CN101734135A - Electric power-assisted steering control method and control device for vehicles - Google Patents
Electric power-assisted steering control method and control device for vehicles Download PDFInfo
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- CN101734135A CN101734135A CN200910243248A CN200910243248A CN101734135A CN 101734135 A CN101734135 A CN 101734135A CN 200910243248 A CN200910243248 A CN 200910243248A CN 200910243248 A CN200910243248 A CN 200910243248A CN 101734135 A CN101734135 A CN 101734135A
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Abstract
The invention relates to electric power-assisted steering control method and control device thereof for vehicles. The method comprises the following steps of: storing normal mode calculating data and abnormal mode calculating data in a power-assisted control device, and calculating a target power-assisted torque by acquiring the steering torque of a steering wheel and the signal of vehicle speed; detecting whether fault factors causing the motor torque to deviate the mapping value of the target power-assisted torque exist or not by a fault detection device; if the fault factors do not exist, calculating the target power-assisted torque by the power-assisted control device based on the normal mode; and if the fault factors exist, selecting to calculate the target power-assisted torque based on the abnormal mode or stop power-assisted steering according to the magnitude of the vehicle speed. The control device comprises a torque sensor and a vehicle speed sensor, wherein the torque sensor and the vehicle speed sensor are respectively connected with an electric control unit, and the electric control unit is connected with a motor for power-assisted steering. In the invention, based on the security and the necessarily degree of the power-assisted steering to generate the steering power-assisted torque, the control of electric power-assisted steering is more scientific and reasonable.
Description
Technical field
The present invention relates to the control technology that turns to of vehicle, be specifically related to a kind of vehicle electric power-assisted steering control method and control setup thereof.
Background technology
Present already used a kind of vehicle electric servo steering device, it detects the steering torque that is applied by driver's steering wheel rotation (below is called " bearing circle "), and makes motor produce the power steering moment of torsion based on the steering torque that detects.Controller control power steering moment of torsion.Controller for example calculates the target booster torquemoment based on the speed of a motor vehicle that is detected by steering torque that steering torque sensor detected and car speed sensor, and based target booster torquemoment control flows is through the magnitude of current of motor, to produce the power steering moment of torsion of expectation.
According to such electric power-assisted steering apparatus, if in sensor et out of order, then produce off-square power steering moment of torsion.Therefore, in the electric power-assisted steering apparatus, when detecting the breakdown signal of steering torque sensor, reduce to flow to the magnitude of current of motor gradually, with the power-assisted (hereinafter referred to as " power steering ") of the rotating operation of the bearing circle that stops the driver being carried out.
After stopping power steering, the driver need use very big power to come steering wheel rotation, and this can increase driver's burden.If the fault that causes in the sensor is not main, then the driver only can feel some uncomfortable feeling in steering operation.For example, the driver only feels the fluctuation of vibration moment of torsion when steering wheel rotation, perhaps at cw with rotate counterclockwise and have the inconsistent sensation that turns between the bearing circle, in such cases, does not in fact need always to stop power steering.
Summary of the invention
The objective of the invention is to deficiency at present vehicle electric servo-steering control technology, a kind of later-model vehicle electric power-assisted steering control method and control setup thereof are provided, this method produces the power steering moment of torsion based on the safety and the necessary degree of power steering, thereby make the control of electric power steering more scientific and reasonable, in the hope of alleviating driver's burden to greatest extent.
For achieving the above object, technical scheme of the present invention is as follows: a kind of vehicle electric power-assisted steering control method, this method is stored normal mode computational data and abnormal patterns computational data in power assist controller, the steering torque by obtaining bearing circle and the signal of the speed of a motor vehicle calculate the target booster torquemoment; Whether failure detector detects to exist and causes the depart from objectives failure factor of booster torquemoment maps values of Motor torque, if failure factor does not exist, power assist controller calculates the target booster torquemoment based on normal mode, realizes servo-steering control; Cause Motor torque to depart from objectives the failure factor of booster torquemoment maps values and the speed of a motor vehicle when being less than or equal to setting value if exist, power assist controller calculates the target booster torquemoment based on abnormal patterns, realizes servo-steering control; Cause Motor torque to depart from objectives the failure factor of booster torquemoment maps values and the speed of a motor vehicle during greater than setting value if exist, power assist controller stops power steering.
Further, aforesaid vehicle electric power-assisted steering control method, wherein, described the depart from objectives failure factor of booster torquemoment maps values of Motor torque that causes comprises: the numerical value that steering torque sensor detects departs from actual value; Current sensor signal generation unusual fluctuations; Motor driven systems produces unusual fluctuations; Damaging appears in the power lead or the motor internal circuit that lead to motor.
Further, aforesaid vehicle electric power-assisted steering control method, wherein, when calculating the target booster torquemoment based on normal mode, described target booster torquemoment is got with compensation booster torquemoment addition by main booster torquemoment, the steering torque by obtaining bearing circle and the signal of the speed of a motor vehicle calculate main booster torquemoment, calculate the compensation booster torquemoment by the deflection angle speed signal that obtains bearing circle.
Further, aforesaid vehicle electric power-assisted steering control method, wherein, when realizing servo-steering control based on normal mode, the increase that the target booster torquemoment is set at the steering torque of bearing circle increases, and under a given wheel steering moment of torsion, the target booster torquemoment reduces with the increase of the speed of a motor vehicle.
Further, aforesaid vehicle electric power-assisted steering control method, wherein, when realizing servo-steering control based on abnormal patterns, be positioned at the dead band of abnormal patterns power-assisted mapping if judge the steering torque of bearing circle, and cause Motor torque the depart from objectives failure factor and motor driven systems or relevant with current sensor of booster torquemoment maps values, then power assist controller stops power steering.
A kind of vehicle electric servo-steering control setup, comprise the torque sensor that is used to detect the steering torque that the driver applied the bearing circle steering operation, and the car speed sensor that is used to detect car speed, torque sensor is connected with ECU (Electrical Control Unit) respectively with car speed sensor, ECU (Electrical Control Unit) connects and is used for power-steering motor, motor is connected with steering shaft by transmission device, and wherein, described ECU (Electrical Control Unit) comprises:
Main booster torquemoment calculating unit is used to receive the steering torque of expression bearing circle and the signal of the speed of a motor vehicle, uses mapping of normal mode power-assisted or the mapping of abnormal patterns power-assisted to calculate main booster torquemoment;
Target booster torquemoment calculating unit is used for further calculating the target booster torquemoment;
The fault judgement unit is used to judge whether to exist and causes the depart from objectives failure factor of booster torquemoment maps values of Motor torque;
Abnormal patterns control break command unit is used for sending order that changes master mode and the fault recognition signal of representing fault type according to fault judgement signal and vehicle speed signal;
The driving voltage generation unit is used for calculated signals needs according to the target booster torquemoment and is applied to driving voltage on the motor.
Further, aforesaid vehicle electric servo-steering control setup, wherein, described driving voltage generation unit comprises:
Target current calculation unit is used for the signal of receiving target booster torquemoment and calculating and the proportional target current of target booster torquemoment;
The current deviation calculating unit is used to calculate the deviation between the actual current of target current and power supply supply;
The differential control unit is used for calculating target voltage according to current deviation, makes actual current equal target current;
PWM voltage generation unit is used to send the signal of representing with the cooresponding pwm voltage of target voltage;
H bridge driving circuit is used for producing driving voltage according to the pwm voltage signal, and driving voltage is applied to motor.
Further, aforesaid vehicle electric servo-steering control setup, wherein, described ECU (Electrical Control Unit) also comprises the compensation torque calculating unit, the deflection angle speed signal that is used for the receive direction dish calculates the compensation booster torquemoment, and main booster torquemoment calculating unit and compensation torque calculating unit send to target booster torquemoment calculating unit with the result of calculation of main booster torquemoment and compensation torque respectively and be used for addition calculation target booster torquemoment.
Further, aforesaid vehicle electric servo-steering control setup wherein, is provided with current sensor between power supply relay of powering to motor and driving voltage generation unit, be used to detect the electric current that flows through motor.
Beneficial effect of the present invention is as follows: vehicle electric power-assisted steering control method provided by the present invention and device, depart from objectives under the situation of booster torquemoment maps values in that unusual torque ripple or Motor torque take place, according to the essentiality degree that reduces uncomfortable sensation in the steering operation and the essentiality degree that reduces to carry out the required power of steering operation carry out the drive controlling of servo-steering motor.When and essentiality degree power steering lower when the speed of a motor vehicle was higher, drive motor produced the power steering moment of torsion, to alleviate driver's burden; When and essentiality degree power steering higher when the speed of a motor vehicle is low, forbid the operation of motor, to minimize uncomfortable feeling in the steering operation.The present invention compares more scientific and reasonable with existing power-assisted steering control method, the servo-steering effect is also more remarkable.
Description of drawings
Fig. 1 is the vehicle electric servo steering device scheme drawing of the embodiment of the invention;
Fig. 2 is the functional schematic of each module of ECU (Electrical Control Unit) of the embodiment of the invention;
Fig. 3 is the diagram of circuit of power operated control program;
Fig. 4 is the mapping relations of steering torque and basic booster torquemoment;
The scheme drawing that Fig. 5 shines upon for the abnormal patterns power-assisted that is used to calculate basic booster torquemoment when et out of order;
Fig. 6 is the scheme drawing that is used to calculate the compensation torque mapping of compensation torque;
Fig. 7 is the signal skew scheme drawing of steering torque sensor;
Fig. 8 is the signal fluctuation scheme drawing of steering torque sensor.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, electric power-assisted steering apparatus mainly comprises: electrically powered steering apparatus using same 60, so that assisted diversion power (steering torque) is provided to and bearing circle 61 bonded assembly steering shafts 21.This steering shaft 21 comprises: the top is connected to the top steering shaft 21a of bearing circle 61, and the bottom is provided with castellated shaft 88, and the universal coupling 21c that connects castellated shaft 88 and bottom steering shaft 21b.The gear wheel shaft 48 of bottom steering shaft 21b has rack shaft 89, and this rack shaft has the tooth bar 89a with this pinion.Form rack and pinion mechanism 84 by gear wheel shaft 48 and rack shaft 89 (tooth bar 89a).At the two ends of rack shaft 89 pull bar 46 is set, and has the outer end that front-wheel 62 is attached to this pull bar 46.
Form power transmitting mechanism 85 by gear on worm 44 and worm gear 45.Motor 42 is exported the rotational force (moment of torsion) of assisted diversion moments of torsion, and by power transmitting mechanism 85 this rotational force is put on bottom steering shaft 21b.Steering torque sensor 20 is set to bottom steering shaft 21b.When putting on steering shaft 21 when driver's direction of operating dish 61 and with steering torque, steering torque sensor 20 inductions put on the steering torque of steering shaft 21.
Electrically powered steering apparatus using same 60 comprises: steering torque sensor 20, speed sensor 63, control setup 64, motor 42, rack and pinion mechanism 84 and other add the assembly of the apparatus structure of regular conventional steering swivel system to.
When driver's direction of operating dish 61 so that when changing the direction that vehicle advances, based on the rotational force of the steering torque that puts on steering shaft 21 by rack and pinion mechanism 84 be transformed into along rack shaft 89 axially on motion of translation, and change the direct of travel of front-wheels 62 by pull bar 46.At this moment, the steering torque sensor 20 that is set to steering shaft 21a is responded to steering torque simultaneously, to the turning to of bearing circle 61, converts this steering torque to electric steering torque signal Th according to the driver, and will turn to and refuse square signal Th and be delivered to control setup 64.Speed sensor 63 sense vehicle speed become speed signal V with this rate conversion, then this speed signal V are outputed to control setup 64.Control setup 64 produces the current of electric of drive motor 42 on the basis of steering torque signal Th and speed signal V.The motor 42 that is driven by current of electric puts on bottom steering shaft 21c via worm type of reduction gearing mechanism 85 with assisted diversion power.As above, reduced the steering effort that puts on bearing circle 61 by the driver by drive motor 42.
Two impulse singlas that frequency is identical of speed sensor 63 output, in two impulse singlas, an impulse singla is used as vehicle speed signal V, and another impulse singla is used as and whether judges in the sensor out of order signal Ve.If turning velocity sensor 63 is working properly, then two impulse singlas are represented identical value.On the other hand, if et out of order in the speed sensor 63, then two impulse singlas are represented different values.Therefore, by two represented values of impulse singla are compared mutually, whether to judge in the speed sensor 63 et out of order.
The direction that bearing circle 61 rotates based on steering torque Th whether get on the occasion of or negative value discern.According to case study on implementation of the present invention, when bearing circle 61 clockwise rotates, steering torque Th get on the occasion of.On the contrary, when bearing circle 61 rotated counterclockwise, steering torque Th got negative value.Correspondingly, the size of steering torque Th is represented the size of the absolute value of steering torque Th.
According to the torsional angle of the torsion bar at the middle part that is arranged at steering shaft 21a change magnetic resistance and based on magneto-resistive variation and the sensor of output voltage signal as steering torque sensor 20.Exportable two voltage signals independently of steering torque sensor 20.In two voltage signals, voltage signal is used as the detection signal of expression steering torque Th, and another voltage signal is used as and whether judges in the sensor out of order signal Thc.If steering torque sensor 20 is working properly, then two voltage signals are represented identical value.On the other hand, if et out of order in the steering torque sensor 20, then two voltage signals are represented different values.Therefore, by two represented values of voltage signal are compared mutually, whether to judge in the steering torque sensor 20 et out of order.
The line that Figure 7 shows that the steering torque Th that the detection signal of steering torque sensor 20 of fault is represented is offset from initial point.That is, the steering torque of detection departs from actual steering torque (transverse axis is represented among Fig. 7).When bearing circle 61 along clockwise direction with anticlockwise direction in direction when rotating, if bearing circle 61 is rotated greater amount, then the steering torque of Chan Shenging is then detected mistakenly.This may cause that moment of torsion cw/C.C.W. changes, and this is a kind of such phenomenon, and wherein the output of the moment of torsion of motor 42 is by the cw of the bearing circle 61 that identical steering torque carried out with rotate counterclockwise between the operation and change.In Fig. 7, solid line represents that the moment of torsion under the normal condition detects characteristic (relation between the steering torque of actual steering moment of torsion and sensor); Dotted line represents that moment of torsion detects characteristic under the faulty condition, and in this faulty condition, when bearing circle 61 clockwise rotated, if bearing circle 61 is rotated greater amount, then steering torque was detected mistakenly; And the dotted line that length replaces represents that moment of torsion detects characteristic under the faulty condition, and under this faulty condition, when bearing circle 61 rotated counterclockwise, if bearing circle 61 is rotated greater amount, then steering torque was detected mistakenly.
The ECU (Electrical Control Unit) 64 of control motor 42 operations mainly comprises main CPU, aiding CPU and their ROM, RAM separately, receives detection signal from steering torque sensor 20, the car speed sensor 63 that is connected respectively to ECU (Electrical Control Unit) 64.The vehicle speed signal of car speed sensor 63 output expression Vehicle Speed V.ECU (Electrical Control Unit) 64 is also connected to alarm device 25, and alarm device 25 is warning lights of notifying driver's et out of order.
Figure 2 shows that the functional block diagram of whole ECU (Electrical Control Unit) 64, comprise the functional module of microcomputer.Function shown in the functional module realizes by executive routine.ECU (Electrical Control Unit) 64 comprises main booster torquemoment calculating unit 31 that calculates main booster torquemoment and the compensation torque calculating unit 32 that calculates compensation torque.
Main booster torquemoment calculating unit 31 receives the signal of expression steering torque Th and vehicle velocity V, and calculates basic assistive torque based on steering torque Th and vehicle velocity V, uses the power-assisted mapping to calculate main booster torquemoment Tas, and Tas is different and different with vehicle with the corresponding relation of Th and V.Prepare the mapping of two power-assisteds, that is, judge when fault judgement unit 64 (back descriptions) and to use the mapping of normal mode power-assisted when not having fault, when et out of order is judged in fault judgement unit 64, use the abnormal patterns power-assisted to shine upon.These power-assisted mappings are stored among the ROM of microcomputer.
As shown in Figure 4, normal mode power-assisted mapping limits linear approximate relationship between main booster torquemoment Tas and the steering torque Th at multiple vehicle velocity V, can calculate by main booster torquemoment Tas=Th* θ formula, and wherein θ is a deflection angle.According to the mapping of normal mode power-assisted, the increase that main booster torquemoment Tas is set to steering torque Th increases.As shown in Figure 4, relation between steering torque Th and the main booster torquemoment Tas is configured to, increase with vehicle velocity V, main booster torquemoment Tas entirely reduces, promptly, under given steering torque Th, main booster torquemoment Tas increases with vehicle velocity V and reduces, and can determine concrete corresponding relation according to the empirical value that concrete test obtains.
As shown in Figure 5, the skip distance that turns to torque T h in the abnormal patterns power-assisted mapping big than in the mapping of normal mode power-assisted.In the dead band, main booster torquemoment Tas is set to zero.In the mapping of normal mode power-assisted,, between main booster torquemoment Tas and steering torque Th, set multiple relation at the multiple speed of a motor vehicle.On the contrary, the mapping of abnormal patterns power-assisted does not provide multiple assist characteristic curve according to vehicle velocity V.But, can change assist characteristic based on vehicle velocity V.
Normal mode power-assisted mapping according to the embodiment of the invention can be used as the normal mode computational data.Abnormal patterns power-assisted mapping according to the embodiment of the invention can be used as the abnormal patterns computational data.Except using the mapping of such power-assisted, the function that can area definition booster torquemoment Tas changes with steering torque Th, and use function calculation master booster torquemoment Tas.
Compensation torque calculating unit 32 receives the driver's who is obtained bearing circle 61 is operated in expression by the driver the signal of deflection angle speed omega, and calculates compensation torque Tc based on the deflection angle speed omega and be used to add some heavy sensations to the operation of the bearing circle 61 that is undertaken by the driver.Use the compensation torque mapping shown in Fig. 6 to calculate compensation torque Tc, Tc=Ke* ω, Ke are the motor damping torque coefficient.As can be seen, the compensation torque that applies along the direction with bearing circle 61 direction of rotation is configured to increase with the increase of deflection angle speed omega from the compensation torque mapping.Compensation torque is not limited to be used for adding to the operation of bearing circle 61 moment of torsion of some heavy sensations.For example, apply bearing circle 61 is turned back to the return moment of torsion of neutral position, perhaps the cooperation control torque that produces according to the order of other control system based on deflection angle θ.Alternatively, this device using compensation moment of torsion not.
ECU (Electrical Control Unit) 64 comprises target torque calculating unit 33.Target booster torquemoment calculating unit 33 receives main booster torquemoment Tas that expression calculated by main booster torquemoment calculating unit 31 and the signal of the compensation torque Tc that calculated by compensation torque calculating unit 32.Target booster torquemoment calculating unit 33 comes together to calculate target booster torquemoment T*=(Tas+Tc) by main booster torquemoment Tas is added to compensation booster torquemoment Tc then.Then, motor 42 is controlled by following unit based target booster torquemoment T*.
ECU (Electrical Control Unit) 64 comprises driving voltage generation unit 30, and driving voltage generation unit 30 is made up of target current calculation unit 34, current deviation calculating unit 35, differential control unit (D control unit) 36, PWM voltage generation unit 37, H bridge driving circuit 38.
Target current calculation unit 34 receives the signal of expression by the target booster torquemoment T* of target booster torquemoment calculating unit 33 calculating, and calculating and the proportional target current I* of target booster torquemoment T*.Target current satisfies following relation: K
TI*=Tas+J
M* (d ω
M/ dt)+D
Mω
M+ F
MSgn (ω
M),
Wherein, K
TBe motor torque coefficient, Tas is main booster torquemoment, J
MRotational inertia coefficient, D
MBe the coefficient of viscosity, F
MBe damping moment, ω
MBe motor speed, sgn () is a symbolic function.
Target deviation calculating unit 35 receives target current I* that expression calculated by target current calculation unit 34 and the signal that flows to the actual current Ix of motor 42, and calculate deviation delta I between actual current Ix and the target current I* (=I*-Ix).Current sensor 71 is arranged at power supply relay between the PWM voltage generation unit 37, and detects the electric current (Ix) that flows through motor 42.Power supply relay 72 is arranged on the power lead.Power supply relay 72 allows or stops to motor 42 supply of current.
Expression is sent to differential control unit (D control unit) 36 by the deviation delta I that electric current difference in offset calculating unit 35 calculates.Differential control unit 36 calculates target voltage V* based on deviation delta I, makes actual current Ix equal target current I*, and promptly deviation delta I equals zero.The computing formula of target voltage is as follows:
V*＝Kh·I*+K
M·(dω
M/dt)+K
D·ω
M+K
F·sgn(ω
M)，
Wherein, Kh is a motor impedance constant, K
MBe the motor factor of inertia, K
DBe the coefficient of viscosity, K
FBe damping coefficient, ω
MBe motor speed, sgn () is a symbolic function.
Expression is sent to PWM voltage generation unit 37 by the signal of the target voltage V* that differential control unit 36 calculates.Like this, the signal of the target voltage that is calculated by differential control unit 36 is sent to PWM voltage generation unit 37.PWM voltage generation unit 37 will be represented to send to H bridge driving circuit 38 with the signal of the cooresponding pwm voltage of target voltage V*.H bridge driving circuit 38 produces driving voltage based on the pwm voltage signal, and driving voltage is applied to motor 42 by power lead.Therefore, under the power-assisted of the driving power that motor 42 produces, front-wheel 62 turns to.
ECU (Electrical Control Unit) 64 also comprises fault judgement unit 64.Whether fault judgement unit 64 failure judgement take place, and this fault is to cause the depart from objectives factor of booster torquemoment maps values of Motor torque.That is, fault judgement unit 64 judges in the output of steering torque sensor 20 whether be offset, that is, whether the numerical value that steering torque sensor 20 detects departs from actual value; Whether current sensor 71 signals unusual fluctuations take place; Comprise in the motor driven systems of PWM voltage generation unit 37 and H bridge driving circuit 38 and whether produce fluctuation; And lead to whether at least one damages in the power lead of motor 42 or motor 42 internal wirings.
If the value that steering torque sensor 20 detects departs from actual value, then detect torque T h and depart from true steering torque.That is, when bearing circle 61 along clockwise direction or in the anticlockwise direction one when rotating, if bearing circle 61 rotates less amount, then the steering torque of Chan Shenging is by error detection.Therefore, even identical operations power is used to cw or rotates counterclockwise bearing circle 61, then the size of Gong Ying power steering moment of torsion is clockwise rotating when bearing circle 61 or is changing between bearing circle 61 rotates counterclockwise.Thus, the operating effort of driver's needs changes according to the rotation direction of bearing circle 61.Therefore, the driver may feel uncomfortable feeling in the rotating operation of bearing circle 61.Therefore, fault judgement unit 64 will send from turning to the signal Th and the Thc of torque sensor 20 to compare mutually, and,, then judge in the steering torque sensor 20 et out of order if the deviation between the magnitude of voltage of being represented by these signals Th and Thc is equal to or greater than reference value.
In Fig. 2, the voltage of two-phase is referred to as Vx.If any damage of power lead 42U, 42V of motor 42, though motor can rotate, the moment of torsion output of motor 42 is beated.When in the power lead such sudden change taking place, the current deviation value of calculating by Current Feedback Control is not equal to zero.Therefore, when being not equal to zero by 35 calculating of current deviation calculating unit and by the represented deviation current value of deviation signal Δ I, damage in the power leads is judged in fault judgement unit 64.
When judging following situation: be offset in the output of steering torque sensor 20, promptly the value that detects of steering torque sensor 20 departs from actual value, and this skew is to cause the depart from objectives factor of booster torquemoment maps values of unusual torque ripple or Motor torque; Current sensor 71 is et out of order; (for example, PWM voltage generation unit 37 or H bridge driving circuit 38) et out of order in the motor driven systems; Lead to perhaps that at least one damages among power lead 42U, the 42V of motor 42, then fault judgement unit 64 will represent that the fault judgement signal of fault type sends to abnormal patterns control break command unit 40.When detecting the major error different with above-mentioned fault, maybe when receiving power-assisted from other control system and cease and desist order, ECU (Electrical Control Unit) 64 operational failure processing function unit (not shown)s stop the operation of The whole control system.
Except the fault judgement signal, abnormal patterns control break command unit 40 also receives the signal of expression vehicle velocity V from car speed sensor 63.64 outputs and vehicle velocity V are when being higher than setting value (20 kilometers/hour) from the fault judgement unit when the fault judgement signal, and abnormal patterns control break command unit 40 output commands stop power steering.Cease and desist order in response to this, power steering stops.For example, power supply relay is closed, to be cut to the electric power supply of motor 42.When the fault judgement signal from the fault judgement unit 64 outputs and the speed of a motor vehicle when being equal to or less than setting value (20 kilometers/hour), abnormal patterns control break command unit 40 sends the order that changes master mode to main booster torquemoment calculating unit 31 and compensation torque calculating unit 32, and sends the fault recognition signal of expression fault type to main booster torquemoment calculating unit 31.
Main booster torquemoment calculating unit 31 changes according to the master mode that receives from abnormal patterns control break command unit 40 orders the power-assisted mapping that will use to be set at the mapping of abnormal patterns power-assisted, and uses abnormal patterns power-assisted mapping calculating booster torquemoment Tas.When the fault recognition signal indication current sensor 71 that receives from abnormal patterns control break command unit 40 one during et out of order, the main booster torquemoment calculating unit 31 outputs PWM OFF that ceases and desist order is used for stopping the output from PWM voltage generation unit 37 when steering torque Th enters the dead band.When in the fault recognition signal indication motor driven systems a plurality of mutually in one during et out of order, main booster torquemoment calculating unit 31 is to power supply relay output OFF signal MR OFF.
Compensation torque calculating unit 32 is receiving the calculating that stops compensation torque when master mode changes order from abnormal patterns control break command unit 40.Compensation torque calculating unit 32 is made as zero with the value of compensation torque Tc then, and sending expression compensation torque Tc to target booster torquemoment calculating unit 33 then is zero signal.
The information of all representing its size and Orientation such as torque T h, Tas, Tc and T*, electric current I x, I*, IUx, IVx and Δ I, voltage Vx, deflection angle speed omega, deflection angle θ and vehicle velocity V.
Figure 3 shows that the power operated control program of carrying out by ECU (Electrical Control Unit) 64, and be stored in as control program among the ROM of ECU (Electrical Control Unit) 64.Each unit 31-40 by combination ECU (Electrical Control Unit) 64 carries out processing each other with getting in touch and will handle with time sequence and arrange the power operated control program of preparing.When ignition lock is opened, with predetermined time interval executive control program periodically.
Behind the beginning control program, ECU (Electrical Control Unit) 64 is at first checked the state (step S11) of each parts.Then, ECU (Electrical Control Unit) 64 judges whether et out of order in step S12.If judging in step S12 does not have fault (" NO " among the step S12), then ECU (Electrical Control Unit) 64 is carried out the control of normal mode power steering in step S13.That is, ECU (Electrical Control Unit) 64 uses main booster torquemoment calculating unit 32 to calculate main booster torquemoment Tas, and adds up with compensation torque Tc and to obtain the value of target booster torquemoment T*, and by above-mentioned Current Feedback Control motor 42.Unless the fault of detecting, otherwise periodically carry out such normal mode power steering.
If judge et out of order in step S12, then ECU (Electrical Control Unit) 64 execution in step S14 open alarm device 25 in step S14.Then, in step S15, ECU (Electrical Control Unit) 64 judges that whether the fault that detects is to cause the depart from objectives factor of booster torquemoment maps values of unusual torque ripple or Motor torque.If detected such fault, then do not need to stop power steering control.In step S15, make affirmative determination, if following situation is judged in fault judgement unit 64: when being offset in the output of steering torque sensor 20; Current sensor 71 is et out of order; When perhaps the power lead of motor 42 has damaged.If when the fault that has taken place outside the above-mentioned fault is judged in fault judgement unit 64, in step S15, make negative evaluation.
If when making negative evaluation in step S15, then in step S16, ECU (Electrical Control Unit) 64 is forbidden the drive controlling of motor 42.Therefore, power steering stops.On the other hand, if in step S15, make affirmative determination, that is, if the fault that judge to detect is when causing Motor torque to depart from objectives the fault of factor of booster torquemoment maps values, though mal also moves the power steering function.Therefore, allow the drive controlling of motor 42 according to the essentiality degree of power steering.
ECU (Electrical Control Unit) 64 reads the vehicle velocity V that car speed sensor 63 is detected in step S17, and judges whether the speed of a motor vehicle is higher than predetermined 20 kilometers/hour (step S18).When the speed of a motor vehicle was run at high speed, the essentiality degree of power steering was lower.Therefore, when vehicle velocity V was higher than 20 kilometers/hour, ECU (Electrical Control Unit) 64 was forbidden the drive controlling of motor 42, to stop power steering (step S16).
On the other hand, when low vehicle speeds, the burden of driver's steering wheel rotation 61 is heavier.Therefore, if judge when vehicle velocity V is equal to or less than 20 kilometers/hour (" NO " among the S18), ECU (Electrical Control Unit) 64 allows the drive controlling of motor 42, with execute exception pattern power operated control (step S19).That is, ECU (Electrical Control Unit) 64 uses main booster torquemoment calculating unit 31 to calculate main booster torquemoment with reference to the mapping of abnormal patterns power-assisted, uses main booster torquemoment Tas target setting booster torquemoment T*, and controls the operation of motor 42 by above-mentioned Current Feedback Control.Like this, because be set as zero, so target booster torquemoment T* equals main booster torquemoment Tas with the cooresponding compensation torque Tc of deflection angle speed omega.
In the abnormal patterns power operated control, the main power-assisted commentaries on classics of the abnormal patterns power-assisted mapping calculating Tas shown in use Fig. 5 (=T*).As can be seen, the width that wherein main steering torque Tas is set as zero steering torque dead band is bigger from mapping.Therefore, when driver's use was carried out steering operation less than the 3Nm moment of torsion, the steering torque Th of detection was in the dead band.Like this, target booster torquemoment T* is set as zero, and the order of not sending drive motor 42.On the other hand, when the driver uses when carrying out steering operation greater than the 4Nm moment of torsion, the steering torque of detection is then set intended target booster torquemoment T* outside the dead band, and the drive controlling of actuating motor 42.That is be when causing Motor torque to depart from objectives the fault of factor of booster torquemoment maps values, to provide power steering to bearing circle 61 operations that the driver carries out deliberately carrying out greater than the 4Nm moment of torsion, by motor 42 if judge.On the other hand, forbid that motor 42 provides power steering to driver's use less than the involuntary bearing circle that carries out 61 operations of 3Nm moment of torsion.Therefore, when the essentiality degree of power steering was higher, drive motor 42 was to alleviate driver's burden.On the other hand, when the essentiality degree of the power steering of motor 42 is low, stop the operation of motor 42, to stop the depart from objectives generation of booster torquemoment maps values of Motor torque.
When in the motor driven systems during et out of order, even steering torque Th is positioned at the dead band, only by changing the faulty operation that the power-assisted mapping can not stop motor 42.For example, if fault occurs in PWM voltage generation unit 37 or the H bridge driving circuit 38, even target booster torquemoment T* is made as zero, motor 42 also may be driven mistakenly.When fault occurs in of current sensor 71 when middle, then, still can not prevent the faulty operation of motor 42 only by changing the power-assisted mapping.Therefore, when execute exception pattern power steering is controlled, carry out following steps in addition.
ECU (Electrical Control Unit) 64 judges in step S20 whether steering torque Th is positioned at the dead band of abnormal patterns power-assisted mapping.Be arranged in dead band (step S20 " YES ") if judge steering torque Th, then whether ECU (Electrical Control Unit) 64 failure judgement in step S21 is relevant with motor driven systems.If fault relevant with motor driven systems (" YES " among the step S21), ECU (Electrical Control Unit) 64 PTO Power Take Off relays then are to cut off the electric power supply (step S 22) of motor 42.If fault and motor driven systems have nothing to do (" NO " among the step S21), then ECU (Electrical Control Unit) 64 failure judgement whether with current sensor 71 in one relevant (step S23).As want relevant (" YES " among the step S23) in failure judgement and the current sensor 71, then ECU 64 stops to send pwm control signals (step S24) to H bridge driving circuit 38.
Therefore, when steering torque Th was arranged in the dead band of abnormal patterns power-assisted mapping, even the fault that detects is relevant with motor driven systems or current sensor 71, then the operation of motor 42 also stopped reliably.On the other hand, when power steering torque T h outside the dead band or when the fault that detects all has nothing to do with motor driven systems and current sensor 71, then ECU (Electrical Control Unit) 64 is crossed the magnitude of current of motor 42 based on the target booster torquemoment T* control flows of using the mapping of abnormal patterns power-assisted to set, and not execution in step S22 and S24.
In above-mentioned power operated control program, whether be higher than 20 kilometers/hour (step S18) based on the speed of a motor vehicle and forbid or allow power steering.20 kilometers/hour can allow to have hysteresis.For example, when vehicle velocity V surpasses 22 kilometers/hour, can the banning of turning movement power-assisted, and reduce and be equal to or less than 18 kilometers/hour when the speed of a motor vehicle, can allow power steering.Alternatively, whether be higher than 20 kilometers/hour judgement for vehicle velocity V and can continue to carry out a schedule time length.Passed through the schedule time during length when judging, can forbid or allow power steering.
Electric power-assisted steering apparatus according to an embodiment of the invention, in that taking place, unusual torque ripple or Motor torque depart from objectives under the situation of booster torquemoment maps values, according to the essentiality degree that reduces uncomfortable sensation in the steering operation and reduce to carry out the drive controlling that the essentiality degree of the required power of steering operation is come actuating motor 42.That is, when and essentiality degree power steering lower when the speed of a motor vehicle was higher, drive motor 42 was to produce the power steering moment of torsion, to alleviate driver's burden.On the other hand, when and essentiality degree power steering higher when the speed of a motor vehicle is low, forbid the operation of motor, to minimize uncomfortable feeling in the steering operation.
In addition, under such faulty condition, the mapping of abnormal patterns power-assisted is changed in power-assisted mapping, wherein the skip distance of steering torque big than under the normal condition.Therefore, even during low vehicle speeds, if the essentiality degree of power steering is lower, promptly the driver uses quite weak power to carry out deliberate steering operation, forbids the operation of motor 42.Therefore, the sensation that the driver can not feel under the weather, for example unusual torque ripple or the Motor torque booster torquemoment maps values that departs from objectives.On the other hand, when the driver uses when carrying out steering operation more energetically, for example when the driver makes Vehicular turn, steering torque drops on outside the dead band, alleviates driver's burden by the operation generation power steering moment of torsion of motor 42.
When steering torque is low, the easier sensation of feeling under the weather of driver, for example unusual moment of torsion or the Motor torque booster torquemoment maps values that departs from objectives.Even under the situation of using power-assisted mapping setting steering torque dead band, when the fault (fault in motor driven systems or the current sensor) that stops motor 42 operation essentiality takes place not cause when, cut-out is led to the power lead of motor 42 or is stopped to send pwm control signal, stops the operation of motor 42 thus reliably.In addition, adorn 25,, therefore may carry out maintenance work to steering boost system than stage morning so the driver can recognize the generation of fault before stopping power steering control because when the such abnormal patterns power steering of execution is controlled, also open alarm.
Method of the present invention and device are not limited in the embodiment described in the specific embodiment, and those skilled in the art's technical scheme according to the present invention draws other embodiment, belongs to technology innovation scope of the present invention equally.
Claims (9)
1. vehicle electric power-assisted steering control method, it is characterized in that: this method is stored normal mode computational data and abnormal patterns computational data in power assist controller, and the steering torque by obtaining bearing circle and the signal of the speed of a motor vehicle calculate the target booster torquemoment; Whether failure detector detects to exist and causes the depart from objectives failure factor of booster torquemoment maps values of Motor torque, if failure factor does not exist, power assist controller calculates the target booster torquemoment based on normal mode, realizes servo-steering control; Cause Motor torque to depart from objectives the failure factor of booster torquemoment maps values and the speed of a motor vehicle when being less than or equal to setting value if exist, power assist controller calculates the target booster torquemoment based on abnormal patterns, realizes servo-steering control; Cause Motor torque to depart from objectives the failure factor of booster torquemoment maps values and the speed of a motor vehicle during greater than setting value if exist, power assist controller stops power steering.
2. vehicle electric power-assisted steering control method as claimed in claim 1 is characterized in that: described the depart from objectives failure factor of booster torquemoment maps values of Motor torque that causes comprises: the numerical value that steering torque sensor detects departs from actual value; Current sensor signal generation unusual fluctuations; Motor driven systems produces unusual fluctuations; Damaging appears in the power lead or the motor internal circuit that lead to motor.
3. vehicle electric power-assisted steering control method as claimed in claim 1, it is characterized in that: when calculating the target booster torquemoment based on normal mode, described target booster torquemoment is got with compensation booster torquemoment addition by main booster torquemoment, the steering torque by obtaining bearing circle and the signal of the speed of a motor vehicle calculate main booster torquemoment, calculate the compensation booster torquemoment by the deflection angle speed signal that obtains bearing circle.
4. as claim 1 or 2 or 3 described vehicle electric power-assisted steering control methods, it is characterized in that: when realizing servo-steering control based on normal mode, the increase that the target booster torquemoment is set at the steering torque of bearing circle increases, and under a given wheel steering moment of torsion, the target booster torquemoment reduces with the increase of the speed of a motor vehicle.
5. as claim 1 or 2 or 3 described vehicle electric power-assisted steering control methods, it is characterized in that: when realizing servo-steering control based on abnormal patterns, be positioned at the dead band of abnormal patterns power-assisted mapping if judge the steering torque of bearing circle, and cause Motor torque the depart from objectives failure factor and motor driven systems or relevant with current sensor of booster torquemoment maps values, then power assist controller stops power steering.
6. vehicle electric servo-steering control setup, comprise the torque sensor that is used to detect the steering torque that the driver applied the bearing circle steering operation, and the car speed sensor that is used to detect car speed, torque sensor is connected with ECU (Electrical Control Unit) respectively with car speed sensor, ECU (Electrical Control Unit) connects and is used for power-steering motor, motor is connected with steering shaft by transmission device, it is characterized in that: described ECU (Electrical Control Unit) comprises:
Main booster torquemoment calculating unit is used to receive the steering torque of expression bearing circle and the signal of the speed of a motor vehicle, uses mapping of normal mode power-assisted or the mapping of abnormal patterns power-assisted to calculate main booster torquemoment;
Target booster torquemoment calculating unit is used for further calculating the target booster torquemoment;
The fault judgement unit is used to judge whether to exist and causes the depart from objectives failure factor of booster torquemoment maps values of Motor torque;
Abnormal patterns control break command unit is used for sending order that changes master mode and the fault recognition signal of representing fault type according to fault judgement signal and vehicle speed signal;
The driving voltage generation unit is used for calculated signals needs according to the target booster torquemoment and is applied to driving voltage on the motor.
7. vehicle electric servo-steering control setup as claimed in claim 6 is characterized in that: described driving voltage generation unit comprises:
Target current calculation unit is used for the signal of receiving target booster torquemoment and calculating and the proportional target current of target booster torquemoment;
The current deviation calculating unit is used to calculate the deviation between the actual current of target current and power supply supply;
The differential control unit is used for calculating target voltage according to current deviation, makes actual current equal target current;
PWM voltage generation unit is used to send the signal of representing with the cooresponding pwm voltage of target voltage;
H bridge driving circuit is used for producing driving voltage according to the pwm voltage signal, and driving voltage is applied to motor.
8. as claim 6 or 7 described vehicle electric servo-steering control setups, it is characterized in that: described ECU (Electrical Control Unit) also comprises the compensation torque calculating unit, the deflection angle speed signal that is used for the receive direction dish calculates the compensation booster torquemoment, and main booster torquemoment calculating unit and compensation torque calculating unit send to target booster torquemoment calculating unit with the result of calculation of main booster torquemoment and compensation torque respectively and be used for addition calculation target booster torquemoment.
9. vehicle electric servo-steering control setup as claimed in claim 6 is characterized in that: be provided with current sensor between power supply relay of powering to motor and driving voltage generation unit, be used to detect the electric current that flows through motor.
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| CN200910243248A CN101734135A (en) | 2009-12-29 | 2009-12-29 | Electric power-assisted steering control method and control device for vehicles |
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| CN200910243248A CN101734135A (en) | 2009-12-29 | 2009-12-29 | Electric power-assisted steering control method and control device for vehicles |
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| CN102610138A (en) * | 2012-03-29 | 2012-07-25 | 江汉大学 | Aligning and driving device and method for steering wheel |
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| CN103869273A (en) * | 2012-12-18 | 2014-06-18 | 现代自动车株式会社 | Offset compensation method of current sensor and motor driving system |
| CN106956717A (en) * | 2016-01-11 | 2017-07-18 | 上银科技股份有限公司 | Detect the system and method for steering wheel angle sensor failure |
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Application publication date: 20100616 |