DE102019105118B4 - Method for controlling an electromotive steering actuator and motor vehicle - Google Patents
Method for controlling an electromotive steering actuator and motor vehicle Download PDFInfo
- Publication number
- DE102019105118B4 DE102019105118B4 DE102019105118.5A DE102019105118A DE102019105118B4 DE 102019105118 B4 DE102019105118 B4 DE 102019105118B4 DE 102019105118 A DE102019105118 A DE 102019105118A DE 102019105118 B4 DE102019105118 B4 DE 102019105118B4
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- noise
- steering actuator
- motor vehicle
- steering
- wheel
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17821—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the input signals only
- G10K11/17823—Reference signals, e.g. ambient acoustic environment
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1787—General system configurations
- G10K11/17873—General system configurations using a reference signal without an error signal, e.g. pure feedforward
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/10—Applications
- G10K2210/128—Vehicles
- G10K2210/1282—Automobiles
- G10K2210/12821—Rolling noise; Wind and body noise
Abstract
Verfahren zum Ansteuern eines elektromotorischen Lenkungsaktuators (12) in einem Kraftfahrzeug (10), gekennzeichnet durch folgende Merkmale:- während das Kraftfahrzeug (10) eine Fahrbahn (17) befährt, werden durch das Kraftfahrzeug (10) verursachte Abrollgeräusche (16) gemessen,- der Lenkungsaktuator (12) wird derart angesteuert, dass der Lenkungsaktuator (12) einen die Abrollgeräusche (16) kompensierenden Gegenschall (13) erzeugt und das Lenkungsverhalten einer durch den Lenkungsaktuator (12) gelenkten Achse (11) des Kraftfahrzeuges (10) vom Erzeugen des Gegenschalles (13) unbeeinflusst bleibt,- die Achse (11) trägt ein in einem Radhaus (15) angeordnetes Rad (14), welches die Abrollgeräusche (16) verursacht, und- die Abrollgeräusche (16) und eine Wasserglättegefahr für das Rad (14) werden durch ein im Radhaus (15) befestigtes Messgerät gemessen.Method for controlling an electromotive steering actuator (12) in a motor vehicle (10), characterized by the following features: - while the motor vehicle (10) drives on a roadway (17), rolling noises (16) caused by the motor vehicle (10) are measured, the steering actuator (12) is controlled in such a way that the steering actuator (12) generates an anti-noise (13) that compensates for the rolling noise (16) and the steering behavior of an axle (11) of the motor vehicle (10) steered by the steering actuator (12) depends on the generation of the Counter-noise (13) remains unaffected, - the axle (11) carries a wheel (14) arranged in a wheel house (15), which causes the rolling noise (16), and - the rolling noise (16) and a risk of slippery water for the wheel (14 ) are measured by a measuring device mounted in the wheelhouse (15).
Description
Die vorliegende Erfindung betrifft ein Verfahren zum Ansteuern eines elektromotorischen Lenkungsaktuators. Die vorliegende Erfindung betrifft darüber hinaus ein entsprechendes Kraftfahrzeug, ein entsprechendes Computerprogramm sowie ein entsprechendes Speichermedium.The present invention relates to a method for controlling an electromotive steering actuator. The present invention also relates to a corresponding motor vehicle, a corresponding computer program and a corresponding storage medium.
Stand der TechnikState of the art
In der Verkehrsplanung und Fahrzeugtechnik ist das Reifen-Fahrbahn-Geräusch als eine der Hauptkomponenten des Außengeräusches von Kraftfahrzeugen hinlänglich bekannt. Es ist wesentlich an der Entstehung des Straßenverkehrslärms beteiligt und dominiert in den meisten Fahrsituationen innerorts und nahezu allen Fahrsituationen außerorts das Antriebsgeräusch.In traffic planning and vehicle technology, tire-road noise is well known as one of the main components of the exterior noise of motor vehicles. It is significantly involved in the development of road traffic noise and dominates the drive noise in most driving situations in urban areas and almost all driving situations outside of urban areas.
Da der Reifen durch die Rauigkeit des Laufflächenprofils und der Fahrbahnoberfläche in erster Linie beim Abrollen zu radialen und tangentialen Schwingungen angeregt wird, sei das Reifen-Fahrbahn-Geräusch im Folgenden pauschal als Abrollgeräusch bezeichnet, ohne jedoch das durch Luftverdrängungs- und -ansaug-Effekte im Bereich des Reifenlatsches erzeugte sogenannte Airpumping-Geräusch auszuschließen.Since the tire is primarily excited to vibrate radially and tangentially when rolling due to the roughness of the tread profile and the road surface, the tyre-road noise is referred to as rolling noise in the following, but without including the effects of air displacement and intake exclude the so-called air pumping noise generated in the area of the tire contact area.
Die durch unterschiedliche Entstehungsmechanismen erzeugten Anteile des Abrollgeräusches sind von zahlreichen Einflussgrößen abhängig. So haben etwa Fahrzeuggeschwindigkeit, Profilaufbau und Straßenbeschaffenheit großen Einfluss auf den Gesamtpegel und die spektrale Zusammensetzung des von der Reifen-Fahrbahn-Kombination erzeugten Geräusches.The parts of the tire noise generated by different mechanisms of origin depend on numerous influencing factors. For example, vehicle speed, profile structure and road conditions have a major impact on the overall level and spectral composition of the noise generated by the tire/road combination.
Aus
Aus der deutschen Patentanmeldung
Aus der deutschen Gebrauchsmusterschrift
Die deutsche Patentanmeldung
Die Offenlegungsschrift
Offenbarung der ErfindungDisclosure of Invention
Die Erfindung stellt ein Verfahren zum Ansteuern eines elektromotorischen Lenkungsaktuators, ein entsprechendes Kraftfahrzeug, ein entsprechendes Computerprogramm sowie ein entsprechendes Speichermedium gemäß den unabhängigen Ansprüchen bereit.The invention provides a method for controlling an electromotive steering actuator, a corresponding motor vehicle, a corresponding computer program and a corresponding storage medium according to the independent claims.
Eine Ausführungsform der Erfindung beruht hierbei auf dem Grundgedanken, die elektromotorischen Aktuatoren der Vorderachs- oder Hinterachslenkung neben der normalen Ansteuerung mit einem weiteren Strom zu überlagern. Dies ist an sich bekannt und wird nach dem Stand der Technik beispielsweise für eine ANC im Innenraum des Fahrzeugs genutzt.One embodiment of the invention is based on the basic idea of superimposing the electromotive actuators of the front-axle or rear-axle steering with a further current in addition to the normal control. This is known per se and is used according to the prior art, for example, for an ANC in the interior of the vehicle.
Das vermeintliche Problem, dass diese zusätzliche Ansteuerung der genannten Aktuatoren auch ein Außengeräusch erzeugt, macht sich die Erfindung geschickt zunutze. The invention cleverly exploits the supposed problem that this additional control of the named actuators also generates an external noise.
Ein Vorzug dieser Lösung liegt darin, dass die Ansteuerung der Lenkungsaktuatoren zu den oben genannten Zwecken mit vorhandenen Teilen ohne Beeinflussung des Lenkverhaltens erfolgen kann.An advantage of this solution is that the steering actuators can be controlled for the above-mentioned purposes using existing parts without influencing the steering behavior.
Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den abhängigen Patentansprüchen angegeben.Further advantageous refinements of the invention are specified in the dependent patent claims.
Kurze Beschreibung der ZeichnungBrief description of the drawing
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird im Folgenden näher beschrieben.An embodiment of the invention is shown in the drawing and is described in more detail below.
Die einzige Figur zeigt ein erfindungsgemäßes Kraftfahrzeug in Fahrt.The only figure shows a motor vehicle according to the invention in motion.
Ausführungsformen der ErfindungEmbodiments of the invention
Die Abbildung illustriert den erfindungsgemäßen Ansatz. Das Außengeräusch (13) der zusätzlichen Ansteuerung der Lenkungsaktuatoren (12) wird demnach für eine ANC der Reifen-Abrollgeräusche (16) verwendet: Bei der Messung des Abrollgeräusches (16) sind der Abstand zum Messpunkt sowie die Oberfläche der Fahrbahn (17) bekannt. Der in jedem Radhaus (15) vorhandene Aquaplaning-Sensor ermittelt das Abrollgeräusch (16) des darin befindlichen Rades (14), um durch eine entsprechende Ansteuerung der Lenkungsaktuatoren (12) die gewünschte ANC der Reifen-Abrollgeräusche (16) zu ermöglichen. Alternativ zum im Radhaus (15) angeordneten Aquaplaning-Sensor können andere Sensoren wie Beschleunigungssensoren oder Mikrofone vorgesehen sein.The figure illustrates the approach according to the invention. The external noise (13) of the additional activation of the steering actuators (12) is therefore used for an ANC of the tire rolling noise (16): When measuring the rolling noise (16), the distance to the measuring point and the surface of the roadway (17). The aquaplaning sensor in each wheel housing (15) determines the rolling noise (16) of the wheel (14) inside, in order to enable the desired ANC of the tire rolling noise (16) by appropriately controlling the steering actuators (12). As an alternative to the aquaplaning sensor arranged in the wheel housing (15), other sensors such as acceleration sensors or microphones can be provided.
Eine weitere Ausgestaltung der Erfindung sieht vor, eine Ansteuerung der Lenkungsaktuatoren (12) für das sonst ohnehin künstlich generierte Außengeräusch (19) von Elektrofahrzeugen (10) zu verwenden. Ein solches Außengeräusch (19), das beispielsweise dazu dient, Fußgänger (20) und andere Verkehrsteilnehmer vor dem an sich geräuscharmen Elektrofahrzeug (10) zu warnen, ist in zahlreichen Staaten gesetzlich vorgeschrieben.A further embodiment of the invention provides for using a control of the steering actuators (12) for the external noise (19) of electric vehicles (10), which is otherwise artificially generated anyway. Such an external noise (19), which is used, for example, to warn pedestrians (20) and other road users of the electric vehicle (10), which is intrinsically low-noise, is required by law in numerous states.
Claims (7)
Priority Applications (1)
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DE102019105118.5A DE102019105118B4 (en) | 2019-02-28 | 2019-02-28 | Method for controlling an electromotive steering actuator and motor vehicle |
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DE102019105118.5A DE102019105118B4 (en) | 2019-02-28 | 2019-02-28 | Method for controlling an electromotive steering actuator and motor vehicle |
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DE102019105118A1 DE102019105118A1 (en) | 2020-09-03 |
DE102019105118B4 true DE102019105118B4 (en) | 2022-03-03 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20000581U1 (en) | 2000-01-14 | 2000-08-24 | Gauermann Joerg | Anti-tumor system |
DE102004044788A1 (en) | 2004-09-16 | 2006-04-06 | Continental Aktiengesellschaft | Determining friction between vehicle tire and road involves using algorithm that takes into account slip and braking or drive moment |
US20130243212A1 (en) | 2012-03-13 | 2013-09-19 | Bradley Paul Sugden | Active noise interference system |
DE102012211689A1 (en) | 2012-07-05 | 2014-01-09 | Robert Bosch Gmbh | Method for generating warning noise for perception of e.g. hybrid vehicle in traffic, involves modifying energization of electromotor for generation of desired noise such that change of revolution of electromotor lies within bandwidth |
DE102014007502A1 (en) | 2014-05-23 | 2015-11-26 | Hochschule München | Method for noise reduction and noise modulation of an electric motor |
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2019
- 2019-02-28 DE DE102019105118.5A patent/DE102019105118B4/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20000581U1 (en) | 2000-01-14 | 2000-08-24 | Gauermann Joerg | Anti-tumor system |
DE102004044788A1 (en) | 2004-09-16 | 2006-04-06 | Continental Aktiengesellschaft | Determining friction between vehicle tire and road involves using algorithm that takes into account slip and braking or drive moment |
US20130243212A1 (en) | 2012-03-13 | 2013-09-19 | Bradley Paul Sugden | Active noise interference system |
DE102012211689A1 (en) | 2012-07-05 | 2014-01-09 | Robert Bosch Gmbh | Method for generating warning noise for perception of e.g. hybrid vehicle in traffic, involves modifying energization of electromotor for generation of desired noise such that change of revolution of electromotor lies within bandwidth |
DE102014007502A1 (en) | 2014-05-23 | 2015-11-26 | Hochschule München | Method for noise reduction and noise modulation of an electric motor |
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