KR100605792B1 - 조타 제어 장치 - Google Patents
조타 제어 장치 Download PDFInfo
- Publication number
- KR100605792B1 KR100605792B1 KR1020057009756A KR20057009756A KR100605792B1 KR 100605792 B1 KR100605792 B1 KR 100605792B1 KR 1020057009756 A KR1020057009756 A KR 1020057009756A KR 20057009756 A KR20057009756 A KR 20057009756A KR 100605792 B1 KR100605792 B1 KR 100605792B1
- Authority
- KR
- South Korea
- Prior art keywords
- steering
- reaction force
- force torque
- torque
- target
- Prior art date
Links
- 238000006243 chemical reaction Methods 0.000 claims abstract description 206
- 230000007246 mechanism Effects 0.000 claims description 52
- 238000006557 surface reaction Methods 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Images
Classifications
-
- 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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- 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
- 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
- B62D6/006—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 using a measured or estimated road friction coefficient
-
- 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
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims (5)
- 핸들에 인가되는 조타 반력 토크의 목표값인 목표 조타 반력 토크를 생성하는 목표 조타 반력 토크 생성 수단을 갖고, 상기 조타 반력 토크가 상기 목표 조타 반력 토크에 일치하도록 제어하는 조타 제어 장치에 있어서,상기 목표 조타 반력 토크 생성 수단은 스티어링축 반력 토크를 추정하는 스티어링축 반력 토크 추정 수단, 및 기준 노면 반력 토크를 추정하는 기준 노면 반력 토크 추정 수단을 구비하고, 상기 스티어링축 반력 토크 추정 수단에 의해서 추정된 스티어링축 반력 토크 및 상기 기준 노면 반력 토크 추정 수단에 의해서 추정된 기준 노면 반력 토크를 이용하여 상기 목표 조타 반력 토크를 설정하는 것을 특징으로 하는조타 제어 장치.
- 제 1 항에 있어서,상기 스티어링축 반력 토크 및 상기 기준 노면 반력 토크는 가중치가 부여되어 상기 목표 조타 반력 토크의 설정에 이용되는 것을 특징으로 하는조타 제어 장치.
- 제 2 항에 있어서,상기 스티어링축 반력 토크 및 상기 기준 노면 반력 토크의 가중치 부여에 이용되는 계수는 차량 속도에 따라 변화되는 것을 특징으로 하는조타 제어 장치.
- 제 1 항에 있어서,상기 목표 조타 반력 토크 생성 수단에 의해 설정된 목표 조타 반력 토크와, 타 유지시(during holding a steering wheel)에 기준 노면 반력 토크에 의해 설정되는 목표 조타 반력 토크를 이용하여, 조타 각속도에 따른 가중치 부여를 실시하여, 새로운 목표 조타 반력 토크를 설정하는 것을 특징으로 하는조타 제어 장치.
- 제 1 항 내지 제 3 항 중 어느 한 항에 있어서,핸들에 결합된 핸들축과 차륜을 터닝(turning)하는 휠 터닝 기구(wheel turning mechanism)가 차동 기어 기구를 거쳐서 결합된 조타 제어 장치에 있어서, 상기 스티어링축 반력 토크 추정 수단은 차륜 타각을 제어하는 타각 모터의 모터 전류와 조타 반력 토크와 스티어링축 각 가속도를 이용하여 스티어링축 반력 토크를 추정하는 것을 특징으로 하는조타 제어 장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2003-00139371 | 2003-05-16 | ||
JP2003139371 | 2003-05-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20050084051A KR20050084051A (ko) | 2005-08-26 |
KR100605792B1 true KR100605792B1 (ko) | 2006-08-01 |
Family
ID=33447332
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020057009756A KR100605792B1 (ko) | 2003-05-16 | 2004-04-21 | 조타 제어 장치 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7275617B2 (ko) |
EP (1) | EP1625993B1 (ko) |
JP (1) | JP4286834B2 (ko) |
KR (1) | KR100605792B1 (ko) |
CN (1) | CN100357146C (ko) |
DE (1) | DE602004021589D1 (ko) |
WO (1) | WO2004101346A1 (ko) |
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JP4581660B2 (ja) * | 2004-12-02 | 2010-11-17 | 日産自動車株式会社 | 車両用操舵装置 |
JP4628829B2 (ja) * | 2005-03-16 | 2011-02-09 | 本田技研工業株式会社 | 操舵装置 |
JP2006290252A (ja) * | 2005-04-13 | 2006-10-26 | Nissan Motor Co Ltd | 車輌用可変舵角装置 |
JP4579056B2 (ja) * | 2005-06-02 | 2010-11-10 | 本田技研工業株式会社 | 車両用操舵装置 |
US7931113B2 (en) | 2005-07-05 | 2011-04-26 | Fuji Jukogyo Kabushiki Kaisha | Steering control system for vehicle |
JP4744959B2 (ja) * | 2005-07-13 | 2011-08-10 | 富士重工業株式会社 | 車両の操舵制御装置 |
JP4203062B2 (ja) | 2005-11-02 | 2008-12-24 | 三菱電機株式会社 | 車両用操舵装置 |
US8833504B2 (en) * | 2005-12-02 | 2014-09-16 | Trw Automotive U.S. Llc | Steering apparatus |
DE602007002004D1 (de) * | 2006-05-15 | 2009-10-01 | Jtekt Corp | Lenkgerät für ein Fahrzeug |
JP5050418B2 (ja) * | 2006-06-16 | 2012-10-17 | 日産自動車株式会社 | 車両用操舵制御装置 |
JP2008120259A (ja) * | 2006-11-13 | 2008-05-29 | Jtekt Corp | 車両用操舵装置 |
JP2008149887A (ja) * | 2006-12-18 | 2008-07-03 | Nsk Ltd | 電動パワーステアリング装置 |
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JP4281828B2 (ja) * | 2007-08-08 | 2009-06-17 | トヨタ自動車株式会社 | 電動パワーステアリング装置 |
JP4561806B2 (ja) * | 2007-10-15 | 2010-10-13 | 株式会社デンソー | 電動パワーステアリング装置 |
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JP4606476B2 (ja) * | 2008-04-08 | 2011-01-05 | 三菱電機株式会社 | 電動パワーステアリング制御装置 |
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JP5163753B2 (ja) * | 2008-12-26 | 2013-03-13 | トヨタ自動車株式会社 | パワーステアリング装置 |
JP5342715B2 (ja) * | 2009-01-26 | 2013-11-13 | 久 高橋 | 車両用ステアバイワイヤシステムと車両用ステアバイワイヤシステムの制御方法 |
DE102009000638A1 (de) * | 2009-02-05 | 2010-08-12 | Zf Lenksysteme Gmbh | Bestimmung eines Soll-Lenkmoments in einer Lenkvorrichtung |
US9221439B2 (en) * | 2009-02-16 | 2015-12-29 | Honda Motor Co., Ltd. | Road surface frictional coefficient estimating apparatus |
JP5133917B2 (ja) * | 2009-02-16 | 2013-01-30 | 本田技研工業株式会社 | 路面摩擦係数推定装置 |
JP5499526B2 (ja) * | 2009-06-19 | 2014-05-21 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
EP2537732B1 (en) * | 2010-02-19 | 2020-09-02 | Mitsubishi Electric Corporation | Steering controller |
JP5494176B2 (ja) * | 2010-04-21 | 2014-05-14 | 日産自動車株式会社 | 車両用操舵装置 |
JP5409916B2 (ja) * | 2010-07-27 | 2014-02-05 | 三菱電機株式会社 | 電動パワーステアリング装置 |
JP2012096722A (ja) * | 2010-11-04 | 2012-05-24 | Nippon Soken Inc | 操舵制御装置 |
JP2013060146A (ja) * | 2011-09-14 | 2013-04-04 | Jtekt Corp | 車両操舵装置の制御装置 |
JP5971127B2 (ja) * | 2012-09-26 | 2016-08-17 | 日産自動車株式会社 | 操舵制御装置 |
CN104918843B (zh) * | 2013-01-10 | 2017-12-01 | 日产自动车株式会社 | 车道内行驶辅助装置 |
JP6303762B2 (ja) * | 2014-04-22 | 2018-04-04 | 株式会社デンソー | 電動パワーステアリング制御装置 |
WO2016105316A1 (en) * | 2014-12-24 | 2016-06-30 | Arslan Mehmet Selçuk | Steering feel generating system for steer-by-wire systems |
KR102228161B1 (ko) * | 2017-01-02 | 2021-03-17 | 현대모비스 주식회사 | 전동식 동력 조향장치의 댐핑 제어 장치 및 그 방법 |
CN107140012B (zh) * | 2017-05-10 | 2023-04-04 | 南京航空航天大学 | 一种基于可抑制发散的卡尔曼滤波器的线控转向系统及控制方法 |
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-
2004
- 2004-04-21 US US10/529,038 patent/US7275617B2/en not_active Expired - Lifetime
- 2004-04-21 EP EP04728672A patent/EP1625993B1/en not_active Expired - Lifetime
- 2004-04-21 WO PCT/JP2004/005709 patent/WO2004101346A1/ja active IP Right Grant
- 2004-04-21 JP JP2005506156A patent/JP4286834B2/ja not_active Expired - Fee Related
- 2004-04-21 DE DE602004021589T patent/DE602004021589D1/de not_active Expired - Lifetime
- 2004-04-21 KR KR1020057009756A patent/KR100605792B1/ko active IP Right Grant
- 2004-04-21 CN CNB2004800012696A patent/CN100357146C/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP1625993B1 (en) | 2009-06-17 |
KR20050084051A (ko) | 2005-08-26 |
DE602004021589D1 (de) | 2009-07-30 |
US7275617B2 (en) | 2007-10-02 |
CN100357146C (zh) | 2007-12-26 |
JPWO2004101346A1 (ja) | 2006-07-13 |
US20060042860A1 (en) | 2006-03-02 |
WO2004101346A1 (ja) | 2004-11-25 |
EP1625993A4 (en) | 2006-07-26 |
EP1625993A1 (en) | 2006-02-15 |
JP4286834B2 (ja) | 2009-07-01 |
CN1705581A (zh) | 2005-12-07 |
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