CN106004997B - The delay power assist control method of motor-driven power steering control device - Google Patents
The delay power assist control method of motor-driven power steering control device Download PDFInfo
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- CN106004997B CN106004997B CN201610475917.6A CN201610475917A CN106004997B CN 106004997 B CN106004997 B CN 106004997B CN 201610475917 A CN201610475917 A CN 201610475917A CN 106004997 B CN106004997 B CN 106004997B
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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
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of delay power assist control method of motor-driven power steering control device, including step in detail below：A, first condition judges, after program starts, judges whether speed is more than V0, V0 is pre-set vehicle speed value, if condition judgment is unsatisfactory for, into EP (end of program)；Work as V>V0, when meeting Rule of judgment, program enters second condition judgement；B, second condition judges, judges whether engine rotational speed signal is faulty, if condition judgment meets, and ignition signal is OFF state, then system continues power-assisted 5s, and is gradually reduced power-assisted value, enters back into EP (end of program)；If condition judgment meets, and ignition signal is ON states, then system keeps continuing power-assisted；If condition judgment is unsatisfactory for, it is directly entered EP (end of program).By above-mentioned, the matching relationship of ignition signal of the invention and engine rotational speed signal effectively increases the safety of EPS system into line delay Power assisted control.
Description
Technical field
The present invention relates to the field of electric boosting steering system, more particularly to a kind of motor-driven power steering control device
Be delayed power assist control method.
Background technology
Electric power steering（EPS）System is to increase rotation direction sensor, electricity on the basis of traditional mechanical steering system
Sub-control unit（ECU）And power assist apparatus（That is motor and reducer arrangement）It forms.It is turned to due to eliminating mechanical-hydraulic
The oil pipeline of system provides assisted diversion power-assisted by motor driving, therefore has the advantages that simple in structure.In addition, by
The signals such as manipulation torque on the steering wheel and speed are applied according to driver in the system, calculates by ECU and is carried needed for motor
The power-assisted of confession, therefore on the one hand, motor only provides power-assisted if necessary, can save fuel oil, on the other hand, power-assisted size can be with
It is adjusted according to speed, and then obtains variable steering characteristic.Just because of above-mentioned advantage, electric boosting steering system just by
Gradually replace traditional hydraulic power-assist steering system.
Automobile steering system is one of safety member of automobile, therefore it is required that steering, especially EPS system have highest
Safe class.Which kind of no matter under operating mode, it is intended to can guarantee that EPS system is safe, when a failure occurs it, ECU is according to event
Barrier grade determines corresponding processing mode, for example the output of limitation power-assisted, function degrade or shutdown power-assisted.Such as the vehicle when automobile
Fast signal occurs to lose or transfinite when failures, and ECU takes directly is set to a certain medium vehicle speed value such as 40km/ by speed signal
H, so as to ensure that EPS remains to provide power-assisted；For another example when ECU temperature or assist motor when the temperature is excessively high, ECU pass through actively reduce
The mode of target current prevents the temperature from continuing to increase.However there are also emergency work condition, if vehicle is in normal driving process
It is flame-out suddenly, it is lost so as to cause engine rotational speed signal, and in current EPS controls, engine rotational speed signal is that ECU is used for sentencing
It is disconnected whether to provide one of key signal of power-assisted.Therefore when engine rotational speed signal is lost suddenly, ECU can lose power-assisted control
System disappears so as to cause power-assisted.If this operating mode is happened at run at high speed and turning to during, it is most likely that occur
The accident of car crash.
Invention content
The present invention is carried for the operating mode that engine rotational speed signal loss occurs in vehicle travel process set forth above suddenly
A kind of delay power assist control method is gone out, has ensured when above-mentioned operating mode occurs, EPS remains to provide power-assisted, until automobile enters peace
Total state.
In order to solve the above technical problems, one aspect of the present invention is：Provide a kind of electric power steering
The delay power assist control method of control device, the motor-driven power steering control device include steering wheel, rotation direction sensor, snail
Worm and gear deceleration mechanism, steering column, rack and pinion steering gear, tire, ECU, assist motor and battery feed, the side
The front end of steering column is connected to disk, the rotation direction sensor is arranged in steering column, and the worm and gear slows down
Mechanism is arranged on steering column and positioned at the lower section of rotation direction sensor, and the rear end of the steering column is connected to rack-and-pinion
Steering gear centre position, the tire are separately positioned on the left and right ends of rack and pinion steering gear, and the ECU is respectively with turning
It is connected to sensor with assist motor, the assist motor is connected to a side of turbine and worm decelerator, the storage
Battery supply is connected with ECU, and the ECU receives the speed signal from vehicle, engine rotational speed signal and ignition signal；
Receive the torque from rotation direction sensor and angular signal；Receive the motor corner and current signal that are fed back from assist motor,
Wherein, the ECU includes sequentially connected Torque Control ring, coordinating control module, motor control module and power drive mould
Block, the Torque Control ring receive speed signal, engine rotational speed signal, torque and angular signal, export target current value,
The coordinating control module carries out limitation control to target current value, exports limited target current value, limited target electricity
Input of the flow valuve as motor control module, the motor control module also receive motor corner and electricity from assist motor
The feedback of signal is flowed, 6 road pwm control signals are exported to power driver module, by the power driver module output motor control
Voltage processed is to assist motor, which is characterized in that the delay power assist control method of the motor-driven power steering control device, including
Step in detail below：
A, first condition judges, after program starts, judges whether speed is more than V0, and V0 is pre-set vehicle speed value,
If condition judgment is unsatisfactory for, into EP (end of program)；Work as V>V0, when meeting Rule of judgment, program enters second condition judgement；
B, second condition judges, judges whether engine rotational speed signal is faulty, if condition judgment meets, and letter of lighting a fire
Number for OFF state, then system continues power-assisted 5s, and is gradually reduced power-assisted value, enters back into EP (end of program)；If condition judgment expires
Foot, and ignition signal is ON states, then system keeps continuing power-assisted；If condition judgment is unsatisfactory for, it is directly entered EP (end of program).
In a preferred embodiment of the present invention, the rotation direction sensor uses torque sensor or torque corner one
Body sensor.
In a preferred embodiment of the present invention, the ECU output motors control voltage to assist motor.
In a preferred embodiment of the present invention, the assist motor is brush motor or brushless motor.
In a preferred embodiment of the present invention, the target current value includes basic power-assisted target current, returns positive control
Target current processed, damping control target current and compensation current target value.
In a preferred embodiment of the present invention, the power driver module is H bridges or three phase inverter bridge.
The beneficial effects of the invention are as follows：The delay power assist control method of the motor-driven power steering control device of the present invention, tool
There are simple in structure, saving fuel oil, variable steering characteristic, while consider one be likely to occur in normally travel operating mode
Kind extreme danger operating mode, i.e., occur engine rotational speed signal failure, under this operating mode, ECU is not during normal vehicle operation
It is direct cut-out power-assisted, but according to speed signal, the matching relationship of ignition signal and engine rotational speed signal is helped into line delay
Power controls, and effectively increases the safety of EPS system.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is a kind of structure diagram of a preferred embodiment of motor-driven power steering control device of the present invention；
Fig. 2 is the structure diagram of ECU in Fig. 1；
Fig. 3 is the operating mode that ECU judges itself according to vehicle body peripheral signal, the condition conversion mistake of different working modes
Journey schematic diagram；
Fig. 4 is a kind of flow chart of the delay power assist control method of motor-driven power steering control device of the present invention；
Fig. 5 is the design sketch that power-assisted value is gradually reduced.
Specific embodiment
The technical solution in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example is only the part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
As shown in Figure 1, the embodiment of the present invention includes：
A kind of motor-driven power steering control device, including steering wheel 1, rotation direction sensor 2（Torque sensor or torque turn
Angle integrated transducer）, turbine and worm decelerator 3, steering column 4, rack and pinion steering gear 5, tire 6, ECU 15, power-assisted
Motor 13 and battery feed 7, the steering wheel 1 are connected to the front end of steering column 4, and the rotation direction sensor 2 is set
In steering column 4, the turbine and worm decelerator 3 is arranged on steering column 4 and under rotation direction sensor 2
Side, the rear end of the steering column 4 are connected to 5 centre position of rack and pinion steering gear, and the tire 6 is separately positioned on tooth
The left and right ends of rack steering gear 6 are taken turns, the ECU 15 is connect respectively with rotation direction sensor 2 and assist motor 13, described
Assist motor 13 is connected to a side of turbine and worm decelerator 3, and the battery feed 7 is connected with ECU 15.
ECU 15 receives the speed signal 8 from vehicle, engine rotational speed signal 9, ignition signal 10, receives and carrys out low damage
The torque of sensor 2 and angular signal 11, while receive the motor corner fed back from assist motor 13 and current signal 12, root
According to the control principle inside ECU15, output motor control voltage 14 so as to act assist motor 13, provides power torque.
Generally, due to which EPS belongs to vehicular high-power component, in order to protect Vehicular accumulator cell, the startup of ECU 15 needs
It meets some requirements, for example vehicle could must carry out Power assisted control by ECU 15 in the start-up conditions, power-assisted is provided and is turned
Square, therefore engine rotational speed signal 9 can be as one of judgement signal whether ECU 15 starts.
As shown in Fig. 2, ECU 15 includes sequentially connected Torque Control ring 36, coordinating control module 38, motor control mould
Block 33 and power driver module 34, the Torque Control ring 36 receive speed signal 8, engine rotational speed signal 9, torque and turn
Angle signal 11 exports target current value 37, and the coordinating control module 38 carries out target current value 37 limitation control, exports
Limited target current value 39, input of the limited target current value 39 as motor control module 33, motor control
Module 33 also receives the feedback of motor corner and current signal 12 from assist motor 13, and 6 road pwm control signals 35 of output are given
Power driver module 34 gives assist motor 13 by 34 output motor of the power driver module control voltage 14.
36 be the Torque Control ring of EPS, and ECU receives speed signal 8, engine rotational speed signal 9, torque and angular signal
11, target current value 37 is calculated, including basic power-assisted target current, rotary transform tensor target current, damping control target electricity
Stream and compensation current target value.38 be EPS coordinating control modules, and the function of the module is according to battery tension signal 30, ring
Border（Either ECU or assist motor）Temperature signal 31 and other signals 32（Can be steering wheel angle signal or tooth
Displacement signal or other signals）Limitation control is carried out to target current value 37, exports limited target current value 39.Such as when
It detects that battery tension signal 30 is too low, then target current value 37 is multiplied by a voltage coefficient value in 0 ~ 1 range, so as to
A small target current value of the original target current value of ratio is obtained, prevents from damaging due to battery overdischarge.It detects for another example
When environment temperature is excessively high, similarly, target current value 37 is multiplied by a voltage coefficient value in 0 ~ 1 range, so as to obtain one
A target current value smaller than original target current value realizes the purpose of protection ECU and motor.Limited target current value 39 is made
For the input of motor control module 33, motor control module 33 is the electric current loop of EPS, realizes motor actual current to target current
Tracking, so as to export desirably power torque.It to target current is tracked in order to which actual current is better achieved, motor control
Module 33 also receives the feedback of rotating speed and current signal 12 from motor simultaneously.Motor control module 33 exports 6 road PWM controls
Signal is H bridges or 3 phase inverter bridges to power driver module 34, power driver module 34, and corresponding respectively to assist motor 13 is
Brush motor and brushless motor.34 output motor of power driver module control voltage 14 gives assist motor 13.
ECU 15 judges the operating mode of itself, the condition conversion process of different working modes according to vehicle body peripheral signal
As shown in Figure 3.
In Fig. 3, the respectively OFF state of ECU 15 of circle 16,18,20,23,27, power-up initializing state, Run states,
Fault states and lower electro-detection state.OFF state 16 is the cold states of ECU, neither receives extraneous signal, does not also export
Control signal.Arrow line in Fig. 3 then represents the condition converted between different conditions.17 be ignition signal power-up conditions, i.e. IG
ON.ECU detects that IG signals for high level, then move to power-up initializing state 18 from OFF state 16, complete the self-test of ECU
And initialization, i.e., one-time detection is carried out to ECU and EPS system before ECU enters normal power-assisted, it is ensured that system can be normal
Power-assisted.State 18 is normal through rear, if having detected engine speed conditions 19, state is transferred to Run states 20, Run
Kernel state of the state 20 for ECU, the control function of EPS（Power-assisted, Hui Zheng, damping etc.）All it is to complete in this case.If
It is electric under ignition signal in 18 operational process of state（That is IG off, condition 28）, ECU enters lower electro-detection state 27, in lower electricity
It completes to close predrive in detection state 27, disconnects safety relay, Discharge capacitances, update EEPROM, closes power supply etc.
Task.If detect faulty presence in 18 operational process of state（Condition 24）, then into Fault states 23.Run states 20
In operational process, if meeting condition 22, i.e., faulty generation is detected in operation, failure may be sensor fault,
May be ECU internal faults, system enters Fault states 23, and in Fault states 23, ECU is carried out respectively according to fault level
Processing.If meeting condition 21, i.e. engine misses in 20 operational process of Run states, engine speed zero, system enters
Lower electro-detection state 27.When system is in Fault states 23, if detecting that engine speed is zero（Condition 25）, then enter
Lower electro-detection state 27.If it detects electric under ignition signal（That is IG off, condition 29）, then system is by lower electro-detection state 27
It is transferred to OFF state 16.
As described above, it is since driver is stopped that ECU is transformed into lower electro-detection state 27 from Run states 20 under normal circumstances
It is flame-out, it is not required to provide EPS power-assisteds.But following possibility are not excluded for during vehicle use, vehicle is in normally travel state
And be in steering procedure, engine misses are caused for some reason, i.e. engine rotational speed signal is reduced to non-suddenly
Normal condition.If entering lower electro-detection state 27 from Run states 20 immediately at this time, power-assisted can suddenly disappear, this operating mode pole
Easily cause safety accident.
The present invention proposes a kind of delay Power assisted control strategy thus, to cope with this operating mode, improves the safety of EPS system.
Specific method is as shown in Figure 4.
The delay power assist control method of a kind of motor-driven power steering control device, including step in detail below：
A, first condition judges, after program starts, judges whether speed is more than V0, and V0 is pre-set vehicle speed value,
If condition judgment is unsatisfactory for, into EP (end of program)；Work as V>V0, when meeting Rule of judgment, program enters second condition judgement；
B, second condition judges, judges whether engine rotational speed signal is faulty, if condition judgment meets, and letter of lighting a fire
Number for OFF state, then system continues power-assisted 5s, and is gradually reduced power-assisted value, enters back into EP (end of program)；If condition judgment expires
Foot, and ignition signal is ON states, then system keeps continuing power-assisted；If condition judgment is unsatisfactory for, it is directly entered EP (end of program).
C, continue power-assisted, continue to enter back into EP (end of program) after the completion of power-assisted.
Program is introduced into condition judgment 41 since 40, judges whether speed is more than V0, and V0 is pre-set speed
It is worth, takes 5km/h in this example, other nonzero values can also be taken.If 41 Rule of judgment is unsatisfactory for, into EP (end of program), into
Enter 46.Work as V>V0, when meeting Rule of judgment, program enters Rule of judgment 42, and whether engine rotational speed signal is faulty, such as really bar
Part 42 is unsatisfactory for, and program enters 46.If condition meets, and IG=ON, then system keeps continuing power-assisted.If condition meets, and
IG=OFF, then system continue power-assisted 5s（Duration can be changed as the case may be）, power-assisted value is gradually reduced, specific effect
As shown in Figure 5.
In Fig. 5, reference axis 47 is target current value, and reference axis 53 is the time, and 48 occur for engine rotational speed signal failure
Preceding target current value, 51 occur the moment for engine rotational speed signal failure, after 49 occur for engine rotational speed signal failure, inspection
The variation of target current value when measuring ignition signal as ON states after 50 occur for engine rotational speed signal, detects igniting
The variation of target current value when signal is OFF state, target current is gradually reduced from initial value at this time, until zero is reduced to during 52 moment,
52 moment took 5s after generation engine rotational speed signal failure in the present invention.
In conclusion the present invention motor-driven power steering control device delay power assist control method, have it is simple in structure,
The advantages that saving fuel oil, variable steering characteristic, while consider a kind of extreme danger being likely to occur in normally travel operating mode
Engine rotational speed signal failure occurs during operating mode, i.e. normal vehicle operation, under this operating mode, ECU is not directly to cut off
Power-assisted, but according to speed signal, the matching relationship of ignition signal and engine rotational speed signal is into line delay Power assisted control, effectively
Improve the safety of EPS system.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright description is made directly or indirectly is used in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (6)
1. a kind of delay power assist control method of motor-driven power steering control device, the motor-driven power steering control device packet
Include steering wheel, rotation direction sensor, turbine and worm decelerator, steering column, rack and pinion steering gear, tire, ECU, power-assisted electricity
Machine and battery feed, the steering wheel are connected to the front end of steering column, and the rotation direction sensor is arranged on steering tube
In column, the turbine and worm decelerator is arranged on steering column and positioned at the lower section of rotation direction sensor, the steering
The rear end of tubing string is connected to rack and pinion steering gear centre position, and the tire is separately positioned on a left side for rack and pinion steering gear
Right both ends, the ECU are connect respectively with rotation direction sensor and assist motor, and the assist motor is connected to worm and gear and subtracts
A side of fast mechanism, the battery feed are connected with ECU, and the ECU receives the speed signal from vehicle, hair
Motivation tach signal and ignition signal；Receive the torque from rotation direction sensor and angular signal；Receive anti-from assist motor
The motor corner and current signal of feedback, wherein, the ECU includes sequentially connected Torque Control ring, coordinating control module, electricity
Machine control module and power driver module, the Torque Control ring receive speed signal, engine rotational speed signal, torque and turn
Angle signal, exports target current value, and the coordinating control module carries out limitation control to target current value, exports limited mesh
Current value is marked, input of the limited target current value as motor control module, the motor control module, which also receives, to be come from
The motor corner of assist motor and the feedback of current signal export 6 road pwm control signals to power driver module, by described
Power driver module output motor controls voltage to assist motor, which is characterized in that the motor-driven power steering control device
Delay power assist control method, including step in detail below：
A, first condition judges, after program starts, judges whether speed is more than V0, and V0 is pre-set vehicle speed value, if
Condition judgment is unsatisfactory for, then into EP (end of program)；Work as V>V0, when meeting Rule of judgment, program enters second condition judgement；
B, second condition judges, judges whether engine rotational speed signal is faulty, if condition judgment meets, and ignition signal is
OFF state, then system continues power-assisted 5s, and is gradually reduced power-assisted value, enters back into EP (end of program)；If condition judgment meets, and
Ignition signal is ON states, then system keeps continuing power-assisted；If condition judgment is unsatisfactory for, it is directly entered EP (end of program).
2. the delay power assist control method of motor-driven power steering control device according to claim 1, which is characterized in that institute
The rotation direction sensor stated uses torque sensor or torque corner integrated transducer.
3. the delay power assist control method of motor-driven power steering control device according to claim 1, which is characterized in that institute
The ECU output motors stated control voltage to assist motor.
4. the delay power assist control method of motor-driven power steering control device according to claim 1, which is characterized in that institute
The assist motor stated is brush motor or brushless motor.
5. the delay power assist control method of motor-driven power steering control device according to claim 1, which is characterized in that institute
The target current value stated includes basic power-assisted target current, rotary transform tensor target current, damping control target current and compensation electricity
Flow desired value.
6. the delay power assist control method of motor-driven power steering control device according to claim 1, which is characterized in that institute
The power driver module stated is H bridges or three phase inverter bridge.
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| CN201610475917.6A CN106004997B (en) | 2016-06-27 | 2016-06-27 | The delay power assist control method of motor-driven power steering control device |
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| CN201610475917.6A CN106004997B (en) | 2016-06-27 | 2016-06-27 | The delay power assist control method of motor-driven power steering control device |
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| CN106585705B (en) * | 2016-12-06 | 2018-03-23 | 昌辉汽车转向系统（黄山）有限公司 | A kind of automobile steering sensor mounting structure |
| US11027773B2 (en) * | 2017-09-21 | 2021-06-08 | Steering Solutions Ip Holding Corporation | Steer by wire system diagnostic |
| CN110884557A (en) * | 2018-09-11 | 2020-03-17 | 郑州宇通客车股份有限公司 | Control method and device of electro-hydraulic power-assisted steering motor and vehicle |
| CN112441110B (en) * | 2019-09-05 | 2022-03-18 | 博世华域转向系统有限公司 | State management method for power-assisted mode of electric power-assisted steering system |
| CN113942566B (en) * | 2021-10-27 | 2024-02-13 | 江门市兴江转向器有限公司 | Electric power steering control method, apparatus, and readable storage medium |
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| JP3763472B2 (en) * | 2002-09-30 | 2006-04-05 | 三菱電機株式会社 | Electric power steering control device |
| CN2803861Y (en) * | 2005-05-11 | 2006-08-09 | 中国第一汽车集团公司 | Electric boosting steering system |
| EP2657107B1 (en) * | 2007-06-13 | 2017-08-02 | NSK Ltd. | Estimation of temperature for the motor of en electric power steering |
| CN201086737Y (en) * | 2007-06-30 | 2008-07-16 | 江门市兴江转向器有限公司 | Vehicle steering servo-controlled system |
| US8251172B2 (en) * | 2008-02-07 | 2012-08-28 | Jtekt Corporation | Electric power steering device |
| CN201703423U (en) * | 2010-04-01 | 2011-01-12 | 上海航天汽车机电股份有限公司 | Controller circuit of electric power assisted steering system |
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