CN112455532A - Electric power steering system and control method - Google Patents

Electric power steering system and control method Download PDF

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Publication number
CN112455532A
CN112455532A CN201910841385.7A CN201910841385A CN112455532A CN 112455532 A CN112455532 A CN 112455532A CN 201910841385 A CN201910841385 A CN 201910841385A CN 112455532 A CN112455532 A CN 112455532A
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China
Prior art keywords
motor
clutch
steering system
electric power
torque
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CN201910841385.7A
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Chinese (zh)
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CN112455532B (en
Inventor
游智杰
黄钰升
邹丞祈
张宸豪
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Hiwin Technologies Corp
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Hiwin Technologies Corp
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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
    • B62D5/043—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 clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
    • 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
    • B62D5/0421—Electric motor acting on or near steering gear
    • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention provides an electric power steering system and a control method. The first power module comprises a screw, a nut screwed on the screw and a first motor connected with the nut and passed by the screw; the second power module comprises a second motor adjacent to the first motor, a transmission piece connected to the second motor and a clutch, the clutch comprises a first clutch piece connected to the nut and a second clutch piece connected to the transmission piece, the first clutch piece can be combined with the second clutch piece in a clutching mode, and the control unit is electrically connected to the first motor, the second motor and the clutch and controls the first clutch piece and the second clutch piece to be combined or separated. Further, a control method suitable for the above electric power steering system is also provided.

Description

Electric power steering system and control method
Technical Field
The present invention relates to an electric power steering system and a control method thereof, and more particularly, to an electric power steering system capable of providing additional power and saving space and a control method thereof.
Background
An Electric Power Steering (EPS) system is a Power Steering system that provides an assist torque by an Electric motor, and is mainly composed of units such as an assist motor, a sensor, a speed reduction mechanism, and a controller. Compared with the traditional hydraulic power-assisted steering system, the electric power-assisted steering system can adjust the rotating speed of the motor when the vehicle speed is changed so as to provide optimized steering power, and simultaneously has the advantages of convenience in low speed and stability in high speed.
Among the electric power steering systems, a so-called Rack-assist type electric power steering system (Rack EPS, also called R-type EPS) using a Rack as a reduction mechanism unit is further classified into a Rack direct drive type electric power steering system (RD-type EPS) and a Rack pinion drive type electric power steering system (RP-type EPS) in which a reduction element is directly driven to move relative to a Rack by a power motor or indirectly driven by a pinion, and the two steering systems can be used for medium and large-sized general vehicles such as recreational vehicles or high-class cars because the Rack can provide meshing teeth having large rigidity and strength. However, when the size of the vehicle body or the required output force continues to be increased upward, such as in a medium bus, the above-mentioned single electric power steering system cannot provide sufficient steering power. On the other hand, in an electromechanical integrated or electronic automated driving system, the electric power steering system has a significant burden on a safety floor, and if the power motor is out of service, the running vehicle will immediately lose auxiliary power and run into a danger of failing to steer along a predetermined turning radius.
To this end, researchers in the related art have been working on increasing the number of assist motors of a steering system, and for example, japanese patent publication No. JP 2005247214a discloses an electric power steering system which provides insufficient power by installing assist motors at different positions of a steering system and can still have output power of one motor when the other motor fails. However, since the motors are separately mounted, the entire electric power steering system is quite bulky, and further, the space for disposing other components of the vehicle body and the elasticity are reduced.
Disclosure of Invention
The present invention provides an electric power steering system capable of providing additional power and saving space, and a control method suitable for the electric power steering system, so as to solve the above problems.
The invention discloses an electric power steering system, which comprises a first power module, a second power module and a control unit. The first power module comprises a screw, a nut and a first motor, wherein the nut is screwed on the screw, the first motor is connected with the nut, and the screw passes through the first motor; the second power module comprises a second motor, a transmission piece and a clutch, the second motor is adjacent to the first motor, the transmission piece is connected to the second motor, the clutch comprises a first clutch piece and a second clutch piece, the first clutch piece is connected to the nut, the second clutch piece is connected to the transmission piece, the first clutch piece can be combined with the second clutch piece in a clutching mode, and the control unit is electrically connected to the first motor, the second motor and the clutch and controls the first clutch piece and the second clutch piece to be combined or separated.
In an embodiment of the invention, the transmission member includes a belt, the second clutch member includes a pulley, and the belt is disposed around the pulley and the second motor.
In one embodiment of the invention, the first clutch has a first hobbing configuration and the second clutch has a second hobbing configuration, the first hobbing configuration engaging the second hobbing configuration when the first clutch is engaged with the second clutch.
In an embodiment of the present invention, the inner wall of the first clutch member is provided with at least one groove, and a start point and an end point of the at least one groove are respectively located at two axial ends of the first clutch member.
In one embodiment of the present invention, the at least one groove is linear or threaded in shape.
In an embodiment of the invention, the screw defines a first axis, the second motor includes an output shaft and a small belt pulley fixed on the output shaft, the output shaft defines a second axis, the transmission member is connected to the small belt pulley, and the first axis is parallel to the second axis.
In an embodiment of the invention, the electric power steering system further includes a sensing unit, and the sensing unit is electrically connected to the first motor, the second motor and the control unit.
The control method of the invention is suitable for an electric power steering system, and the electric power steering system comprises a first power module, a second power module, a control unit and a sensing unit. The first power module comprises a screw, a nut screwed on the screw and a first motor connected with the nut and passed by the screw; the second power module comprises a second motor adjacent to the first motor, a transmission piece connected to the second motor and a clutch, the clutch comprises a first clutch piece connected to the nut and a second clutch piece connected to the transmission piece, the first clutch piece can be combined with the second clutch piece in a clutching mode, and the first motor, the second motor, the clutch, the control unit and the sensing unit are electrically connected with each other. The control method comprises the steps that the sensing unit detects a working torque output by the first motor and the control unit calculates a preset torque. When the control unit judges that the first motor loses the action through the sensing unit, the control unit controls the first clutch piece to be combined with the second clutch piece and drives the second motor to output a substitute torque, and the size of the substitute torque is equal to that of the preset torque. When the control unit judges that the first motor does not lose the function through the sensing unit, but the working torque is smaller than the preset torque, the control unit controls the first clutch piece to be combined with the second clutch piece and drives the second motor to output a compensation torque, and the compensation torque is the difference value of the preset torque and the working torque, so that the first motor and the second motor jointly provide the preset torque.
In summary, the electric power steering system of the present invention can provide an alternative or auxiliary power source through the clutch and the transmission member by disposing the second motor adjacent to the first motor, and thus the space required by the system is saved. In addition, by the control method provided by the invention, the second motor can be driven to output the alternative torque or the compensation torque, so that the steering risk possibly existing when the first motor is out of work or the working torque is insufficient is avoided.
Drawings
Fig. 1 is a perspective view schematically illustrating an electric power steering system according to a first embodiment of the present invention;
FIG. 2 is an exploded schematic view of the electric power steering system of FIG. 1;
FIG. 3 is a cross-sectional view of the electric power steering system of FIG. 1;
FIG. 4 is a block diagram of the mechanical components of the electric power steering system of FIG. 1;
FIG. 5 is a schematic illustration of the first clutch and the second clutch of FIG. 2 in a disengaged condition;
FIG. 6 is a schematic illustration of the first clutch and the second clutch of FIG. 2 in an engaged condition;
FIG. 7 is a schematic illustration of a first clutch of an electric power steering system in accordance with a second embodiment of the present invention;
FIG. 8 is a schematic illustration of a first clutch of an electric power steering system in accordance with a third embodiment of the present invention;
FIG. 9 is a schematic illustration of a first clutch of an electric power steering system in accordance with a fourth embodiment of the present invention;
FIG. 10 is a functional block diagram of the electric power steering system of FIG. 1;
FIG. 11 is a flowchart illustrating steps of a control method according to an embodiment of the invention.
Description of reference numerals: 10-an electric power steering system; 100-a first power module; 110-screw; 120-a nut; 130-a first motor; 200-a second power module; 210-a second motor; 211-output shaft; 212-a small pulley; 220-a transmission member; 222-a belt; 230-a clutch; 231. 231a, 231b, 231c — first clutch; 232-electromagnetic coil; 233-a first hobbing structure; 236-a second clutch; 237-a pulley; 238-a second hobbing structure; 300-a control unit; 400-a sensing unit; a-axial direction; a1 — first axis; a 2-second axis; g-groove; s01, S02, S03, S04, S05, S06, S07, S08, S09, S10, S11-steps; t isW-an operating torque; t isP-a predetermined torque; t isR-a substitute torque; t isC-a compensation torque.
Detailed Description
The foregoing and other technical and other features and advantages of the invention will be apparent from the following detailed description of preferred embodiments, which proceeds with reference to the accompanying drawings. It is worth mentioning directional terms as mentioned in the following examples, such as: up, down, left, right, front or rear, etc., are referred to only in the direction of the attached drawings. Accordingly, the directional terminology is used for purposes of illustration and is in no way limiting. In addition, in the following embodiments, the same or similar elements will be given the same or similar reference numerals.
Fig. 1 is a perspective view schematically illustrating an electric power steering system according to a first embodiment of the present invention, fig. 2 is an exploded view schematically illustrating the electric power steering system of fig. 1, fig. 3 is a sectional view illustrating the electric power steering system of fig. 1,
fig. 4 is a block diagram of the mechanism components of the electric power steering system of fig. 1, please refer to fig. 1 to 4. The electric power steering system 10 of the present embodiment includes a first power module 100 and a second power module 200, wherein the first power module 100 includes a screw 110, a nut 120 and a first motor 130, the nut 120 is screwed on the screw 110, the first motor 130 is connected to the nut 120, and the screw 110 passes through the first motor 130; the second power module 200 includes a second motor 210, a transmission member 220 and a clutch 230, the second motor 210 is adjacent to the first motor 130, the transmission member 220 is connected to the second motor 210, the clutch 230 includes a first clutch member 231 and a second clutch member 236, the first clutch member 231 is connected to the nut 120, the second clutch member 236 is connected to the transmission member 220, and the first clutch member 231 is detachably combined with the second clutch member 236.
In detail, the first power module 100 of the present embodiment is a rack direct drive power module, wherein the first motor 130 is screwed on the screw 110 through the nut 120, and two ends of the screw 110 (for example, the left and right ends of the screw 110) are respectively connected to a direction rotating shaft of one wheel. Therefore, when the first motor 130 is operated, the nut 120 rotates as a rotor of the first motor 130, and the screw 110 is driven to move in the axial direction thereof by the screwing relationship between the screw 110 and the nut 120 to steer the wheel. On the other hand, the second power module 200 is a rack and pinion driving type power module in which the nut 120 and the first clutch 231 are flange-connected. In this embodiment, the transmission member 220 is a belt 222, the second clutch member 236 includes a pulley 237, the pulley 237 has a plurality of teeth for facilitating the synchronous rotation of the belt 222 (i.e., the transmission member 220), and the belt 222 is disposed on the pulley 237 and the second motor 210. Since the first clutch 231 is connected to the nut 120 and the second clutch 236 is connected to the transmission member 220, when the first clutch 231 is combined with the second clutch 236, the second motor 210 operates to drive the belt 222 of the transmission member 220, thereby driving the belt pulley 237 and driving the nut 120 to rotate through the second clutch 236 and the first clutch 231 as another means for moving the driving screw 110 in the axial direction.
It should be noted that the type of the transmission member 220 is not limited thereto, and the belt 222 can be replaced by other members capable of transmitting torque, such as a chain or a gear, according to the torque or rotation precision required for driving the nut 120.
In addition, as shown in fig. 2, the second motor 210 is adjacent to the first motor 130, and the second motor 210 has an output shaft 211 and a small pulley 212 fixed to the output shaft 211, a first axis a1 is defined by the extending direction of the screw 110, and a second axis a2 is defined by the extending direction of the output shaft 211, wherein the transmission member 220 is connected to the small pulley 212, and the first axis a1 is parallel to the second axis a 2. By virtue of the above-described mechanical configuration, the overall volume occupied by the electric power steering system 10 can be greatly reduced, and the compression to the configuration space for mounting other components of the vehicle and the elasticity can be avoided.
Fig. 5 is a schematic view of the first clutch member and the second clutch member of fig. 2 in a disengaged state, and fig. 6 is a schematic view of the first clutch member and the second clutch member of fig. 2 in an engaged state, please refer to fig. 5 and 6. In the present embodiment, the clutch 230 is an electromagnetic clutch, and specifically, a plurality of electromagnetic coils 232 are disposed inside the first clutch member 231, when the electromagnetic coils 232 are energized, the first clutch member 231 generates a magnetic force to attract and engage the second clutch member 236, and if the engaged state of the first clutch member 231 and the second clutch member 236 is to be released, only the supply of the electric power to the electromagnetic coils 232 is stopped, the second clutch member 236 loses the attraction force and is separated from the first clutch member 231. However, in other embodiments, the electromagnetic coil 232 may be disposed on the second clutch member 236, and the first clutch member 231 is attracted and separated by the control magnetic force when the power is turned on or off, which is not limited in the present invention.
On the other hand, as shown in fig. 5, the first clutch 231 has a first hobbing structure 233, and the second clutch 236 has a second hobbing structure 238, wherein the first hobbing structure 233 and the second hobbing structure 238 are both hobbing. Since the first hobbing structure 233 is shaped to correspond to the second hobbing structure 238, when the first clutch 231 is coupled to the second clutch 236 in the above-mentioned manner, as shown in fig. 5, the first hobbing structure 233 can be engaged with the second hobbing structure 238, so that the coupling of the first clutch 231 and the second clutch 236 is tighter, and the stability of synchronous rotation of the two is ensured.
Fig. 7 is a schematic diagram of a first clutch of an electric power steering system according to a second embodiment of the present invention, please refer to fig. 7. The first clutch 231a of the present embodiment is similar to the first clutch 231 of the first embodiment, with the main differences being: the inner wall of the first clutch member 231a is provided with at least one groove G, wherein the shape of the groove G is a straight line, and the direction of the groove G is parallel to the axial direction a of the first clutch member 231a, in other words, the starting point and the ending point of the groove G are respectively located at two ends of the first clutch member 231a in the axial direction. In the embodiment, there are six grooves G, which are distributed at equal intervals along the circumferential direction of the inner wall of the first clutch 231a and are filled with the lubricating liquid, when the nut 120 rotates and drives the first clutch 231a to rotate together, the lubricating liquid in the grooves G adheres to the surface of the screw rod 110 by the centripetal force during rotation, so that the lubricating effect among the nut 120, the first clutch 231a and the screw rod 110 can be improved, and the service life of the components can be prolonged.
When the rotation speed of the screw 110 is faster or the outer diameter is larger and more lubricating fluid is needed, the number of the grooves G on the inner wall can be increased moderately, fig. 8 is a schematic view of the first clutch member of the electric power steering system according to the third embodiment of the present invention, please refer to fig. 7 and 8. The first clutch 231b of the present embodiment is similar to the first clutch 231a of the second embodiment, with the main differences being: the first clutch 231b is provided with three grooves G in the circumferential direction, i.e., twelve grooves G are provided on the inner wall of the first clutch 231b, so that the screw 110 can still provide sufficient lubricating fluid when the screw is rotating at a high speed and is worn severely. It should be noted that the number of the grooves G is not limited thereto, and the grooves G for storing the lubricant prepared according to the lubrication requirement of the screw 110 are all within the protection scope of the present invention.
Fig. 9 is a schematic diagram of a first clutch of an electric power steering system according to a fourth embodiment of the present invention, please refer to fig. 7 and 9. The first clutch 231c of the present embodiment is similar to the first clutch 231a of the second embodiment, with the main differences being: the grooves G of the first clutch member 231c are shaped as threads, i.e., the grooves G of the first clutch member 231c run in a helical arrangement in the axial direction a. With this configuration, when the first clutch 231c rotates, the lubricating fluid inside the groove G can uniformly flow to the surface of the screw 110 along the thread, enhancing the lubricating effect.
Fig. 10 is a block diagram of the electric power steering system of fig. 1, please refer to fig. 10. In the present embodiment, the electric power steering system 10 further includes a control unit 300 and a sensing unit 400, and the first motor 130, the second motor 210, the clutch 230, the control unit 300 and the sensing unit 400 are electrically connected to each other.
In detail, the Control Unit 300 of the present embodiment includes an Electronic Control Unit (ECU) that controls the rotation speeds and output torques of the first motor 130 and the second motor 210 and the engagement or disengagement of the first clutch 231 and the second clutch 236 of the clutch 230 through Electric signals or command signals. On the other hand, the sensing unit 400 includes a torque sensor disposed on the steering shaft, and can detect the torque output by the first motor 130 and transmit the detected torque back to the control unit 300. It should be noted that the type of the sensor included in the sensing unit 400 is not limited thereto, and other sensors such as a rotation speed sensor and a magnetic field sensor may be substituted according to the determination requirement of the control unit 300.
In order to avoid insufficient torque output by the first motor 130 to provide the torque required to steer the vehicle, or to ensure that the vehicle still has a source of power sufficient to provide steering when the first motor 130 fails, the present invention provides a control method to address the above-mentioned situation. Fig. 11 is a flowchart illustrating steps of a control method according to an embodiment of the invention, please refer to fig. 11. First, after the electric power steering system 10 is started, the first clutch 231 and the second clutch 236 are preset to be in a disengaged state, and when the vehicle needs to be steered, the first motor 130 will operate at a normal rotation speed and output an operating torque TWThe sensing unit 400 detects the working torque T output by the first motor 130W(step S01), the control unit 300 also detects and calculates a predetermined torque T required for steering by the sensors (e.g. the sensor unit 400) disposed on the vehicleP(step S02). At this time, the control unit 300 determines whether the first motor 130 is out of operation (step S03) via the sensing unit 400, and if the first motor 130 is out of operation, for example, the first motor 130 stops operating (i.e., the working torque T is also the working torque T)WZero) or the output operating torque TWFor safety reasons, the system can no longer rely on the output power of the first motor 130, so the control unit 300 controls the first clutch member 231 to be coupled to the second clutch member 236 by electromagnetic attraction (step S04), and drives the second motor 210 to output a substitute torque TR(step S05), and substitute for the torque TRIs in proportion to the required predetermined torque TPAre equal in size. In this way, even if the first motor 130 is disabled, the electric power steering system 10 can still provide the required predetermined torque T by the second motor 210 with the aid of the control unit 300PTo steer the vehicle (step S06).
On the other hand, if the sensing unit 400 detects that the first motor 130 stably outputs the operating torque TWAt this time, the control unit 300 further determines the operating torque T after determining that the first motor 130 is not deactivatedWAnd a predetermined torque TPComparing the two to confirm the working torque TWWhether or not less than a predetermined torque TP(step S07). Provided that the working torque TWIs not less than a predetermined torque TPRepresenting that the power required for steering the vehicle can be provided by only the first motor 130, the control unit 300 will continuously drive the first motor 130 to provide the predetermined torque T by the first motor 130PTo steer the vehicle (step S08). Provided that the working torque TWLess than a predetermined torque TPSince the power output by the first motor 130 alone is not sufficient to provide the vehicle steering, the control unit 300 controls the first clutch 231 to be coupled to the second clutch 236 by electromagnetic attraction (step S09), for example, and drives the second motor 210 to output a compensation torque TC(step S10), and compensates for the torque TCIs a predetermined torque TPAnd the working torque TWThe difference of (a). That is, when the first motor 130 outputs the operating torque TWIn case of deficiency, the electric power steering system 10 can provide the predetermined torque T by the first motor 130 and the second motor 210 together with the assistance of the control unit 300PTo steer the vehicle (step S11).
In summary, the electric power steering system of the present invention can provide an alternative or auxiliary power source through the clutch and the transmission member by disposing the second motor adjacent to the first motor, and thus the space required by the system is saved. In addition, by the control method provided by the invention, the second motor can be driven to output the alternative torque or the compensation torque, so that the steering risk possibly existing when the first motor is out of work or the working torque is insufficient is avoided.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the present invention should be covered by the present invention.

Claims (8)

1. An electric power steering system characterized by comprising:
a first power module comprising:
a screw;
a nut screwed on the screw rod; and
the first motor is connected to the nut, and the screw passes through the first motor;
a second power module including
A second motor adjacent to the first motor;
a transmission member connected to the second motor; and
a clutch, comprising:
a first clutch member connected to the nut; and
the second clutch piece is connected to the transmission piece, and the first clutch piece can be combined with the second clutch piece in a clutching way; and
and the control unit is electrically connected with the first motor, the second motor and the clutch and controls the first clutch piece and the second clutch piece to be combined or separated.
2. The electric power steering system according to claim 1, characterized in that: the transmission member comprises a belt, the second clutch member comprises a belt pulley, and the belt is sleeved on the belt pulley and the second motor.
3. The electric power steering system according to claim 1, characterized in that: the first clutch piece is provided with a first hobbing structure, the second clutch piece is provided with a second hobbing structure, and when the first clutch piece is combined with the second clutch piece, the first hobbing structure is meshed with the second hobbing structure.
4. The electric power steering system according to claim 1, characterized in that: the inner wall of the first clutch member is provided with at least one groove, and the starting point and the end point of the at least one groove are respectively positioned at two ends of the first clutch member in the axial direction.
5. The electric power steering system according to claim 4, characterized in that: the at least one groove is in the shape of a straight line or a thread.
6. The electric power steering system according to claim 1, characterized in that: the screw defines a first axis, the second motor includes an output shaft and a small belt pulley fixedly arranged on the output shaft, the output shaft defines a second axis, the transmission member is connected with the small belt pulley, and the first axis is parallel to the second axis.
7. The electric power steering system according to claim 1, characterized in that: the motor also comprises a sensing unit which is electrically connected with the first motor, the second motor and the control unit.
8. A control method for an electric power steering system, comprising: the electric power steering system comprises a first power module, a second power module, a control unit and a sensing unit, wherein the first power module comprises a screw rod, a nut screwed on the screw rod and a first motor connected to the nut and passed by the screw rod, the second power module comprises a second motor adjacent to the first motor, a transmission member connected to the second motor and a clutch, the clutch comprises a first clutch member connected to the nut and a second clutch member connected to the transmission member, the first clutch member can be combined with the second clutch member in a clutching way, and the first motor, the second motor, the clutch, the control unit and the sensing unit are electrically connected with each other, and the control method comprises the following steps:
the sensing unit detects a working torque output by the first motor; and
the control unit calculates a preset torque;
when the control unit judges that the first motor loses the action through the sensing unit, the control unit controls the first clutch piece to be combined with the second clutch piece and drives the second motor to output a substitute torque, and the size of the substitute torque is equal to that of the preset torque;
when the control unit determines that the first motor does not lose the function through the sensing unit, but the working torque is smaller than the preset torque, the control unit controls the first clutch piece to be combined with the second clutch piece and drives the second motor to output a compensation torque, and the compensation torque is the difference value between the preset torque and the working torque, so that the first motor and the second motor jointly provide the preset torque.
CN201910841385.7A 2019-09-06 2019-09-06 Electric power steering system and control method Active CN112455532B (en)

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CN112455532B CN112455532B (en) 2022-02-08

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5327986A (en) * 1992-02-04 1994-07-12 Unisia Jecs Corporation Electric motor drive-type power steering system
US6079513A (en) * 1997-02-12 2000-06-27 Koyo Seiko Co., Ltd Steering apparatus for vehicle
CN103303361A (en) * 2012-03-12 2013-09-18 万都株式会社 Electric power steering apparatus for vehicle
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