JPS62210167A - Torque sensitive type steering device - Google Patents

Abstract

PURPOSE:To make the steering angle of a vehicle smaller over high and low vehicle speed ranges, and to enhance the feeling of steering during high speed running, by issuing a desired wheel steering angle signal in accordance with a map on which a wheel steering angle with respect to a steering torque signal for every vehicle speed signal is stored. CONSTITUTION:A torque sensor 3 for detecting a torque generated in a steering wheel 1 is attached to a steering shaft 2 supporting the steering wheel 1 and coupled to a vehicle body 17 through the intermediary of a torsion spring 4, and is connected to a processor 6 through a signal processing circuit 5. A processor 15 incorporates a map on which a wheel steering angle with respect to a steering torque signal for every vehicle speed signal from a vehicle speed sensor 15 is stored, and receives an output signal from a signal processing circuit 5 to issue a wheel steering angle signal deltaw in proportion to the output signal. Thereby, a drive circuit 7 drives a motor 8 in accordance with the wheel steering angle signal deltaw, and therefore, steers wheels 13a, 13b through steering gears 11, 12, steering.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a torque-sensitive steering device used in vehicles such as automobiles.

(Prior Art) Conventionally, in a J3 vehicle, when the driver turns the steering wheel, the steering wheel and the wheels are mechanically connected, so that the steering angle of the wheels is proportional to the turning angle of the steering wheel. For this reason, for example, when steering with a large steering angle at low speeds (such as when parking a garage, making a U-turn, or turning left or right), the steering wheel must rotate a lot, so it is not only possible to use the steering wheel manually, but also when using power steering. This was troublesome, especially when returning the vehicle to a straight-ahead state after turning, or when making a reverse turn.

Furthermore, when driving at high speeds, the driver makes subtle corrections to the steering wheel to follow the road by feeling the steering wheel. In other words, corrective steering is performed by sensing changes in steering force that correspond to changes in wheel steering angle. Therefore, in cases where the wheel steering angle and steering force are not directly related (for example, when the friction in the steering system is large or in the case of power steering), it is difficult to obtain a good steering feeling. .

(Problems to be Solved by the Invention) This invention has a smaller steering angle than the conventional one at both low and high speeds, which makes steering easier, and also provides torque that provides excellent steering feel when steering at high speeds. Our goal is to provide a responsive steering system.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides a steering mechanism capable of steering one wheel of the small rain mouth, and a control system that controls the operation of this steering mechanism via an actuator. The circuit, the steering wheel attached to the vehicle body via a torsion spring, and the torque sensor that detects the torque generated in the steering wheel during steering, input No. 41 from the torque sensor and the signal from the vehicle speed sensor to perform steering at each vehicle speed. 1 to a processor that outputs wheel steering angle signals for torques to the control circuit.

(Function) When the steering wheel is operated, a J2 steering torque is generated on the steering wheel by the torsion spring. This steering torque is detected by a torque sensor, and the torque sensor outputs a signal value proportional to the steering torque to the processor. A signal value proportional to the vehicle speed is also input to the processor from the vehicle speed lens 9. has a built-in map that stores the wheel steering angle 11 relative to the steering torque signal for each vehicle speed signal value, and based on this map, the processor outputs the required wheel steering angle signal to the control circuit. A signal is sent from the circuit to the actuator, which operates the actuator and displaces the wheel by a predetermined angle via the steering mechanism.

(Description of Embodiments) The present invention will be described below with reference to drawings showing embodiments. A shaft 2 of a steering handle (hereinafter simply referred to as the handle) 1 is connected to a vehicle body 17 via a torsion spring 4, and a torque sensor 3 for detecting torque generated in the handle 1 is attached to the shaft 2. The rotation angle of the handle 1 is regulated by an angle stopper (not shown) about a neutral position so that the handle 1 only makes a small angular displacement of half a turn or less. Furthermore, the torsional rigidity of the torsion spring 4 is set to a certain degree so that the driver can easily feel changes in torque, but it is set to a level that does not require excessive steering force even if the steering wheel 1 is steered until it contacts the angle stopper. has been done. The torque sensor 3 is electrically connected to a processor 6 via a torque sensor signal processing circuit 5. A vehicle speed sensor 15 is further electrically connected to the controller 6. The IJ set 16 has a built-in map that stores the wheel steering angle relative to the steering torque for each vehicle speed signal from the heavy speed sensor 5, and stores the output signal (steering torque) of the torque sensor signal processing circuit 5. In response to this, a wheel steering angle signal δW proportional to this is output. 10 is a known rack-and-binion type steering gear consisting of a rack 11 and a binion 12, including a rack end 11a,
IT ports 13a and 13b are steered via 11b. The binion 12 that meshes with the rack 11 is connected to a gear reducer 9.
A C motor 8 is connected to the rack 11b.
A direct-acting potentiometer 14 is connected to detect the displacement of the rack 11. Processor 6 is connected to motor 8 via motor drive circuit 7 . The direct-acting potentiometer 3 114 is electrically connected to the processor 6, so that the displacement fn of the rack 11 is fed back to the processor 6. 16 is a battery.

Steering torque T acting on the handle 1 in the above configuration
S and the steering angle (rotation angle of the steering wheel 10) OS have a linear V relationship as shown in FIG. Procera 1 Noro ni Shiyo 3rd
The relationship between the steering torque T3 and the wheel steering angle δW as shown in the figure is stored. This relationship C is closer, and the slope K differs depending on the vehicle speed V. In other words, in Fig. 3, when the measured speed V is in the relationship vl <V2 <v3, the gradient becomes 1 or 3. Also, the predetermined maximum steering l
- The maximum wheel steering angle δwm can be obtained at low speeds with respect to torque Tsm. At high speeds, the change in the wheel steering angle δW relative to the steering torque TS is small, preventing excessive steering. In both cases of low speed and high speed, the maximum steering torque TSm is set to an appropriate torque value corresponding to the maximum torsion angle of the torsion spring 4, and the steering burden on the driver is the same in either case. It is.

FIG. 4 shows a)1''-chart. If the vehicle speed V is not lower than the lowest vehicle speed 1 set in the processor 6, that is, if V≦V1, the vehicle is steered along a straight line with a gradient of 1 in FIG. When the vehicle speed is higher than the maximum vehicle speed V set in the steering wheel 6, that is, when V≧3, the steering is performed along the straight line 3 on the slope shown in FIG. When the vehicle speed V is between 1 and V2, the vehicle is steered along the straight line 2 on the slope shown in FIG.

(Effects) Since the present invention has the above configuration, it has the following effects.

(a) Driving becomes easier because the steering wheel only needs to be rotated within one rotation for each vehicle speed. Therefore, the handle does not have to be round.

<1-J) Since it is a steering torque detection type, the steering wheel automatically returns to the neutral position when a force is applied, so there is no need to return the steering wheel as in the conventional case.

(c) Since the steering torque and the wheel steering angle can be controlled in a linear relationship, the steering feel during correction steering and the like is improved.

(d) Since the steering wheel is attached to the vehicle body via an elastic body that generates torque, it is possible to reduce angular displacement.The steering force can also be changed by angular displacement, so the steering angle is constant. It becomes easier to hold the rudder when turning.

[Brief explanation of drawings]

FIG. 1 shows a front view of an embodiment of the invention. FIG. 2 is a graph showing the relationship between the steering wheel torque Ts and the steering angle O5, and FIG. 3 is a graph showing the relationship between the steering wheel torque Ts and the wheel steering angle δW. Figure 4 shows the steering wheel.
” - indicates the sheet. 1...Handle 3...Torque range 1/4...
・Torsion spring 6...Brosezza 7...Motor drive circuit (control circuit) 8...Motor (actuator) 10...Rack and pinion type steering ring 1 (steering mechanism) 15...Vehicle speed sensor゛

Claims (1)

[Claims] A steering mechanism that can steer the wheels of a vehicle, a control circuit that controls the operation of this steering mechanism via an actuator, a steering wheel that is attached to the vehicle body via a torsion spring, and a steering wheel that controls the torque generated in the steering wheel during steering. A torque sensor that detects a torque, and a processor that inputs a signal from the torque sensor and a signal from a vehicle speed sensor and outputs a wheel steering angle signal corresponding to the steering torque for each vehicle speed to the control circuit. type steering device.