CN108454695A - The method for operating the electric power steering system of motor vehicles - Google Patents
The method for operating the electric power steering system of motor vehicles Download PDFInfo
- Publication number
- CN108454695A CN108454695A CN201810131597.1A CN201810131597A CN108454695A CN 108454695 A CN108454695 A CN 108454695A CN 201810131597 A CN201810131597 A CN 201810131597A CN 108454695 A CN108454695 A CN 108454695A
- Authority
- CN
- China
- Prior art keywords
- electric power
- power steering
- steering system
- value
- stability
- Prior art date
- 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.)
- Pending
Links
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
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- 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
-
- 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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of method of the electric power steering system (4) of operating motor vehicles (2), this method has steps of：The value (W) of steering torque (LM) is represented using steering torque sensor (8) detection of electric power steering system (4), the value (W) of detection is analyzed to determine the variable for representing the stability measure (S) for indicating electric power steering system (4) stability, more stable property scale (S) and limiting value (G), and if comparison result, which is stability measure (S), is more than limiting value (G), export control signal (ST).
Description
Technical field
The present invention relates to a kind of methods of the electric power steering system of operating motor vehicles.
Background technology
Currently, there is many motor vehicles power steering system, power steering system to be used to turn in the stagnation of motor vehicles
To, manipulate during or when running at a low speed, reduce the power needed for the steering wheel for manipulating motor vehicles.During steering, electronic-controlled power steering
The power for steering that system is applied by hydraulic system (hydraulic pump, controller, motor) or electro-motor amplification by driver
To assist driver.
This electric power steering system is electric auxiliary force steering, is only just worked when divertical motion occurs.With
Hydraulic pressure auxiliary phase ratio, an electrically driven (operated) major advantage be can be adaptively designed turn to and turn to can also be by auxiliary
Auxiliary system is superimposed.For example, can be changed according to car speed auxiliary torque and thus change steering wheel on power.Therefore,
When stopping during fast running and reducing power steering, the goal conflict of powerful power steering can be solved.Steering
Actuator is may be used as, for wider driver assistance task (for example, in second generation electronic stability program (ESP II)
Auto-steering intervention, parking and track keep auxiliary etc.).Furthermore it is possible to which correct as needed design power steering, i.e., only exist
In steering procedure it is necessary to when just activate power steering, this can save up to 0.25L/ compared with traditional hydraulic steering system
The fuel of 100km.
However, the electric power steering system of such motor vehicles may tend to unstable, and/or saturation may be made to imitate
(Wind-Up-Effekt) is answered to gaze at irksomely.For example, with proportional integration (PI) or proportional integral differential (PID) row
For adjuster in saturation effect occurs.In this case, can also make the controlled variable of the input as controlled system by
Higher value still may be used in correlation intergal component to limitation, but adjuster.If controlled variable drops in adjustment process
As low as less than limiting value, then quadrature components have used excessively high value, such as in the case where controlling variable overshoot, this
Value can postpone to disappear.The value delay of control variable reaches setting value.All regulating mechanisms with integral behavior are all by this
It influences.
Invention content
Therefore, the purpose of the present invention is to illustrate the side for the stability that can ensure this electric power steering system in operation
Method.
The purpose of the present invention realizes that this method has by a kind of method of the electric power steering system of operating motor vehicles
There are following steps：
The value of steering torque is represented using the steering torque sensor detection of electric power steering system,
The variable that the value of detection indicates the stability measure of electric power steering system stability with determining representative is analyzed,
More stable property scale and limiting value, and
If comparison result, which is stability measure, is more than limiting value, control signal is exported.
Continuously or in a manner of time discrete detect multiple values that (such as sampling) represents steering torque.For example, pre-
The multiple values of detection in fixed duration.The time graph of these values is analyzed to determine stability measure, such as is worth change
Speed and acceleration.The unstability having can be detected by the comparison with limiting value, and countermeasure can be enabled.Control letter
Number can by way of caution signal and by acoustics and/or it is optical in a manner of export, or may be used as ensuring the measure of stability
Trigger.
Therefore, when detecting imminent unstable, it can simply arrive surprising mode with one kind and offset this
Kind is unstable, and may insure the stability of electric power steering system, such as bounded inputs output bounds (BIBO) stability
Or Liapunov (Ljapunow) stability.In this case, BIBO stability is interpreted as the output signal of system defeated
Enter signal it is limited in the case of it is restricted without departing from institute, and to be understood to mean very small interference total for Ljapunow stability
It can keep very small.
According to one embodiment the amplification coefficient of electric power steering system is reduced when there is control signal.For example, putting
Big coefficient determines the electronic positioning motor auxiliary driver in electric power steering (EPS) or electric power steering (EPAS) system
The degree of divertical motion, or great variation occurs to the second gain or amplified curve from the first gain or amplified curve,
Middle gain or amplified curve are associated with each other by the input variable of electric power steering system and current steering torque magnifying power.Pass through drop
Low amplification coefficient reduces the magnifying power of feedback loop output signal, and therefore counteracts the further effect of system.Alternatively
Or additionally, the time constant of PID regulator can also be increased, you can to slow down the respondent behavior of PID regulator.
According to another embodiment, it is calculated the differential of the value of detection as stability measure.Differential can be for example, by number
It is worth differential to obtain.Therefore stability measure indicates the acceleration and/or speed of steering angle change.In addition to first differential it
Outside, it can also calculate and analyze the differential of higher order.
In addition, the present invention includes computer program product and this electric power steering system and use for motor vehicles
In the control unit of this power steering system and motor vehicles with this electric power steering system.
Description of the drawings
It will be based on attached drawing now and explain the present invention.In figure：
Fig. 1 shows the schematic diagram of the electric power steering system for motor vehicles；
Fig. 2 shows the schematic diagrames of the method for operation sequence of electric power steering system shown in Fig. 1.
Specific implementation mode
Referring initially to Fig. 1.Show that the electric power steering system 4 of motor vehicles 2, motor vehicles 2 are for example with motor-driven
The car of wheel 10a, 10b of vehicle 2, wheel 10a, 10b are the left and right front-wheel that can be turned in the present example embodiment, can be with
To each application steering angle of left and right front-wheel.Electric power steering system 4 is electric auxiliary force steering, is only being turned
To movement when just work.
In the present example embodiment, electric power steering system 4 has steering torque sensor 8, electro-motor 12 and control
Unit 14 processed.
Electro-motor 12 is the electronic positioning motor controlled by program in the present example embodiment, by rotation side
To disk 6 and assist and superposition driver divertical motion.
Steering torque LM can be detected using steering torque sensor 8.Steering torque LM is the set point torque of driver,
The torque to match with steering wheel 6.In other words, steering torque LM is operator torque's real variable.Control unit 14 designs
At determining that operator torque sets point variable, and analyze operator torque's real variable and operator torque set point variable with
Detent torque for starting electro-motor 12 is provided.
Electric power steering system 4 can be designed as such as EPS or EPAS systems, and (EPS=electric power steerings, EPAS=are electronic
Power assisted diversion) or it is designed as active front steering (AFS) system (AFS=actives front steering).
In EPS or EPAS systems, electro-motor 12 auxiliary and superposition driver steering mechanism divertical motion.
In AFS control system (AFS=actives front steering), superposition is applied to the steering angle of steering wheel 6 by driver, i.e., will drive
The person's of sailing steering angle increases or decreases an angle.Driver's steering angle is usually based on by the software in control unit 14, is turned to
Speed and car speed are used as additional angle to realize superposition to determine required superposition angle by electro-motor 12
Angle.Compared to EPS or EPAS systems, steering gear ratio is variation in AFS control system, but is in EPS or EPAS systems
Constant.
In operation, such as control unit 14 can utilize stored amplification coefficient K (K determines electro-motor 12
The degree of the divertical motion of driver is assisted such as in EPS or EPAS systems), although the present exemplary embodiment also provides control
Unit 14 can utilize stored gain or amplified curve, and input variable (such as is turned to and turned round by wherein gain or amplified curve
Square LM) and current steering torque magnifying power (torque provided by electro-motor 12) be associated with each other.
However, may occur in operating unstable.
In order to ensure the stability of electric power steering system 4, the control unit 14 of electric power steering system 4 is designed as detecting
Represent the value W of steering torque LM.
In addition, control unit 14 is designed as the value W of analysis detection, to determine the variable for representing stability measure S.
In addition, control unit 14 is designed as the stability measure S and limiting value G of comparison determination, and if comparison result
It is that stability measure S is more than limiting value G, then exports control signal.
Finally, control unit 14 is designed as reducing putting for electric power steering system 4 in the case where there is control signal ST
Big COEFFICIENT K.Although the present exemplary embodiment can also deactivate electric power steering system 4 when there is control signal ST.
For this purpose, electric power steering system 4 (especially its control unit 14) can have hardware and/or software portion
Part.
Referring additionally to Fig. 2.In first step S100, detection in operation represents multiple value W of steering torque LM.Example
Such as, interior at preset time intervals to detect multiple value W.
In next step S200, the value W of detection is analyzed to determine stability measure S.In the present example embodiment, become
Amount is the first differential of the value W of detection.
In next step S300, relatively more identified stability measure S (i.e. the current value of differential) and limiting value G.Such as
Fruit comparison result is that stability measure S is more than limiting value G, then exports control signal ST.
In next step S400, the amplification system of electric power steering system 4 is reduced in the case where there is control signal ST
Number K.Thus, for example in EPS or EPAS systems, the auxiliary to the divertical motion of driver is reduced.Relatively, if electric power
Steering 4 utilizes stored gain or amplified curve, then can change into another second gain or amplified curve, wherein
Smaller when causing its magnifying power ratio to use the first gain or amplified curve using the second gain or amplified curve.
Therefore, when detecting the unstability of electric power steering system 4, surprising side can simply be arrived with one kind
Formula offsets unstability and may insure stability.
Reference numerals list
2 motor vehicles
4 electric power steering systems
6 steering wheels
8 steering torque sensors
10a wheels
10b wheels
12 electro-motors
14 control units
G limiting values
K amplification coefficients
LM steering torques
W values
S100 steps
S200 steps
S300 steps
S400 steps
Claims (9)
1. a kind of method of the electric power steering system (4) of operating motor vehicles (2), has steps of：
The value (W) of steering torque (LM) is represented using steering torque sensor (8) detection of the electric power steering system (4),
It analyzes the value (W) of the detection and represents the stability measure for indicating electric power steering system (4) stability to determine
(S) variable,
Compare the stability measure (S) and limiting value (G), and
When comparison result is that the stability measure (S) is more than the limiting value (G), output control signal (ST).
2. according to the method described in claim 1, wherein reducing the electric power steering when there are control signal (ST)
The amplification coefficient (K) of system (4).
3. method according to claim 1 or 2, wherein calculating the differential of the value (W) of the detection as the stability
Scale (S).
4. a kind of computer program product has the software group for executing method as claimed any one in claims 1 to 3
Part.
5. a kind of electric power steering system (4) of motor vehicles (2), is designed as：Use turning for the electric power steering system (4)
The value (W) for representing steering torque (LM) is detected to torque sensor (8), the value (W) of the detection is analyzed and is represented to determine
Indicate the variable of the stability measure (S) of the electric power steering system (4) stability, the stability measure (S) with
Limiting value (G), and when comparison result is output control signal when the stability measure (S) is more than the limiting value (G)
(ST)。
6. electric power steering system (4) according to claim 5, wherein adaptive steering system (4) are designed as existing
The amplification coefficient (K) of the electric power steering system (4) is reduced when control signal (ST).
7. electric power steering system (4) according to claim 5 or 6, wherein the adaptive steering system (4) is designed as
The differential of the value (W) of the detection is calculated as the stability measure (S).
8. a kind of control unit (14) according to any one of claims 5 to 7 for electric power steering system (4).
9. one kind having the motor vehicles (2) of electric power steering system according to any one of claims 5 to 7 (4).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017202598.0A DE102017202598A1 (en) | 2017-02-17 | 2017-02-17 | Method for operating an electric power steering system of a motor vehicle |
| DE102017202598.0 | 2017-02-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108454695A true CN108454695A (en) | 2018-08-28 |
Family
ID=63046078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810131597.1A Pending CN108454695A (en) | 2017-02-17 | 2018-02-09 | The method for operating the electric power steering system of motor vehicles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108454695A (en) |
| DE (1) | DE102017202598A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661149A (en) * | 2019-03-08 | 2020-09-15 | Zf汽车业德国有限公司 | Method for operating a steering system and steering system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3717119B2 (en) | 2002-10-09 | 2005-11-16 | 本田技研工業株式会社 | Control device for electric power steering |
-
2017
- 2017-02-17 DE DE102017202598.0A patent/DE102017202598A1/en not_active Withdrawn
-
2018
- 2018-02-09 CN CN201810131597.1A patent/CN108454695A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661149A (en) * | 2019-03-08 | 2020-09-15 | Zf汽车业德国有限公司 | Method for operating a steering system and steering system |
| CN111661149B (en) * | 2019-03-08 | 2024-06-11 | Zf汽车业德国有限公司 | Method for operating a steering system and steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102017202598A1 (en) | 2018-08-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180828 |