO2019016967A1 (fr) * 2017-07-20 2019-01-24 株式会社ショーワ Dispositif de commande de direction et dispositif de direction à énergie électrique

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020062569A (ko) * 2001-01-22 2002-07-26 고요 세이코 가부시키가이샤 전동 파워 스티어링 장치
DE102015013965B4 (de) * 2015-10-29 2022-02-03 Thyssenkrupp Ag Winkel- und Drehmomentmesseinrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100181140A1 (en) * 2009-01-21 2010-07-22 Jtekt Corporation Electric power steering apparatus
US20150144418A1 (en) * 2013-11-27 2015-05-28 Honda Motor Co., Ltd. Electric power steering apparatus
WO2019016967A1 (fr) * 2017-07-20 2019-01-24 株式会社ショーワ Dispositif de commande de direction et dispositif de direction à énergie électrique

Also Published As

Publication number Publication date
DE102018106997A1 (de) 2019-09-26

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