JP2003279426A - Torque detection device and steering device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide such a torque detection device that a steering device including it does not rotate just after start. <P>SOLUTION: This torque detection device is equipped respectively on a first shaft and a second shaft connected by a connecting shaft, with a rotor, a first detection means close to the rotor, one or a plurality of targets provided on the rotor, in order to output a detection signal by the first detection means following rotation of the rotor, and a second detection means for outputting a detection signal different from the first detection means at a prescribed angle. In the torque detection device, the torque applied to the first shaft is detected (S8) bases on each detection signal after being outputted and corrected (S6) by the first detection means and the second detection means. The torque detection device is also equipped with a means (S6) for prohibiting correction just after start, and an operation means (14) for applying a prescribed operation to the torque in order to reduce the detected torque during a period when the correction is prohibited (S10), and is constituted so as to output a torque value to which the operation is applied (S12). <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided on a rotating body so that the first detecting means outputs a detection signal as the rotating body rotates, the first detecting means near the rotating body. One or a plurality of targets and a second detection unit that outputs a detection signal that differs from the first detection unit by a predetermined angle are provided on the first shaft and the second shaft that are connected by the connection shaft, respectively. 2 A torque detection device that detects the torque applied to the first axis or the second shaft based on each detection signal output by the detection means, and a steering that generates a steering assist force based on the detection result of this torque detection device. It relates to the device.

[0002]

2. Description of the Related Art Some steering devices for automobiles drive an electric motor to assist steering and reduce the burden on the driver. This is equipped with an input shaft connected to the steering wheel (steering wheel), an output shaft connected to the steering wheel by a pinion and a rack, and a connecting shaft connecting the input shaft and the output shaft. The torque detection device detects a steering torque applied to the input shaft, and based on the steering torque detected by the torque detection device, drive control of an electric motor for steering assistance which is interlocked with the output shaft is performed.

The applicant of the present application has a structure in which the rotating body, the first detecting means near the rotating body, and the first detecting means are provided on the rotating body so that the first detecting means outputs a detection signal as the rotating body rotates.
Alternatively, a plurality of targets and a second detection unit that outputs a detection signal that differs from the first detection unit by a predetermined angle are provided on the first shaft and the second shaft that are connected by the connection shaft, respectively. Based on each detection signal output by the detection means,
Japanese Patent Application No. 2001-242242 discloses a torque detection device that detects a torque applied to a first shaft or a second shaft, and a steering device that generates a steering assist force based on a detection result of the torque detection device.
292534 etc.

[0004]

In the torque detecting device and the steering device described above, the variation in the output signal of each detecting means is corrected based on the maximum value and the minimum value of the output signal. Therefore, there is a problem that the steering cannot rotate immediately after the start when the maximum value and the minimum value of the output signal are not detected, and the steering device may rotate. Further, in the conventional method of calculating the rotation angle by integrating the output values, the rising / falling position of the output signal waveform of each detecting means is undetermined until the correction is performed, and the direction of the torque cannot be determined. Therefore, there is a problem in that the steering device may be unable to steer due to reverse assist.

The present invention has been made in view of the above-mentioned circumstances. In the first to fourth and sixth inventions, the steering device incorporating the steering torque does not rotate immediately after starting. An object is to provide a detection device. It is an object of the fifth invention to provide a torque detecting device in which a steering device incorporating the steering device does not become unsteerable by reverse assist. It is an object of the seventh invention to provide a steering device including the torque detection device according to the first to fourth inventions.

[0006]

According to a first aspect of the present invention, there is provided a torque detecting device, wherein a rotating body, a first detecting means near the rotating body, and the first detecting means detect as the rotating body rotates. A first shaft in which one or a plurality of targets provided on the rotating body for outputting a signal and a second detecting means for outputting a detection signal different from the first detecting means by a predetermined angle are connected by a connecting shaft. And a second shaft respectively, and the first shaft and the second shaft are coaxially integrated with the rotating body respectively provided, the power is turned on to start, and the first detection means and the second detection means output. A torque detection device that corrects each detected signal and detects the torque applied to the first axis or the second axis based on the corrected detection signals, and prohibits the correction immediately after starting. Means and period during which the prohibition means prohibits correction , In order to reduce the detected torque,
It is characterized in that it comprises a calculation means for performing a predetermined calculation on the torque, and the calculation means outputs the torque value.

In this torque detecting device, the first shaft and the second shaft are respectively provided with a first detecting means and a second detecting means for outputting detection signals different in predetermined angle depending on the target as the rotating body rotates. First detecting means and second
Based on the corrected detection signals output by the detection means, the first
The torque applied to the shaft or the second shaft is detected. Immediately after the start, the prohibiting means prohibits the correction, and during the period in which the correction is prohibited, the calculating means performs a predetermined calculation on the torque in order to reduce the detected torque, and outputs the calculated torque value. Is configured as follows. As a result, it is possible to realize a torque detection device in which a steering device incorporating the steering device does not rotate immediately after starting.

In the torque detecting device according to the second aspect of the present invention, the rotating body, the first detecting means in the vicinity of the rotating body, and the first detecting means for outputting a detection signal as the rotating body rotates, One or a plurality of targets provided on the rotating body and second detection means for outputting a detection signal different from the first detection means by a predetermined angle are respectively connected to a first shaft and a second shaft connected by a connecting shaft. The first shaft and the second shaft are coaxially and integrally formed with the rotating body, respectively, and are started by turning on the power source, and based on the detection signals output from the first detection unit and the second detection unit. A torque detecting device for detecting a torque applied to the first shaft or the second shaft,
Integrating means for accumulating the rotation angle of the first axis or the second axis from the time of starting, determining means for determining whether or not the rotating angle integrated by the integrating means is equal to or more than a predetermined angle, and the determining means A means for setting the detected torque to 0 during a period in which it is not determined that the angle is equal to or greater than a predetermined angle is provided.

In this torque detecting device, the first shaft and the second shaft are respectively provided with a first detecting means and a second detecting means for outputting a detection signal which differs by a predetermined angle depending on the target as the rotating body rotates. First detecting means and second
The torque applied to the first shaft or the second shaft is detected based on each detection signal output by the detection means. The means to accumulate
The rotation angle of the first axis or the second axis from the start is integrated, and the determination means determines whether or not the integrated rotation angle is equal to or greater than a predetermined angle. The means for setting 0 sets the detected torque to 0 during the period in which the judging means does not judge that the angle is equal to or more than the predetermined angle. As a result, it is possible to realize a torque detection device in which a steering device incorporating the steering device does not rotate immediately after starting.

In the torque detecting device according to the third aspect of the present invention, the rotating body, the first detecting means close to the rotating body, and the first detecting means for outputting a detection signal as the rotating body rotates, One or a plurality of targets provided on the rotating body and second detection means for outputting a detection signal different from the first detection means by a predetermined angle are respectively connected to a first shaft and a second shaft connected by a connecting shaft. The first shaft and the second shaft are coaxially and integrally formed with the rotating body, respectively, and are started by turning on the power source, and based on the detection signals output from the first detection unit and the second detection unit. A torque detecting device for detecting a torque applied to the first shaft or the second shaft,
When the rotation angle of the first shaft or the second shaft is gradually increased from 0 according to the rotation angle accumulated by the accumulation means and the rotation angle accumulated by the accumulation means, and the rotation angle reaches a predetermined angle. And a multiplying unit that multiplies the torque by a variable that is 1, and the result of multiplication by the multiplying unit is set as the detected torque.

In this torque detecting device, the first shaft and the second shaft are provided with a first detecting means and a second detecting means, respectively, which output detection signals different in predetermined angle depending on the target as the rotating body rotates. First detecting means and second
The torque applied to the first shaft or the second shaft is detected based on each detection signal output by the detection means. The accumulating means is the first
The rotation angle of the shaft or the second axis from the start is integrated, and the multiplication means gradually increases from 0 according to the integrated rotation angle, and sets a variable that becomes 1 when the rotation angle reaches a predetermined angle. The detected torque is multiplied, and the result of the multiplication is used as the detected torque. This allows
It is possible to realize a torque detection device in which the steering device incorporating it does not rotate immediately after starting.

In the torque detecting device according to the fourth aspect of the invention, the rotating body, the first detecting means which is close to the rotating body, and the first detecting means which outputs a detection signal as the rotating body rotates, A first shaft and a second shaft in which one or a plurality of targets provided on the rotating body and a second detection unit that outputs a detection signal whose phase is different from the first detection unit by a predetermined angle are connected by a connecting shaft. Respectively, the first shaft and the second shaft are coaxially integrated with the rotating body respectively provided, each power source is turned on to start, and each detection signal output from the first detection unit and the second detection unit. Is a torque detecting device for detecting the torque applied to the first axis or the second axis on the basis of the corrected detection signals, and a prohibiting means for prohibiting the correction immediately after the start, During the period when the prohibition means prohibits the correction, The detection signals output by the detection means and the second detection means are regarded as a sine wave signal and a cosine wave signal, respectively, and based on an arctangent function or an arccotangent function based on the considered sine wave signal and cosine wave signal, The rotation angle calculation means for calculating each rotation angle of the first axis and the second axis, and the torque calculation means for calculating the torque based on each rotation angle calculated by the rotation angle calculation means are provided, It is characterized in that the torque calculated by the torque calculating means is set as the detected torque during the period when the correction of each detection signal is not executed.

In this torque detecting device, the first detecting means and the second detecting means for outputting respective detection signals whose phases differ by a predetermined angle depending on the target as the rotating body rotates,
The first axis and the second axis are provided respectively. The torque applied to the first axis or the second axis is detected based on the corrected detection signals output from the first detection means and the second detection means.

Immediately after starting, the prohibiting means prohibits the correction, and during the period in which the correction is prohibited, the rotation angle computing means outputs the detection signals output by the first detecting means and the second detecting means to the sine wave signal and the cosine. The respective rotation angles of the first axis and the second axis are calculated based on the arc tangent function or the arc cotangent function of the respective wave signals. The torque calculation means calculates the torque based on the calculated rotation angles, and the calculated torque is set as the detected torque during a period in which the detection signals are not corrected immediately after the start. As a result, it is possible to realize a torque detection device in which a steering device incorporating the steering device does not rotate immediately after starting.

A torque detecting device according to a fifth aspect of the present invention comprises a determining means for determining whether or not the direction of the torque calculated by the torque calculating means and the rotation direction of the rotation angle calculated by the rotation angle calculating means coincide with each other. And further comprising means for setting the calculated torque to 0 when the determination means determines that they do not match.

In this torque detection device, the determination means determines whether the direction of the torque calculated by the torque calculation means and the rotation direction of the rotation angle calculated by the rotation angle calculation means match, and the determination means match. If it is determined not to do so, the calculated torque is set to 0, so that it is possible to realize a torque detection device in which the steering device incorporating it does not become unsteerable by reverse assist.

The torque detecting device according to the sixth aspect of the present invention further comprises a multiplying means for multiplying the calculated torque by a variable that gradually increases from 0 to 1 after the power source is turned on. It is characterized in that the multiplied result is used as the detected torque.

In this torque detecting device, the multiplying means multiplies the calculated torque by a variable that gradually increases from 0 to 1 after the power is turned on, and the result of the multiplication is
Since the detected torque is used, it is possible to realize a torque detection device in which the steering device incorporating the torque does not rotate immediately after starting.

A steering device according to a seventh aspect of the present invention includes a first shaft connected to a steered wheel, a second shaft connected to a steering mechanism, and a connecting shaft connecting the first shaft and the second shaft. The torque detecting device according to claim 1, wherein the steering torque applied to the first shaft is detected based on a twist angle generated in the connecting shaft, and the steering torque is detected according to the steering torque detected by the torque detecting device. It is characterized in that it is designed to assist steering.

In this steering apparatus, the torque detection device according to the first aspect detects the steering torque applied to the first shaft based on the twist angle generated in the connecting shaft, and according to the detected steering torque. Since it is configured so as to assist steering, it is possible to realize a steering device incorporating the torque detection device according to the first to sixth inventions.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing the embodiments thereof. Embodiment 1. FIG. 1 is a schematic diagram schematically showing a configuration of a first embodiment of a torque detection device and a steering device according to the present invention. The torque detecting device and the steering device have an input shaft 1 whose upper end is connected to a steering wheel 1 (steering wheel).
6 and an output shaft 17 whose lower end is connected to a pinion 18 of a steering mechanism, are coaxially connected via a small-diameter torsion bar 19 to connect the steering wheel 1 and the steering mechanism. 13, the input shaft 16 and the output shaft 17 are configured.
The vicinity of the connecting portion of is configured as follows.

A disk-shaped target plate 12a is coaxially fitted and fixed to the input shaft 16 in the vicinity of the end portion on the side connected to the output shaft 17. On the outer peripheral surface of the target plate 12a, a target 3a, which is a protrusion made of a magnetic material, is
Six pieces are provided at equal intervals in the circumferential direction. The target 3a includes teeth of a spur gear having an involute tooth profile, and an annular spur gear constitutes the target plate 12a and the target 3a.

A target plate 12c having 36 targets 3c similar to the above-mentioned target 3a is externally fitted and fixed also in the vicinity of the end portion of the output shaft 17 which is connected to the input shaft 16, and the output shaft 17 side. The targets 3c of the target plate 12c and the targets 3a of the target plate 12a on the input shaft 16 side are aligned and arranged side by side in the circumferential direction.
The teeth may be formed by forming the input shaft 16 and the output shaft 17 from a magnetic material and cutting the peripheral surfaces of the input shaft 16 and the output shaft 17 into teeth.

Outside the target plates 12a and 12c,
The sensor box 11 is arranged so as to face the outer edges of the respective targets 3a and 3c on the outer circumference. The sensor box 11 is fixedly supported on a stationary portion such as a housing that supports the input shaft 16 and the output shaft 17. Inside the sensor box 11, the target 3 on the input shaft 16 side is provided.
Magnetic sensors 1A, 1 facing different parts in the circumferential direction of a
B and the magnetic sensors 2A, 2B facing different portions in the circumferential direction of the target 3c on the output shaft 17 side are housed with their circumferential positions aligned correctly.

The magnetic sensors 1A, 1B, 2A, and 2B use magnetoresistive elements (MR elements) or other elements having electrical characteristics (resistance) that change due to the action of a magnetic field, and the opposing targets 3a and 3c. Is a sensor configured so that the detection signal changes depending on the adjacent parts of the sensor box 11, and these detection signals are given to the arithmetic processing circuit 10 using a microprocessor outside or inside the sensor box 11. The arithmetic processing circuit 10 corrects the variation of each detection signal based on the maximum value and the minimum value of each detection signal by using the respective detection signals of the given magnetic sensors 1A, 1B, 2A, 2B, and the steering wheel. The torque applied to 1 is calculated and the torque signal is output.

The operation of the torque detecting device and the steering device having the above-mentioned configurations will be described below. Each magnetic sensor 1A, 1
B, 2A and 2B are respectively shown in FIG. 2 while the corresponding targets 3a and 3c pass through the positions facing each other.
As shown in (a) and (b), a detection signal that rises and falls according to the change in each rotation angle of the input shafts 16 and 17 is output.

The detection signals of the magnetic sensors 1A and 1B correspond to the rotation angle of the input shaft 16 provided with the corresponding targets 3a, and the magnetic sensors 2A and 2B.
The detection signal corresponds to the rotation angle of the output shaft 17 provided with the target 3c facing them. Therefore, the arithmetic processing circuit 10 can calculate the relative rotation angle of the input shaft 16 from the detection signals of the magnetic sensors 1A and 1B, and the arithmetic processing circuit 10 and the magnetic sensors 1A and 1B detect the rotation angle of the input shaft 16. Works as. Further, the arithmetic processing circuit 10 can calculate the relative rotation angle of the output shaft 17 from the detection signals of the magnetic sensors 2A and 2B, and the arithmetic processing circuit 10 and the magnetic sensors 2A and 2B can output the output shaft 17.
It operates as a rotation angle detection device.

When torque is applied to the input shaft 16, the detection signals of the magnetic sensors 1A and 1B and the magnetic sensors 2A and 2B are detected.
There is a difference from each detection signal of. Magnetic sensor 1A, 2A
And the magnetic sensors 1B and 2B are the target plates 12a and 1B.
For example, the phase is different by 90 ° in electrical angle in the circumferential direction of 2c. The respective detection signals have the maximum non-linear change rate at the maximum value and the minimum value which are the turning points of rising and falling, but the phases are different, so that they can be interpolated with each other. Note that the different phase angles may be any electrical angle of 1 ° to less than 360 ° as long as interpolation is possible.

Here, the difference between the detection signal of the magnetic sensor 1A and the detection signal of the magnetic sensor 2A or the difference between the detection signal of the magnetic sensor 1B and the detection signal of the magnetic sensor 2B is determined by the input shaft 1
6 corresponds to the difference in rotation angle between the output shaft 17 and the output shaft 17 (relative angular displacement). This relative angular displacement is generated by the input shaft 16 and the output shaft 1 under the action of the torque applied to the input shaft 16.
It corresponds to the twist angle generated in the torsion bar 19 connecting 7 and 7. Therefore, the torque applied to the input shaft 16 can be calculated based on the difference between the detection signals described above.

The operation of detecting the steering torque of the torque detecting device and the steering device will be described below with reference to the flowchart of FIG. 3 showing the operation. First, the arithmetic processing circuit 10 reads each detection signal (sensor output) of the magnetic sensors 1A, 2A, 1B and 2B (S2) and performs A / D conversion (analog / digital conversion) (S4). The arithmetic processing circuit 10 then performs a process for correcting each detection signal based on the maximum value and the minimum value of each detection signal (S6).
At this time, if the maximum value and the minimum value of each detection signal are not detected immediately after the start, the correction is not performed.

The arithmetic processing circuit 10 is then connected to the magnetic sensor 1
The steering torque is calculated according to the above-described principle based on the corrected (and sometimes not corrected) detection signals of A, 2A, 1B, and 2B (S8). The arithmetic processing circuit 10 is
Next, when the above-mentioned correction is not performed (S1
0), the calculated steering torque is multiplied by K (0 <K <1) (S14), the multiplied steering torque is used as the detected steering torque, and a signal is output (S12) and the process returns.

When the above-mentioned correction is carried out (S10), the arithmetic processing circuit 10 outputs the calculated steering torque as the detected steering torque (S12).
To return. The calculated steering torque is set to K (0 <K <
Instead of multiplying by 1) (S14), a digital operation equivalent to applying a calculated steering torque signal to a low pass filter may be performed. A variable L with a long time constant
The calculated steering torque signal may be multiplied by (for example, gradually increasing from 0 to 1 in 3 seconds).

Embodiment 2. FIG. 4 is a flowchart showing the operation of the second embodiment of the torque detection device and the steering device according to the present invention. The configurations of the torque detection device and the steering device are the same as the configurations of the torque detection device and the steering device according to the first embodiment of the present invention described above, and therefore, the same parts are denoted by the same reference numerals and will not be described. Omit it.

The operation of detecting the steering torque of the torque detecting device and the steering device will be described below with reference to the flowchart of FIG. First, the arithmetic processing circuit 10
At the time of starting when the power is turned on, the parameters including flags used in other than the steering torque detection routine are reset to 0. Next, the arithmetic processing circuit 10 reads each detection signal (sensor output) of the magnetic sensors 1A, 2A, 1B, and 2B (S20), and performs A / D conversion (analog / analog).
Digital conversion) (S22).

The arithmetic processing circuit 10 then performs a process for correcting each detection signal based on the maximum value and the minimum value of each detection signal (S24). At this time, if the maximum value and the minimum value of each detection signal are not detected immediately after the start, the correction is not performed. Next, the arithmetic processing circuit 10 sets the flag F to 1
If the flag F is 1, it is determined based on the corrected detection signals of the magnetic sensors 1A, 2A, 1B, and 2B according to the principle described in the first embodiment. The steering torque is calculated (S28), the signal of the calculated steering torque is output (S30), and the process returns.

If the flag F is not 1 (S26), the arithmetic processing circuit 10 integrates the rotation angle of the input shaft 16 or the output shaft 17 from the start (S32). Arithmetic processing circuit 10
Next, it is determined whether or not the integrated rotation angle (S32) is equal to or greater than a predetermined angle that is a rotation angle at which the above-described correction operation (S24) can be performed (S34). If so, the flag F is set to 1 (S36),
The steering torque is calculated based on the corrected detection signals of the magnetic sensors 1A, 2A, 1B, and 2B (S28), and the calculated steering torque signal is output (S30) and the process returns.

The arithmetic processing circuit 10 determines that the integrated rotation angle (S32) does not exceed the predetermined angle (S3).
4) The steering torque is set to 0 (S38), the signal is output (S30), and the process returns. The other operations of the torque detection device and the steering device are the same as the operations of the torque detection device and the steering device according to the first embodiment of the present invention described above, and therefore the description thereof will be omitted.

Embodiment 3. FIG. 5 is a flowchart showing the operation of the third embodiment of the torque detection device and the steering device according to the present invention. The configurations of the torque detection device and the steering device are the same as the configurations of the torque detection device and the steering device according to the first embodiment of the present invention described above, and therefore, the same parts are denoted by the same reference numerals and will not be described. Omit it. However, the magnetic sensors 1A, 2A and the magnetic sensors 1B, 2B have a phase difference of 90 ° in electrical angle in the circumferential direction of the target plates 12a, 12c.

The operation of detecting the steering torque of the torque detecting device and the steering device will be described below with reference to the flowchart of FIG. First, the arithmetic processing circuit 10
Reads each detection signal (sensor output) of the magnetic sensors 1A, 2A, 1B, 2B (S40) and performs A / D conversion (analog / digital conversion) (S42).

The arithmetic processing circuit 10 then performs processing for correcting each detection signal based on the maximum value and the minimum value of each detection signal (S44). At this time, if the maximum value and the minimum value of each detection signal are not detected immediately after the start, the correction is not performed. Next, the arithmetic processing circuit 10 determines whether or not each detection signal has been corrected (S46). If the correction is performed, the steering torque is calculated based on the corrected detection signals of the magnetic sensors 1A, 2A, 1B, and 2B according to the principle described in the first embodiment (S48), and the calculated steering is performed. A torque signal is output (S50) and the process returns.

If the correction has not been performed (S46), the arithmetic processing circuit 10 regards the detection signals of the magnetic sensors 1A and 2A as sine wave signals and the detection signals of the magnetic sensors 1B and 2B as cosine wave signals. Then, each tangent function value (detection signal 1A) / (detection signal 1B) on the input shaft 16 side and the output shaft 17 side,
(Detection signal 2A) / (detection signal 2B) is calculated, and based on each arctangent function value tan ⁻¹ θ of these tangent function values, a table (not shown) built in the arithmetic processing circuit 10 is referred to. Thus, each rotation angle (θ) on the input shaft 16 side and the output shaft 17 side is obtained (S52).

Next, the arithmetic processing circuit 10 determines, based on the obtained rotation angles (S52) of the input shaft 16 and the output shaft 17,
The steering torque is calculated (S54), and it is determined whether or not the calculated steering torque direction matches the calculated rotation angle (S52) of the input shaft 16 or the output shaft 17 (S5).
6). When the direction of the calculated steering torque matches the direction of the rotation angle of the input shaft 16 or the output shaft 17 (S56), the arithmetic processing circuit 10 calculates the calculated steering torque (S5).
The signal of 4) is output (S50) and the process returns.

When the direction of the calculated steering torque does not match the direction of the rotation angle of the input shaft 16 or the output shaft 17 (S56), the arithmetic processing circuit 10 sets the steering torque to 0 (S58) and outputs the signal. Output (S50) and return. The other operations of the torque detection device and the steering device are the same as the operations of the torque detection device and the steering device according to the first embodiment of the present invention described above, and therefore the description thereof will be omitted.

Disclosed Technology 1. FIG. 6 is a schematic diagram schematically showing a configuration example of the torque detection device and the steering device disclosed this time. In the torque detection device and the steering device, each detection signal of the magnetic sensors 1A, 1B, 2A, 2B is given to an arithmetic processing circuit 10a formed by using a microprocessor outside or inside the sensor box 11.

The arithmetic processing circuit 10a is an EEPROM 14 (Electrical) for storing the value of each detection signal of the magnetic sensors 1A, 1B, 2A, 2B at the midpoint position of the steering apparatus.
A ly-Erasable Programmable ROM) is built in, and a midpoint memory switch 15 for storing the values of the detection signals of the magnetic sensors 1A, 1B, 2A, 2B at the midpoint position is externally attached. Since other configurations and operations are the same as the configurations and operations of the above-described torque detection device and steering device according to the first embodiment of the present invention, the same portions are denoted by the same reference numerals and description thereof is omitted.

The midpoint position of the steering system cannot be determined unless it is installed in the vehicle. Therefore, in consideration of variations in mass production and the like, a dead zone (for example, a twist within 1 N · m left and right is not assisted) is provided near the midpoint. However, recently, a dead zone is not provided, and linear steering characteristics are being obtained even near the midpoint.Since no dead zone is provided, even a slight rotation deviation usually does not cause rotation, but When jacked up, it may start to rotate.

Therefore, at the time of shipment adjustment, the arithmetic processing circuit 10
The operation mode is switched by the middle point memory switch 15a, and the EEPROM 14 becomes writable. In this state, the steered wheels 1 of the vehicle are operated to the midpoint position, and the values of the respective detection signals of the magnetic sensors 1A, 1B, 2A, 2B at that time are
It is stored in the EEPROM 14 as the shipping point. At this time, the steered wheels 1 are rotated to the left and right ends and stored in the EEPROM 14 only when the midpoint position is correctly set.

The above-mentioned adjusting operation will be described below with reference to the flow charts of FIGS. In the maintenance mode, the arithmetic processing circuit 10a determines whether or not the midpoint storage switch 15 is in the maintenance mode by being operated a predetermined number of times (S60),
If it is not in maintenance mode, it returns as it is. If the arithmetic processing circuit 10a is in the maintenance mode (S60), the midpoint memory switch 15
It is determined whether or not the operation is performed for holding the midpoint memory (S6
2) Return if not operated.

The arithmetic processing circuit 10a operates if the midpoint storage switch 15 is operated to hold the midpoint memory (S6).
2) The values of the respective detection signals of the magnetic sensors 1A, 1B, 2A, 2B at that time are held in a built-in midpoint memory (not shown) (S64). Next, the arithmetic processing circuit 10a determines whether or not the steered wheels 1 have been rotated to the left and right ends and the input full-circle steering angle data is normal (S66). Magnetic sensors 1A, 1B, 2 held in memory
The value (S64) of each detection signal of A and 2B is stored in the EEPROM.
Write to 14 (S68) and return. If the input omnidirectional steering angle data is not normal (S66), the arithmetic processing circuit 10a directly returns.

In the case of the main routine, the arithmetic processing circuit 10
First, a acquires the detection signals of the magnetic sensors 1A, 1B, 2A, 2B (S72), and then determines whether or not the midpoint memory switch 15 is in the maintenance mode by being operated a predetermined number of times. (S74). If it is not in maintenance mode, it returns as it is. If the arithmetic processing circuit 10a is in the maintenance mode (S74), whether or not the midpoint memory switch 15 is operated to update the steering angle data, that is, whether or not the steering angle data is updated. Is determined (S76), and if not updated, the process directly returns.

When the steering angle data is updated (S76), the arithmetic processing circuit 10a rotates the steered wheels 1 to the left and right ends and stores the input entire circumference steering angle data (S78) and returns. Each central value of the input all-round steering angle data becomes the value of each detection signal of the magnetic sensors 1A, 1B, 2A, 2B at the midpoint position.

The detection signals of the magnetic sensors 1A, 1B, 2A, 2B written in the EEPROM 14 are used to detect the steering torque when the magnetic sensors 1A, 1B, 2A, 2B are detected.
It is used to correct each detection signal of. According to the above, it is possible to improve the linear steering performance by reducing the dead zone near the midpoint. Also, at the time of adjustment, for example, 1
It is possible to prevent input errors and the like at a position where rotation is biased.

In the above-described embodiment and disclosed technology, the target is the tooth of the spur gear having the involute tooth profile, but the present invention is not limited to this, and the projections are provided at substantially equal intervals in the circumferential direction of the rotating body. The magnets are magnetized so that the magnetic poles are reversed at substantially equal intervals in the circumferential direction of the rotating body, and the non-recessed portions are formed between the recesses that are formed so as to have the non-recessed portions at substantially equal intervals in the circumferential direction of the rotating body. A first sloping portion inclined in one direction along the peripheral surface of the rotating body and a second sloping portion inclined in the other direction along the peripheral surface of the rotating body. The magnetic sensor may output a detection signal similar to a triangular wave or a sine wave.

[0054]

According to the torque detecting device of the first to fourth and sixth aspects of the present invention, it is possible to realize a torque detecting device in which the steering device incorporating the torque detecting device does not rotate immediately after starting.

According to the torque detecting device of the fifth invention,
It is possible to realize a torque detection device in which a steering device incorporating the steering wheel is not disabled by reverse assist.

According to the steering device of the seventh invention,
It is possible to realize a steering apparatus including the torque detection device according to the sixth aspect of the invention.

[Brief description of drawings]

FIG. 1 is a schematic diagram schematically showing a configuration of an embodiment of a torque detection device and a steering device according to the present invention.

FIG. 2 is a waveform diagram showing an example of a detection signal of a magnetic sensor.

FIG. 3 is a flowchart showing the operation of the torque detection device and steering device of the present invention.

FIG. 4 is a flowchart showing the operation of the torque detection device and steering device of the present invention.

FIG. 5 is a flowchart showing the operation of the torque detection device and steering device of the present invention.

FIG. 6 is a schematic diagram schematically showing a configuration example of a torque detection device and a steering device disclosed this time.

FIG. 7 is a flowchart showing operations of the disclosed torque detection device and steering device.

FIG. 8 is a flowchart showing the operation of the disclosed torque detection device and steering device.

[Explanation of symbols]

1 Steering wheel (steering wheel) 1A, 2A magnetic sensor (first detection means) 1B, 2B magnetic sensor (second detection means) 3a, 3c target 11 sensor box 12a, 12c Target plate (rotating body) 13 Steering axis 10, 10a arithmetic processing circuit 16 Input shaft (1st shaft, rotating body) 17 Output shaft (second shaft, rotating body) 18 pinion 19 Connection shaft (torsion bar)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Sadaaki Nakano             3-5-8 Minamisenba, Chuo-ku, Osaka-shi, Osaka               Koyo Seiko Co., Ltd. F-term (reference) 3D033 CA28 DB05

Claims (7)

[Claims] 1. A rotating body, a first detecting means which is close to the rotating body, and a first detecting means which is provided on the rotating body so that the first detecting means outputs a detection signal as the rotating body rotates.
Alternatively, a plurality of targets and a second detection unit that outputs a detection signal that differs from the first detection unit by a predetermined angle are provided on the first shaft and the second shaft that are connected by a connection shaft, respectively. The two axes are integrally formed coaxially with the rotating body respectively provided, are started by turning on the power source, correct each detection signal output by the first detection means and the second detection means, and perform the detection after correction. A torque detection device that detects the torque applied to the first axis or the second axis based on a signal, and a prohibiting unit that prohibits the correction immediately after starting, and a period in which the prohibiting unit prohibits the correction, A torque detecting device, comprising: an arithmetic means for performing a predetermined arithmetic operation on the detected torque to reduce the detected torque, and outputting the torque value calculated by the arithmetic means. 2. A rotator, a first detecting means near the rotator, and a first detecting means provided on the rotator so that the first detecting means outputs a detection signal as the rotator rotates.
Alternatively, a plurality of targets and a second detection unit that outputs a detection signal that differs from the first detection unit by a predetermined angle are provided on the first shaft and the second shaft that are connected by a connection shaft, respectively. The two shafts are integrally formed coaxially with the rotating body provided, respectively, and are started by turning on the power supply, and based on each detection signal output from the first detection unit and the second detection unit, the first shaft or the second shaft. A torque detecting device for detecting a torque applied to a shaft, comprising: an integrating means for integrating a rotation angle of the first shaft or the second shaft from a start time, and a rotation angle integrated by the integrating means is a predetermined angle or more. A torque detecting device comprising: a determining unit that determines whether or not the torque has become equal to, and a unit that sets the detected torque to 0 during a period in which the determining unit does not determine that the angle is equal to or greater than a predetermined angle. 3. A rotating body, a first detecting means near the rotating body, and a first detecting means provided on the rotating body so that the first detecting means outputs a detection signal as the rotating body rotates.
Alternatively, a plurality of targets and a second detection unit that outputs a detection signal that differs from the first detection unit by a predetermined angle are provided on the first shaft and the second shaft that are connected by a connection shaft, respectively. The two shafts are integrally formed coaxially with the rotating body provided, respectively, and are started by turning on the power supply, and based on each detection signal output from the first detection unit and the second detection unit, the first shaft or the second shaft. A torque detection device for detecting a torque applied to a shaft, comprising: an integrating unit that integrates a rotation angle of the first shaft or the second shaft from the start time, and a rotation angle integrated by the integrating unit, A multiplying unit that multiplies the torque by a variable that gradually increases from 0 and becomes 1 when the rotation angle reaches a predetermined angle is provided, and the multiplication result of the multiplying unit is used as the detected torque. Torque detection device characterized by Place 4. A rotator, a first detecting means which is close to the rotator, and a first detecting means provided on the rotator so that the first detecting means outputs a detection signal as the rotator rotates.
Alternatively, a plurality of targets and second detection means for outputting a detection signal having a phase different from the first detection means by a predetermined angle are provided respectively on the first shaft and the second shaft connected by a connection shaft, and the first shaft is provided. And the second shaft are integrally formed coaxially with the rotating body provided, respectively, and are started by turning on the power source, and correct each detection signal output by the first detection means and the second detection means, and after the correction, A torque detection device that detects the torque applied to the first axis or the second axis based on each detection signal, and a prohibition unit that prohibits the correction immediately after starting, and a period in which the prohibition unit prohibits the correction. Further, each detection signal output by the first detection means and the second detection means is regarded as a sine wave signal and a cosine wave signal, respectively, and an arctangent function or an arc cotangent of the considered sine wave signal and cosine wave signal is considered. Based on the function, the first
The rotation angle calculation means for calculating each rotation angle of the shaft and the second shaft, and the torque calculation means for calculating the torque based on each rotation angle calculated by the rotation angle calculation means are provided, and each of the detections immediately after starting is performed. During the period when the signal is not corrected,
A torque detecting device, wherein the torque calculated by the torque calculating means is set as the detected torque. 5. The determination means for determining whether or not the direction of the torque calculated by the torque calculation means and the rotation direction of the rotation angle calculated by the rotation angle calculation means match, and the judgment means does not match. The torque detection device according to claim 4, further comprising means for setting the calculated torque to 0 when a determination is made. 6. From the time when the power source is turned on, gradually,
6. A multiplication means for multiplying the calculated torque by a variable increasing from 0 to 1, and a result obtained by the multiplication means is set as a detected torque.
The described torque detection device. 7. A first shaft connected to a steering wheel, a second shaft connected to a steering mechanism, a connecting shaft connecting the first shaft and the second shaft, and steering applied to the first shaft. 7. The torque is detected based on the twist angle generated in the connecting shaft.
And a torque detection device described in (1) above, which is configured to assist steering according to the steering torque detected by the torque detection device.