CN103101572A - Motor driven power steering apparatus with improved static friction zone using pulse torque and steering angle control method thereof - Google Patents
Motor driven power steering apparatus with improved static friction zone using pulse torque and steering angle control method thereof Download PDFInfo
- Publication number
- CN103101572A CN103101572A CN2012104083305A CN201210408330A CN103101572A CN 103101572 A CN103101572 A CN 103101572A CN 2012104083305 A CN2012104083305 A CN 2012104083305A CN 201210408330 A CN201210408330 A CN 201210408330A CN 103101572 A CN103101572 A CN 103101572A
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- China
- Prior art keywords
- deflection angle
- steering
- stop zone
- angle
- generating unit
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- 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
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- 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
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- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
Abstract
The invention provides a motor driven power steering apparatus of a vehicle, which comprises the following steps of a steering angle control executing step, wherein the steering angle is controlled by means of a PI controller along with the input of a steering torque; a judging step, wherein whether the error of the steering angle is greater than a reference error or not is judged, and whether the steering angular velocity is smaller than a reference steering angular velocity or not is also judged; and a pulse torque input step, wherein when the error of the steering angle is greater than the reference error and the steering angular velocity is smaller than the reference steering angular velocity, the pulse torque is input. According to the invention, during the tracking process on a steering angle, the pulse torque value is applied within a stop interval, wherein the torque value is not applied and the steering angle is not changed. Meanwhile, a driver is free from feeling heterogeneity and the reactivity of the driver is improved.
Description
Technical field
The present invention relates to the column assist device of vehicle, relate in more detail when the follow control of target steering angle, utilize pluse torque to improve electro-motive force steering hardware and its control method of the vehicle in static friction interval.
Background technology
As the relevant conventional art of the column assist device of vehicle, Korea S's publication application there be No. 2011-67197.
Korea S's publication application relates to the lane keeping method and system No. 2011-67197, it is characterized in that, the steering torque signal of input is converted to pulse-modulated signal, and the steering torque signal that will be converted to pulse-modulated signal outputs to steering swivel system and carries out steering torque and control.
For this reason, No. 2011-67197 disclosed Lane Keeping System of Korea S's publication application comprises: whether the deviation test section, take the image by pick up camera as benchmark, detect run-off-road; The steering torque signal generating unit is calculated the steering torque towards the direction that prevents the described deviation that detects, and generates the steering torque signal of the steering torque of corresponding described calculating; The steering torque signal converter section by the impulse modulation mode, is converted to the pulse-modulated signal form with the steering torque signal of described generation; And the steering torque signal applying unit, the described steering torque signal that is converted to the pulse-modulated signal form is applied to steering swivel system.
As mentioned above, in the Lane Keeping System of conventional art, because utilize the steering torque input value be converted to the pulse-modulated signal form between the whole district, therefore can be in the interval that does not need pulse-modulated signal also can the apply pulse modulation signal, thereby cause the load of vehicle chassis.
In addition, the impulse modulation size is the high moment of torsion of 4Nm, therefore can cause to allow the driver feel the shortcoming of heterogeneous sense.
Summary of the invention
(technical matters that will solve)
The present invention creates under technical background as above, and its purpose is to provide column assist device and its deflection angle control method of vehicle, can the driver not produced heterogeneous sense in the static friction interval.
Other purposes of the present invention are to provide can be at MDPS(Motor Driving PowerSteering) the static friction interval in improve reactive apparatus and method.
(means of dealing with problems)
In order to solve problem as above, the present invention does not apply torque rating and in not having between stop zone that deflection angle changes, applies the pluse torque value, thereby the driver is not produced heterogeneous sense and can improve reactivity when deflection angle is followed the trail of.
That is, according to the deflection angle control method of the column assist device of the vehicle of one side of the present invention, comprising: deflection angle is controlled execution in step, along with the input of steering torque, carries out deflection angle by the PI controller and controls; Determining step judges whether steering angle error is more than the fiducial error value, and whether deflection angle speed is below reference angle speed; The input step of pluse torque, when judgment result is that of described determining step, described steering angle error is more than described fiducial error value, described deflection angle speed is described reference angle speed when following, the input pulse moment of torsion.
, according to first, after the input step of described pluse torque, can also comprise: determining step judges whether described deflection angle speed is more than described reference angle speed herein; The reception and registration step of deflection angle is described reference angle speed when above in described deflection angle speed, passes on deflection angle; Can also comprise: the reception and registration step of deflection angle, when judgment result is that of described determining step, described steering angle error is less than described fiducial error value, or described deflection angle speed is passed on deflection angle when surpassing described reference angle speed.
Column assist device according to the vehicle of another side of the present invention comprises: the steering torque signal generating unit, and described steering torque signal generating unit comprises: the PI controller, receive deflection angle, and the reply deflection angle is carried out PI and is controlled; Judging part between stop zone determines whether between stop zone; The pluse torque generating unit is between described stop zone the time by judgement section judges between described stop zone, the production burst moment of torsion.
Herein, judging part between described stop zone is more than the fiducial error value at steering angle error, and deflection angle speed is reference angle speed when following, is judged as between described stop zone.
Steering torque signal generating unit according to the column assist device of the vehicle of another side again of the present invention comprises: the PI controller, receive deflection angle, and the reply deflection angle is carried out PI and is controlled; Judging part between stop zone determines whether between stop zone; The pluse torque generating unit is between described stop zone the time by judgement section judges between described stop zone, the production burst moment of torsion.
(effect of invention)
According to the present invention, can be when target steering angle be followed the trail of, at MDPS(Motor DrivingPower Steering) the static friction interval in improve reactive, and the heterogeneous sense that the driver is produced can reduce deflection angle and control the time.
Description of drawings
Fig. 1 means with MDPS(Motor Driving Power Steering) chart of test run result when moment of torsion is as the criterion to carry out the deflection angle follow control.
Fig. 2 means the block diagram of the formation of the steering torque signal generating unit of using in the column assist device of vehicle according to an embodiment of the invention.
Fig. 3 is for the chart of the steering torque signal that generates in the steering torque signal generating unit of Fig. 2 is described.
Fig. 4 means the diagram of circuit of the deflection angle control method of the column assist device of vehicle according to an embodiment of the invention.
The specific embodiment
By the embodiment of reference accompanying drawing and following detailed description, advantage of the present invention, feature and realize that their method can be clearer and more definite.But the invention is not restricted to following the disclosed embodiments, is to be realized by multiple different form.Embodiments of the invention are just for intactly openly the present invention, and provide in order to allow the general technical staff of the technical field of the invention easily understand the invention category, and the present invention is that the record with claims is as the criterion.On the one hand, the technical terms that uses in this specification sheets is for explanation embodiment, is not to limit the present invention.The singulative of mentioning in specification sheets in the situation that be not particularly limited, comprises plural form." the comprising (comprises) " of using in specification sheets or " (comprising) that comprise " do not get rid of is, in the inscape that is mentioned to, step, move and/or be beyond element, exist or add more than one other inscapes, step beyond it, move and/or be element.
Below, with reference to accompanying drawing, the column assist device of vehicle according to an embodiment of the invention is described in detail.
Fig. 1 means with MDPS(Motor Driving Power Steering) chart of test run result when moment of torsion is as the criterion to carry out the deflection angle follow control.In Fig. 1, fine rule represents target steering angle, and thick line represents actual steering angle.
As shown in Figure 1, can confirm to have as between the stop zone that in actual deflection angle, the with dashed lines circle represents.That is, when checking this interval torque rating, because can be through near 0 and can not apply torque rating, thereby there is no the variation of deflection angle.Have this reason that stops between frictional belt and be in order to control trickle angle (in 10 degree), therefore can view the performance boundary of MDPS in low moment of torsion interval.Therefore, when the deflection angle follow control, the phenomenon that the operation of bearing circle is not soft and be interrupted can occur.
In order to solve this phenomenon, the column assist device of vehicle according to an embodiment of the invention utilizes error, the deflection angle velocity conditions of the deflection angle of measuring in target steering angle and vehicle, applies pulse value between stop zone to form successional motion.In addition, when not catching bearing circle, the driver when catching bearing circle, to minimizing the pluse torque value of the heterogeneous sense that the driver is produced, can obtain and use.
Fig. 2 means the block diagram of the formation of the steering torque signal generating unit of using in the column assist device of vehicle according to an embodiment of the invention.
As shown in Figure 2, the steering torque signal generating unit 20 that is suitable in the column assist device of vehicle according to an embodiment of the invention, its formation comprises: PI controller 210, receive deflection angle, and the reply deflection angle is carried out PI control; Between stop zone, judging part 220, judge between stop zone as above; And pluse torque generating unit 230, generate between corresponding stop zone and the pluse torque that applies.
Fig. 3 is for the chart of the steering torque signal that generates in the steering torque signal generating unit of Fig. 2 is described.
The fine rule of Fig. 3 a is identical as shown in fig. 1, means target steering angle.
Become 1 when being used for the Active flag that deflection angle follows the trail of, thereby when the beginning deflection angle is controlled, the demand torque value that can be generated as shown in Fig. 3 b by PI controller 210.
On the other hand, as mentioned above, if occur between stop zone when utilizing the control of PI controller 210, namely, the error of deflection angle is more than the fiducial error value, and deflection angle speed is that the reference angle velocity amplitude is when following, as shown in Fig. 3 c, understand by pluse torque generating unit 230 production burst moments of torsion, and together be communicated to steering swivel system with the demand torque value that is generated by PI controller 210.
Can confirm by experiment, between stop zone in, deflection angle is changed to minimize the pluse torque value of the heterogeneous sense that the driver is produced, have the value of 0.8Nm left and right.0.8Nm when above, can produce heterogeneous sense to the driver, the pluse torque value below 0.8Nm is very little to the variation of deflection angle.According to the sample time of MDPS, the impulse amplitude of pluse torque value constitutes the interval of 10ms.
The steering torque signal generating unit 20 according to an embodiment of the invention, in between stop zone, control together production burst moment of torsion with PI, in between stop zone, apply the pluse torque value and deflection angle speed reaches a reference value when above, apply original steering torque value, thereby unlike previous technologies, can utilize to Min. the input of pluse torque.
Fig. 4 means the diagram of circuit of the deflection angle control method of the column assist device of vehicle according to an embodiment of the invention.
As shown in Figure 4, when the input redirect moment of torsion, thereby Active flag becomes (S410) at 1 o'clock, carries out deflection angle by PI controller 210 and controls (S420).
Afterwards, by judging part between stop zone 220, judge whether steering angle error is fiducial error value above (S430), judge whether deflection angle speed is reference angle speed following (S440).
During any one condition, the deflection angle of being controlled by PI controller 210 can not be communicated to steering swivel system (S470) in meeting S430 and S440.
Opposite with it, when all meeting two conditions of S430 and S440, that is, steering angle error is fiducial error value above (S430), when deflection angle speed is reference angle speed following (S440), can input the pluse torque that is generated by pluse torque generating unit 230.
Along with the input (S460) of pluse torque, deflection angle speed reaches a reference value when above, and deflection angle can be communicated to steering swivel system (S470).
As mentioned above, utilization is by the pluse torque input method between the control of PI controller and stop zone, be applied to the LKAS(Lane Keeping Assist System that controls for trickle angle) or LG(Lane Guide) time, not only can play the very large effect of improving to the system response performance, can also minimize the degree of the heterogeneous sense that the driver is produced.
Above, be as the criterion with preferred embodiment, describe the present invention, but device and method of the present invention might not be defined in the above embodiments, in the situation that do not break away from main idea of the present invention and scope, can implement multiple modification or distortion.And this modification or distortion also should belong in protection scope of the present invention.
Claims (6)
1. deflection angle control method, the deflection angle control method as the column assist device of vehicle comprises:
Deflection angle is controlled execution in step, along with the input of steering torque, carries out deflection angle by the PI controller and controls;
Determining step judges whether steering angle error is more than the fiducial error value, and whether deflection angle speed is below reference angle speed;
The input step of pluse torque, when judgment result is that of described determining step, described steering angle error is more than described fiducial error value, described deflection angle speed is described reference angle speed when following, the input pulse moment of torsion.
2. deflection angle control method according to claim 1 after the input step of described pluse torque, also comprises:
Determining step judges whether described deflection angle speed is more than described reference angle speed;
The reception and registration step of deflection angle is described reference angle speed when above in described deflection angle speed, passes on deflection angle.
3. deflection angle control method according to claim 1 also comprises:
The reception and registration step of deflection angle, when judgment result is that of described determining step, described steering angle error is less than described fiducial error value, or described deflection angle speed is passed on deflection angle when surpassing described reference angle speed.
4. the column assist device of a vehicle comprises: the steering torque signal generating unit,
Described steering torque signal generating unit comprises:
The PI controller receives deflection angle, and the reply deflection angle is carried out PI control;
Judging part between stop zone determines whether between stop zone;
The pluse torque generating unit is between described stop zone the time by judgement section judges between described stop zone, the production burst moment of torsion.
5. the column assist device of vehicle according to claim 4, is characterized in that,
Judging part between described stop zone is more than the fiducial error value at steering angle error, and deflection angle speed is reference angle speed when following, is judged as between described stop zone.
6. steering torque signal generating unit, the steering torque signal generating unit of using in the column assist device as vehicle comprises:
The PI controller receives deflection angle, and the reply deflection angle is carried out PI control;
Judging part between stop zone determines whether between stop zone;
The pluse torque generating unit is between described stop zone the time by judgement section judges between described stop zone, the production burst moment of torsion.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0118893 | 2011-11-15 | ||
| KR1020110118893A KR101896694B1 (en) | 2011-11-15 | 2011-11-15 | Motor driven power steering apparatus with improved static friction zone using pulse torque and steering angle control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103101572A true CN103101572A (en) | 2013-05-15 |
| CN103101572B CN103101572B (en) | 2016-06-08 |
Family
ID=48309848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210408330.5A Active CN103101572B (en) | 2011-11-15 | 2012-10-24 | The column assist device of vehicle and the control method of steering angle thereof |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101896694B1 (en) |
| CN (1) | CN103101572B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104417601A (en) * | 2013-08-27 | 2015-03-18 | 现代摩比斯株式会社 | Apparatus and method for stabilizing steering feel in motor-driven power steering |
| US9561820B2 (en) | 2015-06-30 | 2017-02-07 | Caterpillar Paving Products Inc. | Uncommanded steering detection |
| CN106945718A (en) * | 2015-12-07 | 2017-07-14 | 现代摩比斯株式会社 | Electric boosting steering system and its control method |
| CN106985900A (en) * | 2015-10-12 | 2017-07-28 | 现代摩比斯株式会社 | Method and apparatus for controlled motor driving power steering system |
| CN110221597A (en) * | 2019-04-18 | 2019-09-10 | 河北汉光重工有限责任公司 | A kind of paths planning method and device for unmanned target |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102203275B1 (en) * | 2014-12-03 | 2021-01-14 | 현대모비스 주식회사 | Vehicle Steering Apparatus and Method for Lane Keeping |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104417601A (en) * | 2013-08-27 | 2015-03-18 | 现代摩比斯株式会社 | Apparatus and method for stabilizing steering feel in motor-driven power steering |
| US9561820B2 (en) | 2015-06-30 | 2017-02-07 | Caterpillar Paving Products Inc. | Uncommanded steering detection |
| CN106985900A (en) * | 2015-10-12 | 2017-07-28 | 现代摩比斯株式会社 | Method and apparatus for controlled motor driving power steering system |
| CN106985900B (en) * | 2015-10-12 | 2020-03-03 | 现代摩比斯株式会社 | Method and apparatus for controlling motor-driven power steering system |
| CN106945718A (en) * | 2015-12-07 | 2017-07-14 | 现代摩比斯株式会社 | Electric boosting steering system and its control method |
| CN106945718B (en) * | 2015-12-07 | 2019-04-23 | 现代摩比斯株式会社 | Electric boosting steering system and its control method |
| CN110221597A (en) * | 2019-04-18 | 2019-09-10 | 河北汉光重工有限责任公司 | A kind of paths planning method and device for unmanned target |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103101572B (en) | 2016-06-08 |
| KR101896694B1 (en) | 2018-09-11 |
| KR20130053232A (en) | 2013-05-23 |
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