CN102795260B - The output control method of column assist system - Google Patents
The output control method of column assist system Download PDFInfo
- Publication number
- CN102795260B CN102795260B CN201210124159.5A CN201210124159A CN102795260B CN 102795260 B CN102795260 B CN 102795260B CN 201210124159 A CN201210124159 A CN 201210124159A CN 102795260 B CN102795260 B CN 102795260B
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- China
- Prior art keywords
- change
- assist system
- delivery rate
- mentioned
- column assist
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0496—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures by using a temperature sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of output control method of column assist system, comprising: according to temperature or the voltage of column assist system, determine the step of delivery rate; Detect the step whether above-mentioned delivery rate changes; When above-mentioned delivery rate change, according to the tubing string moment of torsion of above-mentioned column assist system, set the step to the rate of change that the exporting change of above-mentioned column assist system limits; And apply above-mentioned rate of change, change above-mentioned delivery rate, and reflect that above-mentioned delivery rate is to adjust the step of the output of above-mentioned column assist system.When the delivery rate of column assist system changes, according to tubing string torque setting rate of change, adjustment delivery rate, thus can reduce the driver caused by exporting change sharply turn to uneven sense.
Description
Technical field
The present invention relates to column assist system, more specifically, relate to reflection column assist system exporting change sharply, reduce the output control method of the column assist system turning to uneven sense.
Background technology
Generally speaking, utilize the steering hardware of the power of vehicle, have the fluid pressure type utilizing oil and the electrodynamic type utilizing motor.
So-called fluid pressure type refers to, is referred to as the engine installation of the generation hydraulic pressure of Hydraulic Pump, under the state forming hydraulic pressure by engine power pumping fluid, when chaufeur steering wheel rotation, to turned to direction, transports hydraulic pressure, bearing circle is lightened.
Column assist system (Motor Driven Power Steering; MDPS) refer to that the steering shaft utilizing motor to improve steering force assists electric power steering.
Different from the fluid pressure type steering hardware that the vehicle conversion direction time-division joins engine power, column assist system, according to driving conditions, plays controlling functions automatically, makes motor action, thus significantly improves steering operation performance and steering operation sense.
Above-mentioned technical pattern just contributes to understanding background technology of the present invention, does not represent the prior art that the technical field of the invention extensively spreads.
Existing column assist system utilizes the tubing string moment of torsion of the steering column detected by torque sensor to decide final output.Now, column assist system controls in order to stability also performs foldback logic (Foldback logic).
When column assist system departs from the condition needed for regular event; such as, when the heat produced because of the motor of column assist system and temperature depart from a reference value or are applied in over voltage; the drive current of foldback logic controller restriction motor, protection column assist system.
But, even if by foldback logic controller protection column assist system, because the output of accompanying with it in delivery rate situation jumpy also sharply changes, so also there is driver to produce the problem turning to uneven sense.
Summary of the invention
The present invention proposes to improve the problems referred to above, its object is to, when providing a kind of delivery rate when column assist system to change, according to tubing string moment of torsion, the rate of change of setting delivery rate, change delivery rate, thus the output control method turning to the column assist system of uneven sense of the driver caused by exporting change sharply can be reduced.
The output control method of the column assist system involved by a scheme of the present invention, is characterized in that, comprising: according to temperature or the voltage of column assist system, determines the step of delivery rate; Detect the step whether above-mentioned delivery rate changes; When above-mentioned delivery rate changes, according to the tubing string moment of torsion of above-mentioned column assist system, set the step to the rate of change that the exporting change of above-mentioned column assist system limits; And apply above-mentioned rate of change, change above-mentioned delivery rate, and the above-mentioned delivery rate that reflection is changed adjusts the step of the output of above-mentioned column assist system.
The invention is characterized in, above-mentioned rate of change and above-mentioned tubing string moment of torsion are inverse ratio.(technique effect of the present invention)
The present invention is when the delivery rate of column assist system changes, and according to tubing string moment of torsion, the rate of change of setting delivery rate, changes delivery rate, thus can reduce the chaufeur caused by exporting change sharply turn to uneven sense.
In addition, the present invention can reduce and turns to uneven sense to realize the stability of vehicle operating.
Accompanying drawing explanation
The function structure chart of the output-controlling device of the column assist system of Fig. 1 involved by one embodiment of the invention.
The block diagram of the output control method of the column assist system of Fig. 2 involved by one embodiment of the invention.
Fig. 3 is that existing change by delivery rate causes output figure jumpy.
Fig. 4 is for representing the figure of the delivery rate change of the application change rate involved by application one embodiment of the invention and the exporting change based on delivery rate change.
(description of reference numerals)
10: torque sensor;
20: car speed sensor;
30: master control part;
40: foldback logic control portion;
50: motor.
Detailed description of the invention
Below, with reference to accompanying drawing, the output control method of the column assist system involved by one embodiment of the invention is described in detail.In this course, in order to the definition that illustrates and convenience, the thickness of the line gone out illustrated in accompanying drawing and the size etc. of structural element are exaggerated unavoidably to some extent.In addition, term described later considers function in the present invention and carries out the term that defines, and this can produce different understanding according to the intention of user, fortune user or convention.Therefore, for the definition of these terms, should be determined by the whole content of this specification sheets.
The function structure chart of the output-controlling device of the column assist system of Fig. 1 involved by one embodiment of the invention.
As shown in Figure 1, the output-controlling device of the column assist system involved by one embodiment of the invention comprises torque sensor 10, car speed sensor 20, master control part 30, foldback logic control portion 40 and motor 50.
Torque sensor 10 is arranged at steering column (not shown), detects the tubing string moment of torsion of steering column.
Steering column is configured to be connected to and supplies the bearing circle (not shown) of driver's operation and connect to engine room side in vehicle chamber, transmits the steering effort corresponding with the operation of bearing circle.
The speed of car speed sensor 20 pairs of vehicles detects.
In the present embodiment, car speed sensor 20 is usually be arranged at all devices that vehicle also can detect the speed of a motor vehicle.
Master control part 30 accepts the tubing string moment of torsion that inputs from torque sensor 10 and car speed sensor 20 and the speed of a motor vehicle, determines to export, and is outputted to foldback logic control portion 40.
Therefore, when driver's direction of operating dish, steering shaft rotates by rotational force, now, generates drive current, can generate best steering torque according to tubing string moment of torsion and the speed of a motor vehicle and steering operation direction etc.
Foldback logic control portion 40, according to the operating state of current power formula steering swivel system, adjusts from above-mentioned master control part 30 to motor 50 output valve, thus protection column assist system.
That is, foldback logic control portion 40 is when receiving the output valve exported from master control part 30, by power supply and the temperature of column assist system, judges whether to meet regular event condition, exports according to judged result restriction, thus protection column assist system.
Wherein, regular event condition is a reference value for judging steering swivel system whether regular event.
Therefore, the voltage of column assist system and temperature compare with a reference value set by foldback logic control portion 40 respectively, and determine delivery rate according to comparative result.
Now, by determined delivery rate, compare with the delivery rate determined according to the sample time before, judge that delivery rate increases or reduces.
Judged result, when delivery rate changes, the rate of change of reflection delivery rate changes delivery rate, and with the delivery rate after change for benchmark, the output of adjustment column assist system.
First, according to above-mentioned tubing string torque setting rate of change.
Wherein, rate of change makes delivery rate increase gradually or reduce, to limit delivery rate change sharply.
That is, take rate of change as background, change delivery rate, and the delivery rate after reflection change adjusts output.
Wherein, rate of change and tubing string moment of torsion are inverse ratio.This is because when tubing string moment of torsion is large, the operation amplitude of bearing circle is relatively large, so can reduce exporting change to reduce to turn to uneven sense.On the contrary, when tubing string moment of torsion is little, the operation amplitude of bearing circle is relatively little, thus experience turn to uneven sense relatively little, can exporting change be increased.
Below, with reference to Fig. 2 to Fig. 4, the output control method of the column assist system involved by one embodiment of the invention is described in detail.
The block diagram of the output control method of the column assist system of Fig. 2 involved by one embodiment of the invention, Fig. 3 is that the figure being changed the exporting change sharply caused by existing delivery rate, Fig. 4 are for representing the figure of the delivery rate change of the rate of change involved by application one embodiment of the invention and the exporting change based on delivery rate change.
First, torque sensor 10 detects the tubing string moment of torsion of steering column, and car speed sensor 20 detects the speed of a motor vehicle (S10), and is input into master control part 30.
When master control part 30 accepts tubing string moment of torsion and the speed of a motor vehicle from torque sensor 10 and car speed sensor 20, utilize the tubing string moment of torsion and the speed of a motor vehicle that accept, determine the output of column assist system, namely determine the drive current (S20) of motor 50, and be input into foldback logic control portion 40.
When foldback logic control portion 40 receives the output valve of column assist system from master control part 30, detect the operating state of current column assist system.That is, voltage or the temperature of column assist system is detected.
Afterwards, detected voltage or temperature and the voltage reference value set and temperature reference value are compared, and according to comparative result, determines delivery rate (S30).
Now, if voltage and temperature are less than voltage reference value and temperature reference value, then judge that column assist system is normal condition, and delivery rate is determined to be 100%.
On the contrary, if voltage is more than voltage reference value or temperature is that more than temperature reference value or voltage and temperature are more than voltage reference value and temperature reference value, then delivery rate is reduced.
When above-mentioned such determine delivery rate time, compare with delivery rate before, judge whether delivery rate changes (S40).
As a reference, output is input into motor 50 with drive current, and drive current calculates according to I_ref × rate of change (%).If delivery rate is 100%, then owing to calculating according to I_ref × 1 (=100%), so maximum drive current (I_ref) is input into motor 50, if delivery rate is 60%, then owing to calculating according to I_ref × 0.6 (=60%), so export 60% of maximum drive current (I_ref).
Wherein, maximum drive current is the drive current determined by master control part 30.
On the other hand, judge the result whether delivery rate changes, when delivery rate changes, set rate of change (S50) according to the tubing string moment of torsion of the steering column detected by torque sensor 10.
As an example, if tubing string moment of torsion is more than 5Nm, then rate of change is set as 5%/sec, if tubing string moment of torsion is less than 5Nm, is then set as 10%/sec.
As a reference, technical scope of the present invention is not limited to above-mentioned rate of change, also can be set as various rate of change.In addition, also according to the lot of essential factors impacted the responsiveness of column assist system, various rate of change can be set as.
Like this, when setting rate of change, this rate of change being applied to delivery rate, changing delivery rate (S60), the delivery rate after reflection change, adjusts the output (S70) of column assist system.
Therefore, by delivery rate application change rate, even if delivery rate generation drastic change, also can reflect rate of change to prevent to export drastic change occurs, thus can reduce and turn to uneven sense.
In Fig. 3 to Fig. 4, the exporting change of the column assist system involved by known method and one embodiment of the invention is compared.
First, based on the output of known method, as can be seen from Figure 3, export and export according to delivery rate.As an example, when delivery rate is 100%, foldback logic state (Foldback State) exports according to the form of following normal condition (Normal State), will export and export with " 0 " when 0%.
Now, the delivery rate drastic changes such as delivery rate from 100% to 0% or from 0% to 100% change, export (Foldback) also drastic change.
But, the exporting change involved by one embodiment of the invention, as shown in Figure 4, during delivery rate (Rate ref) drastic change, application change rate and change delivery rate.Therefore can find out, compare delivery rate illustrated in fig. 3, delivery rate (Rate final) the not drastic change after change, but change gradually.
Now can find out, export (Foldback State) and do not increase severely due to the delivery rate (Rate final) after change or reduce sharply, so different from the output shown in Fig. 3, but little by little change.Its result, can reduce and turn to uneven sense.
The present invention is illustrated with reference to the embodiment shown by accompanying drawing, but this is exemplary, is to be understood that other embodiments also can making various distortion and equalization as general technical staff of the technical field of the invention.
Claims (2)
1. an output control method for column assist system, is characterized in that, comprising:
According to temperature or the voltage of column assist system, determine the step of delivery rate;
Detect the step whether above-mentioned delivery rate changes;
When above-mentioned delivery rate changes, according to the tubing string moment of torsion of above-mentioned column assist system, set the step to the rate of change that the exporting change of above-mentioned column assist system limits; And
Apply above-mentioned rate of change, change above-mentioned delivery rate, and the above-mentioned delivery rate that reflection is changed adjusts the step of the output of above-mentioned column assist system;
Wherein, described delivery rate is the ratio of the maximum drive current of input motor.
2. the output control method of column assist system according to claim 1, is characterized in that, above-mentioned rate of change and above-mentioned tubing string moment of torsion are inverse ratio.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0048751 | 2011-05-23 | ||
| KR1020110048751A KR101767877B1 (en) | 2011-05-23 | 2011-05-23 | Method for controlling output of motor driven power steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102795260A CN102795260A (en) | 2012-11-28 |
| CN102795260B true CN102795260B (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210124159.5A Active CN102795260B (en) | 2011-05-23 | 2012-04-25 | The output control method of column assist system |
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| KR (1) | KR101767877B1 (en) |
| CN (1) | CN102795260B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129426B (en) * | 2014-07-22 | 2016-09-14 | 北京经纬恒润科技有限公司 | A kind of excess temperature protection method based on EPS and device |
| JP6379907B2 (en) * | 2014-09-16 | 2018-08-29 | 株式会社ジェイテクト | Electric power steering device |
| DE102017214645A1 (en) * | 2017-08-22 | 2019-02-28 | Robert Bosch Gmbh | Over Temperature Management |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293133A (en) * | 1999-10-19 | 2001-05-02 | 丰田自动车株式会社 | Electric steering mechanism of vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003312509A (en) * | 2002-04-22 | 2003-11-06 | Nsk Ltd | Control device of electric power steering device |
| JP4155107B2 (en) * | 2003-05-26 | 2008-09-24 | 株式会社デンソー | Electric power steering device |
| CN2633702Y (en) * | 2003-06-10 | 2004-08-18 | 李振全 | Electric booster turning mechanism for vehicle |
| JP4449918B2 (en) * | 2006-02-15 | 2010-04-14 | トヨタ自動車株式会社 | Electric power steering device |
| JP4287452B2 (en) * | 2006-09-12 | 2009-07-01 | 本田技研工業株式会社 | Automatic vehicle steering system |
| JP4950672B2 (en) * | 2007-01-09 | 2012-06-13 | 本田技研工業株式会社 | Magnetostrictive torque sensor manufacturing method and electric power steering system |
| JP2009165259A (en) * | 2008-01-07 | 2009-07-23 | Jtekt Corp | Motor controller and electric power steering system |
| JP4713653B2 (en) * | 2009-04-23 | 2011-06-29 | 本田技研工業株式会社 | Electric power steering device |
| CN101934814B (en) * | 2009-06-30 | 2011-11-23 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system for driving PMSM (Permanent Magnet Synchronous Motor) by using PWM (Pulse-Width Modulation) frequency conversion strategy |
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2011
- 2011-05-23 KR KR1020110048751A patent/KR101767877B1/en active IP Right Grant
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2012
- 2012-04-25 CN CN201210124159.5A patent/CN102795260B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293133A (en) * | 1999-10-19 | 2001-05-02 | 丰田自动车株式会社 | Electric steering mechanism of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20120130654A (en) | 2012-12-03 |
| KR101767877B1 (en) | 2017-08-14 |
| CN102795260A (en) | 2012-11-28 |
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