JPH05105103A - Motor-driven power steering device - Google Patents
Motor-driven power steering deviceInfo
- Publication number
- JPH05105103A JPH05105103A JP3293694A JP29369491A JPH05105103A JP H05105103 A JPH05105103 A JP H05105103A JP 3293694 A JP3293694 A JP 3293694A JP 29369491 A JP29369491 A JP 29369491A JP H05105103 A JPH05105103 A JP H05105103A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- angle ratio
- electric motor
- steering angle
- ratio
- 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.)
- Withdrawn
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は電動機の出力を操舵系
に加えて操舵を補助する電動パワーステアリング装置で
あって、特に、操向ハンドルの回転角（操舵角）に対す
る操向車輪の転舵角の割合である舵角比を変更可能に構
成した電動パワーステアリング装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric power steering apparatus for assisting steering by applying the output of an electric motor to a steering system, and more particularly to steering a steering wheel with respect to a rotation angle (steering angle) of a steering wheel. The present invention relates to an electric power steering device configured so that a steering angle ratio, which is a ratio of angles, can be changed.
【０００２】[0002]
【従来の技術】従来の電動パワーステアリング装置とし
ては、図６に示すように、ラックアンドピニオン式のス
テアリングギア機構１２を有し、このステアリングギア
機構１２のピニオン１２ａと操向ハンドル１１とをステ
アリングシャフト１３等で連結し、ステアリング機構１
２のラック１２ｂをタイロッド１４等を介し左右の操向
車輪２０に連結するものが知られる。2. Description of the Related Art As a conventional electric power steering system, as shown in FIG. 6, a rack-and-pinion type steering gear mechanism 12 is provided. The steering mechanism 1 is connected by a shaft 13 or the like.
It is known that the second rack 12b is connected to the left and right steering wheels 20 via tie rods 14 and the like.
【０００３】一般に、このような電動パワーステアリン
グ装置では、ステアリングシャフト１３に操舵トルクを
検出するトルクセンサ１５を設け、また、ラック１２ｂ
と同軸状に電動モータ１６を設け、この電動モータ１６
の回転軸をボールスクリュ機構１７等でラック１２ｂと
連結する。そして、トルクセンサ１５および車速センサ
１８の検知信号に基づきコントローラ１９で電動モータ
１６を制御し、この電動モータ１６の出力をラック１２
ｂから操向車輪２０に加えて運転者の操舵を補助するよ
うにしている。Generally, in such an electric power steering apparatus, a torque sensor 15 for detecting a steering torque is provided on a steering shaft 13, and a rack 12b is provided.
The electric motor 16 is provided coaxially with the electric motor 16
The rotating shaft of is connected to the rack 12b by the ball screw mechanism 17 or the like. Then, the controller 19 controls the electric motor 16 based on the detection signals of the torque sensor 15 and the vehicle speed sensor 18, and the output of the electric motor 16 is adjusted to the rack 12
In addition to the steering wheel 20 from b, the driver's steering is assisted.
【０００４】ところで、車両にあっては、舵角比が車両
の取り廻し性、直進安定性および操舵フィーリング等に
影響を与えることが知られ、本出願人は舵角比を変更で
きる舵角比可変機構が組み付けられた操舵装置を特願平
３−２５５５３号において提案している。そして、この
ような舵角比可変機構を有する操舵装置も、トルクセン
サおよび電動モータ等を付設することで、上述のような
電動パワーステアリング装置、すなわち舵角比可変型の
電動パワーステアリング装置として構成できる。In a vehicle, it is known that the steering angle ratio affects the maneuverability, straight running stability, steering feeling, etc. of the vehicle, and the applicant of the present invention can change the steering angle ratio. Japanese Patent Application No. 3-25553 proposes a steering device in which a ratio variable mechanism is assembled. The steering apparatus having such a steering angle ratio variable mechanism is also configured as an electric power steering apparatus as described above, that is, a steering angle ratio variable type electric power steering apparatus by additionally providing a torque sensor, an electric motor and the like. it can.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、上述し
た舵角比可変型の電動パワーステアリング装置にあって
は、図７ａ，ｂに示すように、舵角比Ｒθが変化するこ
とで舵角比可変機構２１の前後の操舵系の伝達トルクも
変化し、例えば、図７ａに示すように舵角比Ｒθを変え
ると同図ｂに示すようにトルク比Ｒtも相似的な特性で
変化する。なお、Ｒθ＝θo／θi、Ｒt＝Ｔo／Ｔiであ
り、θ，Ｔに付した添字はｏが舵角比可変機構２１より
操向ハンドル１１側の値、同様に、ｉは操向車輪２０側
の値である。However, in the above-mentioned electric power steering device of the variable steering angle ratio type, as shown in FIGS. 7a and 7b, the steering angle ratio variable is changed by changing the steering angle ratio Rθ. The transmission torque of the steering system before and after the mechanism 21 also changes. For example, if the steering angle ratio Rθ is changed as shown in FIG. 7A, the torque ratio Rt also changes with similar characteristics as shown in FIG. 7B. Note that Rθ = θo / θi and Rt = To / Ti, and the subscripts attached to θ and T are values of o on the steering wheel 11 side of the steering angle ratio varying mechanism 21, and similarly, i is the steering wheel 20. The value on the side.
【０００６】このため、舵角比可変機構２１よりも操向
ハンドル１１側の操舵トルクＴiが一定の場合でも、ト
ルクセンサ１５の配設位置によっては舵角比が変化する
と操向車輪２０側の伝達トルクＴo、すなわち検出トル
クも異なることがあった。この結果、トルクセンサ１５
の検知信号に基づき制御される電動モータ１６の出力が
舵角比Ｒθによる影響を受け、その影響の排除等の対策
が不可欠で、制御方法が複雑化するという問題があっ
た。この発明は、上記問題、また、運転者負担の軽減と
いう電動パワーステアリング装置の本来的目的を鑑みて
なされたもので、舵角比の影響を受けにくく制御が簡素
かつ容易で、さらに、操舵フィーリングを低下させるこ
となく運転者負担を軽減できる舵角比可変型電動パワー
ステアリング装置を提供することを目的とする。Therefore, even when the steering torque Ti on the steering wheel 11 side relative to the steering angle ratio variable mechanism 21 is constant, if the steering angle ratio changes depending on the arrangement position of the torque sensor 15, the steering wheel 20 side is changed. The transmission torque To, that is, the detected torque may be different. As a result, the torque sensor 15
There is a problem that the output of the electric motor 16 controlled based on the detection signal is affected by the steering angle ratio Rθ, and measures such as elimination of the influence are indispensable and the control method becomes complicated. The present invention has been made in view of the above problems and the original purpose of the electric power steering apparatus, which is to reduce the burden on the driver. The present invention is less affected by the steering angle ratio, and the control is simple and easy. An object of the present invention is to provide a variable steering angle ratio type electric power steering device that can reduce the driver's burden without lowering the ring.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するた
め、この発明は、操向ハンドルと操向車輪との間の操舵
系に電動機を付設するとともに、前記操向ハンドルに加
えられる操舵力を検出するトルク検出手段を設け、この
トルク検出手段により検出された操舵力に基づき前記電
動機への通電を制御し、この電動機の出力を操舵補助力
として前記操舵系に加える電動パワーステアリング装置
において、前記操舵系に前記トルク検出手段と前記電動
機との間で前記操向ハンドルの回転角と前記操向車輪の
転舵角との割合を変更可能な舵角比可変手段を介設し
た。In order to achieve the above object, the present invention provides a steering system between a steering wheel and a steering wheel with an electric motor and controls steering force applied to the steering wheel. In the electric power steering apparatus, which is provided with a torque detecting means for detecting, controls energization to the electric motor based on the steering force detected by the torque detecting means, and applies the output of the electric motor to the steering system as a steering assist force. The steering system is provided with a steering angle ratio varying means capable of changing the ratio between the rotation angle of the steering wheel and the steering angle of the steering wheel between the torque detecting means and the electric motor.
【０００８】[0008]
【作用】この発明の電動パワーステアリング装置は、ト
ルク検出手段が舵角比可変手段より操向ハンドル側に位
置するため、操向ハンドルに加えられる操舵力を舵角比
の如何に関わらずトルク検出手段により検出できる。し
たがって、操舵フィーリング上最適な制御を容易に行な
える。In the electric power steering apparatus of the present invention, since the torque detecting means is located closer to the steering handle than the steering angle ratio varying means, the steering force applied to the steering handle is detected regardless of the steering angle ratio. It can be detected by means. Therefore, optimal control can be easily performed in terms of steering feeling.
【０００９】[0009]
【実施例】以下、この発明の実施例を図面を参照して説
明する。図１から図４はこの発明の一実施例にかかる電
動パワーステアリング装置を示し、図１が全体模式図、
図２、図３および図４がそれぞれ要部を拡大して示す図
である。なお、以下、前述した従来の電動パワーステア
リング装置と同一の部分には同一の番号を付して説明す
る。Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 show an electric power steering apparatus according to an embodiment of the present invention, and FIG.
2, FIG. 3 and FIG. 4 are enlarged views of the main part. In the following description, the same parts as those of the conventional electric power steering device described above are designated by the same reference numerals.
【００１０】図１において、１１は操向ハンドルであ
り、上述したように、操向ハンドル１１はステアリング
シャフト１３および図示しないジョイント等を有する伝
達系を介しステアリングギア機構１２と連結する。ステ
アリングシャフト１２には、操向ハンドル１１に近接し
てトルクセンサ（操舵力検出手段）１５が設けられ、ま
た、このトルクセンサ１５よりステアリングギア機構１
２側に舵角比可変機構２１が介設される。後述するよう
に、ステアリングシャフト１３は、舵角比可変機構２１
で分割される２軸３１，３２から構成される。In FIG. 1, reference numeral 11 is a steering handle, and as described above, the steering handle 11 is connected to the steering gear mechanism 12 via a transmission system having a steering shaft 13 and a joint (not shown). A torque sensor (steering force detection means) 15 is provided on the steering shaft 12 in the vicinity of the steering wheel 11. Further, the steering gear mechanism 1 is provided by the torque sensor 15.
A steering angle ratio variable mechanism 21 is provided on the second side. As will be described later, the steering shaft 13 includes the steering angle ratio variable mechanism 21.
It is composed of two axes 31, 32 divided by.
【００１１】トルクセンサ１５は、例えば、ステアリン
グシャフト１３をトーションバー等で相対変位可能に連
結される２部材に分割し、この２部材の相対位置を差動
トランス等で検出するものが用いられる。このトルクセ
ンサ１５は、コントローラ１９に結線され、操舵トルク
を表す検知信号をコントローラ１９に出力する。なお、
図示しないが、舵角比可変機構２１は舵角比を検出する
舵角比センサを内蔵し、この舵角比センサもコントロー
ラ１９に結線されて舵角比を表す検知信号を出力する。The torque sensor 15 is, for example, one in which the steering shaft 13 is divided into two members connected by a torsion bar or the like so as to be relatively displaceable, and the relative position of these two members is detected by a differential transformer or the like. The torque sensor 15 is connected to the controller 19 and outputs a detection signal indicating the steering torque to the controller 19. In addition,
Although not shown, the steering angle ratio variable mechanism 21 has a built-in steering angle ratio sensor for detecting the steering angle ratio, and this steering angle ratio sensor is also connected to the controller 19 and outputs a detection signal indicating the steering angle ratio.
【００１２】ステアリングギア機構１２は、ピニオン１
２ａとラック１２ｂとを有する周知のラックアンドピニ
オン式のギア機構からなり、ピニオン１２ａがステアリ
ングシャフト１３によって操向ハンドル１１と、ラック
１２ｂの両端がタイロッド１４を介し左右の操向車輪２
０と連結する。なお、このステアリングギア機構１２は
ラック１２ｂの長手方向にギア比を異ならせた、いわゆ
るバリアブルレシオに構成することができる。The steering gear mechanism 12 includes a pinion 1
It comprises a well-known rack and pinion type gear mechanism having a rack 2a and a rack 12b. The pinion 12a is a steering handle 11 by a steering shaft 13, and both ends of the rack 12b are tie rods 14 and left and right steering wheels 2 are provided.
Connect with 0. The steering gear mechanism 12 can be configured as a so-called variable ratio in which the gear ratio is changed in the longitudinal direction of the rack 12b.
【００１３】また、ステアリングギア機構１２にはラッ
ク１２ｂに対し同軸的に電動モータ１６が設けられ、こ
の電動モータ１６がボールスクリュ機構１７を介しラッ
ク１２ｂと連結する。ボールスクリュ機構１７は、図示
しないギアケース等にスクリュシャフト２６が回転自在
に支持され、このスクリュシャフト２６に回転運動を禁
止されたボールナット２７が多数のボールを転動可能に
介し螺合する。スクリュシャフト２６は端部にギア２６
ａが固設され、このギア２６ａが電動モータ１６の回転
軸に固設されたドライブギア１６ａと噛合する。また、
ボールナット２７は締結部材５８によってラック１２ｂ
と軸方向一体運動可能に結合する。周知のように、この
ボールスクリュ機構１７は電動モータ１６の回転動力を
ラック１２ｂに可逆的に伝達、すなわち補助力を操向車
輪２０に伝達する。The steering gear mechanism 12 is provided with an electric motor 16 coaxially with the rack 12b, and the electric motor 16 is connected to the rack 12b via a ball screw mechanism 17. In the ball screw mechanism 17, a screw shaft 26 is rotatably supported by a gear case (not shown) or the like, and a ball nut 27, which is prohibited from rotating, is screwed onto the screw shaft 26 so as to roll many balls. The screw shaft 26 has a gear 26 at the end.
a is fixed, and this gear 26a meshes with the drive gear 16a fixed to the rotating shaft of the electric motor 16. Also,
The ball nut 27 is fixed to the rack 12b by the fastening member 58.
It is coupled so that it can move in the axial direction. As is well known, the ball screw mechanism 17 reversibly transmits the rotational power of the electric motor 16 to the rack 12b, that is, the assisting force to the steering wheels 20.
【００１４】舵角比可変機構２１は、図２，３，４に示
すように、ステアリングシャフト１３を２つに分割して
平行配置された分割軸３１，３２間に設けられ、これら
分割軸３１，３２を動力伝達比を変更可能に連結する。
第１の分割軸３１は操向ハンドル１１と、第２の分割軸
３２はステアリングギア機構１２のピニオン１２ａと連
結し、第１の分割軸３１には第１のねじ部３１ａが、同
様に、第２の分割軸３２には第２のねじ部３２ａが形成
されている。As shown in FIGS. 2, 3 and 4, the steering angle ratio varying mechanism 21 is provided between split shafts 31 and 32 which are arranged in parallel by splitting the steering shaft 13 into two. , 32 are connected so that the power transmission ratio can be changed.
The first split shaft 31 is connected to the steering handle 11 and the second split shaft 32 is connected to the pinion 12a of the steering gear mechanism 12, and the first split shaft 31 has the first screw portion 31a in the same manner. A second screw portion 32a is formed on the second split shaft 32.
【００１５】第１の分割軸３１は第１のねじ部３１ａに
第１のボールナット３３が多数のボールを転動可能に介
し螺合して第１のボールスクリュ機構４１を構成し、ま
た同様に、第２の分割軸３２はねじ部３２ａに多数のボ
ールを転動可能に介しボールナット３４が螺合して第２
のボールスクリュ機構４２を構成し、これらボールナッ
ト３３，３４はそれぞれ軸方向の運動を許容し、かつ、
回転止する機構（図示しない）が設けられ、そして、こ
れらボールナット３３，３４の間にレバー部材３５が橋
架される。前にも述べたが、ボールスクリュ機構４１，
４２はねじ部３１ａ，３１ｂの回転運動とボールナット
３３，３４の直線運動とを変換して可逆的に伝達し、そ
の作用は周知である。The first split shaft 31 constitutes a first ball screw mechanism 41 by screwing a first ball nut 33 into a first screw portion 31a via a number of balls rollably, and forming a first ball screw mechanism 41. In the second split shaft 32, a ball nut 34 is screwed into the threaded portion 32a via a number of balls so that the ball nut 34 is screwed into the second portion.
Of the ball screw mechanism 42, the ball nuts 33 and 34 each allow axial movement, and
A mechanism (not shown) for stopping rotation is provided, and a lever member 35 is bridged between these ball nuts 33, 34. As described above, the ball screw mechanism 41,
42 converts reversibly the rotational movements of the screw portions 31a and 31b and the linear movements of the ball nuts 33 and 34, and reversibly transmits them, the action of which is well known.
【００１６】レバー部材３５は、中央部をブラケット３
８によって回転自在に支持された帯板状を成し、ブラケ
ット３８の両側に長孔３５ａ，３５ｂが形成される。こ
のレバー部材３５は、長孔３５ａ，３５ｂにボールナッ
ト３３，３４に植設された伝達ピン３９，４０が摺動自
在に嵌合し、これら伝達ピン３９，４０を摺動させつつ
ボールナット３３，３４の軸方向移動でブラケット３８
を中心に揺動し、また、後述するモータにより駆動され
て軸３１，３２間を移動する。このレバー部材３５は、
後述するように、ブラケット３８、すなわち回転中心と
各伝達ピン３９，４０との間の距離（腕の長さ）の比
（レバー比）に応じ各ボールナット３３，３４の運動を
互いに伝達する。The lever member 35 has a bracket 3 at the center thereof.
A strip plate shape is rotatably supported by 8, and elongated holes 35a and 35b are formed on both sides of the bracket 38. In the lever member 35, transmission pins 39 and 40 planted in the ball nuts 33 and 34 are slidably fitted in the long holes 35a and 35b, and the ball nut 33 is slid while the transmission pins 39 and 40 are slid. , 34 by axial movement of the bracket 38
And is driven by a motor described later to move between the shafts 31 and 32. This lever member 35 is
As will be described later, the movements of the ball nuts 33 and 34 are transmitted to each other according to the ratio (lever ratio) of the distance (arm length) between the bracket 38, that is, the center of rotation and the transmission pins 39 and 40.
【００１７】ブラケット３８には、図中下部にセクタギ
ア４８が固設され、また、図中上部に略鈎状のガイドロ
ッド３６が固設されている。セクタギア４８は、舵角比
可変モータ４５の回転軸に固設されたドライブギア４６
と噛合し、舵角比可変モータ４５により駆動されてブラ
ケット３８と一体に分割軸３１，３２と直角な方向に移
動する。ガイドロッド３６は、舵角比センサ３７に分割
軸３１，３２と直交する方向に摺動自在に挿通し、この
舵角比センサ３７によりブラケット３８、すなわちレバ
ー部材３５の移動量とその方向とが検知される。The bracket 38 has a sector gear 48 fixed to the lower portion in the drawing, and a substantially hook-shaped guide rod 36 fixed to the upper portion in the drawing. The sector gear 48 is a drive gear 46 fixed to the rotary shaft of the steering angle variable motor 45.
And is driven by the steering angle ratio variable motor 45 to move integrally with the bracket 38 in the direction perpendicular to the split shafts 31 and 32. The guide rod 36 is slidably inserted into a steering angle ratio sensor 37 in a direction orthogonal to the split shafts 31 and 32, and the steering angle ratio sensor 37 determines the amount of movement of the bracket 38, that is, the lever member 35, and its direction. Detected.
【００１８】舵角比可変モータ４５は、図示しないケー
ス等に支持され、コントローラ１９に結線されてコント
ローラ１９から給電される。この舵角比可変モータ４５
の回転によるブラケット３８の移動位置等は前述したよ
うに舵角比センサ３７で検出され、この舵角比センサ３
７がコントローラ１９に接続されることにより信号化さ
れる。この舵角比可変機構２１は、舵角比可変モータ４
５でレバー部材３５を移動させ、レバー部材３５のレバ
ー比を変えてボールナット３３，３４の一方の運動を他
方にレバー比に応じた伝達比、すなわち舵角比で伝達す
る。The variable steering angle ratio motor 45 is supported by a case or the like (not shown), is connected to the controller 19 and is supplied with power from the controller 19. This steering angle ratio variable motor 45
The moving position of the bracket 38 due to the rotation of the steering angle ratio sensor 37 is detected by the steering angle ratio sensor 37 as described above.
When 7 is connected to the controller 19, it is converted into a signal. The steering angle ratio variable mechanism 21 includes a steering angle ratio variable motor 4
5, the lever member 35 is moved to change the lever ratio of the lever member 35, and the movement of one of the ball nuts 33 and 34 is transmitted to the other at a transmission ratio corresponding to the lever ratio, that is, a steering angle ratio.
【００１９】コントローラ１９は、マイクロコンピュー
タ等を有し、前述した舵角比センサ３７およびトルクセ
ンサ１５が接続し、また、車速を検出する車速センサ５
１が接続する。このコントローラ１９は、各センサ１
５，３７，５１の出力信号を演算処理し、電動モータ１
６の出力を制御して操舵補助を行い、また、舵角比可変
モータ４５を駆動して舵角比を制御する。なお、この実
施例では説明を割愛するが、一例として、舵角比は高車
速域で小さく、低車速域で大きくなるように車速感応特
性に制御されるものとして説明する。The controller 19 has a microcomputer or the like, is connected to the steering angle ratio sensor 37 and the torque sensor 15 described above, and is a vehicle speed sensor 5 for detecting the vehicle speed.
1 connects. This controller 19 is for each sensor 1
The output signals of 5, 37, and 51 are arithmetically processed, and the electric motor 1
The steering angle ratio is controlled by driving the steering angle ratio variable motor 45 by controlling the output of No. 6 to assist steering. Although not described in this embodiment, the steering angle ratio is controlled to be small in the high vehicle speed range and large in the low vehicle speed range as an example.
【００２０】この実施例の可変舵角比操舵装置にあって
は、電動モータ１６を操舵トルクおよび車速に応じ制御
し、この電動モータ１６の出力をボールスクリュ機構１
７からステアリングギア機構１２のラック１２ｂに加え
る。したがって、周知のように、操向車輪２０には操向
ハンドル１１に加えられた手動操舵力とともに電動モー
タ１６の出力が操舵補助力として作用し、軽快な操舵が
達成される。In the variable steering ratio steering apparatus of this embodiment, the electric motor 16 is controlled according to the steering torque and the vehicle speed, and the output of the electric motor 16 is controlled by the ball screw mechanism 1.
7 to the rack 12b of the steering gear mechanism 12. Therefore, as is well known, the output of the electric motor 16 acts as a steering assist force on the steered wheels 20 together with the manual steering force applied to the steering wheel 11, and a light steering operation is achieved.
【００２１】また、この操舵装置は、舵角比可変モータ
４５でレバー部材３５を移動させて車速に対応したレバ
ー比に設定し、第１のボールスクリュ機構４１で操向ハ
ンドル１１の操舵にともなう第１の分割軸３１の回転運
動をボールナット３３の直線運動に変換する。そして、
この第１のボールスクリュ機構４１のボールナット３３
の直線運動がレバー部材３５で第２のボールスクリュ機
構４２のボールナット３４に伝達され、第２のボールス
クリュ機構４２で第２の分割軸の回転運動に変換してス
テアリングギア機構１２に伝達する。Further, in this steering device, the lever member 35 is moved by the variable steering angle ratio motor 45 to set the lever ratio corresponding to the vehicle speed, and the steering handle 11 is steered by the first ball screw mechanism 41. The rotational movement of the first split shaft 31 is converted into the linear movement of the ball nut 33. And
The ball nut 33 of the first ball screw mechanism 41
Linear motion of the second ball screw mechanism 42 is transmitted to the ball nut 34 of the second ball screw mechanism 42 by the lever member 35, and is converted to rotational movement of the second split shaft by the second ball screw mechanism 42 and transmitted to the steering gear mechanism 12. ..
【００２２】ここで、レバー部材３５は舵角比可変モー
タ４５により各軸に対し直交する方向に移動され、レバ
ー比が車速に対応して高車速時に小さく、低車速時に大
きな値に設定され、図３に示すように、低車速時におい
ては第１のボールスクリュ機構４１のボールナット３３
の直線運動（変位）ａは拡大されて第２のボールスクリ
ュ機構４２のボールナット３４により大きな変位ｂを生
じさせ、また、図４に示すように、高車速時においては
ボールナット３３の直線運動ａは縮小されてボールナッ
ト３４に小さな変位ｂを生じさせる。すなわち、舵角比
が低車速時には大きく、高車速時には小さくなる。この
ため、低車速時の取り廻し性を向上させ、しかも、高車
速時の操縦安定性を改善できる。Here, the lever member 35 is moved in a direction orthogonal to each axis by the variable steering angle ratio motor 45, and the lever ratio is set to a small value at a high vehicle speed and a large value at a low vehicle speed according to the vehicle speed. As shown in FIG. 3, the ball nut 33 of the first ball screw mechanism 41 is operated at a low vehicle speed.
Linear movement (displacement) a of the second ball screw mechanism 42 causes a large displacement b to occur, and as shown in FIG. 4, the linear movement of the ball nut 33 is increased at high vehicle speed. a is reduced causing a small displacement b in the ball nut 34. That is, the steering angle ratio is large at low vehicle speeds and small at high vehicle speeds. Therefore, the maneuverability at low vehicle speed can be improved, and the steering stability at high vehicle speed can be improved.
【００２３】そして、この操舵装置は、操舵力伝達の操
舵系における位置関係として、舵角比可変機構２１をス
テアリングギア機構１２よりも操向ハンドル１１側に、
トルクセンサ１５を舵角比可変機構２１よりも操向ハン
ドル１１側に、操舵補助力を発生する電動モータ１６を
ステアリングギア機構１２よりも操向車輪２０側に配置
する。このため、舵角比の如何にかかわらず操向ハンド
ル１１に加えられる手動操舵力を検出でき、舵角比の変
化に影響を受けることなく操舵フィーリング上適正な制
御を行うことができ、制御方法、装置の簡素化、また、
容易化が図れる。In this steering apparatus, the steering angle ratio variable mechanism 21 is located closer to the steering handle 11 side than the steering gear mechanism 12 as the positional relationship in the steering system for transmitting the steering force.
The torque sensor 15 is arranged on the steering wheel 11 side of the steering angle ratio variable mechanism 21, and the electric motor 16 for generating a steering assist force is arranged on the steering wheel 20 side of the steering gear mechanism 12. Therefore, the manual steering force applied to the steering wheel 11 can be detected regardless of the steering angle ratio, and proper control can be performed on the steering feeling without being affected by changes in the steering angle ratio. Simplification of method and device,
It can be facilitated.
【００２４】図５にはこの発明の他の実施例にかかる可
変舵角比操舵装置を示す。なお、この実施例の説明にお
いては、上述の実施例と同一の部分には同一の番号を付
して説明を省略する。この実施例は、ステアリングギア
機構として２つのクラウンギア９０ａ，９０ｂを有する
傘歯車機構９０を採用し、クラウンギア９０ａが操向ハ
ンドル１１とステアリングシャフト１３で連結し、ま
た、クラウンギア９０ｂが電動モータ１６の回転軸に設
けられる。FIG. 5 shows a variable steering ratio steering device according to another embodiment of the present invention. In the description of this embodiment, the same parts as those in the above-mentioned embodiment are designated by the same reference numerals and the description thereof will be omitted. This embodiment employs a bevel gear mechanism 90 having two crown gears 90a and 90b as a steering gear mechanism, the crown gear 90a is connected to the steering handle 11 and the steering shaft 13, and the crown gear 90b is an electric motor. It is provided on 16 rotary shafts.
【００２５】電動モータ１６は回転軸がボールスクリュ
機構１７を介し連結軸９２と連結し、また、前述した実
施例と同様に、連結軸９２は両端がタイロッド１４等を
介し左右の操向車輪２０に連結する。The rotating shaft of the electric motor 16 is connected to the connecting shaft 92 via the ball screw mechanism 17, and similarly to the above-described embodiment, the connecting shaft 92 has both ends via the tie rods 14 etc. to the left and right steering wheels 20. Connect to.
【００２６】この実施例にあっても、操向ハンドル１１
に加えられる手動操舵力は傘歯車機構９０、電動モータ
１６の出力軸および連結軸９２を経て操向車輪２０に、
また、電動モータ１６の出力はボールスクリュ機構１７
および連結軸９２を経て操向車輪２０に伝達される。そ
して、トルクセンサ１５は舵角比可変機構２１と操向ハ
ンドル１１との間に配置されるため、上述の実施例と同
様に、電動モータ１６の制御が容易である。Even in this embodiment, the steering handle 11
Is applied to the steering wheel 20 via the bevel gear mechanism 90, the output shaft of the electric motor 16 and the connecting shaft 92.
The output of the electric motor 16 is the ball screw mechanism 17
And transmitted to the steered wheels 20 via the connecting shaft 92. Since the torque sensor 15 is arranged between the steering angle ratio varying mechanism 21 and the steering handle 11, the electric motor 16 can be easily controlled as in the above-described embodiment.
【００２７】なお、述べるまでもないが、舵角比可変機
構２１は上述した態様に限られるものではなく、前述し
た特願平３−２５５５３号に記載された構造、また、各
種の構造を用いることができ、しかも、ステアリングギ
ア機構を含んでも用いることができる。Needless to say, the steering angle ratio variable mechanism 21 is not limited to the above-described embodiment, and the structure described in the above-mentioned Japanese Patent Application No. 3-25553 and various structures are used. In addition, the steering gear mechanism can be included and used.
【００２８】[0028]
【発明の効果】以上説明したように、本願発明によれ
ば、舵角比を変更可能な舵角比可変機構よりも操向ハン
ドル側に操舵力を検出するトルク検出手段を設け、この
トルク検出手段の出力信号に基づいて電動モータを制御
して操舵補助を行うようにしたため、電動モータの制
御、すなわち操舵補助力の制御を舵角比の変化に影響を
受けることなく容易、かつ簡単な構成で行える。As described above, according to the present invention, the torque detecting means for detecting the steering force is provided on the steering wheel side of the steering angle ratio variable mechanism capable of changing the steering angle ratio, and this torque detection is performed. Since the steering assist is performed by controlling the electric motor based on the output signal of the means, the electric motor control, that is, the steering assist force control is easy and simple without being affected by the change of the steering angle ratio. Can be done with.
【図１】この発明の一実施例にかかる電動パワーステア
リング装置の模式構成図FIG. 1 is a schematic configuration diagram of an electric power steering device according to an embodiment of the present invention.
【図２】同電動パワーステアリング装置の要部の拡大図FIG. 2 is an enlarged view of a main part of the electric power steering device.
【図３】同要部の図２と異なる状態の拡大図FIG. 3 is an enlarged view of the same part in a state different from that of FIG.
【図４】同要部の図２および図３と異なる状態の拡大図FIG. 4 is an enlarged view of the same part in a state different from FIGS. 2 and 3.
【図５】この発明の他の実施例にかかる電動パワーステ
アリング装置の模式構成図FIG. 5 is a schematic configuration diagram of an electric power steering device according to another embodiment of the present invention.
【図６】従来の電動パワーステアリング装置の模式構成
図FIG. 6 is a schematic configuration diagram of a conventional electric power steering device.
【図７】従来の電動パワーステアリング装置の特性を示
し、ａが車速−舵角比特性図、ｂが車速−トルク比特性
図7A and 7B show characteristics of a conventional electric power steering device, a is a vehicle speed-steering angle ratio characteristic diagram, and b is a vehicle speed-torque ratio characteristic diagram.
１１ ・・・ 操向ハンドル、 １２ ・・・ ステアリングギア
機構、 １３ ・・・ ステアリングシャフト、 １５ ・・・
トルクセンサ（トルク検出手段）、１６ ・・・ 電動モー
タ、 １７，４１，４２ ・・・ ボールスクリュ機構、１
８ ・・・ 車速センサ、 ２０・・・ 操向車輪、 ２１ ・・・
舵角比可変機構、３７ ・・・ 舵角比センサ、 ４５ ・・・
舵角比可変モータ。11 ... Steering handle, 12 ... Steering gear mechanism, 13 ... Steering shaft, 15 ...
Torque sensor (torque detecting means), 16 ... Electric motor, 17, 41, 42 ... Ball screw mechanism, 1
8 ... Vehicle speed sensor, 20 ... Steering wheel, 21 ...
Steering angle ratio variable mechanism, 37 ... Steering angle ratio sensor, 45 ...
Steering angle ratio variable motor.
Claims (1)
に電動機を付設するとともに、前記操向ハンドルに加え
られる操舵力を検出するトルク検出手段を設け、このト
ルク検出手段により検出された操舵力に基づき前記電動
機への通電を制御し、この電動機の出力を操舵補助力と
して前記操舵系に加える電動パワーステアリング装置に
おいて、 前記操舵系に前記トルク検出手段と前記電動機との間で
前記操向ハンドルの回転角と前記操向車輪の転舵角との
割合を変更可能な舵角比可変手段を介設したことを特徴
とする電動パワーステアリング装置。1. An electric motor is attached to a steering system between a steering wheel and steering wheels, and torque detecting means for detecting a steering force applied to the steering wheel is provided, and the torque detecting means detects the torque. In the electric power steering apparatus, which controls energization of the electric motor based on the steering force and applies the output of the electric motor to the steering system as a steering assist force, the steering system includes the torque detecting means and the electric motor. An electric power steering apparatus comprising: a steering angle ratio varying means capable of changing a ratio between a rotation angle of a steering wheel and a steering angle of the steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3293694A JPH05105103A (en) | 1991-10-14 | 1991-10-14 | Motor-driven power steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3293694A JPH05105103A (en) | 1991-10-14 | 1991-10-14 | Motor-driven power steering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05105103A true JPH05105103A (en) | 1993-04-27 |
Family
ID=17798030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3293694A Withdrawn JPH05105103A (en) | 1991-10-14 | 1991-10-14 | Motor-driven power steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05105103A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003091085A1 (en) * | 2002-04-26 | 2003-11-06 | Toyoda Koki Kabushiki Kaisha | Method and device for controlling maneuverability of vehicle |
| WO2003091084A1 (en) * | 2002-04-26 | 2003-11-06 | Toyoda Koki Kabushiki Kaisha | Method for controlling motion of vehicle and motion controller of vehicle |
| JP2005247214A (en) * | 2004-03-05 | 2005-09-15 | Nsk Ltd | Electric power steering device |
| JP2006082804A (en) * | 2004-09-17 | 2006-03-30 | Delphi Technologies Inc | Control of force and position for steering active front wheel |
| JP2007145329A (en) * | 2007-03-08 | 2007-06-14 | Honda Motor Co Ltd | Electric power steering device |
| WO2008069172A1 (en) * | 2006-12-05 | 2008-06-12 | Thk Co., Ltd. | Steering device using ball screw |
| DE102008049065A1 (en) | 2007-09-27 | 2009-04-02 | Denso Corporation, Kariya | Vehicle steering device for vehicle, has controller, which controls electric motor to support guidance of steering wheel by power output of electric motor, and another controller, which stops controlling of another electric motor |
| DE102008048843A1 (en) | 2007-09-27 | 2009-04-02 | Denso Corp., Kariya-shi | Vehicle steering device, has angle detection device for detecting relative rotation angle between steering shaft and rotation member, and electric power steering system supporting steering of steered wheel by output power of electric motor |
| DE102008048311A1 (en) | 2007-09-27 | 2009-06-04 | Denso Corporation, Kariya | The vehicle steering apparatus |
| WO2009081878A1 (en) | 2007-12-25 | 2009-07-02 | Jtekt Corporation | Vehicle steering device |
| WO2016084899A1 (en) * | 2014-11-28 | 2016-06-02 | 日本精工株式会社 | Variable steering angle steering device |
-
1991
- 1991-10-14 JP JP3293694A patent/JPH05105103A/en not_active Withdrawn
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003091084A1 (en) * | 2002-04-26 | 2003-11-06 | Toyoda Koki Kabushiki Kaisha | Method for controlling motion of vehicle and motion controller of vehicle |
| US7055645B2 (en) | 2002-04-26 | 2006-06-06 | Toyoda Koki Kabushiki Kaisha | Method and device for controlling maneuverability of vehicle |
| WO2003091085A1 (en) * | 2002-04-26 | 2003-11-06 | Toyoda Koki Kabushiki Kaisha | Method and device for controlling maneuverability of vehicle |
| JP2005247214A (en) * | 2004-03-05 | 2005-09-15 | Nsk Ltd | Electric power steering device |
| JP2006082804A (en) * | 2004-09-17 | 2006-03-30 | Delphi Technologies Inc | Control of force and position for steering active front wheel |
| WO2008069172A1 (en) * | 2006-12-05 | 2008-06-12 | Thk Co., Ltd. | Steering device using ball screw |
| JP4594342B2 (en) * | 2007-03-08 | 2010-12-08 | 本田技研工業株式会社 | Electric power steering device |
| JP2007145329A (en) * | 2007-03-08 | 2007-06-14 | Honda Motor Co Ltd | Electric power steering device |
| DE102008049065A1 (en) | 2007-09-27 | 2009-04-02 | Denso Corporation, Kariya | Vehicle steering device for vehicle, has controller, which controls electric motor to support guidance of steering wheel by power output of electric motor, and another controller, which stops controlling of another electric motor |
| DE102008048843A1 (en) | 2007-09-27 | 2009-04-02 | Denso Corp., Kariya-shi | Vehicle steering device, has angle detection device for detecting relative rotation angle between steering shaft and rotation member, and electric power steering system supporting steering of steered wheel by output power of electric motor |
| JP2009078762A (en) * | 2007-09-27 | 2009-04-16 | Denso Corp | Steering apparatus for vehicle |
| DE102008048311A1 (en) | 2007-09-27 | 2009-06-04 | Denso Corporation, Kariya | The vehicle steering apparatus |
| WO2009081878A1 (en) | 2007-12-25 | 2009-07-02 | Jtekt Corporation | Vehicle steering device |
| US8047325B2 (en) | 2007-12-25 | 2011-11-01 | Jtekt Corporation | Motor vehicle steering system |
| WO2016084899A1 (en) * | 2014-11-28 | 2016-06-02 | 日本精工株式会社 | Variable steering angle steering device |
| JPWO2016084899A1 (en) * | 2014-11-28 | 2017-04-27 | 日本精工株式会社 | Steering device with variable steering angle |
| US10308276B2 (en) | 2014-11-28 | 2019-06-04 | Nsk Ltd. | Variable steering angle steering device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19990107 |