JP2005335432A - 後輪転舵制御装置 - Google Patents
後輪転舵制御装置 Download PDFInfo
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Abstract
【解決手段】 後輪6,6を中立位置方向へ付勢する中立復帰手段12と、後輪転舵系に異常が発生したとき、モータ8aへの通電を停止させる異常判断手段9cと、を備えた後輪転舵制御装置において、車速を検出する車速センサ11と、異常発生時に後輪6,6が中立復帰しているとき、車速が高いほど中立復帰する速度を小さくする制動手段13と、を備える。
【選択図】 図2
Description
後輪転舵機構を駆動する後輪転舵モータと、
後輪転舵系に異常が発生したとき、後輪転舵モータへの通電を停止させる異常時モータ停止手段と、
後輪を中立位置方向へ付勢する中立復帰手段と、
を備えた後輪転舵制御装置において、
車速を検出する車速検出手段と、
異常発生時に後輪が中立復帰しているとき、車速が高いほど中立復帰する速度を小さくする制動手段と、
を備えることを特徴とする。
図1は実施例1の後輪転舵制御装置を適用した車両のシステムブロック図であり、実施例1の後輪転舵制御装置は、ステアリングホイール1と、コラムシャフト2と、前輪転舵機構3と、前輪4,4と、後輪転舵機構5と、後輪6,6と、前輪転舵アクチュエータ7と、後輪転舵アクチュエータ8と、制御ユニット9と、操舵角センサ10と、車速センサ(車速検出手段)11とを備えている。
スイッチ14は、異常判断手段9cから電圧供給がなされているとき、OFF(開)の状態を保持し、制御ユニット9の異常判断手段9cにより電圧供給が遮断されたとき、ON(閉)となる常閉のスイッチである。そして、スイッチ14は、異常判断手段9cからの電圧供給が遮断されると、モータ8aとモータ駆動手段9bとを結ぶ界磁巻線16と可変抵抗器15とを連通させ、界磁巻線16を短絡させる。
[異常判断制御処理]
図6は、制御ユニット9の異常判断手段9cで実行される後輪転舵系の異常判断制御処理の流れを示すフローチャートで、以下、各ステップについて説明する。
後輪転舵系に異常が発生した場合には、図6のフローチャートにおいて、ステップS1→ステップS2→ステップS4へと進む流れとなり、ステップS2では、モータ8aへの通電が停止され、ステップS4では、モータ8aの界磁巻線16が短絡され、モータ8aと可変抵抗器15とが連通される。
後輪を転舵させるシステムでは、後輪転舵系の異常発生により、後輪が中立位置以外の位置で停止してしまうと、ステアリングホイールと後輪舵角との中立位置ずれが発生し、車両の操縦性が悪化する。
これに対し、実施例1では、制動手段13に、車速に応じて抵抗値を変化させる可変抵抗器15を設け、低速走行中は可変抵抗器15の抵抗値を小さくし、高速走行中には可変抵抗器15の抵抗値を大きくするように設定した。
実施例1の後輪転舵制御装置にあっては、下記に列挙する効果が得られる。
図10は実施例2の制御ユニット20の後輪転舵制御系の制御ブロック図、図11は実施例2の制動手段21の構成を示す詳細図であり、図10に示すように、制御ユニット20は、図2に示した実施例1の構成に対し、抵抗値設定手段9dを省略した構成となっている。
[後輪舵角に応じた中立復帰速度設定作用]
実施例2では、後輪転舵系に異常が発生したとき、後輪舵角が小さい(中立位置に近い)ほど可変抵抗器23の抵抗値が大きくなり、モータ8aの回転に大きな制動力がかけられる。よって、図15に示すように、後輪6,6の中立復帰速度は、後輪舵角が大きいときには高く、後輪舵角が小さくなるに従って徐々に低くなる。
実施例2の後輪転舵制御装置にあっては、下記に列挙する効果が得られる。
以上、本発明を実施するための最良の形態を、実施例1,2に基づいて説明したが、本発明の具体的な構成は実施例1,2に限定されるものではなく、例えば、制動手段や可変抵抗器の具体的構成は任意である。制動手段は、中立舵角に復帰させるコイルスプリング等を制限するものや、後輪転舵機構のラック軸の左右移動を制限するものとしてもよい。
2 コラムシャフト
3 前輪転舵機構
4 前輪
5 後輪転舵機構
6 後輪
7 前輪転舵アクチュエータ
8 後輪転舵アクチュエータ
8a モータ
9 制御ユニット
9a 演算手段
9b モータ駆動手段
9c 異常判断手段
9d 抵抗値設定手段
10 操舵角センサ
11 車速センサ
12 中立復帰手段
13 制動手段
14 スイッチ
15 可変抵抗器
15a 負荷抵抗
15b トランジスタ
15c コンデンサ
15d ダイオード
Claims (5)
- 後輪転舵機構を駆動する後輪転舵モータと、
後輪転舵系に異常が発生したとき、後輪転舵モータへの通電を停止させる異常時モータ停止手段と、
後輪を中立位置方向へ付勢する中立復帰手段と、
を備えた後輪転舵制御装置において、
車速を検出する車速検出手段と、
異常発生時に後輪が中立復帰しているとき、車速が高いほど中立復帰する速度を小さくする制動手段と、
を備えることを特徴とする後輪転舵制御装置。 - 請求項1に記載の後輪転舵制御装置において、
前記制動手段は、
車速が高いほど電気抵抗が大となる可変抵抗器と、
後輪転舵系に異常が発生したとき、後輪転舵モータと可変抵抗器とを接続するスイッチと、
を備えることを特徴とする後輪転舵制御装置。 - 後輪転舵機構を駆動する後輪転舵モータと、
後輪転舵系に異常が発生したとき、後輪転舵モータへの通電を停止させる異常時モータ停止手段と、
後輪を中立位置方向へ付勢する中立復帰手段と、
を備えた後輪転舵制御装置において、
後輪舵角を検出する後輪舵角検出手段と、
異常発生時に後輪が中立復帰しているとき、後輪舵角が小さいほど中立復帰する速度を小さくする制動手段と、
を備えることを特徴とする後輪転舵制御装置。 - 請求項3に記載の後輪転舵制御装置において、
前記制動手段は、
後輪舵角が小さいほど電気抵抗が大となる可変抵抗器と、
後輪転舵系に異常が発生したとき、後輪転舵モータと可変抵抗器とを接続するスイッチと、
を備えることを特徴とする後輪転舵制御装置。 - 請求項4に記載の後輪転舵制御装置において、
前記後輪転舵モータのモータ回転軸と連結され、モータ回転数を減速して出力する減速器を設け、
前記可変抵抗器は、減速器の出力を入力する回転軸と、この回転軸の回転に応じて位置変化する接点部材と、この接点部材と接触する抵抗体とを備え、接点部材と抵抗体との接触位置に応じて抵抗値を可変することを特徴とする後輪転舵制御装置。
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US11980366B2 (en) | 2022-03-31 | 2024-05-14 | Cilag Gmbh International | Surgical instrument |
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