JP2015182493A - electric power steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric power steering device capable of effectively performing phase compensation for a torque signal and suppressing deterioration in control stability and steering feeling.SOLUTION: An electric power steering device transmits driving force generated in an electric motor controlled according to steering torque applied to a steering handle to a steering mechanism and assists steering. The electric power steering device includes an assist current calculation section 20a for determining assist current Itar to be supplied to the electric motor. The assist current calculation section 20a includes a phase compensation section 62 for performing phase compensation for a torque signal Ts detecting steering torque. The phase compensation section 62 performs larger delayed phase compensation for the torque signal Ts as a steering angle becomes larger. The assist current calculation section 20a determines the assist current Itar on the basis of a compensated torque signal Tsp that the torque signal Ts is compensated in phase.

Description

  The present invention relates to an electric power steering apparatus.

An electric power steering device that assists a driver's steering with a torque generated by an electric motor is widely used (see Patent Document 1).
The electric power steering device generates an assisting force corresponding to a steering torque generated in the steering handle by a torque of the electric motor (auxiliary steering torque). Furthermore, in order to ensure control stability in a region where the steering angle is large, the electric power steering apparatus described in Patent Document 1 performs phase compensation on the steering torque detection signal (torque signal), and phase compensation is performed. An auxiliary steering torque is set based on the torque signal. In the electric power steering apparatus described in Patent Document 1, phase compensation is performed on the torque signal in accordance with the assist current supplied to the electric motor.

JP 2012-228925 A

In the electric power steering apparatus, the steering ratio gradually decreases as the steering angle increases. That is, as the steering angle increases, the operation of the steered wheels with respect to the operation of the steering handle becomes faster (becomes quicker). For this reason, when the steering angle increases, the attenuation of the electric power steering device decreases. Therefore, in order to improve the control stability of the electric power steering apparatus, it is preferable that a large delay phase compensation is applied to the torque signal in a region where the steering angle is large.
In the electric power steering apparatus described in Patent Document 1, phase compensation is applied to the torque signal in accordance with the magnitude of the assist current supplied to the electric motor. In this electric power steering apparatus, when the assist current increases as the steering angle increases, a large delay phase compensation is applied to the torque signal. By thus performing phase compensation on the torque signal, good steering feeling is secured in a region where the steering angle is small, and control stability is secured in a region where the steering angle is large.

However, there are cases where the assist current is small even when the steering angle is large, such as when steering is resumed after steering of the steering wheel is stopped while the steering angle is increased. In such a case, small delay phase compensation (large lead phase compensation) is applied to the torque signal even in a region where the steering angle is large. For this reason, the control stability in the region where the steering angle is large decreases.
In particular, in the case of an electric power steering apparatus having a variable gear ratio function in which the gear ratio between the steering wheel and the steered wheels changes according to the steering angle, the control stability is significantly reduced in a region where the steering angle is large. .

  When the assist current supplied to the electric motor fluctuates, the phase compensation applied to the torque signal fluctuates due to the fluctuation. Such phase compensation variation is transmitted to the driver through the steering handle as variation in auxiliary steering torque. Therefore, when the assist current fluctuates, the steering feeling decreases.

  Therefore, an object of the present invention is to provide an electric power steering apparatus that can effectively perform phase compensation on a torque signal and suppress a decrease in control stability and steering feeling.

  In order to solve the above-described problems, the present invention provides an electric power steering apparatus that controls an electric motor in accordance with a steering torque applied to an operation member and transmits a driving force generated by the electric motor to a steering mechanism to assist steering. . A torque sensor that detects the steering torque; a steering angle sensor that detects a steering angle of the steering mechanism; a phase compensation unit that performs phase compensation on a torque signal output from the torque sensor; and the phase compensation An assist current calculation unit that determines an assist current to be supplied to the electric motor based on a torque signal that has been subjected to phase compensation in the unit, and the phase compensation unit increases the steering angle as the torque sensor increases. A large delay phase compensation is applied to the torque signal output from the motor.

  In the electric power steering apparatus of the present invention, large delay phase compensation is always applied to the torque signal in a region where the steering angle is large and high control stability is required. Therefore, high control stability in a region where the steering angle is large is ensured. Further, in this electric power steering apparatus, a small delay phase compensation is applied to the torque signal in a region where the steering angle is small. Therefore, a good steering feeling is ensured in a region where the steering angle is small. Further, since the steering angle does not vary at a high frequency, the phase compensation of the torque signal does not vary at a high frequency. That is, unnecessary fluctuations in the auxiliary steering torque are suppressed, and a good steering feeling is ensured.

  In addition, the present invention provides an electric power steering apparatus that assists steering by controlling an electric motor according to a steering torque applied to an operation member and transmitting a driving force generated by the electric motor to a steering mechanism. And a phase compensation for a torque signal output from the torque sensor, a torque sensor that detects the steering torque, a steering angle estimation unit that estimates a steering angle of the steering mechanism based on a state of the electric motor, and the like. A phase compensation unit; and an assist current calculation unit that determines an assist current to be supplied to the electric motor based on a torque signal that has been subjected to phase compensation by the phase compensation unit. The larger the steering angle estimated by the angle estimation unit, the larger the delay phase compensation is performed on the torque signal output from the torque sensor.

  In the electric power steering device of the present invention, a large delay phase compensation is always applied to the torque signal in a region where the steering angle is large and high control stability is required. Further, the control unit can estimate the steering angle based on the state of the electric motor. Therefore, a sensor for detecting the steering angle becomes unnecessary, and the cost of the steering mechanism can be reduced. Further, high control stability in a region where the steering angle is large is ensured. In addition, this electric power steering apparatus performs a small delay phase compensation on the torque signal in a region where the steering angle is small, and ensures a good steering feeling.

  In addition, the phase compensation unit performs larger delay phase compensation on the torque signal as the assist current determined by the assist current calculation unit is larger.

  In the electric power steering apparatus of the present invention, phase compensation is applied to the torque signal in accordance with the steering angle and the assist current. Therefore, a larger delay phase compensation is applied to the torque signal as the assist current increases even at the same steering angle. Therefore, the torque signal is compensated more finely, and the steering feeling is further improved.

  In addition, the phase compensation unit performs larger delay phase compensation on the torque signal as the value obtained by dividing the assist current value by the steering torque value is larger.

  In the electric power steering apparatus according to the present invention, the torque signal is subjected to phase compensation in accordance with the value obtained by dividing the assist current value by the steering torque value and the steering angle. Therefore, the larger the value obtained by dividing the assist current value by the steering torque value at the same steering angle, the greater the delay phase compensation is applied to the torque signal. Therefore, the torque signal is compensated more finely, and the steering feeling is further improved.

  In the electric power steering apparatus according to the present invention, the gear ratio between the steered wheel provided in the steering mechanism and steered according to the steering of the operation member and the operation member depends on the steering angle. It features a variable gear ratio function that changes.

In the electric power steering apparatus of the present invention, the gear ratio between the operation member and the steered wheel changes according to the steering angle, and the steered wheel operates more quickly with respect to the steering of the operation member as the steering angle increases. Therefore, in the region where the steering angle is large, the attenuation of the steering mechanism is greatly reduced. However, a large delay phase compensation is always applied to the torque signal in a region where the steering angle is large. For this reason, it is possible to satisfactorily suppress a decrease in the attenuation of the steering mechanism, and it is possible to ensure high control stability. In addition, good steering feeling is ensured in a region where the steering angle is small.
Thus, according to the present invention, even with an electric power steering device having a function of a variable gear ratio in which the gear ratio between the operating member and the steered wheel changes according to the steering angle, good control stability and good The torque signal can be compensated so as to realize the steering feeling together.

  According to the present invention, it is possible to provide an electric power steering apparatus that can effectively perform phase compensation on a torque signal and suppress a decrease in control stability and steering feeling.

It is a schematic block diagram of an electric power steering device. It is a functional block diagram of an assist current calculation part. (A) is a gain compensation map which a phase compensation part has, (b) is a phase compensation map which a phase compensation part has. It is a functional block diagram of the assist current calculation part which concerns on 2nd Embodiment. It is a functional block diagram of the assist current calculation part which concerns on 3rd Embodiment. (A) is a figure which shows the rack and pinion mechanism which has a function of a variable gear ratio, (b) is a graph which shows the relationship between a steering angle and a steering ratio.

<< First Embodiment >>
Hereinafter, a first embodiment for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
FIG. 1 is a schematic configuration diagram of an electric power steering apparatus.

As shown in FIG. 1, the steering mechanism 100 of the vehicle is configured by attaching an operation member (steering handle 21) to a steering shaft 22 (pinion shaft). The steering shaft 22 rotates integrally with a pinion gear (not shown) that meshes with the rack shaft 25 a of the rack and pinion mechanism 25.
When the driver steers the steering handle 21, a pinion gear (not shown) rotates integrally with the steering shaft 22 and moves the rack shaft 25a in the left-right direction (moves left and right). Thereby, the left and right steered wheels 2R and 2L (front wheels in the first embodiment) coupled to the rack shaft 25a are steered. The angle at which the steering handle 21 is steered and rotated is defined as the steering angle of the steering mechanism 100 (handle steering angle θh).

The steering mechanism 100 includes an electric power steering device (EPS) 1.
The electric power steering apparatus 1 includes an electric motor (electric motor 23). The electric motor 23 generates auxiliary steering force (auxiliary steering torque) as torque (driving torque). The auxiliary steering torque reduces the steering force when the driver steers the steering handle 21. This assists the driver in steering the steering handle 21.

The output shaft of the electric motor 23 meshes with the rack shaft 25a via a pinion gear (not shown). The steering mechanism 100 of the present embodiment is a dual pinion EPS in which the steering shaft 22 and the rack shaft 25a, and the electric motor 23 and the rack shaft 25a mesh with each other via different pinion gears.
When the driver steers the steering handle 21, the output shaft of the electric motor 23 is rotationally driven. Torque generated by the rotational drive of the output shaft is applied to the rack shaft 25a as auxiliary steering torque. The steering force is reduced by the auxiliary steering torque applied from the electric motor 23 to the rack shaft 25a.
The electric motor 23 is provided with a rotational speed detecting means (not shown). The rotation speed detection means detects the rotation speed of the electric motor 23 (output shaft) and outputs a rotation speed signal Ns.

The electric power steering device 1 is controlled by a control unit (Electronic Control Unit: ECU 20). The ECU 20 controls the electric power steering device 1 so as to assist the steering of the steering handle 21 by drivingly controlling the electric motor 23.
The ECU 20 includes a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like (not shown) and peripheral circuits. For example, the ECU 20 controls the electric power steering apparatus 1 by executing a program stored in the ROM.

  A torque sensor 16 is attached to the steering shaft 22. The torque sensor 16 detects a steering torque when the steering handle 21 is steered. The torque sensor 16 outputs a torque signal Ts in response to the steering handle 21 being steered. The torque signal Ts is input to the ECU 20. The ECU 20 calculates a steering torque generated in the steering shaft 22 based on the input torque signal Ts. Then, the ECU 20 controls the electric motor 23 based on the calculated steering torque. The ECU 20 causes the electric motor 23 to generate auxiliary steering torque that reduces the steering force when the driver steers the steering handle 21.

  The steering shaft 22 is provided with a magnetostrictive torque sensor 16. The magnetostrictive torque sensor 16 has two magnetostrictive films (a first magnetostrictive film 16a and a second magnetostrictive film 16b). The two magnetostrictive films are attached at two locations in the axial direction of the steering shaft 22. The first magnetostrictive film 16a and the second magnetostrictive film 16b are metal films made of a material having a large change in magnetic permeability with respect to strain. For example, the first magnetostrictive film 16 a and the second magnetostrictive film 16 b are made of a Ni—Fe-based alloy film formed on the outer periphery of the steering shaft 22 by a plating method.

  The first magnetostrictive film 16 a has magnetic anisotropy in a direction inclined by about 45 degrees with respect to the axial direction of the steering shaft 22. The second magnetostrictive film 16b has magnetic anisotropy in a direction inclined about 90 degrees with respect to the magnetic anisotropy direction of the first magnetostrictive film 16a.

The torque sensor 16 includes four detection coils (a first detection coil 161a, a second detection coil 161b, a third detection coil 161c, and a fourth detection coil 161d).
The first detection coil 161a and the second detection coil 161b are arranged side by side in the axial direction of the steering shaft 22, and face the first magnetostrictive film 16a. The first detection coil 161a and the second detection coil 161b are disposed around the first magnetostrictive film 16a with a predetermined gap from the first magnetostrictive film 16a.
The third detection coil 161c and the fourth detection coil 161d are arranged side by side in the axial direction of the steering shaft 22, and face the second magnetostrictive film 16b. The third detection coil 161c and the fourth detection coil 161d are disposed around the second magnetostrictive film 16b with a predetermined gap from the second magnetostrictive film 16b.
Further, the torque sensor 16 is provided with a detection circuit 160 connected to the four detection coils described above.

When torque is generated in the steering shaft 22, a compressive force acts on one of the first magnetostrictive film 16a and the second magnetostrictive film 16b, and a tensile force acts on the other. As a result, one of the first magnetostrictive film 16a and the second magnetostrictive film 16b has increased magnetic permeability, and the other has decreased magnetic permeability. At this time, the inductance of the detection coil arranged around the magnetostrictive film where the magnetic permeability increases increases. In addition, the inductance of the detection coil disposed around the magnetostrictive film where the magnetic permeability decreases is reduced.
The detection circuit 160 converts a change in inductance of the detection coil into a torque signal Ts and outputs the torque signal Ts. The torque signal Ts output from the detection circuit 160 is input to the ECU 20.

A vehicle speed sensor 17, a yaw rate sensor 18, and a rudder angle sensor 19 are connected to the ECU 20.
The vehicle speed sensor 17 detects the vehicle speed as the number of pulses per unit time and outputs a vehicle speed signal Vs. The vehicle speed signal Vs increases as the vehicle speed increases.
For example, the yaw rate sensor 18 sets “0” when no yaw moment is generated in the vehicle. The yaw rate sensor 18 outputs, for example, a positive value when the left yaw moment is generated and a negative value when the right yaw moment is generated as the yaw rate signal Ys.
The rudder angle sensor 19 detects an angle (steering wheel steering angle θh) at which the steering handle 21 is steered. In the present embodiment, the steering wheel steering angle θh detected by the steering angle sensor 19 is used as the steering angle of the steering mechanism 100.

  The ECU 20 receives a vehicle speed signal Vs output from the vehicle speed sensor 17, a yaw rate signal Ys output from the yaw rate sensor 18, and a steering angle signal θs output from the steering angle sensor 19. The ECU 20 calculates the vehicle speed (vehicle speed) based on the vehicle speed signal Vs input from the vehicle speed sensor 17. Further, the ECU 20 calculates the yaw rate based on the yaw rate signal Ys input from the yaw rate sensor 18. Further, the ECU 20 calculates the steering wheel steering angle θh based on the steering angle signal θs input from the steering angle sensor 19.

  The ECU 20 receives a rotational speed signal Ns output from the rotational speed detecting means of the electric motor 23. The ECU 20 calculates the rotation speed of the electric motor 23 (output shaft) based on the input rotation speed signal Ns.

  The ECU 20 includes an assist current calculation unit 20a. For example, the ECU 20 executes the above-described program to realize the function of the assist current calculation unit 20a. The assist current calculation unit 20a sets the assist current Itar to be supplied to the electric motor 23. The ECU 20 supplies the assist current Itar set by the assist current calculation unit 20 a to the electric motor 23. The electric motor 23 is driven by the assist current Itar supplied from the ECU 20 and generates an auxiliary steering torque that reduces the steering force when the driver steers the steering handle 21.

FIG. 2 is a functional block diagram of the assist current calculation unit.
As shown in FIG. 2, the assist current calculation unit 20 a includes a basic assist control unit 51, an inertia control unit 52, a friction application control unit 53, a damper control unit 54, and a handle return control unit 55.

  The inertia control unit 52 sets an inertia current Ii. The inertia current Ii compensates for a decrease in responsiveness due to the inertia (moment of inertia) of the rotor of the electric motor 23 (see FIG. 1) when the steering handle 21 (see FIG. 1) is increased (when switched back). The inertia control unit 52 includes a torque differentiation unit 68 and an inertia characteristic unit 70. The torque differentiator 68 differentiates the torque signal Ts input from the torque sensor 16 (see FIG. 1). The torque differentiator 68 extracts the transient response of the rising part (falling part) as a differential value dTs / dt (d is a differential operator). The differential value dTs / dt is input to the inertia characteristic unit 70. At this time, the differential value dTs / dt may be multiplied by a coefficient based on the vehicle responsiveness corresponding to the vehicle speed signal Vs.

  The inertia characteristic unit 70 has an inertia map 70i. The inertia map 70i is a map showing the relationship between the differential value dTs / dt and the inertia current Ii. The inertia current Ii is approximately proportional to the differential value dTs / dt. Such an inertia map 70i is preferably set in advance and stored in the storage unit of the ECU 20 (see FIG. 1). The inertia characteristic unit 70 sets the inertia current Ii by referring to the inertia map 70i based on the differential value dTs / dt. The set inertia current Ii is input to the current calculator 72.

  A rotation speed signal Ns is input to the friction application control unit 53 from the rotation speed detecting means of the electric motor 23 (see FIG. 1). Further, the vehicle speed signal Vs is input from the vehicle speed sensor 17 (see FIG. 1) to the friction application control unit 53. Then, the friction application control unit 53 sets the application friction torque Vtf based on the rotation speed signal Ns and the vehicle speed signal Vs. Further, the friction application control unit 53 sets the application friction current If by converting the application friction torque Vtf into a current. The set applied friction torque Vtf is input to the torque value subtractor 66. The set applied friction current If is input to a current subtracter (first current subtractor 74).

  For example, if a map indicating the correlation between the vehicle speed signal Vs and the applied friction torque Vtf is preset and stored in the ECU 20 (see FIG. 1), the friction application control unit 53 refers to the map and applies the applied friction torque Vtf. Can be set easily. If a map indicating the correlation between the applied friction torque Vtf and the applied friction current If is set in advance and stored in the ECU 20, the friction application control unit 53 refers to the map and applies the applied friction torque Vtf to the applied friction current. Easily converted to If.

The damper control unit 54 sets a damper current Id. The damper current Id improves the convergence of the steering handle 21 (see FIG. 1). The damper control unit 54 has a damper map 54d. The damper map 54d is a map showing the relationship among the rotational speed signal Ns, the vehicle speed signal Vs, and the damper current Id. The damper current Id increases as the vehicle speed signal Vs increases, and increases as the rotational speed signal Ns increases. Such a damper map 54d is preferably set in advance and stored in the storage unit of the ECU 20 (see FIG. 1).
The damper control unit 54 is based on the rotational speed signal Ns input from the rotational speed detection means of the electric motor 23 (see FIG. 1) and the vehicle speed signal Vs input from the vehicle speed sensor 17 (see FIG. 1). The damper current Id is set with reference to the map 54d. The set damper current Id is input to the current calculator 72.

  The handle return control unit 55 sets the handle return current Ib. The handle return current Ib improves the return (switchback) characteristics of the steering handle 21 (see FIG. 1). The steering wheel return control unit 55 sets the steering wheel return current Ib based on the steering angle signal θs and the vehicle speed signal Vs. The handle return control unit 55 calculates the handle return current Ib so as to enhance the effect of returning the steering handle 21 by SAT (self-aligning torque). The set handle return current Ib is input to a current subtracter (second current subtractor 76).

  For example, if a map indicating the correlation between the vehicle speed, the steering angle θh, and the steering wheel return current Ib is set in advance and stored in the ECU 20, the steering wheel return control unit 55 refers to the map and easily determines the steering wheel return current Ib. Can be set.

The basic assist control unit 51 includes a phase compensation unit 62, an assist characteristic unit 64, and a torque value subtracter 66.
The phase compensator 62 is between the detection of the steering torque by the torque sensor 16 (see FIG. 1) and the application of the auxiliary steering torque to the steering shaft 22 (see FIG. 1) by the electric motor 23 (see FIG. 1). Compensate the phase.
The phase compensation unit 62 compensates the torque signal Ts input from the torque sensor 16 (see FIG. 1) based on the steering angle signal θs input from the steering angle sensor 19 (see FIG. 1). The phase compensation unit 62 sets a compensation torque signal Tsp that is compensated for the torque signal Ts (that is, the compensation torque signal Tsp in which the torque signal Ts is compensated).
The phase compensator 62 compensates the gain (amplitude) G [dB] and the phase Ph [deg] of the torque signal Ts based on the steering angle θh, and sets the compensation torque signal Tsp. The set compensation torque signal Tsp is input to the torque value subtractor 66.

  The torque value subtracter 66 subtracts the applied friction torque Vtf set by the friction application control unit 53 from the compensation torque signal Tsp set by the phase compensation unit 62. The compensation torque signal Tsp obtained by subtracting the applied friction torque Vtf is input to the assist characteristic unit 64.

The assist characteristic unit 64 is based on the compensation torque signal Tsp from which the applied friction torque Vtf is subtracted and the vehicle speed signal Vs input from the vehicle speed sensor 17 (see FIG. 1). A reference current Ia) is set.
The assist characteristic unit 64 includes an assist current map 64a. The assist current map 64a is a map showing a correlation among the compensation torque signal Tsp, the vehicle speed signal Vs, and the reference current Ia. The assist current map 64a has a characteristic that the reference current Ia decreases as the vehicle speed signal Vs increases (that is, the vehicle speed increases), and the reference current Ia increases as the compensation torque signal Tsp increases. Such an assist current map 64a is preferably set in advance and stored in the storage unit of the ECU 20 (see FIG. 1).

As shown in the assist current map 64a, the reference current Ia increases as the compensation torque signal Tsp increases, and decreases as the vehicle speed signal Vs decreases (vehicle speed decreases).
The reference current Ia set by the assist characteristic unit 64 is input to the current calculator 72.

The current calculator 72 adds the reference current Ia set by the basic assist control unit 51 and the inertia current Ii set by the inertia control unit 52, and subtracts the damper current Id set by the damper control unit 54. Thus, the first intermediate current Ia1 is set. The first intermediate current Ia1 set by the current calculator 72 is input to the first current subtracter 74.
The first current subtractor 74 subtracts the applied friction current If set by the friction application control unit 53 from the first intermediate current Ia1 set by the current calculator 72 to set the second intermediate current Ia2. The second intermediate current Ia2 set by the first current subtracter 74 is input to the second current subtractor 76.
The second current subtracter 76 subtracts the handle return current Ib set by the handle return control unit 55 from the second intermediate current Ia2 set by the first current subtractor 74 to set the assist current Itar.

That is, the assist current Itar supplied to the electric motor 23 (see FIG. 1) is set by the following equation (1).
Itar = Ia (reference current) + Ii (inertia current) −Id (damper current)
-If (applied friction current) -Ib (handle return current)
= Ia1 (first intermediate current) -If-Ib
= Ia2 (second intermediate current) -Ib (1)

  The ECU 20 (see FIG. 1) feedback-controls the electric motor 23 so that the assist current Itar is supplied to the electric motor 23 (see FIG. 1).

The torque value subtracter 66 subtracts the applied friction torque Vtf (a signal indicating) from the compensation torque signal Tsp. Further, in the first current subtracter 74, the applied friction current If is subtracted from the first intermediate current Ia1. As a result, mechanical friction is electrically applied to the electric power steering apparatus 1 (see FIG. 1).
In the second current subtractor 76, the handle return current Ib is subtracted from the second intermediate current Ia2. Thus, the rotational torque of the electric motor 23 (see FIG. 1) can be smoothly reduced according to the decrease in the steering angle signal θs.

3A is a gain compensation map provided in the phase compensation unit, and FIG. 3B is a phase compensation map provided in the phase compensation unit.
In the gain compensation map MPg shown in FIG. 3A, the horizontal axis represents the frequency of the torque signal Ts and the vertical axis represents the gain G. In the phase compensation map MPp shown in FIG. 3B, the horizontal axis indicates the frequency of the torque signal Ts and the vertical axis indicates the phase Ph. In the phase Ph of the phase compensation map MPp, the plus (+) side indicates the leading phase, and the minus (−) side indicates the lagging phase.
The phase compensation unit 62 (see FIG. 2) of the basic assist control unit 51 generates a torque signal based on the gain compensation map MPg shown in (a) of FIG. 3 and the phase compensation map MPp shown in (b) of FIG. Compensation is performed on Ts, and a compensation torque signal Tsp is set.

A procedure for the phase compensation unit 62 shown in FIG. 2 to compensate the torque signal Ts (a procedure for setting the compensation torque signal Tsp) will be described. When the torque signal Ts is input, the phase compensation unit 62 refers to the gain compensation map MPg and selects, for example, “Gmax” as the gain G when the steering wheel steering angle θh is “0”. Then, the phase Ph (for example, “Phmin”) corresponding to the steering wheel steering angle θh (= 0) corresponding to “Gmax” is selected. Then, the phase compensation unit 62 sets a compensation torque signal Tsp having a gain G of “Gmax” and a phase Ph of “Phmin” (referred to as default setting).
In the default setting, the phase compensation unit 62 may select “Gmin” as the gain G when the steering wheel steering angle θh is “0”. In this case, the phase Ph (for example, “Phmax”) corresponding to the steering wheel steering angle θh (= 0) corresponding to “Gmin” is selected.

  Gmax shown in FIG. 3A is the maximum value (maximum gain) of the gain G, and Gmin is the minimum value (minimum gain) of the gain G. Further, Phmax shown in FIG. 3B is the maximum value of the phase Ph delay (maximum phase delay), and Phmin is the minimum value of the phase Ph delay (minimum phase delay).

Next, the phase compensation unit 62 compensates the gain G and the phase Ph based on the steering angle signal θs input from the steering angle sensor 19 (see FIG. 1). The phase compensation unit 62 refers to the gain compensation map MPg shown in FIG. 3A based on the steering wheel steering angle θh. Then, the phase compensation unit 62 selects a gain G corresponding to the steering wheel steering angle θh. Further, the phase compensation unit 62 refers to the phase compensation map MPp shown in FIG. 3B based on the steering wheel steering angle θh. Then, the phase compensation unit 62 selects the phase Ph corresponding to the steering wheel steering angle θh.
The phase compensation unit 62 sets the compensation torque signal Tsp based on the selected gain G and phase Ph. The phase compensation unit 62 sets the compensation torque signal Tsp by compensating the torque signal Ts in such a procedure.

As shown in FIG. 3A, the gain compensation map MPg is on the minimum gain Gmin side as the steering wheel steering angle θh is large, and is on the maximum gain Gmax side as the steering wheel steering angle θh is small. Therefore, the compensation torque signal Tsp becomes a smaller gain G as the steering wheel steering angle θh is larger.
As shown in FIG. 3B, the phase compensation map MPp is on the maximum phase delay Phmax side as the steering wheel steering angle θh is large, and is on the minimum phase delay Phmin side as the steering wheel steering angle θh is small. Therefore, in the compensation torque signal Tsp, the larger the steering wheel steering angle θh, the larger the delay of the phase Ph with respect to the torque signal Ts (the smaller the advance phase). That is, the phase compensation unit 62 compensates the torque signal Ts so that the larger the steering wheel steering angle θh, the larger the delay phase.

  The compensation torque signal Tsp set by the phase compensator 62 shown in FIG. 2 is input to the torque value subtractor 66. The torque value subtracter 66 subtracts the applied friction torque Vtf set by the friction application control unit 53 from the compensation torque signal Tsp. The compensation torque signal Tsp obtained by subtracting the applied friction torque Vtf is input to the assist characteristic unit 64. The assist characteristic unit 64 sets the reference current Ia based on the compensation torque signal Tsp as described above.

  As described above, the phase compensator 62 of the first embodiment compensates the torque signal Ts so that the gain G is kept lower as the steering wheel steering angle θh is larger and the delay of the phase Ph is larger ( Set compensation torque signal Tsp). For example, even when the steering wheel angle θh is large and the assist current Itar is small, a large delay phase compensation is applied to the torque signal Ts. Then, the ECU 20 (assist current calculation unit 20a) generates an assist current Itar to be supplied to the electric motor 23 (see FIG. 1) based on the torque signal Ts (compensation torque signal Tsp) compensated by the phase compensation unit 62. Set. As a result, control stability in a region where the steering wheel steering angle θh is large is ensured.

<< Second Embodiment >>
FIG. 4 is a functional block diagram of the assist current calculation unit according to the second embodiment.
As shown in FIG. 1, the steering mechanism 100 of the first embodiment includes a steering angle sensor 19. The ECU 20 (assist current calculation unit 20a) compensates the torque signal Ts based on the steering angle signal θs input from the steering angle sensor 19.
On the other hand, the steering angle sensor 19 is not provided in the steering mechanism 100 of the second embodiment. As shown in FIG. 4, the assist current calculation unit 20 a of the second embodiment includes a steering angle estimation unit 50. The steering angle estimation unit 50 receives a rotation speed signal Ns output from the rotation speed detection means of the electric motor 23 (see FIG. 1).

The steering angle estimation unit 50 calculates an estimated value (steering angle estimation value θh *) of the steering wheel steering angle θh from the rotation speed signal Ns.
For example, when the rotation speed detection means of the electric motor 23 (see FIG. 1) is a resolver, the rotation speed detection means (resolver) outputs a rotation angle signal as the rotation speed signal Ns. The rudder angle estimation unit 50 calculates a rudder angle estimated value θh * based on the rotation angle signal.
Further, when the rotational speed detection means of the electric motor 23 is an angular speed sensor that detects the angular speed of the rotor, the rotational speed detection means (angular speed sensor) outputs an angular speed signal as the rotational speed signal Ns. The steering angle estimation unit 50 integrates the angular velocity signal to calculate the rotation angle of the rotor. Furthermore, the rudder angle estimation unit 50 calculates a rudder angle estimated value θh * based on the calculated rotation angle.
When the rotation speed detection means of the electric motor 23 is a voltmeter that detects a counter electromotive voltage, the rotation speed detection means (voltmeter) outputs a voltage signal as the rotation speed signal Ns. The rudder angle estimation unit 50 estimates the angular velocity of the rotor from the voltage signal. Further, the rudder angle estimation unit 50 calculates a rotation angle by integrating the estimated angular velocities, and calculates a rudder angle estimated value θh * based on the calculated rotation angle.
In this way, the steering angle estimation unit 50 estimates the steering angle θh (steering angle estimation value θh *) based on the state of the electric motor 23 (rotation angle, angular velocity of the rotor, generated back electromotive force, etc.). calculate).

  The estimated steering angle value θh * calculated by the steering angle estimation unit 50 is input to the phase compensation unit 62. The phase compensation unit 62 compensates the torque signal Ts based on the steering angle estimation value θh * input from the steering angle estimation unit 50, and sets the compensation torque signal Tsp.

  Specifically, the phase compensation unit 62 replaces the steering wheel steering angle θh of the gain compensation map MPg shown in FIG. 3A with the steering angle estimated value θh *, and the gain of the compensation torque signal Tsp based on the gain compensation map MPg. Set G. Further, the phase compensation unit 62 replaces the steering wheel steering angle θh of the phase compensation map MPp shown in FIG. 3B with the steering angle estimated value θh *, and changes the phase Ph of the compensation torque signal Tsp based on the phase compensation map MPp. Set. That is, the phase compensation unit 62 performs larger delay phase compensation on the torque signal Ts as the steering wheel steering angle θh (steering angle estimation value θh *) estimated by the steering angle estimation unit 50 is larger.

In addition, the estimated steering angle value θh * calculated by the steering angle estimation unit 50 is input to the steering wheel return control unit 55. The steering wheel return control unit 55 sets the steering wheel return current Ib based on the steering angle estimated value θh * and the vehicle speed signal Vs.
In the second embodiment, if a map indicating the correlation between the vehicle speed, the estimated steering angle value θh *, and the steering wheel return current Ib is preset and stored in the ECU 20, the steering wheel return control unit 55 refers to the map. The handle return current Ib can be easily set.

As described above, even if the steering mechanism 100 (see FIG. 1) is not provided with the steering angle sensor 19 (see FIG. 1), the phase compensator 62 can control the steering angle of the steering mechanism 100 with respect to the torque signal Ts. (Compensation torque signal Tsp can be set). The phase compensation unit 62 can perform larger delay phase compensation on the torque signal Ts as the estimated value of the steering wheel steering angle θh (the estimated steering angle θh *) is larger. For this reason, as in the first embodiment, control stability in a region where the steering angle of the steering mechanism 100 is large is ensured.
Further, the steering angle sensor 19 can be reduced, and the cost of the steering mechanism 100 can be reduced.

<< Third Embodiment >>
FIG. 5 is a functional block diagram of the assist current calculation unit according to the third embodiment.
As shown in FIG. 5, in the assist current calculation unit 20 a of the third embodiment, the reference current Ia set by the basic assist control unit 51 is input (feedback) to the phase compensation unit 62. In this respect, the assist current calculation unit 20a of the third embodiment is different from the assist current calculation unit 20a of the first embodiment shown in FIG. In addition, the configuration of the assist current calculation unit 20a of the third embodiment is the same as the assist current calculation unit 20a of the first embodiment.

The phase compensation unit 62 of the third embodiment compensates the phase Ph based on the magnitude of the reference current Ia when compensating for the torque signal Ts.
The phase compensator 62 of the third embodiment sets the phase Ph on the maximum phase delay Phmax (see FIG. 3B) side as the steering wheel steering angle θh increases with respect to the same frequency of the torque signal Ts. Furthermore, if the steering wheel steering angle θh is the same, the phase compensation unit 62 sets the phase Ph on the maximum phase delay Phmax side as the reference current Ia increases.
As a result, the larger the steering wheel steering angle θh and the larger the reference current Ia, the larger the delay of the phase Ph of the compensation torque signal Tsp (smaller advance phase). If the reference current Ia is small even if the steering angle θh is large, the delay of the phase Ph of the compensation torque signal Tsp is small. Further, the set assist current Itar is increased as the reference current Ia is increased. That is, the phase compensation unit 62 performs larger delay phase compensation on the torque signal Ts as the set assist current Itar is larger.

  By setting the compensation torque signal Tsp in this way, the phase compensation unit 62 compensates the phase Ph of the torque signal Ts more finely than in the first embodiment. In particular, control stability in a state where the reference current Ia (assist current Itar) is large is ensured.

<< 4th Embodiment >>
The assist current calculation unit 20a of the fourth embodiment is the same as the assist current calculation unit 20a of the third embodiment shown in FIG.

When the phase compensation unit 62 of the fourth embodiment compensates for the torque signal Ts, a value obtained by dividing the reference current Ia (value) set by the basic assist control unit 51 by the torque signal Ts (value) ( The phase Ph is compensated based on (Ia / Ts: hereinafter referred to as assist gain Ga).
When the steering wheel steering angle θh is the same, the phase compensator 62 of the fourth embodiment sets the phase Ph on the maximum phase delay Phmax (see FIG. 3B) side as the assist gain Ga increases. That is, the phase compensation unit 62 of the fourth embodiment performs larger delayed phase compensation on the torque signal Ts as the assist gain Ga (Ia / Ts) is larger.

As a result, the delay in the phase Ph of the compensation torque signal Tsp increases as the steering wheel steering angle θh increases and the assist gain Ga increases (the lead phase decreases).
Further, if the assist gain Ga is small even if the steering angle θh is large, the delay of the phase Ph of the compensation torque signal Tsp is small.
By setting the compensation torque signal Tsp in this way, the phase compensation unit 62 compensates the phase Ph of the torque signal Ts more finely than in the first embodiment. In particular, control stability in a state where the assist gain Ga (= reference current Ia / torque signal Ts) is large is ensured.

<< 5th Embodiment >>
6A is a diagram showing a rack and pinion mechanism having a variable gear ratio function, and FIG. 6B is a graph showing a relationship between a steering angle and a steering ratio.
The rack and pinion mechanism 25 of the fifth embodiment has a variable gear ratio function.
In the fifth embodiment, the ratio (Δθh / Δθt) obtained by dividing the change Δθh in the steering wheel steering angle θh by the change Δθt in the turning angle (tire turning angle θt) of the steered wheels 2R and 2L (see FIG. 1). Is the steering ratio Sr. The ECU 20 detects the tire turning angle θt with a rack position sensor or the like (not shown).

  As shown in FIG. 6A, rack teeth 250 are formed on the rack shaft 25a of the rack and pinion mechanism 25 of the fifth embodiment. A pinion gear 251 meshes with the rack teeth 250. The pinion gear 251 is formed on the steering shaft 22.

As shown in FIG. 6A, the rack teeth 250 are formed such that the pitch P1 at the central portion in the axial direction of the rack shaft 25a is narrower than the pitch P2 at both axial end portions (P1 <P2). The state in which the pinion gear 251 meshes with the center portion (the portion where the pitch P1 is narrow) of the rack teeth 250 is larger than the state where the pinion gear 251 meshes with both ends (the portion where the pitch P2 is wide) of the rack teeth 250. The left-right movement of the rack shaft 25a with respect to the rotation of the rack becomes gentle.
As described above, the rack and pinion mechanism 25 according to the fifth embodiment has a gear ratio (pinion gear 251 and rack tooth 250) between the steering handle 21 (see FIG. 1) and the steered wheels 2R and 2L (see FIG. 1). Gear ratio) changes according to the steering angle θh, and has a variable gear ratio function.
A central portion where the pitch P1 of the rack teeth 250 is narrow is referred to as a slow region SL, and both end portions where the pitch P2 of the rack teeth 250 is wide are referred to as a quick region Qu.

When the steering wheel steering angle θh is small, the pinion gear 251 meshes with the slow region SL of the rack tooth 250. When the pinion gear 251 meshes with the slow region SL of the rack tooth 250, the change Δθt in the tire turning angle θt with respect to the change Δθh in the steering wheel steering angle θh becomes small. Therefore, the steering ratio Sr (= Δθh / Δθt) increases.
When the steering wheel steering angle θh is large, the pinion gear 251 meshes with the quick region Qu of the rack tooth 250. When the pinion gear 251 meshes with the quick region Qu of the rack tooth 250, the change Δθt in the tire turning angle θt with respect to the change Δθh in the steering wheel steering angle θh increases. Therefore, the steering ratio Sr (= Δθh / Δθt) is reduced.

  As shown in FIG. 6B, when the steering wheel steering angle θh is within a predetermined range centered on 0, the pinion gear 251 meshes with the slow region SL of the rack tooth 250 and the steering ratio Sr is large. Become. When the steering angle θh becomes larger than that, the pinion gear 251 meshes with the quick region Qu of the rack teeth 250, and the steering ratio Sr becomes small. Thus, in the rack and pinion mechanism 25 of the fifth embodiment, the steering ratio Sr changes according to the change in the steering wheel steering angle θh.

As shown in FIG. 3B, the smaller the steering wheel steering angle θh, the smaller the phase Ph becomes on the minimum phase delay Phmin side, and the delay in the phase Ph of the compensation torque signal Tsp with respect to the torque signal Ts becomes smaller. That is, in the region where the steering ratio Sr is large (slow region SL), small delay phase compensation is applied to the torque signal Ts. Further, in a region where the steering ratio is small (quick region Qu), a large delay phase compensation is applied to the torque signal Ts.
By such an operation of the phase compensator 62 (see FIG. 3), in the quick region Qu where the steering wheel steering angle θh is large (region where the steering ratio Sr is small), a large delay phase compensation is applied to the torque signal Ts for control. Stability is ensured. In the slow region SL where the steering wheel steering angle θh is small (the region where the steering ratio Sr is large), a small delay phase compensation is applied to the torque signal Ts to ensure a good steering feeling.

  The present invention is not limited to the above-described embodiment, and can be appropriately modified (modified) without departing from the spirit of the invention.

For example, the inertia control unit 52 illustrated in FIG. 2 sets the inertia current Ii based on the inertia map 70 i included in the inertia characteristic unit 70. The configuration is not limited to this, and the inertia control unit 52 may set the inertia current Ii using a function indicating the relationship between the differential value dTs / dt of the torque signal Ts and the inertia current Ii.
Further, the damper control unit 54 shown in FIG. 2 sets the damper current Id based on the damper map 54d. However, the present invention is not limited to this configuration, and the damper controller 54 may set the damper current Id using a function indicating the relationship among the rotational speed signal Ns, the vehicle speed signal Vs, and the damper current Id.
Similarly, the steering wheel return control unit 55 may set the steering wheel return current Ib using a function indicating the relationship between the vehicle speed, the steering wheel steering angle θh, and the steering wheel return current Ib.

  Further, the present invention can be applied to various types of EPS such as column assist EPS, pinion assist EPS, and coaxial EPS.

DESCRIPTION OF SYMBOLS 1 Electric power steering apparatus 2R, 2L Steering wheel 16 Torque sensor 19 Steering angle sensor 20 ECU (control part)
20a Assist current calculation unit 21 Steering handle (operating member)
23 Electric motor (electric motor)
50 Steering angle estimation unit 62 Phase compensation unit 100 Steering mechanism

Claims (5)

In the electric power steering device that controls the electric motor according to the steering torque applied to the operation member and transmits the driving force generated by the electric motor to the steering mechanism to assist the steering.
A torque sensor for detecting the steering torque;
A steering angle sensor for detecting a steering angle of the steering mechanism;
A phase compensation unit that performs phase compensation on the torque signal output from the torque sensor;
An assist current calculation unit that determines an assist current to be supplied to the electric motor based on a torque signal that has been subjected to phase compensation by the phase compensation unit;
The electric power steering apparatus according to claim 1, wherein the phase compensator performs larger delay phase compensation on the torque signal output from the torque sensor as the steering angle increases. In the electric power steering device that controls the electric motor according to the steering torque applied to the operation member and transmits the driving force generated by the electric motor to the steering mechanism to assist the steering.
A torque sensor for detecting the steering torque;
A steering angle estimator for estimating a steering angle of the steering mechanism based on the state of the electric motor;
A phase compensation unit that performs phase compensation on the torque signal output from the torque sensor;
An assist current calculation unit that determines an assist current to be supplied to the electric motor based on a torque signal that has been subjected to phase compensation by the phase compensation unit;
The electric power steering apparatus according to claim 1, wherein the phase compensation unit performs larger delay phase compensation on the torque signal output from the torque sensor as the steering angle estimated by the steering angle estimation unit is larger.   3. The electric motor according to claim 1, wherein the phase compensation unit performs greater delay phase compensation on the torque signal as the assist current determined by the assist current calculation unit is larger. Power steering device.   3. The phase compensation unit according to claim 1, wherein the phase compensation unit performs larger delay phase compensation on the torque signal as a value obtained by dividing the assist current value by the steering torque value is larger. The electric power steering apparatus as described.   A function of a variable gear ratio in which a gear ratio between the steered wheel provided in the steering mechanism and steered according to the steering of the operation member and the operation member is varied according to the steering angle is provided. The electric power steering device according to any one of claims 1 to 4, wherein

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