JPH03266776A - Controlling method for power steering device - Google Patents
Controlling method for power steering deviceInfo
- Publication number
- JPH03266776A JPH03266776A JP6404390A JP6404390A JPH03266776A JP H03266776 A JPH03266776 A JP H03266776A JP 6404390 A JP6404390 A JP 6404390A JP 6404390 A JP6404390 A JP 6404390A JP H03266776 A JPH03266776 A JP H03266776A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle speed
- speed
- controlled
- sensor
- controlled vehicle
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000005611 electricity Effects 0.000 abstract 1
- 230000005856 abnormality Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、車両速度に応じて操舵力を制御する動力舵取
装置の制御方法に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for controlling a power steering device that controls steering force according to vehicle speed.
一般的な動力舵取装置を第５図を用いて説明する。同図
において、ｌはエンジン、２は車速センサ、３はオイル
ポンプ、４はタンク、５は吐出側配管、６は戻り側配管
、７は制御装置、８は電流供給線、９はイグニッション
キー １０はハフテリー、１１はソレノイドバルブ、１
２はパワーステアリングのコントロールバルブ、１３は
ステアリングシャフトである。A general power steering device will be explained using FIG. 5. In the figure, l is the engine, 2 is the vehicle speed sensor, 3 is the oil pump, 4 is the tank, 5 is the discharge side piping, 6 is the return side piping, 7 is the control device, 8 is the current supply line, 9 is the ignition key 10 is a hafty, 11 is a solenoid valve, 1
2 is a power steering control valve, and 13 is a steering shaft.
次に動作について説明する。まず、通常の動作について
説明する。イグニッションキー９がオンとなりエンジン
１が始動すると、オイルポンプ３はエンジン１により回
転され、オイルをパワーステアリングのコントロールバ
ルブ１２等に圧油として供給する。供給されたオイルは
パワーステアリングのコントロールバルブ１２等を経由
した後、戻り側配管６を介してタンク４に戻る。エンジ
ン１はエンジン回転数信号ａを制御装置７へ出力し、車
速センサ２は車速信号すを制御装置７へ出力する。制御
装置７は、エンジン回転数信号ａ、車速信号すを入力し
、電流供給線８を介して、エンジン信号ａ、車速信号す
に応じた電流をソレノイドバルブ１１のソレノイド（図
示せず）に供給し、車速に応じた操舵力を発生させる。Next, the operation will be explained. First, normal operation will be explained. When the ignition key 9 is turned on and the engine 1 starts, the oil pump 3 is rotated by the engine 1 and supplies oil to the power steering control valve 12 and the like as pressure oil. The supplied oil passes through the power steering control valve 12 and the like, and then returns to the tank 4 via the return pipe 6. The engine 1 outputs an engine speed signal a to the control device 7, and the vehicle speed sensor 2 outputs a vehicle speed signal a to the control device 7. The control device 7 inputs the engine speed signal a and the vehicle speed signal S, and supplies a current corresponding to the engine signal a and the vehicle speed signal S to the solenoid (not shown) of the solenoid valve 11 via the current supply line 8. and generates steering force according to vehicle speed.
上記車速センサ２は車速に応じたパルス数を車速信号す
として出力するセンサであり、制御装置はパルスの周期
により車速を検出する。The vehicle speed sensor 2 is a sensor that outputs a number of pulses corresponding to the vehicle speed as a vehicle speed signal, and the control device detects the vehicle speed based on the period of the pulses.
従来の制御方法においてはパルスの周期により車速を検
出し、この検出した車速に応じてソレノイド電流を制御
して操舵力を制御していた。このため、車速の急変はソ
レノイド電流の急変すなわち操舵力の急変となり、運転
者はハンドル操作に違和感を生じていた。In conventional control methods, the vehicle speed is detected based on the pulse period, and the steering force is controlled by controlling the solenoid current according to the detected vehicle speed. Therefore, a sudden change in vehicle speed results in a sudden change in the solenoid current, that is, a sudden change in the steering force, and the driver feels uncomfortable when operating the steering wheel.
これに対して、車速信号すを平均化しく例えば単位時間
当たりのパルス数を計数し）、その値によりソレノイド
電流を制御するという方法が提案されたが、この方法で
は車速変化に対する操舵力変化の追従に遅れが生じると
いう問題があった。In response, a method has been proposed in which the vehicle speed signal is averaged (for example, by counting the number of pulses per unit time) and the solenoid current is controlled using that value. There was a problem that there was a delay in tracking.
本発明はこのような点に鑑みてなされたものであり、そ
の目的とするところは、車速か急変してもハンドル操作
に違和感の生じない動力舵取装置の制御方法を得ること
にある。The present invention has been made in view of these points, and an object of the present invention is to provide a control method for a power steering device that does not cause a feeling of discomfort in steering wheel operation even if the vehicle speed suddenly changes.
このような目的を達成するために本発明は、車両の加速
、減速、定速を検出し、加速の時には制御車速に所定周
期毎に所定量を加えた車速を新たな制御車速とし、減速
の時には制御車速から所定周期毎に所定量を滅じた車速
を新たな制御車速とし、定速時には制御車速を不変とす
るようにしたものである。In order to achieve such an object, the present invention detects acceleration, deceleration, and constant speed of a vehicle, and when accelerating, sets a new controlled vehicle speed to the controlled vehicle speed by adding a predetermined amount at predetermined intervals to the controlled vehicle speed, and when decelerating. Sometimes, the vehicle speed that is reduced by a predetermined amount from the controlled vehicle speed at predetermined intervals is set as the new controlled vehicle speed, and when the vehicle speed is constant, the controlled vehicle speed is kept unchanged.
本発明による動力舵取装置の制御方法では、車速か急変
してもハンドル操作に違和感を生じない。With the power steering device control method according to the present invention, even if the vehicle speed suddenly changes, the steering wheel does not feel strange.
第１図は、本発明による動力舵取装置の制御方法の一実
施例を説明するためのタイムチャートである。第１図（
ａｌは車速に対するソレノイド電流を示し、第１図（ｂ
）〜Ｔｇ）の実線は車速信号より求めた車速（以下「セ
ンサ車速」という）を示し、第１図（′ｂ）〜（ｇ）の
点線は本発明が適用された動力舵取装置における制御車
速（操舵力制御に使用される車速）を示す。更に詳細に
説明すると、第１図（ｂ）は急加速時のセンサ車速およ
び制御車速、（Ｃ）は車速センサ異常などによる車速急
変時のセンサ車速および制御車速、（ｄｌは急減速時（
車輪ロック時）のセンサ車速および制御車速、（ｅ）は
車速センサ異常などによる車速急変時のセンサ車速およ
び制御車速、（ｆｌは低μ路（低摩擦係数路）で減速し
車速センサ信号に増減の繰返しが生じた時のセンサ車速
および制御車速、（ａは低μ路で加速し車速センサ信号
に増減の繰返しが生じた時のセンサ車速および制御車速
である。FIG. 1 is a time chart for explaining one embodiment of a method for controlling a power steering device according to the present invention. Figure 1 (
al indicates the solenoid current with respect to the vehicle speed, and is shown in Fig. 1 (b
) to Tg) indicate the vehicle speed determined from the vehicle speed signal (hereinafter referred to as "sensor vehicle speed"), and the dotted lines in FIG. 1('b) to (g) indicate control in the power steering system to which the present invention is applied. Indicates vehicle speed (vehicle speed used for steering force control). To explain in more detail, FIG. 1(b) shows the sensor vehicle speed and the controlled vehicle speed during sudden acceleration, (C) shows the sensor vehicle speed and the controlled vehicle speed when the vehicle speed suddenly changes due to an abnormality in the vehicle speed sensor, and (dl shows the sensor vehicle speed and the controlled vehicle speed during sudden deceleration).
(e) is the sensor vehicle speed and control vehicle speed when the vehicle speed suddenly changes due to a vehicle speed sensor abnormality, etc. (fl is the change in the vehicle speed sensor signal due to deceleration on a low μ road (low friction coefficient road)) (a is the sensor vehicle speed and the control vehicle speed when the vehicle speed sensor signal repeatedly increases and decreases when accelerating on a low μ road.
第２図は、本発明による動力舵取装置の制御方法の一実
施例を詳細に説明するためのフローチャートである。ま
ず、タイマをリセットし、スタートする（ステップ２１
）。次に、車速信号から現在センサ車速ＶＮを算出する
（ステップ２２）。FIG. 2 is a flowchart for explaining in detail one embodiment of a method for controlling a power steering device according to the present invention. First, reset and start the timer (step 21)
). Next, the current sensor vehicle speed VN is calculated from the vehicle speed signal (step 22).
これは車速信号すなわち車速パルスの周期から求める。This is determined from the vehicle speed signal, that is, the period of the vehicle speed pulse.
次に、現在センサ車速ＶＮと現在制御車速ＶＣとの差Ｖ
Ｄを求める（ステップ２３）。ステップ２４でＶＤの絶
対値が所定値Δ■（例えば１ｋ ｍ ／ ｈ ）以下の
時は、タイマがΔＴｌ （例えば２４ｍ５）を計時し
たら（ステップ２５）、制御車速不変つまりｖｃ＝ｖｃ
としくステップ２６）、ステップ２１へ戻る。Next, the difference V between the current sensor vehicle speed VN and the current control vehicle speed VC
Find D (step 23). When the absolute value of VD is less than the predetermined value Δ■ (for example, 1km/h) in step 24, when the timer measures ΔTl (for example, 24m5) (step 25), the controlled vehicle speed remains unchanged, that is, vc=vc
Then step 26) and return to step 21.
ステップ２４でＶＤ＞ΔＶのときは、タイマがΔＴ２
（例えば４５ｍ５）を計時したら（ステップ２７）、Ｖ
Ｃ＝ＶＣ＋ΔＶＣとしくステップ２８）、ステップ２１
へ戻る。上記ΔＶＣは例えばｌｋｍ／ｈである。When VD>ΔV in step 24, the timer is set to ΔT2.
(for example, 45m5) (step 27), V
C=VC+ΔVC Step 28), Step 21
Return to The above ΔVC is, for example, lkm/h.
ステップ２４でＶＤ＜ΔＶのときは、タイマがΔＴ３
（例えば２４ｍ５）を計時したら（ステップ２９） 、
ＶＣ＝ＶＣ−ΔＶＣとしくステップ３０）、ステップ２
１へ戻る。When VD<ΔV in step 24, the timer is set to ΔT3.
(for example, 24m5) (step 29),
VC = VC - ΔVC Step 30), Step 2
Return to 1.
第２図においてΔＶＣ＝１ｋｍ／ｈ、ΔＴ２＝４５ｍｓ
、ΔＴ３＝２４ｍｓの場合のセンサ車速と制御車速を第
３図に示す。第３図ｆａ）は加速時を示し、実線は制御
車速、点線はセンサ車速である。In Figure 2, ΔVC=1km/h, ΔT2=45ms
, the sensor vehicle speed and the control vehicle speed in the case of ΔT3=24 ms are shown in FIG. FIG. 3 fa) shows the acceleration state, where the solid line is the controlled vehicle speed and the dotted line is the sensor vehicle speed.
また、第３図（′ｂ）は減速時を示し、同様に実線は制
御車速、点線はセンサ車速である。このように、センサ
車速の急変に関わらず、制御車速は緩やかに変化する。Moreover, FIG. 3('b) shows the time of deceleration, similarly, the solid line is the controlled vehicle speed and the dotted line is the sensor vehicle speed. In this way, the controlled vehicle speed changes gradually regardless of sudden changes in the sensor vehicle speed.
第４図は、本発明が適用される制御装置を示す構成図で
ある。第４図において、２は車速センサ、７は制御装置
、１４はアクチュエータ（ソレノイド）、７１は車速演
算手段、７２は比較手段、７３は制御車速加算手段、７
４は制御車速減算手段、７５は車速−電流設定手段、７
６は車速−電流テーブルを記憶するメモリ、７７は定電
流駆動回路である。FIG. 4 is a configuration diagram showing a control device to which the present invention is applied. In FIG. 4, 2 is a vehicle speed sensor, 7 is a control device, 14 is an actuator (solenoid), 71 is a vehicle speed calculation means, 72 is a comparison means, 73 is a control vehicle speed addition means, 7
4 is a control vehicle speed subtraction means, 75 is a vehicle speed-current setting means, 7
6 is a memory for storing a vehicle speed-current table, and 77 is a constant current drive circuit.
次に動作について説明する。車速センサからの車速信号
すに基づき、車速演算手段７１は現在センサ車速を算出
する。この現在センサ車速は比較手段で現在制御車速と
比較され、定速と判断された時には制御車速は現在値の
ままとし、加速と判断された場合は、制御車速加算手段
７３により、現在制御車速に対して所定周期毎に所定量
だけ加算した車速を新たな現在制御車速とする。また、
減速と判断された場合は、制御車速加算手段７４により
、現在制御車速から所定周期毎に所定量だけ減算した車
速を新たな現在制御車速とする。このようにして求めた
現在制御車速に基づき、車速−電流設定手段７５により
、ソレノイド電流を設定する。このソレノイド電流は、
メモリ７６の車速−電流テーブルから求める。設定手段
７５から出力される設定値は定電流駆動回路７７に入力
され、定電流駆動回路７７はアクチュエータ（ソレノイ
ド）１４を駆動する。Next, the operation will be explained. Based on the vehicle speed signal from the vehicle speed sensor, vehicle speed calculation means 71 calculates the current sensor vehicle speed. This current sensor vehicle speed is compared with the current controlled vehicle speed by a comparing means, and when it is determined that the vehicle is at a constant speed, the controlled vehicle speed remains at the current value, and when it is determined that the vehicle is accelerating, the controlled vehicle speed is added to the current controlled vehicle speed by the controlled vehicle speed adding means 73. On the other hand, the vehicle speed obtained by adding a predetermined amount every predetermined period is set as a new currently controlled vehicle speed. Also,
When it is determined that the vehicle is decelerating, the controlled vehicle speed adding means 74 sets the vehicle speed, which is obtained by subtracting a predetermined amount from the current controlled vehicle speed at each predetermined period, as a new currently controlled vehicle speed. Based on the currently controlled vehicle speed obtained in this way, the solenoid current is set by the vehicle speed/current setting means 75. This solenoid current is
It is determined from the vehicle speed-current table in the memory 76. The set value output from the setting means 75 is input to a constant current drive circuit 77, and the constant current drive circuit 77 drives the actuator (solenoid) 14.
このように、本実施例においては、センサ車速が急変し
ても制御車速が急変しないように、制御車速の変化量に
一種のリミッタを設けたので、センサ車速の急変による
操舵力急変を防止できる。In this way, in this embodiment, a kind of limiter is provided for the amount of change in the controlled vehicle speed so that the controlled vehicle speed does not change suddenly even if the sensor vehicle speed suddenly changes, so that it is possible to prevent a sudden change in the steering force due to a sudden change in the sensor vehicle speed. .
Ｃ発明の効果〕
以上説明したように本発明は、車両の加速、減速、定速
を検出し、加速の時には制御車速に所定周期毎に所定量
を加えた車速を新たな制御車速とし、減速の時には制御
車速から所定周期毎に所定量を減じた車速を新たな制御
車速とし、定速時には制御車速を不変とすることにより
、センサ車速が急変しても操舵力が急変しないようにで
きるので、車速か急変してもハンドル操作に違和感が生
じない効果がある。C Effects of the Invention] As explained above, the present invention detects acceleration, deceleration, and constant speed of the vehicle, and when accelerating, sets the vehicle speed to the controlled vehicle speed plus a predetermined amount at predetermined intervals as the new controlled vehicle speed, and decelerates the vehicle. At this time, the new controlled vehicle speed is determined by subtracting a predetermined amount from the controlled vehicle speed at predetermined intervals, and by keeping the controlled vehicle speed unchanged when the vehicle is at constant speed, the steering force can be prevented from changing suddenly even if the sensor vehicle speed changes suddenly. This has the effect that steering wheel operation does not feel strange even if the vehicle speed suddenly changes.
第１図は本発明による動力舵取装置の制御方法の一実施
例を説明するためのタイムチャート、第２図は本発明に
よる動力舵取装置の制御方法の一実施例を説明するため
のフローチャート、第３図は加速時および減速時のセン
サ車速と制御車速を示すタイムチャート、第４図は本発
明が適用される制御装置を示す構成図、第５図は一般的
な動力舵取装置を示す構成図である。
第１図FIG. 1 is a time chart for explaining an embodiment of the method for controlling a power steering device according to the present invention, and FIG. 2 is a flowchart for explaining an embodiment of the method for controlling a power steering device according to the present invention. , FIG. 3 is a time chart showing sensor vehicle speed and controlled vehicle speed during acceleration and deceleration, FIG. 4 is a configuration diagram showing a control device to which the present invention is applied, and FIG. 5 is a general power steering device. FIG. Figure 1
Claims (1)
方法において、車両の加速、減速、定速を検出し、加速
の時には制御車速に所定周期毎に所定量を加えた車速を
新たな制御車速とし、減速の時には制御車速から所定周
期毎に所定量を減じた車速を新たな制御車速とし、定速
時には制御車速を不変とすることを特徴とする動力舵取
装置の制御方法。In a control method for a power steering device that controls steering force according to vehicle speed, acceleration, deceleration, and constant speed of the vehicle are detected, and when accelerating, the vehicle speed is calculated by adding a predetermined amount to the control vehicle speed at predetermined intervals. A control method for a power steering device, characterized in that the controlled vehicle speed is set as a new controlled vehicle speed, and when decelerating, the vehicle speed is reduced by a predetermined amount at predetermined intervals from the controlled vehicle speed, and when the speed is constant, the controlled vehicle speed is kept unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6404390A JP2863941B2 (en) | 1990-03-16 | 1990-03-16 | Power steering control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6404390A JP2863941B2 (en) | 1990-03-16 | 1990-03-16 | Power steering control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03266776A true JPH03266776A (en) | 1991-11-27 |
| JP2863941B2 JP2863941B2 (en) | 1999-03-03 |
Family
ID=13246687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6404390A Expired - Fee Related JP2863941B2 (en) | 1990-03-16 | 1990-03-16 | Power steering control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2863941B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006007860A (en) * | 2004-06-23 | 2006-01-12 | Favess Co Ltd | Electric power steering device |
| JP2007125999A (en) * | 2005-11-04 | 2007-05-24 | Nsk Ltd | Electric power steering device |
-
1990
- 1990-03-16 JP JP6404390A patent/JP2863941B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006007860A (en) * | 2004-06-23 | 2006-01-12 | Favess Co Ltd | Electric power steering device |
| JP2007125999A (en) * | 2005-11-04 | 2007-05-24 | Nsk Ltd | Electric power steering device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2863941B2 (en) | 1999-03-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |