KR20230170311A - Apparatus and method for compensating torque of power steering system - Google Patents

Abstract

The present invention detects the temperature of the electric steering device at the time the vehicle is started through a steering angle sensor that detects the steering angle of the steering wheel, a temperature sensor that detects the temperature of the electric steering device, and a temperature sensor, and detects the temperature of the electric steering device through the steering angle sensor. The cumulative steering angle is calculated by accumulating the detected steering angle fluctuations, and a compensation gain is calculated to compensate for the auxiliary torque of the electric steering device based on the temperature and cumulative steering angle of the electric steering device to improve the deterioration of steering feel due to low temperature conditions. It is characterized in that it includes a processor that

Description

Torque compensation device and method for electric steering system {APPARATUS AND METHOD FOR COMPENSATING TORQUE OF POWER STEERING SYSTEM}

The present invention relates to a torque compensation device and method for an electric steering device, and more specifically, to a torque compensation device and method for an electric steering device that can compensate for the auxiliary torque of the electric steering device according to the temperature of the electric steering device. .

A vehicle's electric steering system (hereinafter referred to as MDPS: Motor Driven Power Steering) is a device that facilitates steering by providing part of the steering torque that the driver must apply to the steering wheel when steering a vehicle using an auxiliary power source.

This MDPS system detects the driver's steering intention through a torque sensor directly connected to the steering wheel, receives this signal from the MDPS system, and drives the electric motor to provide appropriate force in consideration of the current vehicle speed, thereby improving the driver's steering force. Assist. The MDPS system reduces the driver's force by assisting a large amount of force when the car is parked or driving at low speeds, and maintains the stability of the vehicle body by assisting only a small amount of force when driving at high speeds.

On the other hand, when this MDPS system is exposed to low temperatures for a long time, each mechanical member that makes up the MDPS system shrinks and freezes, and as the viscosity of the lubricant contained in the electric steering device increases, the friction force increases, improving the steering feel and the MDPS system. Problems such as decreased responsiveness may occur. In particular, unlike internal combustion engine vehicles, which can return the MDPS system to normal operating temperature using heat generated from the engine after starting, steering feel and responsiveness are deteriorated due to low temperature in electric or hydrogen vehicles that cannot utilize engine heat. It's becoming a problem.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-1736136 (2017.05.10.) ‘Electric power steering system and control method thereof’.

The present invention was conceived to solve the above-mentioned problems, and an object according to one aspect of the present invention is a torque compensation device and method for an electric steering device that can compensate for the auxiliary torque of the electric steering device according to the temperature of the electric steering device. is to provide.

A torque compensation device for an electric steering device according to one aspect of the present invention includes a steering angle sensor that detects the steering angle of a steering wheel; A temperature sensor that detects the temperature of the electric steering device; And detecting the temperature of the electric steering device at the point when the vehicle is started through the temperature sensor, calculating the cumulative steering angle by accumulating the change value of the steering angle detected through the steering angle sensor, and calculating the steering feeling according to the low temperature state. and a processor that calculates a compensation gain for compensating the auxiliary torque of the electric steering device based on the temperature of the electric steering device and the accumulated steering angle to improve degradation.

The present invention further includes a memory storing a look-up table regarding a compensation gain according to the temperature of the electric steering device and the accumulated steering angle, wherein the processor calculates the compensation gain with reference to the look-up table stored in the memory. It is characterized by

In the present invention, the processor is characterized by applying an additional gain to the compensation gain during initial operation of the electric steering device.

In the present invention, the processor calculates the steering angle speed by differentiating the steering angle detected through the steering angle sensor, filters the steering angle speed through LPF (Low Pass Filter), and based on the filtered steering angle speed, the electric It is characterized by detecting the initial operation time of the steering device.

In the present invention, the processor is characterized by applying an additional gain to the compensation gain when reversing steering of the electric steering device.

In the present invention, the processor calculates the steering angle speed by differentiating the steering angle detected through the steering angle sensor, filters the steering angle speed through LPF (Low Pass Filter), and adds a sign to the filtered steering angle speed. A function is applied and the reverse steering timing of the electric steering device is detected based on the steering angle speed to which the sign function is applied.

In the present invention, the processor determines the time at which the additional gain is applied to the compensation gain based on the steering angle speed.

In the present invention, the processor filters a high frequency band of auxiliary torque calculated from column torque and vehicle speed, and applies the compensation gain to the filtered auxiliary torque to compensate for the auxiliary torque.

A torque compensation method for an electric steering device according to an aspect of the present invention includes the steps of a processor detecting the temperature of the electric steering device at the point when the vehicle is started through a temperature sensor; calculating, by the processor, a cumulative steering angle by accumulating changes in the steering angle detected through a steering angle sensor; and calculating, by the processor, a compensation gain for compensating the auxiliary torque of the electric steering device based on the temperature of the electric steering device and the cumulative steering angle to improve the deterioration of steering feel due to low temperature conditions. Do it as

According to one aspect of the present invention, the present invention improves the problem of deterioration of steering feel and response delay that occurs as friction increases due to an increase in the viscosity of lubricating oil in a low temperature state or contraction of mechanical members included in an electric steering device. You can.

Figure 1 is a block diagram showing a torque compensation device for an electric steering device according to an embodiment of the present invention.
Figure 2 is an exemplary diagram showing the configuration of a processor according to an embodiment of the present invention.
Figure 3 is a flowchart showing a torque compensation method for an electric steering device according to an embodiment of the present invention.

Hereinafter, a torque compensation device and method for an electric steering device according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a block diagram showing a torque compensation device for an electric steering device according to an embodiment of the present invention.

Referring to FIG. 1, the torque compensation device for an electric steering device according to an embodiment of the present invention includes a steering angle sensor 100, a temperature sensor 200, a column torque sensor 300, a vehicle speed sensor 400, and a memory 500. ) and a processor 600. The torque compensation device for an electric steering system may further include various components in addition to those shown in FIG. 1, or some of the above components may be omitted. Meanwhile, the torque compensation device for the electric steering system according to this embodiment may be applied to an electric vehicle or a hydrogen vehicle, but is not particularly limited and may be applied to a vehicle equipped with an internal combustion engine.

The steering angle sensor 100 may detect the steering angle of the steering wheel and output the detected steering angle to the processor 600, which will be described later. The steering angle detected through the steering angle sensor 100 can be used to calculate a compensation gain to compensate for the auxiliary torque of the electric steering device. Additionally, the steering angle detected through the steering angle sensor 100 can be used to detect the initial driving time of the electric steering device and the reverse steering time of the electric steering device.

The temperature sensor 200 may detect the temperature of the electric steering device and output the detected temperature of the electric steering device to the processor 600. According to one embodiment, the temperature sensor 200 may be provided on one side of the steering system of an electric steering device or a mechanism member constituting the electric steering device. The temperature detected through the temperature sensor 200 can be used to calculate a compensation gain to compensate for the auxiliary torque of the electric steering system.

The column torque sensor 300 may detect column torque applied to the steering shaft as the driver steers the steering wheel, and output the detected column torque to the processor 600. The column torque detected through the column torque sensor 300 can be used to calculate the auxiliary torque of the electric steering system.

The vehicle speed sensor 400 may detect the speed of the vehicle and output the detected speed to the processor 600. The vehicle speed detected through the vehicle speed sensor 400 can be used to calculate the auxiliary torque of the electric steering system.

In the memory 500, various data required in the process of the processor 600 compensating for the auxiliary torque of the electric steering device may be stored in advance. Additionally, the memory 500 may store various data calculated in the process of the processor 600 compensating the auxiliary torque of the electric steering device.

The processor 600 is the main body that compensates for the auxiliary torque of the electric steering system. It detects the temperature of the electric steering system at the point when the vehicle is started through the temperature sensor 200, and detects the temperature of the electric steering system through the steering angle sensor 100. The cumulative steering angle can be calculated by accumulating the change in steering angle, and a compensation gain can be calculated to compensate for the auxiliary torque of the electric steering device based on the temperature and cumulative steering angle of the electric steering device to improve the deterioration of steering feel due to low temperature conditions. there is.

This processor 600 may be implemented as a central processing unit (CPU), micro controller unit (MCU), or system on chip (SoC), and runs an operating system or application to run a plurality of devices connected to the processor 600. It is configured to control hardware or software components, perform various data processing and calculations, execute at least one command stored in the memory 500, and store the execution result data in the memory 500. It can be. Below, with reference to FIG. 2, we will look at the operation of the processor according to an embodiment of the present invention.

Figure 2 is an exemplary diagram showing a module implemented by a processor according to an embodiment of the present invention. Referring to FIG. 2 , the processor 600 may include a gain output module 610, a boost output module 630, and an auxiliary torque compensation module 650. The modules indicated in this embodiment are components responsible for some of the operations of the processor 600 classified according to function, and the operations performed by each module may be understood as operations performed by the processor 600. .

The gain output module 610 is a subject that calculates and outputs a gain to compensate for the auxiliary torque of the electric steering device, and includes the compensation gain output module 611, the additional gain output module 613, and the first calculation module 615. It can be included.

The compensation gain output module 611 is an entity that calculates and outputs a compensation gain according to the temperature and cumulative steering angle of the electric steering device, and may include a cumulative steering angle calculation module 611-1 and a compensation gain calculation module 611-3. You can.

The cumulative steering angle calculation module 611-1 can calculate the cumulative steering angle by accumulating the change value of the steering angle detected through the steering angle sensor 100. Here, the cumulative steering angle can be defined as the cumulative value of the change value of the steering angle, that is, the total rotation amount of the steering wheel accumulated from the time of starting steering, and the cumulative steering angle calculation module 611-1 is a steering angle sensor from the time of starting steering. The cumulative steering angle can be calculated by integrating the change value of the steering angle detected through (100).

The compensation gain calculation module 611-3 is based on the cumulative steering angle output from the cumulative steering angle calculation module 611-1 and the temperature of the electric steering device at the time the vehicle is started, which is detected through the temperature sensor 200. Compensation gain to compensate for auxiliary torque can be calculated. A look-up table regarding the compensation gain according to the temperature and cumulative steering angle of the electric steering device may be calculated in advance through experiment or simulation and stored in the memory 500, and the compensation gain calculation module 611-3 may be stored in the memory 500. A compensation gain corresponding to the temperature detected through the temperature sensor 200 and the cumulative steering angle output from the cumulative steering angle calculation module 611-1 can be detected by referring to the stored lookup table. The compensation gain calculation module 611-3 can increase the compensation gain as the temperature decreases, and decrease the compensation gain as the cumulative steering angle increases.

If the current for controlling the electric steering device remains high, such as when the driver maintains extreme steering for a long time, the temperature of the steering motor increases and the value of the temperature sensor 200 of the electric steering device may also increase. , if the compensation gain is calculated using the current temperature of the electric steering system rather than the temperature of the electric steering system at the time of starting the vehicle, the compensation gain is greatly reduced while the electric steering system has not sufficiently recovered to normal temperature. Problems may arise. Therefore, in this embodiment, the compensation gain can be calculated using the temperature of the electric steering device detected at the time of starting the vehicle.

The degree of contraction of each mechanical member constituting the electric steering device or the degree of viscosity change of the lubricant contained in the electric steering device shows different aspects depending on the temperature of the electric steering device. In addition, the degree of contraction of these mechanism members and the degree of change in lubricating oil appear to gradually recover as the electric steering device operates. Therefore, this embodiment can perform more accurate auxiliary torque compensation control by calculating the compensation gain by considering the cumulative steering angle along with the temperature of the electric steering device.

The additional gain output module 613 is a subject that outputs additional gain to compensate for the compensation gain in a specific situation, and includes a first additional gain output module 613-1 and a second additional gain output module 613-3. can do.

The first additional gain output module 613-1 is a main entity that outputs additional gain to be applied to the compensation gain in the initial driving situation of the electric steering device (a situation in which steering is not performed for a predetermined period of time and then steering is performed). The initial operation time of the electric steering device can be detected so that additional gain is applied (i.e., added) to the compensation gain during the initial operation of the steering device, and the additional gain can be output to the first operation module 615 at the detected time point. .

If the electric steering device is left in a low temperature state for more than a predetermined period of time, the initial driving torque required to drive the electric steering device may increase. Therefore, in this embodiment, the auxiliary torque can be momentarily increased by applying an additional gain to the compensation gain during the initial operation of the electric steering system left in a low temperature state for a predetermined period of time. The value of the additional gain to be applied to the compensation gain during initial operation of the electric steering device may be calculated in advance through experiment or simulation and stored in the memory 500. Meanwhile, the first additional gain output module 613-1 may output additional gain with a value of 0 when the electric steering device is not initially driven.

The first additional gain output module 613-1 calculates the steering angle speed by differentiating the steering angle detected through the steering angle sensor 100, filters the steering angle speed through a low pass filter (LPF) to remove noise, and filters. Based on the steering angle speed, the initial operation time of the electric steering device can be detected. The first additional gain output module 613-1 detects the point in time when the steering angular speed changes from 0 to a value other than 0, and can use the detected point in time as the initial driving point of the electric steering device. The first additional gain output module 613-1 may output additional gain for a predetermined period of time from the initial operation of the electric steering device.

The second additional gain output module 613-3 is a main entity that outputs additional gain to be applied to the compensation gain in the reverse steering situation of the electric steering system, and the additional gain is applied to the compensation gain when the electric steering system reverse steering (i.e. The reverse steering timing of the electric steering device may be detected and the additional gain may be output to the first calculation module at the detected timing so that it is summed.

If reverse steering is performed while the electric steering system is left in a low temperature state for more than a predetermined period of time, the driving torque required to drive the electric steering system may increase. Therefore, in this embodiment, the auxiliary torque can be increased by applying an additional gain to the compensation gain when reversing the steering of an electric steering system left for a predetermined period of time in a low temperature state. The value of the additional gain to be applied to the compensation gain during reverse steering of the electric steering system may be calculated in advance through experiment or simulation and stored in the memory 500. The second additional gain output module 613-3 may output additional gain with a value of 0 when the electric steering system is not in reverse steering.

The second additional gain output module 613-3 calculates the steering angle speed by differentiating the steering angle detected through the steering angle sensor 100, filters the steering angle speed through LPF (Low Pass Filter) to remove noise, and filters. A sign function can be applied to the steering angle speed, and the reverse steering timing of the electric steering system can be detected based on the steering angle speed to which the sign function is applied. The second additional gain output module 613-3 detects the point in time when the steering angular speed to which the sign function is applied changes from 1 to -1, or changes from -1 to 1, and uses the detected point in time to reverse the electric steering device. It can be used as a steering point. The second additional gain output module 613-3 can output additional gain for a set time from the point of reverse steering of the electric steering system. According to one embodiment, the second additional gain output module 613-3 may determine the time (i.e., set time) for which additional gain is applied based on the steering angle speed. The second additional gain output module 613-3 can increase the setting time as the steering angle speed increases.

The first calculation module 615 calculates the final compensation gain for compensating the auxiliary torque by adding the compensation gain output from the compensation gain output module 611 and the additional gain output from the additional gain output module 613, and calculates The final compensation gain can be output to the second calculation module 653, which will be described later.

The boost output module 630 is a main entity that calculates auxiliary torque to assist the electric steering system, and calculates auxiliary torque based on the column torque detected through the column torque sensor 300 and the vehicle speed detected through the vehicle speed sensor 400. It can be calculated. That is, the boost output module 630 can calculate the auxiliary torque by appropriately increasing the column torque detected through the column torque sensor 300 according to the vehicle speed detected through the vehicle speed sensor 400.

The auxiliary torque compensation module 650 is a main body that compensates for the auxiliary torque of the electric steering system according to the compensation gain output from the gain output module 610, and may include a stabilization filter module 651 and a second calculation module 653. You can.

The stabilization filter module 651 may filter the high frequency band of the auxiliary torque output from the boost output module 630. That is, the stabilization filter module 651 passes only the low-frequency band of the auxiliary torque output from the boost output module 630, thereby preventing the high-frequency band of the auxiliary torque from being compensated (i.e., amplified) in the subsequent process. At this time, the stabilization filter module 651 may filter the auxiliary torque so that only the low-frequency band centered on the center frequency that avoids the resonance point passes. According to one embodiment, the stabilization filter module 651 may filter the high frequency band of the auxiliary torque using a notch filter or a lead-lag filter. More specifically, the stabilization filter module 651 may filter the high frequency band of the auxiliary torque by using a low-band control notch filter or by applying a compensation gain only to the Lag Compensator of the lead-lag filter.

If all frequency bands of auxiliary torque are uniformly compensated according to the compensation gain in low-temperature conditions where the road surface is frozen or snow is piled on the road surface, high-frequency noise caused by the mechanical characteristics of the road surface or vehicle may also be amplified. Amplified high-frequency noise can reduce the control stability of electric steering systems. Therefore, this embodiment filters the high frequency band of the auxiliary torque and then compensates the auxiliary torque according to the compensation gain to prevent high frequency noise caused by the road surface or mechanical characteristics from being amplified and to avoid resonance in the torsion bar. You can.

The second calculation module 653 may compensate the auxiliary torque by applying the compensation gain output from the first calculation module 615 to the auxiliary torque output from the stabilization filter module 651. That is, the second calculation module 653 can calculate the final auxiliary torque of the electric steering device by multiplying the auxiliary torque output from the stabilization filter module 651 by the compensation gain output from the first calculation module 615. The final auxiliary torque can be used to control the steering motor of the electric steering system.

Meanwhile, in the above-described embodiment, it is described that the steering angle of the steering wheel is used in the process of compensating the auxiliary torque of the electric steering device, but the motor angle may be used instead of the steering angle of the steering wheel.

As described above, the present invention can improve the problems of deterioration of steering feel and response delay that occur as friction increases due to an increase in the viscosity of lubricating oil or contraction of mechanical members included in an electric steering device at low temperatures. Additionally, when applied to an autonomous vehicle, the present invention can improve the autonomous vehicle's responsiveness to steering.

Figure 3 is a flowchart showing a torque compensation method for an electric steering device according to an embodiment of the present invention. Hereinafter, with reference to FIG. 3, a torque compensation method for an electric steering device according to an embodiment of the present invention will be described.

First, the processor 600 can detect the temperature of the electric steering system at the point when the vehicle is started through the temperature sensor 200 (S301).

Next, the processor 600 may calculate the cumulative steering angle by accumulating the change value of the steering angle detected through the steering angle sensor 100 (S303).

Next, the processor 600 may calculate a compensation gain to compensate for the auxiliary torque of the electric steering device based on the temperature and cumulative steering angle of the electric steering device (S305).

Next, it can be determined whether it is necessary to apply additional gain to the compensation gain (S307). In step S307, the processor 600 may determine whether the electric steering device is initially driven and whether the electric steering device is in reverse steering.

The processor 600 may determine that additional gain needs to be applied to the compensation gain during the initial operation of the electric steering device or when the electric steering device is in reverse steering, and may apply the additional gain to the compensation gain (S309).

Next, the processor 600 may filter the high frequency band of the auxiliary torque calculated according to the column torque and vehicle speed (S311).

Subsequently, the processor 600 may compensate the filtered auxiliary torque according to the compensation gain (S313).

As described above, the torque compensation device and method for an electric steering device according to an embodiment of the present invention is generated as the friction force increases due to an increase in the viscosity of the lubricating oil or contraction of the mechanical member included in the electric steering device in a low temperature state. It can improve the problem of poor steering feel and response delay.

The term “module” used in this specification may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be an integrated part or a minimum unit of the parts or a part thereof that performs one or more functions. For example, according to one embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

Implementations described herein may be implemented, for example, as a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will recognize that various modifications and other equivalent embodiments can be made therefrom. You will understand. Therefore, the true technical protection scope of the present invention should be determined by the scope of the patent claims below.

100: Steering angle sensor 200: Temperature sensor
300: Column torque sensor 400: Vehicle speed sensor
500: Memory 600: Processor
610: Gain output module 611: Compensation gain output module
611-1: Cumulative steering angle calculation module 611-3: Compensation gain calculation module
613: Additional gain output module 613-1: First additional gain output module
613-3: Second additional gain output module 615: First operation module
630: Boost output module 650: Auxiliary torque compensation module
651: Stabilization filter module 653: Second operation module

Claims (16)

A steering angle sensor that detects the steering angle of the steering wheel;
A temperature sensor that detects the temperature of the electric steering device; and
The temperature of the electric steering device is detected at the point when the vehicle is started through the temperature sensor, and the change value of the steering angle detected through the steering angle sensor is accumulated to calculate the cumulative steering angle, and the steering feeling is reduced due to low temperature conditions. a processor that calculates a compensation gain to compensate for the auxiliary torque of the electric steering device based on the temperature and the cumulative steering angle of the electric steering device to improve;
A torque compensation device for an electric steering system comprising a.
According to clause 1,
It further includes a memory storing a look-up table regarding a compensation gain according to the temperature of the electric steering device and the cumulative steering angle,
The processor calculates the compensation gain by referring to a look-up table stored in the memory.
According to clause 1,
The processor is a torque compensation device for an electric steering system, wherein the processor applies an additional gain to the compensation gain during initial operation of the electric steering system.
According to clause 3,
The processor calculates a steering angle speed by differentiating the steering angle detected through the steering angle sensor, filters the steering angle speed through a low pass filter (LPF), and based on the filtered steering angle speed, the initial stage of the electric steering device A torque compensation device for an electric steering system, characterized in that it detects the driving point.
According to clause 1,
The processor is a torque compensation device for an electric steering system, characterized in that the processor applies an additional gain to the compensation gain when the electric steering system reverses steering.
According to clause 5,
The processor calculates a steering angle speed by differentiating the steering angle detected through the steering angle sensor, filters the steering angle speed through a low pass filter (LPF), and applies a sign function to the filtered steering angle speed. , A torque compensation device for an electric steering system, characterized in that detecting the reverse steering timing of the electric steering system based on the steering angular speed to which the sign function is applied.
According to clause 6,
The processor is configured to determine a time for applying the additional gain to the compensation gain based on the steering angular speed.
According to clause 1,
The processor is configured to filter a high frequency band of auxiliary torque calculated from column torque and vehicle speed, and apply the compensation gain to the filtered auxiliary torque to compensate for the auxiliary torque.
A processor detecting the temperature of the electric steering system at the point when the vehicle is started using a temperature sensor;
calculating, by the processor, a cumulative steering angle by accumulating changes in the steering angle detected through a steering angle sensor; and
Calculating, by the processor, a compensation gain for compensating auxiliary torque of the electric steering device based on the temperature of the electric steering device and the cumulative steering angle to improve deterioration of steering feel due to low temperature conditions;
A torque compensation method for an electric steering system comprising:
According to clause 9,
In calculating the compensation gain, the processor,
A torque compensation method for an electric steering device, characterized in that the compensation gain is calculated by referring to a look-up table regarding the compensation gain according to the temperature of the electric steering device and the accumulated steering angle stored in a memory.
According to clause 9,
After calculating the compensation gain, the processor,
Determining whether the electric steering device is initially driven; and
Applying an additional gain to the compensation gain upon initial operation of the electric steering device;
Torque compensation method for an electric steering system further comprising:
According to clause 11,
In the determining step, the processor,
calculating a steering angle speed by differentiating the steering angle detected through the steering angle sensor;
Filtering the steering angle speed through LPF (Low Pass Filter); and
determining whether to initially drive the electric steering device based on the filtered steering angle speed;
Torque compensation method for an electric steering system further comprising:
According to clause 9,
After calculating the compensation gain, the processor,
Determining whether the electric steering device has reverse steering; and
Applying an additional gain to the compensation gain when the electric steering device is reversed steered;
Torque compensation method for an electric steering system further comprising:
According to clause 13,
In the determining step, the processor,
calculating a steering angle speed by differentiating the steering angle detected through the steering angle sensor;
Filtering the steering angle speed through LPF (Low Pass Filter);
Applying a sign function to the filtered steering angle speed; and
determining whether or not to reverse steer the electric steering device based on the steering angle speed to which the sign function is applied;
A torque compensation method for an electric steering system comprising:
According to clause 14,
In the applying step, the processor:
A torque compensation method for an electric steering device, characterized in that determining the time at which the additional gain is applied to the compensation gain based on the steering angular speed.
According to clause 9,
After calculating the compensation gain, the processor,
Filtering the high frequency band of the auxiliary torque calculated from the column torque and vehicle speed; and
Compensating the auxiliary torque by applying the compensation gain to the filtered auxiliary torque;
Torque compensation method for an electric steering system further comprising:

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