JP6399260B2 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
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- JP6399260B2 JP6399260B2 JP2018526390A JP2018526390A JP6399260B2 JP 6399260 B2 JP6399260 B2 JP 6399260B2 JP 2018526390 A JP2018526390 A JP 2018526390A JP 2018526390 A JP2018526390 A JP 2018526390A JP 6399260 B2 JP6399260 B2 JP 6399260B2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
- G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
- G01L3/104—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving permanent magnets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
2 コラム軸(ステアリングシャフト、ハンドル軸)
9 トーションバー
10 トルクセンサ
12 車速センサ
13 バッテリ
14 舵角センサ
20 モータ
30、200、300 コントロールユニット(ECU)
31 電流指令値演算部
33 電流制限部
34 補償信号生成部
35 PI制御部
36 PWM制御部
37 インバータ
50 検出装置
60、160 トルク検出部
61 多極リング磁石
62a、62b センサヨーク
63a、63b 集磁ヨーク
70、170 舵角検出部
71 主ギア
72a、72b 従ギア
73a 二極磁石
101、102 検出部
103、104、105、203、204、205 通信部
110、120、210、220 トルクセンサIC
130、140、230、240 舵角センサIC
150 検出器
310 状態量推定部
320 異常検出部
330 モータ制御駆動部
Claims (8)
- 検出対象及び検出する状態量を同一とする複数の検出部を具備するセンサ部を複数備え、少なくとも1つの前記状態量を少なくとも2つの前記センサ部で検出する検出器を搭載した電動パワーステアリング装置において、
前記状態量に基づいてモータの駆動制御を行う制御部と、
前記センサ部及び前記制御部を接続する少なくとも1つの信号線とを備え、
前記センサ部内の複数の前記検出部は、同じ前記信号線を介して前記状態量を前記制御部に出力し、
前記制御部は、
前記状態量から任意の時間の状態量を推定し、推定状態量として出力する状態量推定部と、
前記状態量及び前記推定状態量を基にした異常検出により前記検出器の異常を検出する異常検出部とを具備することを特徴とする電動パワーステアリング装置。 - 前記制御部が、前記状態量を出力する検出部の選択に使用する選択情報を、前記信号線を介して出力し、
前記選択情報に対応する検出部が前記状態量を出力する請求項1に記載の電動パワーステアリング装置。 - 前記選択情報が所定のレベルの信号で、
前記検出部毎に異なる時間長の前記所定のレベルの信号を割り当て、
前記状態量を出力する検出部の選択を前記時間長に基づいて行う請求項2に記載の電動パワーステアリング装置。 - 前記センサ部が、前記状態量を誤り検出可能な信号として出力する通信部を具備し、
前記異常検出部が、前記誤り検出可能な信号に基づいた異常検出も行い、前記検出器の異常を検出する請求項1乃至3のいずれかに記載の電動パワーステアリング装置。 - 前記通信部が、SENT方式によって前記誤り検出可能な信号を生成する請求項4に記載の電動パワーステアリング装置。
- 前記状態量推定部が、過去の複数の前記状態量を用いて前記推定状態量を算出する請求項1乃至5のいずれかに記載の電動パワーステアリング装置。
- 前記異常検出部が前記検出器の異常を検出した場合、前記制御部は正常な前記状態量に基づいて前記モータの駆動制御を継続する請求項1乃至6のいずれかに記載の電動パワーステアリング装置。
- 前記状態量の1つとして角度情報があり、
前記制御部が、
前記検出器の異常を検出していない場合、複数の前記センサ部が検出する複数の前記角度情報を用いて前記角度情報の絶対角度を算出し、
前記検出器の異常を検出した場合、正常な前記角度情報並びに異常を検出する直前での前記角度情報及び前記絶対角度を用いて、異常を検出した後の前記絶対角度を算出する請求項1乃至7のいずれかに記載の電動パワーステアリング装置。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016133649 | 2016-07-05 | ||
JP2016133649 | 2016-07-05 | ||
JP2016217299 | 2016-11-07 | ||
JP2016217299 | 2016-11-07 | ||
PCT/JP2017/024470 WO2018008628A1 (ja) | 2016-07-05 | 2017-07-04 | 検出装置及び電動パワーステアリング装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2018008628A1 JPWO2018008628A1 (ja) | 2018-09-27 |
JP6399260B2 true JP6399260B2 (ja) | 2018-10-03 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2018526390A Active JP6399260B2 (ja) | 2016-07-05 | 2017-07-04 | 電動パワーステアリング装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10850769B2 (ja) |
EP (1) | EP3444583A4 (ja) |
JP (1) | JP6399260B2 (ja) |
CN (1) | CN109416293B (ja) |
WO (1) | WO2018008628A1 (ja) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3423333B1 (en) * | 2016-03-04 | 2020-08-19 | thyssenkrupp AG | Ripple minimization by proper as/ts magnet arrangement in electric power assisted steering apparatus |
JP6559194B2 (ja) * | 2017-08-25 | 2019-08-14 | 本田技研工業株式会社 | 運転支援装置、運転支援方法、およびプログラム |
EP3746348B1 (en) * | 2018-02-02 | 2022-03-30 | thyssenkrupp Presta AG | Run-time stability monitoring of a steering angle sensor based on nonius principle |
KR102066219B1 (ko) * | 2018-02-05 | 2020-01-14 | 주식회사 만도 | 리던던트 구조 기반의 차량 제어 장치 및 방법 |
DE102018126705A1 (de) * | 2018-10-25 | 2020-04-30 | Ebm-Papst St. Georgen Gmbh & Co. Kg | Verfahren zur Ermittlung tatsächlicher Zustandswerte |
DE102018129487A1 (de) * | 2018-11-22 | 2020-05-28 | Thyssenkrupp Ag | Winkelsensor mit mehrpoligem Magnet für eine Kraftfahrzeuglenkung |
JP2020100274A (ja) * | 2018-12-21 | 2020-07-02 | 株式会社ジェイテクト | 操舵システム |
US10843728B2 (en) * | 2019-01-31 | 2020-11-24 | StradVision, Inc. | Method and device for delivering steering intention of autonomous driving module or driver to steering apparatus of subject vehicle more accurately |
JP7228405B2 (ja) | 2019-02-21 | 2023-02-24 | 株式会社ジェイテクト | 制御回路及びモータ制御装置 |
CN111976832B (zh) * | 2019-05-21 | 2021-12-21 | 上海汽车集团股份有限公司 | 一种方向盘转角数据的计算方法、装置及电子设备 |
JP7320122B2 (ja) * | 2020-02-18 | 2023-08-02 | 日立Astemo株式会社 | 電子制御装置、電動パワーステアリング装置、及び電動パワーステアリング装置の制御装置 |
TWI770496B (zh) * | 2020-04-20 | 2022-07-11 | 達明機器人股份有限公司 | 機器人感測器的檢知方法 |
WO2021214814A1 (ja) * | 2020-04-20 | 2021-10-28 | 日立Astemo株式会社 | 検出装置、ステアリング装置 |
CN111674458A (zh) * | 2020-06-11 | 2020-09-18 | 中国第一汽车股份有限公司 | 一种冗余机构线控转向装置和控制方法 |
CN112265540A (zh) * | 2020-10-09 | 2021-01-26 | 宝能(广州)汽车研究院有限公司 | 双冗余转角信号控制方法、存储介质、车身稳定电子系统 |
CN115609635A (zh) * | 2021-07-16 | 2023-01-17 | 达明机器人股份有限公司 | 机器人传感器的检测系统及方法 |
US20240110777A1 (en) * | 2022-09-29 | 2024-04-04 | Allegro Microsystems, Llc | Sensor with estimated real-time parameter data |
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JP6172678B2 (ja) | 2014-04-30 | 2017-08-02 | インターナショナル・ビジネス・マシーンズ・コーポレーションInternational Business Machines Corporation | 検出装置、検出方法、およびプログラム |
JP6061117B2 (ja) | 2014-09-17 | 2017-01-18 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP6001122B1 (ja) * | 2015-03-31 | 2016-10-05 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
JP6344307B2 (ja) | 2015-05-20 | 2018-06-20 | 株式会社デンソー | センサ装置、および、これを用いた電動パワーステアリング装置 |
JP6384401B2 (ja) * | 2015-05-20 | 2018-09-05 | 株式会社デンソー | センサ装置、および、これを用いた電動パワーステアリング装置 |
JP6361589B2 (ja) | 2015-06-11 | 2018-07-25 | 株式会社デンソー | 通信システム |
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2017
- 2017-07-04 US US16/303,228 patent/US10850769B2/en active Active
- 2017-07-04 WO PCT/JP2017/024470 patent/WO2018008628A1/ja active Application Filing
- 2017-07-04 CN CN201780038252.5A patent/CN109416293B/zh active Active
- 2017-07-04 JP JP2018526390A patent/JP6399260B2/ja active Active
- 2017-07-04 EP EP17824231.9A patent/EP3444583A4/en not_active Withdrawn
Also Published As
Publication number | Publication date |
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EP3444583A4 (en) | 2019-05-01 |
WO2018008628A1 (ja) | 2018-01-11 |
JPWO2018008628A1 (ja) | 2018-09-27 |
US20200180689A1 (en) | 2020-06-11 |
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