JP7452243B2 - ステアリングシステム - Google Patents
ステアリングシステム Download PDFInfo
- Publication number
- JP7452243B2 JP7452243B2 JP2020089404A JP2020089404A JP7452243B2 JP 7452243 B2 JP7452243 B2 JP 7452243B2 JP 2020089404 A JP2020089404 A JP 2020089404A JP 2020089404 A JP2020089404 A JP 2020089404A JP 7452243 B2 JP7452243 B2 JP 7452243B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- steering angle
- electric motor
- target
- motor control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims description 44
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 239000000470 constituent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
- B62D5/092—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor the electric motor being connected to the final driven element of the steering gear, e.g. rack
-
- 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
-
- 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
- B62D5/0472—Controlling the motor for damping vibrations
-
- 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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- 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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
G(s)=1/(1+Ts)・・・式1
を示すことができる。
制御値生成部132内で目標舵角と実舵角との差に対し、目標舵角と実舵角との差の固有振動数情報を考慮したフィルタを掛けてから、PID制御により目標電流を求めてもよい。
Claims (3)
- 転舵輪を転舵させる転舵機構と、
前記転舵機構に転舵力の一部を付与する油圧機構と、
前記転舵機構に転舵力の他部を付与する電動モータと、
前記電動モータを制御するモータ制御装置と、
前記電動モータと操作部材との間に介在配置される第一トーションバーと、
前記電動モータと前記転舵機構との間に介在配置される第二トーションバーと、を備え、
前記モータ制御装置は、
前記転舵輪の実舵角を取得する実舵角取得部と、
前記転舵輪の舵角の目標値である目標舵角を取得する目標舵角取得部と、
前記転舵輪の実舵角が前記目標舵角と一致する様に前記電動モータを制御するモータ制御値を生成する制御値生成部と、
前記モータ制御値に対して、前記第一トーションバー、および前記第二トーションバーに基づく固有振動数をフィルタした指示値を生成する指示値演算部と、
を備えるステアリングシステム。 - 前記指示値演算部は、遅れ系の伝達関数からなるローパスフィルタに基づき演算する
請求項1に記載のステアリングシステム。 - 前記ステアリングシステムの固有振動数を解析的、または実測により求めて得られたフィルタに関するフィルタ情報を取得して前記指示値演算部に出力するフィルタ情報取得部を備える
請求項1または2に記載のステアリングシステム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020089404A JP7452243B2 (ja) | 2020-05-22 | 2020-05-22 | ステアリングシステム |
US17/322,111 US20210362775A1 (en) | 2020-05-22 | 2021-05-17 | Motor control device and steering system |
CN202110546247.3A CN113696964A (zh) | 2020-05-22 | 2021-05-19 | 电机控制装置和转向系统 |
EP21174618.5A EP3925859A1 (en) | 2020-05-22 | 2021-05-19 | Motor control device and steering system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020089404A JP7452243B2 (ja) | 2020-05-22 | 2020-05-22 | ステアリングシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021183447A JP2021183447A (ja) | 2021-12-02 |
JP7452243B2 true JP7452243B2 (ja) | 2024-03-19 |
Family
ID=76011761
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020089404A Active JP7452243B2 (ja) | 2020-05-22 | 2020-05-22 | ステアリングシステム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210362775A1 (ja) |
EP (1) | EP3925859A1 (ja) |
JP (1) | JP7452243B2 (ja) |
CN (1) | CN113696964A (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20220008012A (ko) * | 2020-07-13 | 2022-01-20 | 현대모비스 주식회사 | 전동식 조향시스템의 제어 장치 및 방법 |
CN112722063B (zh) * | 2021-01-18 | 2024-04-30 | 北京九曜智能科技有限公司 | 一种液压转向系统闭环控制系统及控制方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005247201A (ja) | 2004-03-05 | 2005-09-15 | Koyo Seiko Co Ltd | 電動パワーステアリング装置 |
JP2011037394A (ja) | 2009-08-14 | 2011-02-24 | Nissan Motor Co Ltd | 操舵制御装置及びその方法 |
JP2011057163A (ja) | 2009-09-14 | 2011-03-24 | Jtekt Corp | 電動パワーステアリング装置 |
US20190126981A1 (en) | 2017-11-01 | 2019-05-02 | Volkswagen Aktiengesellschaft | Method and device for operating a transportation vehicle function |
JP2019098964A (ja) | 2017-12-04 | 2019-06-24 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP2021123231A (ja) | 2020-02-05 | 2021-08-30 | いすゞ自動車株式会社 | 制御装置および車両 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3780823B2 (ja) * | 2000-05-25 | 2006-05-31 | 日本精工株式会社 | 電動パワーステアリング装置の制御装置 |
WO2013119147A1 (en) * | 2012-02-07 | 2013-08-15 | Volvo Lastvagnar Ab | Power steering system |
JP6287767B2 (ja) * | 2014-11-10 | 2018-03-07 | 株式会社デンソー | モータ制御装置 |
EP3378734B1 (en) * | 2016-02-29 | 2020-04-01 | NSK Ltd. | Electric power steering apparatus |
JP6656390B2 (ja) | 2016-09-20 | 2020-03-04 | クノールブレムゼステアリングシステムジャパン株式会社 | パワーステアリング装置 |
US11161542B2 (en) * | 2018-04-05 | 2021-11-02 | Ford Global Technologies, Llc | Methods and apparatus to reduce noise and vibration in a hybrid hydraulic power steering system |
-
2020
- 2020-05-22 JP JP2020089404A patent/JP7452243B2/ja active Active
-
2021
- 2021-05-17 US US17/322,111 patent/US20210362775A1/en active Pending
- 2021-05-19 CN CN202110546247.3A patent/CN113696964A/zh active Pending
- 2021-05-19 EP EP21174618.5A patent/EP3925859A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005247201A (ja) | 2004-03-05 | 2005-09-15 | Koyo Seiko Co Ltd | 電動パワーステアリング装置 |
JP2011037394A (ja) | 2009-08-14 | 2011-02-24 | Nissan Motor Co Ltd | 操舵制御装置及びその方法 |
JP2011057163A (ja) | 2009-09-14 | 2011-03-24 | Jtekt Corp | 電動パワーステアリング装置 |
US20190126981A1 (en) | 2017-11-01 | 2019-05-02 | Volkswagen Aktiengesellschaft | Method and device for operating a transportation vehicle function |
JP2019098964A (ja) | 2017-12-04 | 2019-06-24 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP2021123231A (ja) | 2020-02-05 | 2021-08-30 | いすゞ自動車株式会社 | 制御装置および車両 |
Also Published As
Publication number | Publication date |
---|---|
US20210362775A1 (en) | 2021-11-25 |
JP2021183447A (ja) | 2021-12-02 |
CN113696964A (zh) | 2021-11-26 |
EP3925859A1 (en) | 2021-12-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10351168B2 (en) | Electric power steering apparatus | |
US20190300044A1 (en) | Electric power steering apparatus | |
US7664584B2 (en) | Steering control system | |
EP2017161B1 (en) | Vehicle steering apparatus | |
JP4470565B2 (ja) | 車両用操舵装置 | |
WO2018055805A1 (ja) | パワーステアリング装置の制御装置 | |
JP7452243B2 (ja) | ステアリングシステム | |
JP2008049937A (ja) | 電動パワーステアリング装置 | |
US20090157261A1 (en) | Vehicle steering apparatus | |
CN104228935A (zh) | 电动动力转向装置 | |
JP7247744B2 (ja) | 操舵制御方法及び操舵制御装置 | |
US11318986B2 (en) | Steering device | |
EP3395651B1 (en) | Vehicle steering control device | |
JP2017001611A (ja) | ステアリング制御装置 | |
JP6511673B2 (ja) | パワーステアリング裝置 | |
US11760409B2 (en) | Steering device | |
JP2008030591A (ja) | 制動制御装置およびその方法 | |
JP5975242B2 (ja) | 舵角比可変操舵装置 | |
JP6561646B2 (ja) | 回転角度検出装置および操舵装置 | |
JP7428111B2 (ja) | 操舵装置 | |
JP4474298B2 (ja) | 車両の操舵装置 | |
JP2023000282A (ja) | 操舵装置 | |
JP4594129B2 (ja) | 車両の操舵装置 | |
JP2008273347A (ja) | ステアリング装置 | |
JP2022067147A (ja) | 操舵装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230414 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230914 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230926 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231122 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20240206 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20240219 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7452243 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |