JP2009202674A - Steering column positioning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress moaning generating in operation of an electric motor with simple structure in a steering column positioning device, with simple structure. <P>SOLUTION: When voltage is applied to drive the electric motor according to a map indicating voltage to be applied to the electric motor driven to position the steering column for each steering column position, an actual measurement relation between the steering column position and a revolution speed of the electric motor, a waveform as an opposite phase with respect to the actual measurement relation is calculated, a mean value of motor revolution speeds with respect to the steering column position, a variation of the motor revolution speeds from the mean value is calculated for each steering column position based on the motor revolution speed at each steering column position of the opposite phase waveform and their mean value, and each variation is added to a voltage value at each steering column position of the map stored in a storage part to create a new map. A map in the storage part is updated by the new map. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a steering column position adjusting device mounted on a vehicle, and more particularly, to a steering column position adjusting device that drives an electric motor to adjust the position of a steering column, such as a tilt mechanism and a telescopic mechanism.

  2. Description of the Related Art Conventionally, a device that adjusts the position of a steering column that includes a steering wheel that is steered by a vehicle driver is known (see, for example, Patent Document 1). This device includes an electric motor that is driven to adjust the position of the steering column. The electric motor changes the vertical position or the front-rear position of the steering column by driving. Therefore, according to such an apparatus, it is possible to adjust the operation position of the steering wheel according to the request of the vehicle driver or to retract the steering wheel to the retracted position by driving the electric motor.

In this apparatus, a control signal composed of a control frequency and a control phase based on a signal synchronized with the operation of the engine is applied to the electric motor. When such a control signal is applied to the electric motor, the electric motor vibrates. For this reason, even if low-frequency vibration based on engine idle vibration or the like is input to the steering column, the vibration can be effectively suppressed by the vibration of the electric motor.
JP-A-2005-132140

  By the way, when the electric motor is driven to change the position of the steering column, a periodic change (swinging) of the sound may occur, and an irritating operation sound may be given to the vehicle occupant. This distortion is mainly caused by a change in the rotation speed of the electric motor, and the change in the rotation speed of the electric motor is mainly caused by a change in load at each operation position of the electric motor. In this regard, when the load fluctuates for each operation position of the electric motor, the harshness that is annoying for the vehicle occupant occurs.

  Here, in order to reduce the above-described distortion, it is conceivable to significantly improve the accuracy of each mechanical component so that the mechanical load for each operating position of the electric motor is constant. However, in such a method, Cost increase will be invited.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a steering column position adjusting device capable of suppressing the curl generated when the electric motor is operated with a simple configuration.

  The above object is a steering column position adjusting device including an electric motor driven to adjust the position of the steering column, and indicates a voltage to be applied to the electric motor or a current to be supplied for each position of the steering column. A storage device for storing a map; motor driving means for driving the electric motor by applying a voltage or supplying a current according to the map stored in the storage device; and driving of the electric motor by the motor driving means The relationship measurement means for obtaining the relationship between the position of the steering column and the rotation speed of the electric motor, and the waveform stored in the storage device based on the waveform having the opposite phase to the relationship obtained by the relationship measurement means. A new map creating means for newly creating the map, and the map stored in the storage device, the new map And map rewriting means for rewriting to those created by the formation means, is achieved by a steering column position adjusting device comprising a.

  In the invention of this aspect, when the electric motor is driven, the relationship between the position of the steering column and the rotational speed of the electric motor is required. The rotational speed of the electric motor depends on the position of the steering column, that is, the load at that position, and the applied voltage or supplied current. Specifically, it decreases as the load increases, and increases as the applied voltage increases or the supply current increases. Therefore, when the rotation speed of the electric motor changes according to the position of the steering column, the applied voltage or the supply current is changed according to the position of the steering column in order to keep the rotation speed of the electric motor constant thereafter. And it is sufficient. At this time, if the applied voltage is lowered or the supply current is reduced at the steering column position where the motor rotational speed is high, the applied voltage is increased or the supply current is increased at the steering column position where the motor rotational speed is low. Then, the motor rotation speed at that position can be matched with that at other positions.

  In the present invention, when the above relationship is obtained, a waveform having an opposite phase to the relationship is calculated, a new map is created based on the waveform, and the new map should be stored in the storage device. The map is rewritten. After the map of the storage device is rewritten, a voltage or current is supplied to the electric motor according to the map. According to this new map, even if the load fluctuates according to the position of the steering column, a new applied voltage or supply current that makes the rotation speed of the electric motor constant at each steering column position is applied to the electric motor. Therefore, the rotation speed of the electric motor for each steering column position can be kept constant. Therefore, according to the present invention, it is possible to suppress the wrinkling that occurs during the operation of the electric motor with a simple configuration by the motor control.

  In the steering column position adjusting device described above, the new map creating means includes an anti-phase waveform calculating means for calculating a waveform having an opposite phase to the relation obtained by the relation measuring means, and the relation measuring means. Rotational speed average value calculating means for calculating an average value of the rotational speed of the electric motor with respect to a steering column position for the waveform calculated by the relationship or the antiphase waveform calculating means, and the antiphase waveform calculating means Based on the calculated rotational speed of the electric motor at each steering column position of the waveform and the average value calculated by the rotational speed average value calculating means, the rotation of the electric motor is determined for each steering column position. Fluctuation rate calculation means for calculating a variation rate of the speed from the average value, and stored in the storage device Addition means for creating a new map by adding the fluctuation rate calculated by the fluctuation rate calculation means to the voltage value or current value at each steering column position of the map. Also good.

  In the invention of this aspect, a waveform having an opposite phase is calculated with respect to the relationship between the position of the steering column and the rotational speed of the electric motor, and the electric motor with respect to the steering column position with respect to the relationship or the calculated opposite phase waveform. The average value of the rotational speed of the motor is calculated, and based on the average value and the motor rotational speed at each steering column position, the rate of change from the average value of the motor rotational speed is calculated for each steering column position, and A new map is created by adding the fluctuation rate to the voltage value or current value of the current map. The motor rotation speed is proportional to the applied voltage or supply current. For this reason, according to this new map, even if the load fluctuates according to the position of the steering column, a new applied voltage or supply current that can keep the rotation speed of the electric motor at each steering column position constant is supplied to the electric motor. As a result, the rotation speed of the electric motor at each steering column position can be kept constant. Therefore, according to the present invention, it is possible to suppress the wrinkling that occurs during the operation of the electric motor with a simple configuration by the motor control.

  Further, in the steering column position adjusting device described above, the new map creation means calculates an average rotational speed value for calculating an average rotational speed value of the electric motor with respect to a steering column position for the relation obtained by the relation measurement means. Each steering column position based on the rotation speed of the electric motor at each steering column position of the relationship determined by the relationship measuring means and the average value calculated by the rotation speed average value calculation means. Further, the fluctuation rate calculating means for calculating the fluctuation rate of the rotational speed of the electric motor from the average value, and the voltage value or the current value at each steering column position of the map stored in the storage device, respectively. By subtracting the fluctuation rate calculated by the fluctuation rate calculation means, a new mask is obtained. Subtracting means for creating a flop, it may have a.

  In the invention of this aspect, the average value of the rotation speed of the electric motor with respect to the steering column position is calculated for the relationship between the position of the steering column and the rotation speed of the electric motor, and the average value and the motor rotation speed at each steering column position are calculated. Based on the above, the fluctuation rate from the average value of the motor rotation speed is calculated for each steering column position, and the fluctuation rate is subtracted from the voltage value or current value of the current map to obtain a new map. Created. The motor rotation speed is proportional to the applied voltage or supply current. In this regard, the new map is based on a waveform having an opposite phase with respect to the relationship between the position of the steering column and the rotational speed of the electric motor. For this reason, according to this new map, even if the load fluctuates according to the position of the steering column, a new applied voltage or supply current that makes the rotation speed of the electric motor constant at each steering column position is applied to the electric motor. As a result, the rotation speed of the electric motor at each steering column position can be kept constant. Therefore, according to the present invention, it is possible to suppress the wrinkling that occurs during the operation of the electric motor with a simple configuration by the motor control.

  Furthermore, in the above-described steering column position adjusting device, the relationship actual measurement means determines the relationship between the position of the steering column and the rotation speed of the electric motor from the start of driving of the electric motor to the completion of driving by the motor driving means. If it calculates | requires, it will become possible to obtain | require the motor rotational speed for every steering column position from the drive start of an electric motor to a drive completion.

  ADVANTAGE OF THE INVENTION According to this invention, the twist which generate | occur | produces at the time of the action | operation of an electric motor can be suppressed with a simple structure.

  Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a configuration diagram of a steering column position adjusting apparatus 10 according to an embodiment of the present invention. The steering column position adjusting device 10 according to the present embodiment is mounted on a vehicle and includes a steering wheel automatically when a vehicle driver gets on or gets off, or by manual operation of a vehicle driver who gets on the vehicle. This is a device that adjusts the position of a column to a predetermined position or an arbitrary position.

  As shown in FIG. 1, the steering column position adjusting device 10 includes a telescopic mechanism (mechanism for adjusting the axial position of the steering column) 12 that can adjust the position of the steering column in the front-rear direction, and the steering column position in the vertical direction. And a tilt mechanism 14 (mechanism for adjusting the tilt of the steering column in the axial direction). The telescopic mechanism 12 has an electric motor (hereinafter referred to as a telescopic motor as appropriate) 20 that is driven to adjust the position of the steering column in the front-rear direction. The tilt mechanism 14 has an electric motor 22 (hereinafter referred to as a tilt motor as appropriate) that is driven to adjust the position of the steering column in the vertical direction. Hereinafter, the telescopic motor 20 and the tilt motor 22 are simply referred to as an electric motor 18.

  The steering column position adjusting apparatus 10 also includes one electronic control unit (hereinafter referred to as ECU) 24 that is configured mainly by a computer. The ECU 24 is connected to the telescopic motor 20 and the tilt motor 22 described above via a variable voltage supply unit 26. Each of the telescopic motor 20 and the tilt motor 22 is driven according to a command (voltage application) from the ECU 24. The variable voltage supply unit 26 is connected to the in-vehicle battery, and varies the voltage applied from the in-vehicle battery to the electric motor 18 in accordance with a command from the ECU 24.

  The ECU 24 has a nonvolatile storage unit 28. The storage unit 28 stores a map indicating a voltage to be applied to the electric motor 18 for each position of the steering column (a telescopic position or a tilt position described later). This map is set to a predetermined constant voltage (initial map) as an initial value regardless of the position of the steering column, and is appropriately changed by rewriting as described later. The ECU 24 applies a voltage to the electric motor 18 according to the map stored in the storage unit 28.

  The telescopic motor 20 is provided between a movable portion 12a and a fixed portion necessary for adjusting the position of the telescopic mechanism 12 in the front-rear direction of the steering column, and telescopically operates the movable portion 12a. The tilt motor 22 is provided between the movable portion 14a and the fixed portion necessary for adjusting the position of the tilt mechanism 14 in the vertical direction of the steering column, and tilts the movable portion 14a. .

  The telescopic motor 20 is provided with a first rotational speed sensor 30 that outputs a signal corresponding to the rotational speed (the number of rotations per unit time) rpm of the telescopic motor 20. The tilt motor 22 is provided with a second rotation speed sensor 32 that outputs a signal corresponding to the rotation speed rpm of the tilt motor 22. The first and second rotational speed sensors 30 and 32 are, for example, photosensors including a light emitting unit and a light receiving unit. The first and second rotation speed sensors 30 and 32 are each connected to the ECU 24, and their outputs are respectively supplied to the ECU 24. The ECU 24 detects the rotational speed rpm1 of the telescopic motor 20 based on the output signal supplied from the first rotational speed sensor 30, and the tilt motor 22 based on the output signal supplied from the second rotational speed sensor 32. The rotation speed rpm2 is detected.

  The movable portion 12a of the telescopic mechanism 12 is provided with a first position sensor 34 that outputs a signal corresponding to the position of the movable portion 12a relative to the fixed portion, that is, the position in the front-rear direction of the steering column (telescopic position). ing. The movable portion 14a of the tilt mechanism 14 is provided with a second position sensor 36 that outputs a signal corresponding to the position of the movable portion 14a relative to the fixed portion, that is, the vertical position (tilt position) of the steering column. ing. The 1st and 2nd position sensors 34 and 36 are position sensors which consist of hall elements and a resistance element, for example. The first and second position sensors 34 and 36 are each connected to the ECU 24, and their outputs are respectively supplied to the ECU 24. The ECU 24 detects the telescopic position of the steering column based on the output signal supplied from the first position sensor 34, and detects the tilt position of the steering column based on the output signal supplied from the second position sensor 36. To do.

  Next, with reference to FIG.2 and FIG.3, operation | movement of the steering column position adjustment apparatus 10 of a present Example is demonstrated. FIG. 2 shows a flowchart of an example of a control routine executed by the ECU 24 in the steering column position adjusting apparatus 10 of the present embodiment. FIG. 3 is a diagram for explaining control by the steering column position adjusting apparatus 10 of the present embodiment.

  3A shows an initial map of the applied voltage V to be applied to the electric motor 18 with respect to the telescopic position or tilt position X of the steering column, and FIG. 3B shows an initial map of FIG. The relationship between the telescopic position or tilt position X of the steering column and the rotation speed of the electric motor 18 generated when the electric motor 18 is driven according to the initial map is shown in FIG. 3C as shown in FIG. The electric motor 18 with respect to the telescopic position or the tilt position X of the steering column calculated on the basis of the waveform (antiphase waveform) having an opposite phase with respect to FIG. 3D based on the opposite phase waveform shown in FIG. The average value of the rotation speed (average rotation speed) is newly created based on the anti-phase waveform shown in FIG. 3C and the average rotation speed shown in FIG. 3D in FIG. Steering column A map of the applied voltage V to be applied to the electric motor 18 relative to the score position or tilt position X, respectively.

  In the steering column position adjusting apparatus 10 of the present embodiment, when the initial map is stored in the storage unit 28, the ECU 24 performs the electric motor according to the initial map when the driver gets on, gets off, or is manually operated. A constant voltage is applied to 18 regardless of the steering column position (telescopic position or tilt position). When a constant voltage in the initial map is applied to the electric motor 18, the electric motor 18 is driven by the application of the constant voltage. In this case, the movable portion 12a of the telescopic mechanism 12 or the movable portion 14a of the tilt mechanism 14 is displaced with respect to the fixed portion by driving the electric motor 18, whereby the position of the steering column is changed and adjusted.

  By the way, when the electric motor 18 is driven to change the position of the steering column, a periodic change (sounding) of the sound may occur, and an irritating operation sound may be given to the vehicle occupant. This turning is mainly caused by a change in the rotation speed of the electric motor 18, and the change in the rotation speed of the electric motor 18 is mainly caused by a change in load at each operating position of the electric motor 18. In this regard, when the load fluctuates for each operating position of the electric motor 18, an annoying harshness occurs for the vehicle occupant.

  On the other hand, in the steering column position adjusting apparatus 10 according to the present embodiment, when the ECU 24 detects that the driver gets on, gets off, or is manually operated, first, the steering column position X is applied from the storage unit 28. A map showing the relationship with the voltage V (initial map in the initial case) is read (step 100). Then, a voltage according to the map is applied to the electric motor 18 and a current is supplied to the electric motor 18 (step 102). At this time, when driving of the electric motor 18 is started, the telescopic operation of the telescopic mechanism 12 of the steering column or the tilt operation of the tilt mechanism 14 is started (step 104).

  When the telescopic operation or the tilting operation of the steering column is started, the ECU 24 thereafter rotates the rotational speed rpm1 of the telescopic motor 20 or the tilt motor 22 based on the output signals of the first or second rotational speed sensors 30 and 32. By detecting the rotational speed rpm2 and detecting the telescopic position or tilt position of the steering column based on the output signals of the first or second position sensors 34 and 36, the telescopic position or tilt of the steering column at the same detection timing The relationship between the position and the rotational speeds rpm1 and rpm2 of the electric motor 18 is obtained (step 106). Hereinafter, this obtained relationship is referred to as an actual measurement relationship.

  When the electric motor 18 is driven according to the constant voltage initial map shown in FIG. 3 (A), the actual measurement relationship is shown in FIG. 3 (B). Will be shown. Note that the actual measurement relationship described above is continuously performed from the start of the telescopic operation or tilt operation of the steering column until completion.

  Then, when the telescopic operation or tilting operation of the steering column is completed (step 108), the ECU 24 measures the actual relationship between the telescopic position or tilt position X of the steering column measured as described above and the rotational speeds rpm1 and rpm2 of the electric motor 18. A waveform having an antiphase with respect to (hereinafter referred to as an antiphase waveform) is calculated (step 110). As shown in FIG. 3C, this reverse phase waveform is obtained for each steering column position X that is located opposite to the actual measurement relationship measured as described above with the average value Y0 of the motor rotation speed with respect to the steering column position X interposed therebetween. The rotational speed Y of the electric motor 18 is plotted and connected.

  Next, the ECU 24 performs a process of newly creating a map to be stored in the storage unit 28 based on the calculated antiphase waveform (step 112).

  Specifically, first, the rotational speed Y of the electric motor 18 at each steering column position X for the antiphase waveform and the average value of the motor rotational speed for the steering column position X (the antiphase waveform is also the average value based on the actual measurement relationship). The same result can be obtained with the average value obtained by the following equation.) Based on Y0, for each of the steering column positions X, the variation rate Δ (X) (from the average value Y0 of the rotational speed Y (X) of the electric motor 18 is calculated. = (Y (X) -Y0) / Y0) is calculated. The fluctuation rate Δ (X) is positive when the rotational speed Y (X) is greater than the average value Y0 and negative when the rotational speed Y (X) is less than the average value Y0.

  This variation rate Δ (X) can change for each steering column position X, and is “0” when the rotational speed Y (X) of the electric motor 18 in the antiphase waveform matches the average value Y0. The larger the rotation speed Y (X), the smaller the rotation speed Y (X), the smaller the rotation speed, and the smaller the rotation speed rpm1, rpm2 of the electric motor 18 in the relationship measured as described above, the smaller. The smaller the rotational speeds rpm1 and rpm2, the larger.

  Then, the variation rate at the corresponding steering column position X calculated as described above is applied to the voltage value V (X) at each steering column position X of the map stored in the storage unit 28 and read in step 100. A map showing the relationship between the steering column position X and the applied voltage V is newly created by adding Δ (X) (see the following equation (1) and FIG. 3 (E)).

New applied voltage V (X) = old applied voltage V (X) × (1 + Δ (X)) (1)
When the ECU 24 creates a new map as described above, the ECU 24 performs a process of rewriting the map stored in the storage unit 28 with the newly created map (step 114). When such a process is performed, the next time the driver performs a telescopic operation or a tilt operation of the steering column by getting on, getting off, or manually, the electric motor 18 is driven according to the new map, and the steering column position adjustment Will be performed.

  In such a configuration, when the electric motor 18 is driven according to the map stored in the storage unit 28 and the rotational speed of the electric motor 18 changes according to the steering column position, the map in the storage unit 28 is rewritten. As a result, the applied voltage to the electric motor 18 is lowered at the steering column position where the motor rotation speed is high and the motor rotation speed is reduced at the steering column position where the motor rotation speed is low. The applied voltage to the electric motor 18 is increased by the smaller speed.

  When the voltage applied to the electric motor 18 is lowered, the current supplied to the electric motor 18 is reduced, and the rotation speed of the electric motor 18 is reduced. Further, when the voltage applied to the electric motor 18 is increased, the current supplied to the electric motor 18 increases and the rotation speed of the electric motor 18 increases. The rotation speed of the electric motor 18 is proportional to the applied voltage and supply current, and increases as the applied voltage increases and increases as the supply current increases.

  In this regard, when a load change of the electric motor 18 occurs according to the steering column position when a voltage is applied according to the map stored in the storage unit 28 to the electric motor 12, and the rotational speed change of the electric motor 18 occurs. After that, the map of the storage unit 28 is updated, and a new applied voltage or supply current that makes the rotation speed constant without causing a change in the rotation speed is applied to the electric motor 18. The rotational speed of the electric motor 18 for each column position is kept substantially constant. For this reason, in this embodiment, even when a load fluctuation of the electric motor 18 occurs according to the steering column position, the rotational speed of the electric motor 18 at each steering column position can be kept substantially constant by the control of the ECU 24. It becomes possible.

  If the rotation speed of the electric motor 18 at each steering column position is kept substantially constant, the occurrence of turning is suppressed. Therefore, according to the steering column position adjusting apparatus 10 of the present embodiment, it is possible to suppress the sag generated when the electric motor 18 is operated with a simple configuration by the motor control of the ECU 24, which is annoying to the driver. It is possible to reduce the operating noise. For this reason, it is not necessary to improve the accuracy of each mechanical component so that the load at each operating position of the electric motor 18 is constant in order to suppress the occurrence of the warpage, and the warpage is suppressed without increasing the cost. Is possible.

  Further, when the rotational speed change of the electric motor 18 occurs at the same steering column position due to the aging of the telescopic mechanism 12, the tilt mechanism 14 or the electric motor 18 of the steering column, the storage unit Since the map of 28 is updated and a new applied voltage or supply current that does not cause the change in the rotation speed is applied to the electric motor 18, the change in the rotation speed of the electric motor 18 due to the secular change is suppressed. The Rukoto. For this reason, in the present embodiment, the drive control of the electric motor 18 can be adapted to the secular change by the control of the ECU 24, and the sag generated when the electric motor 18 is operated due to the secular change. It can be effectively suppressed.

  In the above embodiment, the storage unit 28 corresponds to the “storage device” recited in the claims, and the ECU 24 applies a voltage to the electric motor 18 according to the map stored in the storage unit 28. The "motor driving means" described in the claims by applying or supplying the current and driving them executes the processing of step 106 in the routine shown in FIG. The "measurement means" executes the processing of steps 110 and 112, and the "new map creation means" described in the claims executes the processing of step 110. The “waveform calculation means” calculates the average value of the motor rotation speed with respect to the steering column position X from the actual measurement relationship and the antiphase waveform, and thereby falls within the scope of the claims. The "rotational speed average value calculating means" described here calculates the fluctuation rate Δ (X) of the rotational speed Y (X) of the electric motor 18 from the average value Y0 for each steering column position X. The “variation rate calculation means” described in the range adds the variation rate Δ (X) at the corresponding steering column position X to the voltage value V at each steering column position X in the map stored in the storage unit 28. Thus, by creating a new map, the “adding means” described in the claims can be realized, and the “map rewriting means” described in the claims can be realized by executing the processing of step 114. Has been.

  By the way, in the above embodiment, when the electric motor 18 is driven with a voltage according to the map stored in the storage unit 28, the relationship between the position of the steering column and the rotational speed of the electric motor 18 is obtained. An inverse phase waveform having an opposite phase with respect to the relationship is calculated, an average value Y0 of the rotation speed of the electric motor 18 with respect to the steering column position is calculated, and the rotation speed of the electric motor 18 at each steering column position X with the opposite phase waveform. A variation rate Δ (X) is calculated based on Y (X) and the average value Y0, and the variation rate Δ (X) is calculated for each voltage value V at each steering column position in the map stored in the storage unit 28. By adding, a new map is created.

  However, the present invention is not limited to this, and when the relationship between the position of the steering column and the rotational speed of the electric motor 18 is obtained, the rotational speed rpm1 of the electric motor 18 with respect to the steering column position is determined. , Rpm2 average value rpm0 is calculated, and based on the rotational speed rpm1, rpm2 of the electric motor 18 at each steering column position X and the average value rpm0 for the relationship, the variation rate Δrpm (X) (= (rpm * ( X) −rpm0) / rpm0; where * = 1, 2) is calculated, and the variation rate Δrpm (X) is calculated from the voltage value V (X) at each steering column position X of the map stored in the storage unit 28. Create a new map showing the relationship between steering column position X and applied voltage V by subtracting the minutes It is good.

New applied voltage V (X) = old applied voltage V (X) × (1−Δrpm (X))
The fluctuation rate Δrpm (X) is positive when the rotational speed rpm * (X) is greater than the average value rpm0, and negative when the rotational speed rpm * (X) is less than the average value rpm0. When the rotation speed rpm * (X) of the electric motor 18 coincides with the average value rpm0, it becomes “0”, and increases as the rotation speed rpm * (X) increases, and the rotation speed rpm * (X) decreases. It gets smaller.

  Even in the configuration of the modification, when the electric motor 18 is driven according to the map stored in the storage unit 28 and the rotation speed of the electric motor 18 changes according to the steering column position, the map in the storage unit 28 is used. Then, at the steering column position where the motor rotation speed is high, the applied voltage to the electric motor 18 is lowered by the amount of the motor rotation speed, and the steering column position where the motor rotation speed is low. Then, the voltage applied to the electric motor 18 is increased by the amount of the lower motor rotation speed.

  For this reason, also in this modification, even when a load fluctuation of the electric motor 18 occurs according to the steering column position, the rotational speed of the electric motor 18 at each steering column position can be kept substantially constant by the control of the ECU 24. As a result, it is possible to suppress the wrinkling that occurs during the operation of the electric motor 18 with a simple configuration by the motor control of the ECU 24, and it is possible to reduce annoying operating noise for the driver, The drive control of the electric motor 18 can be made to correspond to the secular change by the control of the ECU 24, and it is possible to effectively suppress the distortion generated when the electric motor 18 is operated due to the secular change. .

  In this modification, the ECU 24 newly stores a map stored in the storage unit 28 based on a waveform having an opposite phase with respect to the actual measurement relationship between the steering column position X and the rotational speed rpm * of the electric motor 18. By creating the “new map creating means” described in the claims, the average value of the motor rotation speed rpm * with respect to the steering column position X based on the actual measurement relationship between the steering column position X and the rotation speed rpm * of the electric motor 18. By calculating the rpm 0, the “rotational speed average value calculating means” described in the appended claims performs the change rate Δrpm (X of the rotational speed rpm * of the electric motor 18 from the average value rpm 0 for each steering column position X. ) Is stored in the storage unit 28 as described in the claims. A new map is created by subtracting the variation rate Δrpm (X) at the corresponding steering column position X from the voltage value V (X) at each steering column position X. Each of the “subtracting means” described in 1 is realized.

  In the above embodiment, the first and second position sensors 34 and 36 are arranged on the telescopic mechanism 12 of the steering column 12 or the movable parts 12a and 14a of the tilt mechanism 14 so that the position of the steering column is directly measured. (Telescopic position or tilt position) is to be detected, but the present invention is not limited to this, and sensors for detecting the rotation angle of the motor are provided in the telescopic motor 20 and the tilt motor 22, respectively. The position of the steering column may be estimated and detected indirectly from the detected rotation angle.

  Further, in the above-described embodiment, the map stored in the storage unit 28 of the ECU 24 is a map indicating the applied voltage to be applied to the electric motor with respect to the position of the steering column. The present invention is not limited, and a current indicating the supply current to be supplied to the electric motor with respect to the position of the steering column may be used.

It is a block diagram of the steering column position adjustment apparatus which is one Example of this invention. It is a flowchart of an example of the control routine performed in the steering column position adjusting device of the present embodiment. It is a figure for demonstrating the control by the steering column position adjustment apparatus of a present Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Steering column position adjustment apparatus 18-22 Electric motor 24 ECU (electronic control unit)
30 1st rotational speed sensor 32 2nd rotational speed sensor 34 1st position sensor 36 2nd position sensor

Claims (4)

A steering column position adjusting device comprising an electric motor driven to adjust the position of a steering column,
A storage device for storing a map indicating a voltage to be applied to the electric motor or a current to be supplied for each position of the steering column;
Motor driving means for driving the electric motor by applying a voltage or supplying a current according to the map stored in the storage device;
A relation actual measurement means for obtaining a relation between a position of a steering column and a rotation speed of the electric motor when the electric motor is driven by the motor driving means;
New map creation means for creating a new map to be stored in the storage device based on a waveform having an opposite phase to the relationship obtained by the relationship measurement means;
Map rewriting means for rewriting the map stored in the storage device with the map created by the new map creating means;
A steering column position adjusting device comprising: The new map creation means is:
An anti-phase waveform calculating means for calculating a waveform having an anti-phase with respect to the relation obtained by the relation measuring means;
A rotational speed average value calculating means for calculating an average value of a rotational speed of the electric motor with respect to a position of a steering column for the waveform calculated by the relation measuring means or the inverse phase waveform calculating means;
Based on the rotation speed of the electric motor at each steering column position of the waveform calculated by the antiphase waveform calculation means and the average value calculated by the rotation speed average value calculation means, for each steering column position And a fluctuation rate calculating means for calculating a fluctuation rate of the rotational speed of the electric motor from the average value;
Adder for creating a new map by adding the change rate calculated by the change rate calculation means to the voltage value or current value at each steering column position of the map stored in the storage device. When,
The steering column position adjusting device according to claim 1, comprising: The new map creation means is:
Rotational speed average value calculating means for calculating an average value of the rotational speed of the electric motor with respect to the position of the steering column for the relationship obtained by the relationship measuring means;
Based on the rotation speed of the electric motor at each steering column position of the relationship obtained by the relationship measurement means and the average value calculated by the rotation speed average value calculation means, for each steering column position, A fluctuation rate calculating means for calculating a fluctuation rate of the rotational speed of the electric motor from the average value;
Subtracting means for creating a new map by subtracting the variation rate calculated by the variation rate calculating means from the voltage value or current value at each steering column position of the map stored in the storage device. When,
The steering column position adjusting device according to claim 1, further comprising:   4. The relation measuring means obtains a relation between a position of a steering column and a rotation speed of the electric motor from the start of driving of the electric motor to the completion of driving by the motor driving means. The steering column position adjusting device according to any one of the preceding claims.

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