JPH0472749B2 - - Google Patents
Info
- Publication number
- JPH0472749B2 JPH0472749B2 JP17415685A JP17415685A JPH0472749B2 JP H0472749 B2 JPH0472749 B2 JP H0472749B2 JP 17415685 A JP17415685 A JP 17415685A JP 17415685 A JP17415685 A JP 17415685A JP H0472749 B2 JPH0472749 B2 JP H0472749B2
- Authority
- JP
- Japan
- Prior art keywords
- steering
- output
- torque sensor
- electric motor
- control device
- 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.)
- Expired - Lifetime
Links
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Power Steering Mechanism (AREA)
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、電動式パワーステアリング制御装置
に係り、特に電動機の慣性によるフイーリングの
悪化を改善する制御方法として、好適な制御装置
を提供するにある。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an electric power steering control device, and in particular, to provide a control device suitable as a control method for improving the deterioration of feeling due to the inertia of an electric motor. .
〔発明の背景〕
上述のような電動式パワーステアリング装置の
モータ制御装置としては、転舵時におけるステア
リングシヤフトの捩りトルクを検出する捩りトル
クセンサを設け、この捩りトルクセンサの出力信
号に応じて電動モータの回転方向、回転トルクを
制御するようにしたものが従来知られている（特
公昭45−41246号公報参照）。また、微分回路にて
電動機の慣性を補正する方式も例えば特開昭55−
76760号公報等で知られているが一般に構成が複
雑であつた。その上一般に操舵反力を補正するに
は、トルクセンサの出力を微分した値と、操舵反
力を車速により補正した値とを差動増幅すること
が好しいとされているが、一般に高速時には、微
分回路による補正がきかないという現象が生じる
可能性があり、高速運転時、電動機の慣性を除去
しきれないという問題を含んでいる。[Background of the Invention] As a motor control device for an electric power steering device as described above, a torsional torque sensor is provided to detect the torsional torque of the steering shaft during steering, and the electric A motor which controls the rotational direction and rotational torque of a motor is conventionally known (see Japanese Patent Publication No. 45-41246). In addition, a method for correcting the inertia of a motor using a differential circuit is also available, for example in Japanese Patent Application Laid-Open No.
Although it is known from Publication No. 76760, etc., the structure is generally complicated. Furthermore, in order to correct the steering reaction force, it is generally said that it is preferable to differentially amplify the value obtained by differentiating the output of the torque sensor and the value obtained by correcting the steering reaction force according to the vehicle speed. , there is a possibility that the correction by the differential circuit is not effective, and this includes the problem that the inertia of the motor cannot be completely removed during high-speed operation.
本発明の目的は、ハンドル操作において追従性
の高いフイーリングを有する電動式パワーステア
リング制御装置を提供するにある。
An object of the present invention is to provide an electric power steering control device that has a feeling that is highly responsive to steering wheel operations.
本発明は、トルクセンサの微分出力をトルクセ
ンサの出力と速度による関数発生器の出力に加減
算する事により、高速走行時においても電動機の
慣性を除去出来ることに特徴がある。
The present invention is characterized in that the inertia of the electric motor can be removed even when traveling at high speed by adding or subtracting the differential output of the torque sensor to the output of the function generator based on the output of the torque sensor and the speed.
以下、本発明の一実施例を第１図により説明す
る。ハンドル１に運転者より操舵力が加わると、
トルクセンサ２は、シヤフト３に伝達される操舵
力を検出する。これは歪ゲージもしくは、シヤフ
ト３にトーシヨンバーバネ機構を介在させ、この
バネのたわみ量をボリユーム等で検出する方法が
採用されている。この操舵力はラツク４、ピニオ
ン５を介してタイヤ６に伝達されタイヤ６は、こ
れにより操舵される。このタイヤ６の摩擦係数は
車速が低い時には、非常に大きく、一般に据切と
言われている。この据切は、車庫入れ、縦列駐車
等の時に必要となる。この力をアシストするのが
電動機７で、これはトルクセンサ２より得られる
信号により制御装置８が働らきバツテリ９の電圧
を電動機７に印加し、その電流値を制御すること
によつて上記アシスト力を得る。この電流値は車
速センサ１１及び舵角センサ１２によつても変化
する。電動機の出力をタイヤ６に伝える減速器１
０は、電動機７のアシスト力の増幅を行なう。タ
イヤの絶対角を検出する舵角センサ１２は、タイ
ヤの直進位置からのずれ角を検出する。
An embodiment of the present invention will be described below with reference to FIG. When the driver applies steering force to the steering wheel 1,
Torque sensor 2 detects steering force transmitted to shaft 3. This method employs a strain gauge or a method in which a torsion bar spring mechanism is interposed in the shaft 3 and the amount of deflection of this spring is detected using a volume or the like. This steering force is transmitted to the tires 6 via the rack 4 and pinion 5, and the tires 6 are thereby steered. The friction coefficient of the tires 6 is extremely large when the vehicle speed is low, and is generally said to be inactive. This suspension is necessary when parking in a garage, parallel parking, etc. The electric motor 7 assists this force, and the control device 8 is activated by the signal obtained from the torque sensor 2 to apply the voltage of the battery 9 to the electric motor 7 and control the current value to provide the above-mentioned assist. Gain power. This current value also changes depending on the vehicle speed sensor 11 and steering angle sensor 12. Reducer 1 that transmits the output of the electric motor to the tires 6
0 amplifies the assist force of the electric motor 7. A steering angle sensor 12 that detects the absolute angle of the tire detects the deviation angle of the tire from the straight-ahead position.
第２図は上記制御装置のブロツク図を示す。 FIG. 2 shows a block diagram of the control device.
図において、トルクセンサ２の出力は関数発生
器１３に入力される。この関数発生器１３は、第
３図の示したごとくの特性を持つ。すなわち関数
発生器１３はトルクセンサの出力（操舵力）に対
して指令電流（アシスト力）を決める。更に指令
電流は、車速により補正される。すなわち高速時
には、ハンドル操舵力を重くし、安定した操作性
を得られるように、第３図の点線のごとく車速に
対して電動機に流す電流の指令電流を減ずる特性
を持たせている。一方トルクセンサの出力は、モ
ータの慣性を取り除くための電流加算分を出力す
る微分回路１４に入れられ、その出力を関数発生
器１３の出力に対して加減算可能な手段（駐え
ば、デイジタル的な数値の加減算器、アナログ回
路の加算器）を持つ加減算器１７に入れている。
そして加減算された値は、舵角センサ１２の出力
により車両が直進方向にハンドル１が戻るべく補
正させる。この補正は操舵力に対して独立してお
り操舵力が無くてもタイヤ６が直進位置からずれ
ていれば直進位置にもどるように電動機７に電流
を流す。この演算は舵角補正回路１５で行なわれ
る。 In the figure, the output of the torque sensor 2 is input to a function generator 13. This function generator 13 has characteristics as shown in FIG. That is, the function generator 13 determines a command current (assist force) with respect to the output (steering force) of the torque sensor. Further, the command current is corrected based on the vehicle speed. That is, at high speeds, the steering force is increased, and in order to obtain stable operability, the command current of the current flowing through the electric motor is reduced in relation to the vehicle speed, as shown by the dotted line in FIG. 3. On the other hand, the output of the torque sensor is input to a differentiating circuit 14 which outputs an additional current to remove the inertia of the motor. It is put into an adder/subtracter 17 which has a numerical value adder/subtracter and an analog circuit adder.
The added and subtracted values are corrected by the output of the steering angle sensor 12 so that the steering wheel 1 returns to the direction in which the vehicle moves straight. This correction is independent of the steering force, and even if there is no steering force, if the tires 6 deviate from the straight-ahead position, current is applied to the electric motor 7 to return them to the straight-ahead position. This calculation is performed by the steering angle correction circuit 15.
上記加減算された値の正負判定は正負判別回路
１６で行われ、正ならば、右回転（もしくは左回
転）する様に電動機７の回転方向を切り換える。 A sign determination circuit 16 determines whether the added or subtracted value is positive or negative, and if it is positive, the direction of rotation of the electric motor 7 is switched to rotate clockwise (or counterclockwise).
この回転方向を切換える手段としての主回路の
一例を第４図に示す。すなわち電動機７の各々界
磁巻線L1，L2に直列接続されたそれぞれのトラ
ンジスタTR１もしくはトランジスタTR２の一
方をオンすることにより電動機の回転方向が決定
される。尚図において、D1，D2はフリーホイル
ダイオードである。 FIG. 4 shows an example of a main circuit as means for switching the rotation direction. That is, the direction of rotation of the motor is determined by turning on one of the transistors TR1 and TR2 connected in series to the field windings L 1 and L 2 of the motor 7, respectively. In the figure, D 1 and D 2 are freewheel diodes.
上実施例によれば、操舵力をアシストする電動
機の慣性を簡単な回路で除去でき、かつ操舵力反
力に速度依存性があるにもかかわらず、運転者の
操舵力が一定で良いため、好適なフイーリングの
電動パワーステアリング装置が得られる。 According to the above embodiment, the inertia of the electric motor that assists the steering force can be removed with a simple circuit, and even though the steering force reaction force is speed dependent, the driver's steering force can be kept constant. An electric power steering device with a suitable feeling can be obtained.
以上本発明によれば、ハンドル操作において、
追従性の高いフイーリングを有する電動式パワー
ステアリング制御装置が提供される。
As described above, according to the present invention, in steering wheel operation,
An electric power steering control device having a feeling with high followability is provided.
第１図は本発明の一実施例におけるシステム構
成図、第２図は本発明のブロツク図、第３図は本
発明のトルクセンサ・指令電流特性図、第４図は
主回路の一例を示す回路図である。
２……トルクセンサ、１３……関数発生器、１
４……微分回路、１５……舵角補正回路、１６…
…正負判別回路、１７……加減算器。
Figure 1 is a system configuration diagram in an embodiment of the present invention, Figure 2 is a block diagram of the present invention, Figure 3 is a torque sensor/command current characteristic diagram of the present invention, and Figure 4 is an example of the main circuit. It is a circuit diagram. 2...Torque sensor, 13...Function generator, 1
4... Differential circuit, 15... Rudder angle correction circuit, 16...
...Positive/negative discrimination circuit, 17... Addition/subtraction device.
Claims (1)
と、操舵力をアシストする電動機と、該電動機に
バツテリーより電圧を印加し、流れる電流を制御
する電動式パワーステアリングの制御装置におい
て、前記トルクセンサとハンドルの舵角を補正す
る舵角補正回路との間に、トルクセンサの出力に
比例して電流指令を発生させ、かつ、車速に応じ
て出力を変化させる関数発生器の出力とトルクセ
ンサの出力を微分した値を加減算する加減算手段
を設けた事を特徴とする電動式パワーステアリン
グ制御装置。1. An electric power steering control device that includes a torque sensor that detects the steering force of the steering wheel, an electric motor that assists the steering force, and a voltage applied to the electric motor from a battery to control the flowing current. Between the steering angle correction circuit that corrects the steering angle, a current command is generated in proportion to the output of the torque sensor, and the output of a function generator that changes the output according to the vehicle speed is differentiated from the output of the torque sensor. An electric power steering control device characterized by being provided with an addition/subtraction means for adding and subtracting the calculated values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60174156A JPS6234856A (en) | 1985-08-09 | 1985-08-09 | Motor-driven steering control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60174156A JPS6234856A (en) | 1985-08-09 | 1985-08-09 | Motor-driven steering control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6234856A JPS6234856A (en) | 1987-02-14 |
| JPH0472749B2 true JPH0472749B2 (en) | 1992-11-19 |
Family
ID=15973664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60174156A Granted JPS6234856A (en) | 1985-08-09 | 1985-08-09 | Motor-driven steering control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6234856A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0737611A3 (en) * | 1995-04-10 | 1997-01-15 | Mitsubishi Electric Corp | Control system for electrically operated power steering apparatus |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2938494B2 (en) * | 1990-01-31 | 1999-08-23 | ダイハツ工業株式会社 | Electric power steering device |
| JPH05185938A (en) * | 1991-09-30 | 1993-07-27 | Koyo Seiko Co Ltd | Motor-driven power steering device |
-
1985
- 1985-08-09 JP JP60174156A patent/JPS6234856A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0737611A3 (en) * | 1995-04-10 | 1997-01-15 | Mitsubishi Electric Corp | Control system for electrically operated power steering apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6234856A (en) | 1987-02-14 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |