CN1749081A - Electric booster turning system of fusing active turning function - Google Patents

Electric booster turning system of fusing active turning function Download PDF

Info

Publication number
CN1749081A
CN1749081A CN 200510030562 CN200510030562A CN1749081A CN 1749081 A CN1749081 A CN 1749081A CN 200510030562 CN200510030562 CN 200510030562 CN 200510030562 A CN200510030562 A CN 200510030562A CN 1749081 A CN1749081 A CN 1749081A
Authority
CN
China
Prior art keywords
steering
control unit
sensor
turning
electronic control
Prior art date
Application number
CN 200510030562
Other languages
Chinese (zh)
Other versions
CN100381323C (en
Inventor
万钢
赵治国
余卓平
孙泽昌
Original Assignee
上海燃料电池汽车动力系统有限公司
万钢
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海燃料电池汽车动力系统有限公司, 万钢 filed Critical 上海燃料电池汽车动力系统有限公司
Priority to CNB2005100305621A priority Critical patent/CN100381323C/en
Publication of CN1749081A publication Critical patent/CN1749081A/en
Application granted granted Critical
Publication of CN100381323C publication Critical patent/CN100381323C/en

Links

Abstract

The present invention relates to automobile steering technology, and is one kind of electrically boosting turning system with fused active turning function. The electrically boosting turning system includes electronic control unit, connected turning disc moment sensor, vehicle speed sensor, reversible permanent magnetic motor and current sensor, and features its turning disc angle sensor and transverse swinging speed sensor. The sensing signals of the turning disc angle sensor and the transverse swinging speed sensor are fed to the stability control unit in the electronic control unit to increase the stability regulating function of turning disc moment correcting amount and execute active turning with the booster motor. The present invention can raise the steering stability of the vehicle.

Description

Merge the electric boosting steering system of active steering function
Technical field
The present invention relates to the automobile operation device technique, particularly relate to a kind of electric boosting steering system (EPS) little, intermediate-size car that can be used for.
Background technology
Power steering system can improve the Combination property of handling maneuver greatly, progressively become the standard facility of vehicle, it mainly comprises hydraulic power steering system (HPS), electric-controlled hydraulic servo steering system (EHPS), three kinds of patterns of electric boosting steering system (EPS).EPS owing to fully phase out hydraulic gear make that system architecture obtains simplifying, environmental-protecting performance is better, volume is little, in light weight, the spatial destribution requirement is low, the more important thing is: only work when turning to of assist motor, system capacity consumption reduces greatly, help the car opertion economy, meet energy-conservation requirement, in addition, full electrical control also makes EPS have and is easy to control, responds characteristics such as fast and precision height.
Conventional EPS is when Vehicular turn, utilize the torque signals of torque sensor detection effect on steering handwheel, and be sent to electronic control unit (ECU), ECU receives the car speed sensor signal simultaneously, and according to the motor speed of being estimated, adopt relevant control and backoff algorithm, implement current closed-loop control, drive motor and by speed reduction gearing with certain power-assisted speed and power-assisted size to the steering swivel system power-assisted.But because control algorithm only adopts the power-assisted strategy, can not implement active steering to the requirement of road-holding property according to running conditions of vehicle, can not the maloperation that turn to of chaufeur be compensated, thereby fail to make with the performance of the closest steering swivel system of road-holding property and bring into play its maximum effect, also farthest do not bring into play the function of EPS.
Summary of the invention
At the defective that exists in the above-mentioned prior art, technical matters to be solved by this invention provides a kind of electric boosting steering system that can improve vehicle handling and stability that merges the active steering function.
In order to solve the problems of the technologies described above, a kind of electric boosting steering system that merges the active steering function provided by the present invention, comprise electronic control unit (ECU) and the hand-wheel torque sensor that connects described electronic control unit (ECU) respectively, car speed sensor and reversible permanent magnet DC motor and current sensor thereof, it is characterized in that, also comprise the steering wheel angle sensor and the yaw-rate sensor that connect described electronic control unit (ECU) respectively, the transducing signal of described steering wheel angle sensor and described yaw-rate sensor, import the Stability Control unit in the described electronic control unit (ECU) respectively, increase the stable regulatory function of hand-wheel torque correction, rely on assist motor to implement active steering, with the further vehicle handling stability energy that improves.Wherein use reversible permanent magnet DC motor to be actuator, can rotate and reverse according to the steering handwheel direction.
Preferably, for the robust stability of enhanced system and obtain desirable steady state response, described control system is provided with the robust stability control module, it comprises feed forward control and two component parts of controlled reset, steering wheel angle (being equivalent to front wheel angle) and hand-wheel torque from steering swivel system, the speed of a motor vehicle of Vehicular system, the vehicle lateral acceleration of Vehicular yaw cireular frequency and state observer output transfers to the robust stability controller as input respectively, and robust stability controller output (power-assisted square correction) transfers to EPS steering swivel system through synthetic computing as target power-assisted square with the power-assisted square.Side direction interference effects such as beam wind force, road surface side inclination angle are in Vehicular system, in addition the wheel flutter aligning torque also retroactive effect in steering swivel system.
Utilize the electric boosting steering system of fusion active steering function provided by the invention, owing to adopt brand-new control structure and robust control algorithm except that having conventional EPS power steering function, not only can reduce the fluctuation of current of electric and steering torque, separating the adhesion value road surface to travelling, be subjected to effect of big side direction wind or inclination ground-surface vehicle to implement the active steering function, especially play certain stabiloity compensation effect for the vehicle that electronic stability device (ESP) travels under brakeing during cornereing or turning accelerating mode is housed by the EPS effect, thereby the potentiality of bringing into play steering swivel system are to greatest extent improved vehicle handling and stability;
On the basis of conventional EPS system, increase steering wheel angle and Vehicular yaw angular velocity sensor, thereby detect steering wheel angle and Vehicular yaw cireular frequency, and adopt the stronger control policy of robustness implement active steering improve travel separate the adhesion value road surface, be subjected to the effect of big side direction wind, brakeing during cornereing or the vehicle handling and stability of turning and quickening, just constituted and merged active steering and have the EPS system of part ESP compensate function.
Description of drawings
Fig. 1 is that the EPS system of the embodiment of the invention forms schematic block diagram;
Fig. 2 is the stable regulating control functional block diagram of the embodiment of the invention;
Fig. 3 is the EPS control system structured flowchart of the embodiment of the invention.
The specific embodiment
Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof all should be listed protection scope of the present invention in.
Referring to shown in Figure 1, a kind of electric boosting steering system that merges the active steering function that the embodiment of the invention provided, the hand-wheel torque sensor, car speed sensor and reversible permanent magnet DC motor and the current sensor thereof that comprise electronic control unit (ECU) and connect described electronic control unit (ECU) respectively, also comprise the steering wheel angle sensor and the yaw-rate sensor that connect described electronic control unit (ECU) respectively, wherein use permanent magnet DC motor to be actuator, can rotate and reverse according to the steering handwheel direction.
The robust stability Principles of Regulation are seen shown in the accompanying drawing 2, in the electric boosting steering system of the embodiment of the invention, described electronic control unit (ECU) is provided with robust stability control module (dotted portion among Fig. 2), comprise two parts of feed forward control and controlled reset, sight cell is used for the estimating vehicle lateral acceleration.The vehicle lateral acceleration of exporting from steering wheel angle (being equivalent to front wheel angle) and hand-wheel torque, the speed of a motor vehicle, Vehicular yaw cireular frequency and the state observer of Vehicular system of steering swivel system transfers to the robust stability controller as input respectively, and robust stability controller output (power-assisted square correction) transfers to EPS motor and steering swivel system through synthetic computing as target power-assisted square with the power-assisted square.Side direction interference effects such as beam wind force, road surface side inclination angle are in Vehicular system, in addition the wheel flutter aligning torque also retroactive effect in steering swivel system.
Referring to shown in Figure 3, the structure of the EPS control system that the embodiment of the invention provided comprises: the transducing signal of hand-wheel torque sensor is through phase compensation unit, the power operated control cell processing, moment correction in signal synthesis unit and the output of Stability Control unit obtains basic power steering square through addition calculation, described basic power steering square transfers to motor target current unit, the transducing signal of car speed sensor transfers to described power operated control unit respectively, the Stability Control unit, the Friction Compensation unit, damping compensation unit and inertia compensation unit, the output motor rotary speed parameter of estimating the motor speed unit transfers to described Friction Compensation unit and described damping compensation unit respectively, the motor speed parameter of described estimation motor speed unit transfers to described inertia compensation unit after differentiation element is handled simultaneously, described Friction Compensation unit, described damping compensation unit and described inertia compensation unit are exported the Friction Compensation correction respectively, damping compensation correction and inertia compensation correction transfer to described motor target current unit, described motor target current unit and actual measurement current of electric unit input to current control unit respectively, described current control unit output motor drive signal; On the basis of conventional EPS controllable function, (comprise power steering control and motor friction, damping and inertia compensation control), the embodiment of the invention has been set up by steering wheel angle sensor and yaw-rate sensor and has been distinguished the transmission sensing signal to described Stability Control unit, increase the stable regulatory function of hand-wheel torque correction, rely on assist motor to implement active steering, with the further vehicle stabilization performance of improving.
The present invention can be installed in is equipped with ESP or is unkitted on the vehicle of ESP, for the vehicle that ESP is housed, it is intrinsic that additional sensor shown in Figure 1 is institute of ESP system, when exercising the ESP function, can obtain relevant sensor signals by the CAN bus, then will install related sensor additional for the vehicle that is unkitted ESP.

Claims (2)

1, a kind of electric boosting steering system that merges the active steering function, the hand-wheel torque sensor that comprises electronic control unit and connect described electronic control unit respectively, car speed sensor and reversible permanent magnet DC motor and current sensor thereof, it is characterized in that, also comprise the steering wheel angle sensor and the yaw-rate sensor that connect described electronic control unit respectively, the transducing signal of described steering wheel angle sensor and described yaw-rate sensor, import the Stability Control unit in the described electronic control unit respectively, increase the stable regulatory function of hand-wheel torque correction, rely on assist motor to implement active steering.
2, electric boosting steering system according to claim 1, it is characterized in that, described electronic control unit is provided with the robust stability control module, it comprises feed forward control and two component parts of controlled reset, the vehicle lateral acceleration of exporting from steering wheel angle and hand-wheel torque, the speed of a motor vehicle, Vehicular yaw cireular frequency and the state observer of Vehicular system of steering swivel system transfers to the robust stability controller as input respectively, and the power-assisted square correction of described robust stability controller output and power-assisted square transfer to the EPS steering swivel system through synthetic computing as target power-assisted square.Side direction interference effects such as beam wind force, road surface side inclination angle are in Vehicular system, in addition the wheel flutter aligning torque also retroactive effect in steering swivel system.
CNB2005100305621A 2005-10-14 2005-10-14 Electric booster turning system of fusing active turning function CN100381323C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2005100305621A CN100381323C (en) 2005-10-14 2005-10-14 Electric booster turning system of fusing active turning function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2005100305621A CN100381323C (en) 2005-10-14 2005-10-14 Electric booster turning system of fusing active turning function

Publications (2)

Publication Number Publication Date
CN1749081A true CN1749081A (en) 2006-03-22
CN100381323C CN100381323C (en) 2008-04-16

Family

ID=36604791

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2005100305621A CN100381323C (en) 2005-10-14 2005-10-14 Electric booster turning system of fusing active turning function

Country Status (1)

Country Link
CN (1) CN100381323C (en)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100397777C (en) * 2006-08-18 2008-06-25 浙江大学 Electric booster steering controller
CN101618733B (en) * 2009-08-06 2011-05-04 上海交通大学 Front wheel and rear wheel drive steering control system of automobile
CN102180192A (en) * 2011-04-19 2011-09-14 廖志华 Electric steering assisting power control system of new-energy car
CN101811515B (en) * 2009-12-18 2011-12-14 江苏长江环境科技工程有限公司 Control device for automotive active steering system
CN102923189A (en) * 2012-10-11 2013-02-13 吉林大学 Controller and control method for electric power steering system based on permanent magnet synchronous motor
CN103754256A (en) * 2014-01-24 2014-04-30 中国石油大学(华东) Steering-mode adjustable electric automobile steering system and control method
CN104364139A (en) * 2011-12-09 2015-02-18 威伯科有限公司 Drive stabilisation method, drive stabilisation device and related vehicle
CN104477231A (en) * 2014-08-19 2015-04-01 广东技术师范学院 Combination control system for integration electric power steering and active steering
CN104608817A (en) * 2015-01-08 2015-05-13 奇瑞汽车股份有限公司 Intelligent crosswind influence early-warning system based on electric steering device
CN104736414A (en) * 2012-09-28 2015-06-24 雷诺两合公司 Power steering management for a motor vehicle
CN105667574A (en) * 2015-12-15 2016-06-15 耐世特汽车系统(苏州)有限公司 Self-adaptive steering control system based on driving styles and control method of self-adaptive steering control system
CN105774898A (en) * 2016-03-24 2016-07-20 奇瑞汽车股份有限公司 Electric power steering system
CN106004989A (en) * 2015-03-24 2016-10-12 株式会社捷太格特 Electric power steering system and gain setting method thereof
CN106394651A (en) * 2016-06-27 2017-02-15 海特汽车科技(苏州)有限公司 EPS (electric power steering) control device and self-adaptive phase compensation method thereof
CN106394654A (en) * 2015-07-31 2017-02-15 操纵技术Ip控股公司 Inertia compensation frequency shaping for improved EPS system stability
CN107662637A (en) * 2017-09-29 2018-02-06 株洲易力达机电有限公司 A kind of automobile electric power-assisted steering disk angle recognition system
CN109204447A (en) * 2017-06-29 2019-01-15 操纵技术Ip控股公司 Electric boosting steering system with the unified shader for multiple modes of operation
CN110001759A (en) * 2019-03-11 2019-07-12 江苏大学 DAS (Driver Assistant System) and state switching method based on EPS state machine

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0667738B2 (en) * 1986-12-09 1994-08-31 東海テイ−ア−ルダブリユ−株式会社 Electric power steering device with electric motor braking function
EP1268260A1 (en) * 2000-04-03 2003-01-02 Trw Inc. Electric steering apparatus
JP3856690B2 (en) * 2001-11-30 2006-12-13 株式会社ジェイテクト Electric power steering device
JP4013783B2 (en) * 2003-02-26 2007-11-28 トヨタ自動車株式会社 Vehicle power steering device
CN2652762Y (en) * 2003-11-18 2004-11-03 比亚迪股份有限公司 Electric booster turning system
JP4289183B2 (en) * 2004-03-12 2009-07-01 トヨタ自動車株式会社 Vehicle steering device

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100397777C (en) * 2006-08-18 2008-06-25 浙江大学 Electric booster steering controller
CN101618733B (en) * 2009-08-06 2011-05-04 上海交通大学 Front wheel and rear wheel drive steering control system of automobile
CN101811515B (en) * 2009-12-18 2011-12-14 江苏长江环境科技工程有限公司 Control device for automotive active steering system
CN102180192A (en) * 2011-04-19 2011-09-14 廖志华 Electric steering assisting power control system of new-energy car
CN104364139A (en) * 2011-12-09 2015-02-18 威伯科有限公司 Drive stabilisation method, drive stabilisation device and related vehicle
CN104736414A (en) * 2012-09-28 2015-06-24 雷诺两合公司 Power steering management for a motor vehicle
CN102923189A (en) * 2012-10-11 2013-02-13 吉林大学 Controller and control method for electric power steering system based on permanent magnet synchronous motor
CN102923189B (en) * 2012-10-11 2016-08-17 吉林大学 A kind of electric booster steering system controller based on permagnetic synchronous motor and control method
CN103754256A (en) * 2014-01-24 2014-04-30 中国石油大学(华东) Steering-mode adjustable electric automobile steering system and control method
CN103754256B (en) * 2014-01-24 2016-01-06 中国石油大学(华东) A kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern
CN104477231A (en) * 2014-08-19 2015-04-01 广东技术师范学院 Combination control system for integration electric power steering and active steering
CN104608817A (en) * 2015-01-08 2015-05-13 奇瑞汽车股份有限公司 Intelligent crosswind influence early-warning system based on electric steering device
CN106004989A (en) * 2015-03-24 2016-10-12 株式会社捷太格特 Electric power steering system and gain setting method thereof
CN106004989B (en) * 2015-03-24 2020-01-14 株式会社捷太格特 Electric power steering apparatus and gain setting method thereof
CN106394654A (en) * 2015-07-31 2017-02-15 操纵技术Ip控股公司 Inertia compensation frequency shaping for improved EPS system stability
CN106394654B (en) * 2015-07-31 2019-12-24 操纵技术Ip控股公司 Inertia compensated frequency shaping for improved EPS system stability
US10077068B2 (en) 2015-07-31 2018-09-18 Steering Solutions Ip Holding Corporation Inertia compensation frequency shaping for improved EPS system stability
CN105667574A (en) * 2015-12-15 2016-06-15 耐世特汽车系统(苏州)有限公司 Self-adaptive steering control system based on driving styles and control method of self-adaptive steering control system
CN105667574B (en) * 2015-12-15 2018-04-20 耐世特汽车系统(苏州)有限公司 Self-adapting steering control system and its control method based on driving style
CN105774898A (en) * 2016-03-24 2016-07-20 奇瑞汽车股份有限公司 Electric power steering system
CN105774898B (en) * 2016-03-24 2019-04-09 奇瑞汽车股份有限公司 Electric boosting steering system
CN106394651A (en) * 2016-06-27 2017-02-15 海特汽车科技(苏州)有限公司 EPS (electric power steering) control device and self-adaptive phase compensation method thereof
CN109204447A (en) * 2017-06-29 2019-01-15 操纵技术Ip控股公司 Electric boosting steering system with the unified shader for multiple modes of operation
CN107662637B (en) * 2017-09-29 2019-07-30 株洲易力达机电有限公司 A kind of automobile electric power-assisted steering disk angle recognition system
CN107662637A (en) * 2017-09-29 2018-02-06 株洲易力达机电有限公司 A kind of automobile electric power-assisted steering disk angle recognition system
CN110001759A (en) * 2019-03-11 2019-07-12 江苏大学 DAS (Driver Assistant System) and state switching method based on EPS state machine

Also Published As

Publication number Publication date
CN100381323C (en) 2008-04-16

Similar Documents

Publication Publication Date Title
CN105163994B (en) Drive support apparatus and driving support method
JP5494822B2 (en) Vehicle motion control device
US7386379B2 (en) Method and apparatus to control coordinated wheel motors
JP5267731B2 (en) Vehicle control device
EP1621448B1 (en) Vehicle steering control system
US7356396B2 (en) Automatic steering control apparatus for vehicle
CN101472754B (en) Vehicle drive apparatus
CN1781795B (en) Turning behavior control device for vehicle
US4412594A (en) Steering system for motor vehicles
US7954593B2 (en) Method for compensating for drive influences on the steering system of a vehicle using an electric power steering system
CN101596915B (en) Linear control based automobile steering system
US4865148A (en) Vehicle height control apparatus responsive to power steering operation
CN100441437C (en) Vehicle stability control system
CN105015363B (en) A kind of distributed driving automotive control system and method based on hierarchical coordinative
CN1323858C (en) Stabilizer control device for vehicle
JP6160828B2 (en) Vehicle behavior control device
CN102481930B (en) The motion control device of vehicle
US7519464B2 (en) Running stability control device for vehicle for turn running along curved road
CN100513224C (en) Attitude control device for vehicle
EP1731408B1 (en) Vehicle steering apparatus
CN101574979B (en) Electric motor car differential steeling control method based on slip rate control
EP1800995B1 (en) Controller of electric power steering device of vehicle having wheel slip controller acting on steered wheel
US5469928A (en) Assisted steering system for non-trackbound vehicle
JP5423391B2 (en) Vehicle speed control device
EP1908660A2 (en) Obstacle avoidance control apparatus

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20080416

Termination date: 20141014

EXPY Termination of patent right or utility model