CN1576133A - Electric oil pressure dynamic steering device - Google Patents
Electric oil pressure dynamic steering device Download PDFInfo
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- CN1576133A CN1576133A CN 200410063940 CN200410063940A CN1576133A CN 1576133 A CN1576133 A CN 1576133A CN 200410063940 CN200410063940 CN 200410063940 CN 200410063940 A CN200410063940 A CN 200410063940A CN 1576133 A CN1576133 A CN 1576133A
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
Abstract
The power steering device comprises a first motor drive signal operation means 17 to perform the control based on the difference between the target value TNm of the motor rotational speed and the detected value Nm of the motor rotational speed, and a second motor drive signal operation means 18 to perform the control based on the difference between the target value TIm of the motor current and the detected value Im of the motor current. A control method switching means 19 determines that a motor 5 cannot be controlled by the first motor drive signal operation means 17 when the detected value Nm of the motor rotational speed is reduced below the target value TNm of the motor rotational speed by a predetermined value, and the motor is controlled by switching the first motor drive signal operation means to the second motor drive signal operation means 18.
Description
Technical field
The present invention relates to electric oil pressure dynamic steering device, relate in particular to so that the electric oil pressure dynamic steering device in source to take place as oil pressure power with motor-driven oil pressure pump.
Background technology
Figure 16 is the overall construction drawing of common electric oil pressure dynamic steering device.The 1st, bearing circle, the 2nd, steering shaft, the 3rd, the control cock of adjustment oil pressure amount, the 4th, to the oil pressure pump of oil hydraulic cylinder (not shown) supply oil pressure, the 5th, the brushless DC type motor of the power of generation oil pressure pump 4, the 6th, the ECU of drive motor, the 7th, the bearing circle rotational angular velocity detector of detection bearing circle rotational angular velocity and outbound course dish rotational angular velocity signal ω s, the 8th, the storage battery of supply ECU6 power supply, the 9th, detect the anglec of rotation of motor 5 and the motor anglec of rotation detector of output motor rotary angle signal θ m, the 10th, detect the gait of march of vehicle and export the speed of vehicle detector of vehicle speed signal Vs.Moreover above-mentioned motor rotary angle signal θ m is with the mechanical angle of the motor 5 number of pole-pairs times current potential angle as motor 5.
Figure 17 is an example of the constructional drawing of existing ECU6.The 11st, calculate the motor rotative speed expected value calculation apparatus of motor rotative speed expected value TNm according to bearing circle rotational angular velocity signal ω s and vehicle speed signal Vs, the 12nd, measure the motor rotative speed detected value calculation apparatus that calculates motor rotative speed detected value over time by motor rotary angle signal θ m, the 13rd, detect flow direction motor 5 each phase place electric current maxim and with this maxim as the go forward side by side motor current detection device of line output of current of electric detected value Im, the 14th, current of electric limits value Ilmt that basis is set under the aftermentioned condition and the difference of current of electric detected value Im calculate the motor-driven restricting signal calculation apparatus of motor-driven restricting signal Slmt, the 15th, the motor drive signal calculation apparatus that calculates motor drive signal Sm according to difference and the motor-driven restricting signal Slmt of motor rotative speed expected value TNm and motor rotative speed detected value Nm, the 16th, according to the motor driver of motor rotary angle signal θ m and motor drive signal Sm drive motor 5.Moreover motor drive signal Sm is the pwm signal that drives aftermentioned FET, and current of electric limits value Ilmt is set at the value of regulation like this, even the electric current of motor 5 energisings is less than the value that motor 5, ECU6 etc. are damaged.
Figure 18 is the internal circuit of motor driver 16.The 161st, the FET that produces the signal that drives FET according to motor rotary angle signal θ m and motor drive signal Sm drives logic, and the 162nd, the output that drives logical one 61 according to FET drives FET and the H bridge circuit of electric current is provided to motor 5.
The following describes the action of above-mentioned existing driven steering device.Driver's one bearing circle steering wheel rotation 1, the just action of control cock 3 of being supplied with the oil pressure amount of oil hydraulic cylinder (not shown) by oil pressure pump 4 is adjusted in the just action of wheel word (not shown) in steering shaft 2 lower ends.Oil hydraulic cylinder moves so that supply with oil pressure and alleviate the bearing circle turning effort.At this moment, ECU6 controls motor 5, so that oil pressure pump 4 produces suitable oil pressure.
In ECU6, utilize motor rotative speed expected value calculation apparatus 11, calculate motor rotative speed expected value TNm according to bearing circle rotational angular velocity signal ω s and vehicle speed signal Vs.Set the characteristic of motor rotative speed expected value TNm like this, for example, as shown in figure 19,, reduce along with vehicle speed signal Vs increases motor rotative speed expected value TNm so that increase along with bearing circle rotational angular velocity signal ω s increases motor rotative speed expected value TNm.In addition, in Figure 19, be the situation of 0km/h, 40km/h, 80km/h, 120km/h from the last vehicle speed signal Vs that represents successively.
Utilize motor-driven restricting signal calculation apparatus 14, calculate motor-driven restricting signal Slmt according to the difference of current of electric limits value Ilmt and current of electric detected value Im.Moreover, motor-driven restricting signal Slmt is the upper limit of the DUTY value of motor drive signal Sm, when current of electric detected value Im shown in Figure 20 is bigger than current of electric limits value Ilmt (the transverse axis 0 value left part of Figure 20), motor-driven restricting signal Slmt has the characteristic of the DUTY value of restriction motor drive signal Sm.In addition, in Figure 20, transverse axis is represented (motor-driven restricting signal Slmt-current of electric detected value Im), and the longitudinal axis is represented motor-driven restricting signal Slmt (upper limit of the DUTY value of motor drive signal Sm).
Utilize motor drive signal calculation apparatus 15, calculate motor drive signal Sm according to difference and the motor-driven restricting signal Slmt of motor rotative speed expected value TNm and motor rotative speed detected value Nm.The calculation treating process figure that in Figure 21, has represented the DUTY value Sdty of motor drive signal Sm.Wherein, SP is a proportional, and Kp is a proportional term gain, and SI is an integral, and SI0 is the previous value of integral, and Ki is the gain of integration top.In addition, proportional term gain Kp and integration top gain Ki meets the response characteristics of motor.
In Figure 21, step S71 calculates the proportional of PI control, with the difference that proportional term gain Kp multiply by motor rotative speed expected value TNm and motor rotative speed detected value Nm, obtains proportional Sp.Step S72 calculates the integral of PI control, and the difference that multiply by motor rotative speed expected value TNm and motor rotative speed detected value Nm with integral term gain Ki obtains a result, and the previous value SI0 with integral is added on this result again, thereby obtains integral SI.Step S73 upgrades the previous value SI0 of integral with the previous value SI0 of integral SI substitution integral.Step S74 obtains DUTY value Sdty with proportional SP and integral SI addition.Step S75 is DUTY value Sdty and motor-driven restricting signal Slmt relatively, as DUTY value Sdty during less than motor-driven restricting signal Slmt, and the processing end.On the other hand, when DUTY value Sdty is big, branch into step S76.Step S76 is with motor-driven restricting signal Slmt substitution DUTY value Sdty.After DUTY value Sdty calculation is handled, the DUTY of motor drive signal Sm is set at DUTY value Sdty and exports.
According to above-mentioned steps, the difference of motor rotative speed expected value TNm and motor rotative speed detected value Nm is carried out PI control, simultaneously, calculate the motor drive signal Sm of restriction DUTY by current of electric limits value Ilmt.
Utilize motor driver 16, according to motor rotary angle signal θ m and motor drive signal Sm, according to logic shown in Figure 22, the PWM that carries out motor drives.Figure 23 shows the gate pulse voltage waveform of each FET.Thus, motor 5 produces rotating torques and drives oil pressure pump 4.
By above formation,, make driver's bearing circle turning effort appropriateness according to bearing circle rotational angular velocity signal ω s control motor 5.Meanwhile, realize the electric oil pressure dynamic steering device of restriction current of electric.
Moreover, in the above-described configuration, with current limit value Ilmt as specified value, but as other the example of prior art, in order to improve the bearing circle rotating load, proposed to make current limit value Ilmt to change (in detail with reference to patent documentation 1) along with the bearing circle rotary state.
Patent documentation 1: Japanese flat 9-71254 number open communique.
The technical matters that invention solves
Owing to only when the current of electric detected value is bigger than current of electric limits value, limit current of electric, the problem that has is, when to make the current of electric limits value with respect to the current value that makes motor and ECU damages enough little, consider and set from current of electric and begin time till the actual motor current that is limited above the current of electric limits value.
And, because that the current of electric limits value is set at is enough little with respect to the current value that motor and ECU are damaged, current of electric is limited to this current limit value, the problem that has is, when the motor speedup, it is elongated that the motor rotative speed reaches time of motor rotative speed expected value.
And, because that the current of electric limits value is set at is enough little with respect to the current value that motor and ECU are damaged, current of electric is limited to this current limit value, the problem that has is, from the halted state actuating motor time, it is elongated that the motor rotative speed reaches time of motor rotative speed expected value.
And, owing to only determine to carry out the condition of electric current restriction according to motor current value, the problem that has is, in the time of near motor current value is about the current of electric limits value, the pattern of not carrying out the electric current restriction swings back and forth with the pattern of carrying out the electric current restriction, and the output of motor produces vibration.
For addressing the above problem, the objective of the invention is to, a kind of electric oil pressure dynamic steering device is provided, in the time can not controlling motor according to the motor rotative speed, by conversion, according to current of electric control motor, thereby the responsibility and the inhibition that improve the motor rotative speed produce super-high-current.
Summary of the invention
The present invention is the electric oil pressure dynamic steering device that the source is taken place as oil pressure power by motor-driven oil pressure pump, comprise: the signal of input expression vehicle-state, according to the state of represented current vehicle, calculate the rotative speed that the suitable power of sening as an envoy to is created in the aforementioned motor on the aforementioned oil pressure pump, and with the motor rotative speed expected value calculation apparatus of this speed as the output of motor rotative speed expected value; Set means with the predefined specified value also littler as the motor current target value of motor current target value output than the current value that aforementioned power steering gear is damaged; Detect the rotative speed of aforementioned motor and the motor rotary speed detecting device of exporting as motor rotative speed detected value with this speed; Detection makes the electric current of aforementioned motor energising and the motor current detection device of exporting as the current of electric detected value with this electric current; Calculate the 1st motor drive signal calculation apparatus of the 1st motor drive signal that drives aforementioned motor according to the difference of aforementioned motor rotative speed detected value and aforementioned motor rotative speed expected value; Calculate the 2nd motor drive signal calculation apparatus of the 2nd motor drive signal that drives aforementioned motor according to the difference of aforementioned motor current detection value and aforementioned motor current target value; Use any the control method transfer device that drives aforementioned motor or judge conversion in aforementioned the 1st motor drive signal calculation apparatus and the preceding 2 motor drive signal calculation apparatus.
Description of drawings
Fig. 1 is the block diagram of inner structure of ECU of the electric oil pressure dynamic steering device of expression embodiment of the present invention 1.
Fig. 2 is the diagram of circuit of calculation treating process of the 1st motor drive signal calculation apparatus in the electric oil pressure dynamic steering device of expression embodiment 1.
Fig. 3 is the diagram of circuit of calculation treating process of the 2nd motor drive signal calculation apparatus in the electric oil pressure dynamic steering device of expression embodiment 1.
Fig. 4 is the diagram of circuit of conversion motor drive signal treating process in the electric oil pressure dynamic steering device of expression embodiment 1.
Fig. 5 is the instruction diagram of action of the electric oil pressure dynamic steering device of explanation embodiment 1.
Fig. 6 is the instruction diagram of the action when having or not the motor drive signal conversion in the electric oil pressure dynamic steering device of comparison embodiment 1.
Fig. 7 is the block diagram of inner structure of ECU of the electric oil pressure dynamic steering device of expression embodiment 2.
Fig. 8 is the block diagram of inner structure of ECU of the electric oil pressure dynamic steering device of expression embodiment 3.
Fig. 9 is the instruction diagram of action of the electric oil pressure dynamic steering device of explanation embodiment 3.
Figure 10 is the instruction diagram of action of the electric oil pressure dynamic steering device of explanation embodiment 4.
Figure 11 is the diagram of circuit of conversion motor drive signal treating process in the electric oil pressure dynamic steering device of expression embodiment 5.
Figure 12 is the block diagram of inner structure of ECU of the electric oil pressure dynamic steering device of expression embodiment 6.
Figure 13 is the calculation treating process figure of the 1st motor drive signal calculation apparatus in the electric oil pressure dynamic steering device of expression embodiment 6.
Figure 14 is the calculation treating process figure of the 2nd motor drive signal calculation apparatus in the electric oil pressure dynamic steering device of expression embodiment 6.
Figure 15 is the instruction diagram of action of the electric oil pressure dynamic steering device of explanation embodiment 6.
Figure 16 is the overall construction drawing of electric oil pressure dynamic steering device.
Figure 17 is the block diagram of inner structure of the ECU of expression prior art.
Figure 18 is the block diagram of the internal circuit of expression motor driver.
Figure 19 represents the instruction diagram of the characteristic of motor rotative speed expected value.
Figure 20 is the instruction diagram of characteristic of the current of electric restricting signal of explanation prior art.
Figure 21 is the diagram of circuit of calculation treating process of the motor drive signal calculation apparatus of expression prior art.
Figure 22 is the instruction diagram that explanation is applied to the DUTY value of the pwm signal on the FET.
Figure 23 is the instruction diagram that the voltage waveform on the gate pulse that is applied to FET is described.
Nomenclature
1 bearing circle, 2 steering shafts, 3 control cock, 4 oil pressure pumps, 5 motors, 6 ECU, 7 bearing circle rotational angular velocity detectors, 8 storage batterys, 9 motor anglec of rotation detectors, 10 speed of vehicle detector, 11 motor rotative speed expected value calculation apparatus, 12 motor rotative speed detected value calculation apparatus, 13 motor current detection devices, 14 motor-driven restricting signal calculation apparatus, 15 motor drive signal calculation apparatus, 16 motor drivers, 17 the 1st motor drive signal calculation apparatus, 18 the 2nd motor drive signal calculation apparatus, 19 control method transfer devices, 20 control method transfer devices, 21 control method transfer devices, 22 the 1st motor drive signal calculation apparatus, 23 the 2nd motor drive signal calculation apparatus, 24 control method transfer devices
The specific embodiment
The following describes the electric oil pressure dynamic steering device of embodiment of the present invention 1.Because the overall construction drawing of the electric oil pressure dynamic steering device of present embodiment and above-mentioned existing embodiment shown in Figure 16 are basic identical, omit detailed explanation with reference to Figure 16 herein.The different inner structures that are ECU6 of present embodiment and above-mentioned existing example.Fig. 1 is the block diagram of the inner structure of ECU6 in the expression present embodiment, owing to symbol 5,11-13, the 16th, with the identical or cooresponding part of the existing example of Figure 17, represents with prosign, omits the explanation to them herein.
In Fig. 1, the 17th, calculate the 1st motor drive signal calculation apparatus of motor drive signal Sm1 according to the difference of motor rotative speed expected value TNm and motor rotative speed detected value Nm.The 18th, calculate the 2nd motor drive signal calculation apparatus of motor-driven drive signal Sm2 according to the difference of current of electric detected value Im and the motor current target value TIm that under the aftermentioned condition, sets.The 19th, the control method transfer device, it has switch and according to motor rotative speed expected value TNm and motor rotative speed detected value Nm, utilizes one among motor drive signal Sm1 and the motor drive signal Sm2 to control or changed by this switch.In addition, when utilizing motor drive signal Sm2 to control, the setting of above-mentioned motor current target value Tim meets the following conditions, and makes the electric current of motor 5 energisings be less than the value that motor 5 and ECU6 etc. are damaged.
The following describes action.Driver's one bearing circle steering wheel rotation 1, the wheel word (not shown) of steering shaft 2 lower ends is action just, adjusts the just action of control cock 3 of being supplied with the oil pressure amount of oil hydraulic cylinder (not shown) by oil pressure pump 4.Oil hydraulic cylinder moves so that supply with oil pressure and alleviate the bearing circle turning effort.At this moment, ECU6 controls motor 5, so that oil pressure pump 4 produces suitable oil pressure.
In ECU6, utilize motor rotative speed expected value calculation apparatus 11, calculate motor rotative speed expected value TNm according to bearing circle rotational angular velocity signal ω s and vehicle speed signal Vs.Set the characteristic of motor rotative speed expected value TNm like this, for example, as shown in figure 19, increase along with bearing circle rotational angular velocity signal ω s increases motor rotative speed expected value TNm, and, along with increasing motor rotative speed expected value TNm, vehicle speed signal Vs reduces.
Utilize the 1st motor drive signal calculation apparatus 17, carry out the motor drive signal Sm1 of PI control calculation according to the difference output of motor rotative speed expected value TNm and motor rotative speed detected value Nm.The calculation treating process figure that in Fig. 2, has represented the DUTY value Sdty1 of motor drive signal Sm1.Wherein, SP1 is a proportional, and Kp1 is a proportional term gain, and SI1 is an integral, and SI01 is the previous value of integral, and Ki1 is the gain of integration top.In addition, proportional term gain Kp1 and integration top gain Ki1 meets the response characteristics of motor.
In Fig. 2, step S11 calculates the proportional of PI control, with the difference that predefined proportional term gain Kp1 multiply by motor rotative speed expected value TNm and motor rotative speed detected value Nm, obtains proportional SP1.Step S12 calculates the integral of PI control, the difference that multiply by motor rotative speed expected value TNm and motor rotative speed detected value Nm with predefined integral term gain Ki1 obtains a result, again this result is added on the previous value SI01 of integral, thereby obtains integral SI1.Step S13 upgrades the previous value SI01 of integral with the previous value SI01 of integral SI1 substitution integral.Step S14 obtains DUTY value Sdty1 with proportional SP1 and integral SI1 addition.
After the calculation of DUTY value Sdty1 was handled, the DUTY that sets motor drive signal Sm1 was DUTY value Sdty1.
Utilize the 2nd motor drive signal calculation apparatus 18, carry out the motor drive signal Sm2 of PI control calculation according to the difference output of motor current target value TIm and current of electric detected value Im.The calculation treating process figure that in Fig. 3, has represented the DUTY value Sdty2 of motor drive signal Sm2.Wherein, SP2 is a proportional, and Kp2 is a proportional term gain, and SI2 is an integral, and SI02 is the previous value of integral, and Ki2 is the gain of integration top.In addition, proportional term gain Kp2 and integration top gain Ki2 meets the response characteristics of motor.
In Fig. 3, step S21 calculates the proportional of PI control, with the difference that predefined proportional term gain Kp2 multiply by motor current target value TIm and current of electric detected value Im, obtains proportional SP2.Step S22 calculates the integral of PI control, the difference that multiply by motor current target value TIm and current of electric detected value Im with predefined integral term gain Ki2 obtains a result, again this result is added on the previous value SI01 of integral, thereby obtains integral SI2.Step S23 upgrades the previous value SI02 of integral with the previous value SI02 of integral SI2 substitution integral.Step S24 obtains DUTY value Sdty2 with proportional SP2 and integral SI2 addition.
After the calculation of DUTY value Sdty2 was handled, the DUTY that sets motor drive signal Sm2 was DUTY value Sdty2.
Judged to be at control method transfer device 19 and utilized the 1st motor drive signal calculation apparatus 17 can control motor 5, during the state that promptly can control according to the motor rotative speed, export as motor drive signal Sm with motor drive signal Sm1, be in when utilizing the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5 judging, export as motor drive signal Sm with motor drive signal Sm2.Thus, be transformed into the state that utilizes the 2nd motor drive signal calculation apparatus 18 control motors 5, i.e. the state of controlling according to current of electric.
Above treatment scheme concentrates in the diagram of circuit of Fig. 4.Step 31 utilizes the processing of the 1st motor drive signal calculation apparatus 17 to calculate motor drive signal Sm1.Step 32 utilizes the processing of the 2nd motor drive signal calculation apparatus 18 to calculate motor drive signal Sm2.Step 33 is utilized the result of control method transfer device 19, is in when utilizing the 1st motor drive signal calculation apparatus 17 can control the state of motor 5 judging, is branched off into step 34; Be in when utilizing the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5 judging, be branched off into step 35.Step 34 is with motor drive signal Sm1 substitution motor drive signal Sm, so that export as motor drive signal Sm with motor drive signal Sm1.Step 35 is with motor drive signal Sm2 substitution motor drive signal Sm, so that export as motor drive signal Sm with motor drive signal Sm2.
Wherein, judge that being in the condition of utilizing the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5 is
(motor rotative speed expected value TNm-motor rotative speed detected value Nm)＞conversion rotative speed difference DNm1;
On the other hand, judge that being in the condition of utilizing the 1st motor drive signal calculation apparatus 17 can control the state of motor 5 is
(motor rotative speed expected value TNm-motor rotative speed detected value Nm)＜conversion rotative speed difference DNm2.In addition, by changing rotative speed difference DNm1 (＞0) is set at when rotating with respect to non-bearing circle and the difference of the motor rotative speed expected value TNm that produces when bearing circle rotates usually and motor rotative speed detected value Nm is enough big value (for example 200rmp), will changing rotative speed difference DNm2 (〉=0) and be set at, can prevent the swing of control method transfer device 19 with respect to changing the enough little value (for example 0rmp) of rotative speed difference DNm1.
Action when here, Fig. 5 shows for example driver's bearing circle rotation to the right.The passing of the motor drive signal that the last figure expression of Fig. 5 is used to control, next figure represents the passing of motor rotative speed, and next figure represents the passing of bearing circle rotational angular velocity signal again, and figure below is represented the passing of bearing circle rotational angle.As shown in Figure 5, in the present embodiment, when the bearing circle velocity of rotation is high, under the also big situation of the difference ratio conversion rotative speed difference DNm1 of motor rotative speed expected value TNm and motor rotative speed detected value Nm, is transformed into and utilizes motor drive signal Sm2 to control; The also little situation of conversion rotative speed difference DNm2 in that the difference ratio of motor rotative speed detected value Nm and motor rotative speed expected value TNm is stipulated is transformed into and utilizes motor drive signal Sm1 to control.
And Fig. 6 has represented that motor rotative speed detected value Nm follows the behavior that changes to motor rotative speed expected value TNm.The passing of the last figure expression current of electric detected value Im of Fig. 6, middle graph is represented the passing of the motor drive signal that is used to control, figure below is represented the passing of motor rotative speed detected value Nm, in arbitrary figure, solid line represents to be transformed into situation about controlling with motor drive signal Sm2, and dotted line represents to be transformed into situation about only controlling with motor drive signal Sm1.As can be seen from Figure 6, relatively only situation about controlling with motor drive signal Sm1 be transformed into situation about controlling with motor drive signal Sm2, be transformed into this situation of controlling with the motor drive signal Sm2 more current of electric of switching on, can more early arrive motor rotative speed expected value TNm.
In motor driver 16,, utilize logic shown in Figure 22 that motor 5 is carried out PWM and drive according to motor rotary angle signal θ m and motor drive signal Sm.The motor drive signal Sm of this moment is by the Sm1 of control method transfer device 19 selections or any among the Sm2.Figure 23 shows the gate pulse mode chart of each FET.Motor 5 produces rotating torques and drives oil pressure pump 4 thus.
By above structure, in the present embodiment, realized electric oil pressure dynamic steering, when utilizing the motor rotative speed not control, owing to can be transformed into and utilize current of electric to control, in the appropriateness, can improve responsibility so that driver's bearing circle turning effort becomes with respect to the rotation number of motor 5 according to bearing circle rotational angular velocity signal ω s control motor 5, and, can suppress the generation of super-high-current.
In addition, in the above description, though show the example that uses brushless DC motor, irrelevant with the kind of motor, for example brush is paid the DC motor and also is suitable for.
And although the clear driving method that utilizes 120 degree control squares wave to carry out drive motor, but irrelevant with the driving method of motor, for example 180 degree are controlled and sine wave drive also can.
And, in the above description, though with motor current target value Tim as fixed value, make it also passable along with the bearing circle rotary state changes.
In above-mentioned embodiment 1, use motor rotative speed expected value TNm and motor rotative speed detected value Nm to utilize the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5 though control method transfer device 19 has been judged, also can judge with the bearing circle rotational angular velocity signal ω s shown in Fig. 7 block diagram.This situation is described in the present embodiment.
In Fig. 7, the 20th, the control method transfer device, it has switch, and according to motor rotative speed expected value TNm, motor rotative speed detected value Nm and bearing circle rotational angular velocity signal ω s, utilizes among motor drive signal Sm1 and the motor drive signal Sm2 any to control or change.
In control method transfer device 20, judgement is in the condition enactment that utilizes the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5 is
Bearing circle rotational angular velocity signal ω s＞specified value ω th1.
Moreover, suppose specified value ω th1 (〉=0) expression, along with the increase of bearing circle rotational angular velocity signal ω s, extremely to utilizing the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5, motor rotative speed expected value TNm increases.
By above formation, in acquisition and above-mentioned embodiment 1 same effect, when needing to improve the motor rotative speed in the increase of bearing circle velocity of rotation, owing to be transformed into motor drive signal Sm2 and control, compare with only controlling, can earlier arrive motor rotative speed expected value TNm with motor drive signal Sm1.
In above-mentioned embodiment 1, utilize motor rotative speed expected value TNm and motor rotative speed detected value Nm can not control the state of motor 5 and utilize the 1st motor drive signal calculation apparatus 17 can control the state of motor 5 though control method transfer device 19 is judged, also can judge with the current of electric detected value Im shown in Fig. 8 block diagram by the 1st motor drive signal calculation apparatus 17.This situation is described in the present embodiment.
In Fig. 8, the 21st, utilize any control method transfer device of controlling or changing among motor drive signal Sm1 and the motor drive signal Sm2 according to current of electric detected value Im.
In control method transfer device 21, judge that being in the condition of utilizing the 1st motor drive signal calculation apparatus 17 can not control the state of motor 5 is:
Current of electric detected value Im＞specified value Ith1;
Judge that being in the condition of utilizing the 1st motor drive signal calculation apparatus 17 can control the state of motor 5 is:
Current of electric detected value Im＜specified value Ith2.
In addition, specified value Ith1 is than the also little current value (for example 100A) of current of electric that motor 5 and ECU6 are damaged; Specified value Ith2 is the value that satisfies following condition: 0≤specified value Ith2≤specified value Ith1.
By above formation, as shown in Figure 9, current of electric detected value Im is transformed into motor drive signal Sm2 when also bigger than specified value Ith1 and controls.And thereafter, as shown in Figure 9, current of electric detected value Im is transformed into motor drive signal Sm1 when also littler than specified value Ith2 and controls.That is, when current of electric detected value Im increases, control motor 5 at current of electric, may feed the current of electric that motor 5 and ECU6 are damaged owing to become according to motor drive signal Sm2.In addition, herein, in Fig. 9, the passing of the motor drive signal that last figure expression is used to control, figure below represents to detect the passing of current value I m, in arbitrary figure, solid line represents to be transformed into situation about controlling with motor drive signal Sm2, and dotted line is represented situation about only controlling with motor drive signal Sm1.
In addition, in the present embodiment, judging utilizes the 1st motor drive signal calculation apparatus 17 can not control the condition of the state of motor 5, only be not limited to situation with above-mentioned current of electric detected value Im, for example, the current of electric detected value Im that uses in the motor rotative speed expected value TNm that uses and motor rotative speed detected value Nm, the bearing circle rotational angular velocity signal ω s that uses in embodiment 2 and the present embodiment is combined.
And, judging utilizes the 1st motor drive signal calculation apparatus 17 can control the condition of the state of motor 5, only be not limited to situation equally with above-mentioned current of electric detected value Im, for example, the current of electric detected value Im that uses in the motor rotative speed expected value TNm that uses and motor rotative speed detected value Nm and the present embodiment is combined.
As above, in the present embodiment, in acquisition and above-mentioned embodiment 1 same effect, owing to when current of electric detected value Im is also bigger than specified value Ith1, be transformed into and control with motor drive signal Sm2, when current detection value Im increases, owing to become at current of electric control motor 5, can feed the current of electric that motor 5 and ECU6 are damaged.
In above-mentioned embodiment 1, embodiment 2 and embodiment 3, though the internal signal value according to ECU6 is judged the state that utilizes the 1st motor drive signal calculation apparatus 17 can not control motor 5 that is in, but when motor 5 is in halted state, also can prejudges to be in and utilize the 1st motor drive signal calculation apparatus 17 to judge the state that to control motor 5.This situation is described in the present embodiment.
Action when using motor drive signal Sm1 and motor drive signal Sm2 to control when Figure 10 shows from halted state actuating motor 5.In Figure 10, action when the left side expression is controlled with motor drive signal Sm1, action when the right side is represented to control with motor drive signal Sm2, arbitrary figure represent successively from the top down the passing of current of electric Im, the motor drive signal that is used to control passing (when solid line is represented to be transformed into Sm2, when dotted line is represented to be transformed into Sm), drive the passing of passing, motor rotative speed detected value Nm and the motor rotative speed expected value TNm of Duty.
When utilizing motor drive signal Sm1 to control, at motor rotative speed control motor 5.Thereby, the load torque of for example supposing the oil pressure pump side increases and motor rotative speed reduction (with reference to the broken circle part of Figure 10), because the motor reverse voltage reduces current of electric Im and increases, and motor speed detected value Nm also reduces, so the driving DUTY of motor drive signal Sm increases.Consequently, produce excessive current of electric.
Other method is when controlling with motor drive signal Sm2, at motor rotative speed control motor 5.Thereby, for example suppose that load torque increase, the motor rotative speed of oil pressure pump side reduces, though because the motor reverse voltage reduces the current of electric increase, the DUTY that detects current of electric increase and motor drive signal Sm reduces.Consequently, can suppress the generation of excessive current of electric.
As above, in the present embodiment, obtain with above-mentioned embodiment effect same in, and from the halted state actuating motor time,, produce excessive current of electric in the time of preventing to start by controlling with the 2nd motor drive signal calculation apparatus in advance.
In above-mentioned embodiment 1, as shown in Figure 4, though it constitutes, after the 1st motor drive signal calculation apparatus 17 and 18 both calculations of the 2nd motor drive signal calculation apparatus, carry out the processing of control method transfer device, with motor drive signal Sm1 or motor drive signal Sm2 substitution motor drive signal Sm, but also can constitute, carry out control method transfer device 19 earlier, the 1st a motor drive signal calculation apparatus 17 that operation has been selected or the 2nd motor drive signal calculation apparatus 18 either party's calculation.This situation is described in the present embodiment.In addition, the formation with Fig. 1 is identical basically because the inside of the ECU6 of the electric oil pressure dynamic steering in the present embodiment constitutes, and therefore here with reference to Fig. 1, omits detailed explanation.
In the diagram of circuit of Figure 11, step S41 is according to the processing of control method transfer device 19, when judgement is in the state that utilizes the 1st motor drive signal calculation apparatus 17 can control motor 5, be branched off into step S42, when judgement is in the state that utilizes the 1st motor drive signal calculation apparatus 17 can not control motor 5, be branched off into step S44.Step S42 utilizes the processing of the 1st motor drive signal calculation apparatus 17 to calculate motor drive signal Sm1, and step S43 is with motor drive signal Sm1 substitution motor drive signal Sm, so that export as motor drive signal Sm with motor drive signal Sm1.Step S44 utilizes the processing of the 2nd motor drive signal calculation apparatus 18 to calculate motor drive signal Sm2, and step S45 is with motor drive signal Sm2 substitution motor drive signal Sm, so that export as motor drive signal Sm with motor drive signal Sm2.
By above formation, in the present embodiment, obtain with above-mentioned embodiment effect same in, and, in a calculation cycle,, can shorten the calculation processing time owing to only handle the 1st motor drive signal calculation apparatus 17 or the 2nd motor drive signal calculation apparatus 18 1 sides.Thereby the slower microcomputer of processing speed is cheap to be constituted even use, and also can realize the present invention.
In addition, in the above description, although understand by the control method transfer device and do not select, do not carry out the 1st motor drive signal calculation apparatus 17 or the 18 whole calculations of the 2nd motor drive signal calculation apparatus are handled, but be not limited to this situation, also can not carry out part calculation and handle.
In the above description, although understand and to make present embodiment be applicable to the example of embodiment 1, but being not limited to this situation, present embodiment also can be applicable to any in the embodiment 2 to 4 certainly.
In above-mentioned embodiment 1, though do not consider the conversion of the control method of the 1st motor drive signal calculation apparatus 17 and the 2nd motor drive signal calculation apparatus 18, but also can compensate processing, so that motor drive signal does not change in the front and back that control method is as shown in figure 12 changed.
In Figure 12,22 is the 1st motor drive signal calculation apparatus, the driving DUTY value Sdty2 that its difference according to motor rotative speed expected value TNm and motor rotative speed detected value Nm, aftermentioned control method change over signal Ss and aftermentioned the 2nd motor drive signal calculation apparatus 23 calculate calculates and drives DUTY value Sdty1 and motor drive signal Sm1; 23 is the 2nd motor drive signal calculation apparatus, its according to current of electric detected value Im with and the driving DUTY value Sty1 that calculates of difference, aftermentioned control method change over signal Ss and the 1st motor drive signal calculation apparatus 22 of the motor current target value TIm that sets down of embodiment 1 the same terms, calculate driving DUTY value Sdty2 and motor drive signal Sm2; The 24th, the control method transfer device, when it utilizes among motor drive signal Sm1 and the motor drive signal Sm2 any to control or change according to motor rotative speed expected value TNm and motor rotative speed detected value Nm, the control method change over signal Ss of output expression transformation result.In addition, transformation result is 1 when motor drive signal Sm1, is 2 when motor drive signal Sm2, with The above results substitution control method change over signal Ss.
The following describes action.The processing of flowcharting the 1st motor drive signal calculation apparatus 22 of Figure 13.Here, with the previous value of Ss01 as the control method change over signal.Step S51 compares the previous value Ss01 of control method change over signal Ss and control method change over signal, if different, assert that this time control method change over signal Ss changes, is branched off into step S52, if identical, is branched off into step S54.If control method change over signal Ss is 1, step S52 judgement has been transformed into the state of controlling with motor drive signal Sm1 and has been branched off into step S53 from the state of controlling with motor drive signal Sm2, if control method change over signal Ss is the value beyond 1, then be branched off into step S54.The previous value SI01 of the driving DUTY value Sdty2 substitution integral that step S53 calculates the 2nd motor drive signal calculation apparatus 23.Compensation deals when this becomes the control method conversion, when the motor rotative speed expected value TNm when control method is changed was identical with motor rotative speed detected value Nm, drive signal Sm did not change.Step S54 is the previous value Ss01 of new control method change over signal more.Since identical with Fig. 2 of embodiment 1 from step S11 to step S14, explanation omitted.
By above formation, when being transformed into the 1st motor drive signal calculation apparatus, the 2nd motor drive signal calculation apparatus moves compensation deals, can reduce the variation of motor drive signal Sm.
Similarly, the processing of flowcharting the 2nd motor drive signal calculation apparatus 23 of Figure 14.Here, with the previous value of Ss02 as the control method change over signal.Step S61 compares the previous value Ss02 of control method change over signal Ss and control method change over signal, if different, judges that this time control method change over signal Ss changes, is branched off into step S62, if identical, is branched off into step S64.If control method change over signal Ss is 2, step S52 judgement has been transformed into the state of controlling with motor drive signal Sm1 and has been branched off into step S63 from the state of controlling with motor drive signal Sm1, if control method change over signal Ss is the value beyond 2, then be branched off into step S64.The previous value SI02 of the driving DUTY value Sdty1 substitution integral that step S63 calculates the 1st motor drive signal calculation apparatus 22.Compensation deals when this becomes the control method conversion, when the motor current target value TIm when control method is changed was identical with current of electric detected value Im, drive signal Sm did not change.At the step S64 previous value Ss02 of new control method change over signal more.Since identical with Fig. 3 of embodiment 1 from step S21 to step S24, explanation omitted.
By above formation, when being transformed into the 2nd motor drive signal calculation apparatus, the 1st motor drive signal calculation apparatus moves compensation deals, can reduce the variation of motor drive signal Sm.
Figure 15 shows and do not compensate the behavior of handling and compensate when handling separately when the 2nd motor drive signal calculation apparatus is transformed into the 1st motor drive signal calculation apparatus.In Figure 15, the situation of not carrying out 1 compensation during the conversion of left side expression driving method, the situation of carrying out 1 compensation when the driving method conversion is represented on the right side, in arbitrary situation, expression drives the passing of DUTY, the passing of current of electric, the passing of motor rotative speed successively from the top down.
When not compensating processing, state in 18 selections of the 2nd motor drive signal calculation apparatus, because motor rotative speed value Nm continues than the also little state of motor rotative speed expected value TNm, the integral SI01 of the 1st motor drive signal calculation apparatus 17 continues to increase.Here, one is transformed into the state that the 1st motor drive signal calculation apparatus 17 is selected, because the influence of the integral SI01 of the 1st motor driver 17 that continuation increases, the DUTY value of motor drive signal Sm sharply increases.For this reason, the motor rotative speed surpasses specified value, and bearing circle rotates application of load to be worsened.
On the other hand, when compensating, at the state that the 2nd motor drive signal calculation apparatus 23 is selected, because motor rotative speed value Nm continues than the also little state of motor rotative speed expected value TNm, the integral SI01 of the 1st motor driver 22 continues to increase.Here, one is transformed into the state that the 1st motor drive signal calculation apparatus 22 is selected, just with the previous value SI01 of the integral of driving DUTY value Sdty2 substitution the 1st motor drive signal calculation apparatus 22 of the 2nd motor drive signal calculation apparatus 23.Thereby, because the influence of the integral SI1 of the 1st motor driver 22 that is not continued to increase can reduce the variation of motor drive signal Sm.
As above, in the present embodiment, obtain with above-mentioned embodiment effect same in, and, be transformed into when controlling from the 2nd motor drive signal calculation apparatus at the control method transfer device with the 1st motor drive signal calculation apparatus, because the 1st motor drive signal calculation apparatus is handled to calculation and applied compensation, the variation of motor drive signal is reduced.
And, similarly, when the control method transfer device is controlled with the 1st motor drive signal calculation apparatus from controlling transitions to the 1st motor drive signal calculation apparatus, because the 2nd motor drive signal calculation apparatus is handled to calculation and applied compensation, the variation of motor drive signal is reduced.
The invention effect
The present invention is as oil pressure power the electric oil pressure dynamic steering device in source taking place by motor-driven oil pressure pump, comprising: the signal of input expression vehicle-state, according to the state of represented current vehicle, calculate that the suitable power of sening as an envoy to is created in the rotative speed of the aforementioned motor on the aforementioned oil pressure pump and with the motor rotative speed expected value calculation apparatus of this speed as the output of motor rotative speed expected value; Set means with the predefined specified value also littler as the motor current target value of motor current target value output than the current value that aforementioned power steering gear is damaged; Detect the rotative speed of aforementioned motor and the motor rotary speed detecting device of exporting as motor rotative speed detected value with this speed; Detection makes the electric current of aforementioned motor energising and the motor current detection device of exporting as the current of electric detected value with this electric current; Calculate the 1st motor drive signal calculation apparatus of the 1st motor drive signal that drives aforementioned motor according to the difference of aforementioned motor rotative speed detected value and aforementioned motor rotative speed expected value; Calculate the 2nd motor drive signal calculation apparatus of the 2nd motor drive signal that drives aforementioned motor according to the difference of aforementioned motor current detection value and aforementioned motor current target value; Use any the control method transfer device that drives aforementioned motor or judge conversion in aforementioned the 1st motor drive signal calculation apparatus and the preceding 2 motor drive signal calculation apparatus.When utilizing the motor rotative speed not control, utilize current of electric to control, by being transformed into aforementioned the 2nd motor drive signal calculation apparatus, can improve for the responsibility of motor rotative speed and the generation of inhibition super-high-current from aforementioned the 1st motor drive signal calculation apparatus.
Claims (12)
1. the source takes place by motor-driven oil pressure pump as oil pressure power in an electric oil pressure dynamic steering device, it is characterized in that, comprises
The signal of input expression vehicle-state, according to the state of represented current vehicle, calculate the rotative speed that the suitable power of sening as an envoy to is created in the aforementioned motor on the aforementioned oil pressure pump, and with the motor rotative speed expected value calculation apparatus of this speed as the output of motor rotative speed expected value;
With than the motor current target value setting device of the also little predefined specified value of the current value that aforementioned power steering gear is damaged as motor current target value output;
Detect the rotative speed of aforementioned motor and the motor rotary speed detecting device of exporting as motor rotative speed detected value with this speed;
Detection makes the electric current of aforementioned motor energising and the motor current detection device of exporting as the current of electric detected value with this electric current;
Calculate the 1st motor drive signal calculation apparatus of the 1st motor drive signal that drives aforementioned motor according to the difference of aforementioned motor rotative speed detected value and aforementioned motor rotative speed expected value;
Calculate the 2nd motor drive signal calculation apparatus of the 2nd motor drive signal that drives aforementioned motor according to the difference of aforementioned motor current detection value and aforementioned motor current target value; And
Use any the control method transfer device that drives aforementioned motor or judge conversion in aforementioned the 1st motor drive signal calculation apparatus and the preceding 2 motor drive signal calculation apparatus.
2. according to the electric oil pressure dynamic steering device of claim 1 record, it is characterized in that,
Described control method transfer device
Be in to control the state of motor with aforementioned the 1st motor drive signal calculation apparatus the time judging, be transformed into the 2nd motor drive signal calculation apparatus and control;
Be in to control the state of motor with aforementioned the 2nd motor drive signal calculation apparatus the time judging, be transformed into the 1st motor drive signal calculation apparatus and control.
3. according to the electric oil pressure dynamic steering device of claim 2 record, it is characterized in that,
The difference that described control method transfer device deducts aforementioned motor rotative speed detected value greater than 0, when aforementioned motor rotative speed expected value with threshold value at the 1st motor rotative speed of regulation is during greater than this threshold value, judge to be in and utilize aforementioned the 1st motor drive signal calculation apparatus can not control the state of aforementioned motor, be transformed into aforementioned the 2nd motor drive signal calculation apparatus and control.
4. according to the electric oil pressure dynamic steering device of claim 2 record, it is characterized in that,
Comprise the cireular frequency of the bearing circle that detects the rotation of driver's bearing circle and the bearing circle rotational angular velocity detecting device of outbound course dish rotational angular velocity signal;
Described control method transfer device at the bearing circle rotational angular velocity of regulation with threshold value greater than 0, when aforementioned bearing circle rotational angular velocity signal is higher than this threshold value, judge to be in and utilize aforementioned the 1st motor drive signal calculation apparatus can not control the state of aforementioned motor, be transformed into aforementioned the 2nd motor drive signal calculation apparatus and control.
5. according to the electric oil pressure dynamic steering device of claim 2 record, it is characterized in that,
Described control method transfer device at the 1st current of electric of regulation with threshold value less than the motor current value that makes the damage of aforementioned power steering gear, when aforementioned current of electric detected value during greater than this threshold value, judge to be in and utilize aforementioned the 1st motor drive signal calculation apparatus can not control the state of aforementioned motor, be transformed into aforementioned the 2nd motor drive signal calculation apparatus and control.
6. according to the electric oil pressure dynamic steering device of claim 2 record, it is characterized in that,
The difference that described control method transfer device deducts aforementioned motor rotative speed detected value greater than 0, when aforementioned motor rotative speed expected value with threshold value at the 2nd motor rotative speed of regulation is during less than this threshold value, judge to be in and utilize aforementioned the 1st motor drive signal calculation apparatus can control the state of aforementioned motor, be transformed into aforementioned the 1st motor drive signal calculation apparatus and control.
7. according to the electric oil pressure dynamic steering device of claim 2 record, it is characterized in that,
Described control method transfer device at the 2nd current of electric of regulation with threshold value greater than 0, when aforementioned current of electric detected value during less than this threshold value, judge to be in and utilize aforementioned the 1st motor drive signal calculation apparatus can control the state of aforementioned motor, be transformed into aforementioned the 1st motor drive signal calculation apparatus and control.
8. according to the electric oil pressure dynamic steering device of each record among the claim 1-7, it is characterized in that,
When described control method transfer device starts aforementioned motor from halted state, be transformed in advance with aforementioned the 2nd motor drive signal calculation apparatus and control.
9. according to the electric oil pressure dynamic steering device of each record among the claim 1-7, it is characterized in that,
When aforementioned the 1st motor drive signal calculation apparatus is in not by the state of aforementioned control method transfer device selection, does not move the regulation of aforementioned the 1st motor drive signal calculation apparatus and calculate the part of processing to whole.
10. according to the electric oil pressure dynamic steering device of each record among the claim 1-7, it is characterized in that,
When aforementioned the 2nd motor drive signal calculation apparatus is in not by the state of aforementioned control method transfer device selection, does not move the regulation of aforementioned the 2nd motor drive signal calculation apparatus and calculate the part of processing to whole.
11. the electric oil pressure dynamic steering device according to each record among the claim 1-7 is characterized in that,
When aforementioned control method transfer device when controlling transitions to aforementioned the 2nd motor drive signal calculation apparatus with the control of aforementioned the 1st motor drive signal calculation apparatus, because aforementioned the 1st motor drive signal calculation apparatus is handled to the regulation calculation of aforementioned the 1st motor drive signal calculation apparatus and is applied compensation, and the variation of motor drive signal is reduced.
12. the electric oil pressure dynamic steering device according to each record among the claim 1-7 is characterized in that,
When aforementioned control method transfer device when controlling transitions to aforementioned the 1st motor drive signal calculation apparatus with the control of aforementioned the 2nd motor drive signal calculation apparatus, because aforementioned the 2nd motor drive signal calculation apparatus is handled to the calculation of aforementioned the 2nd motor drive signal calculation apparatus regulation and applied compensation, the variation of motor drive signal is reduced.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003163322A JP4037321B2 (en) | 2003-06-09 | 2003-06-09 | Electro-hydraulic power steering device |
| JP2003163322 | 2003-06-09 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1576133A true CN1576133A (en) | 2005-02-09 |
| CN1331702C CN1331702C (en) | 2007-08-15 |
Family
ID=33447944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100639401A Expired - Fee Related CN1331702C (en) | 2003-06-09 | 2004-06-09 | Electric oil pressure dynamic steering device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4037321B2 (en) |
| CN (1) | CN1331702C (en) |
| FR (1) | FR2855808B1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102458961A (en) * | 2009-04-08 | 2012-05-16 | 雷诺股份公司 | Electro-hydraulic power-assisted steering system for motor vehicle, and associated control method |
| CN104648472A (en) * | 2013-11-22 | 2015-05-27 | 株式会社捷太格特 | Power steering device |
| CN109689478A (en) * | 2016-09-16 | 2019-04-26 | 日本精工株式会社 | Electric power steering apparatus |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5333837B2 (en) * | 2008-09-11 | 2013-11-06 | 株式会社ジェイテクト | Power steering device |
| FR2969105B1 (en) * | 2010-12-21 | 2012-12-21 | Renault Sa | METHOD FOR CONTROLLING AN ASSISTED STEERING DEVICE FOR A MOTOR VEHICLE EQUIPPED WITH A STOP & START SYSTEM |
| CN106741155A (en) * | 2016-11-24 | 2017-05-31 | 金龙联合汽车工业（苏州）有限公司 | A kind of integral new-energy passenger electric hydraulic power-assisted steering system and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0717205B2 (en) * | 1986-03-24 | 1995-03-01 | トヨタ自動車株式会社 | Rear wheel steering system for front and rear wheel steering vehicles |
| JPH0971254A (en) * | 1995-09-07 | 1997-03-18 | Koyo Seiko Co Ltd | Power steering device |
| FR2761329B1 (en) * | 1997-03-28 | 1999-05-21 | Renault | METHOD FOR CONTROLLING AN ELECTROHYDRAULIC POWER STEERING |
| JP3681259B2 (en) * | 1997-07-23 | 2005-08-10 | 光洋精工株式会社 | Electric power steering device |
| JP3696397B2 (en) * | 1997-07-29 | 2005-09-14 | 光洋精工株式会社 | Steering angle detection device for power steering device |
| DE19733096C2 (en) * | 1997-07-31 | 2000-05-11 | Mannesmann Vdo Ag | Method and arrangement for controlling an auxiliary power device in a motor vehicle |
| JP3625662B2 (en) * | 1998-10-05 | 2005-03-02 | 三菱電機株式会社 | Electric power steering device |
| JP3648392B2 (en) * | 1998-09-18 | 2005-05-18 | 光洋精工株式会社 | Power steering device |
| JP3796377B2 (en) * | 1999-07-26 | 2006-07-12 | 株式会社ジェイテクト | Electric power steering device |
| JP3412579B2 (en) * | 1999-10-19 | 2003-06-03 | トヨタ自動車株式会社 | Electric power steering device for vehicles |
| JP4660883B2 (en) * | 2000-05-24 | 2011-03-30 | 日本精工株式会社 | Control device for electric power steering device |
| CN2455575Y (en) * | 2000-09-15 | 2001-10-24 | 洪进廉 | Energy saving powered steering device |
-
2003
- 2003-06-09 JP JP2003163322A patent/JP4037321B2/en not_active Expired - Fee Related
-
2004
- 2004-04-09 FR FR0450723A patent/FR2855808B1/en not_active Expired - Fee Related
- 2004-06-09 CN CNB2004100639401A patent/CN1331702C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102458961A (en) * | 2009-04-08 | 2012-05-16 | 雷诺股份公司 | Electro-hydraulic power-assisted steering system for motor vehicle, and associated control method |
| CN102458961B (en) * | 2009-04-08 | 2014-03-19 | 雷诺股份公司 | Electro-hydraulic power-assisted steering system for motor vehicle, and associated control method |
| CN104648472A (en) * | 2013-11-22 | 2015-05-27 | 株式会社捷太格特 | Power steering device |
| CN104648472B (en) * | 2013-11-22 | 2018-12-04 | 株式会社捷太格特 | Power steering gear |
| CN109689478A (en) * | 2016-09-16 | 2019-04-26 | 日本精工株式会社 | Electric power steering apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1331702C (en) | 2007-08-15 |
| JP2004359197A (en) | 2004-12-24 |
| FR2855808A1 (en) | 2004-12-10 |
| JP4037321B2 (en) | 2008-01-23 |
| FR2855808B1 (en) | 2007-06-29 |
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