KR100695425B1 - Restoration control method in eps system - Google Patents

Restoration control method in eps system Download PDF

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KR100695425B1
KR100695425B1 KR1020030008396A KR20030008396A KR100695425B1 KR 100695425 B1 KR100695425 B1 KR 100695425B1 KR 1020030008396 A KR1020030008396 A KR 1020030008396A KR 20030008396 A KR20030008396 A KR 20030008396A KR 100695425 B1 KR100695425 B1 KR 100695425B1
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steering angle
restoration
steering
current
eps system
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KR1020030008396A
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Korean (ko)
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KR20040072773A (en
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김성주
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주식회사 만도
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    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 EPS 시스템에서의 복원제어방법에 관한 것으로, EPS 시스템의 ECU에서 차량의 속도에 대한 복원게인을 설정하고, 조향각도에 대한 복원패턴을 설정하는 제1단계와, 상기 제1단계에서 설정된 복원게인과 복원패턴을 곱하여 복원전류를 구하는 제2단계와, 상기 제2단계 수행 후, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지 또는 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지를 판단하는 제3단계와, 상기 제3단계의 판단 결과, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내거나 조향각도가 왼쪽이면서 조향각속도가 우회전을 나타내면 어시스트전류와 상기 제2단계에서 구한 복원전류를 합하여 모터 구동전류를 구하고, 이 구한 모터 구동전류에 따라 모터의 구동을 제어함으로써 복원제어기능을 수행하는 제4단계로 이루어지는 것을 특징으로 하며, 복원제어의 적용조건을 조향 토오크에 의해 판별하는 것이 아니라 조향각도와 조향각속도를 이용하여 판별한 후 복원제어기능을 수행함으로써 운전자가 핸들을 놓지 않은 채로 복원할 경우에도 복원제어가 적용되는 등, 조타후 복원시 매끄러운 조향감을 제공할 수 있게 되는 효과가 있다.The present invention relates to a restoration control method in an EPS system, comprising: a first step of setting a restoration gain for a vehicle speed and an restoration pattern for a steering angle in an ECU of the EPS system; Determining a restoration current by multiplying the restoration gain by the restoration pattern, and determining whether the steering angle is to the left while the steering angle is to the right and the steering angle is to the left while the steering angle is to the right. As a result of the determination of the third step and the third step, when the steering angle is right and the steering angle speed indicates left turn or the steering angle is left and the steering angle speed indicates right rotation, the assist current and the restored current obtained in the second step are summed and the motor The restoring control function is performed by obtaining the drive current and controlling the driving of the motor according to the obtained motor drive current. Characterized in the fourth step, the condition to apply the restoring control is not determined by the steering torque, but by using the steering angle and the steering angle speed, and then the restoring control function to restore the driver without the steering wheel In addition, the restoration control is applied, such that there is an effect that can provide a smooth steering feeling during restoration after steering.

Description

전자제어 파워 스티어링 시스템에서의 복원제어방법{RESTORATION CONTROL METHOD IN EPS SYSTEM}Restoration control method in electronically controlled power steering system {RESTORATION CONTROL METHOD IN EPS SYSTEM}

도 1은 일반적인 EPS 시스템의 간략한 블록 구성도,1 is a simplified block diagram of a typical EPS system,

도 2는 종래 EPS 시스템에서의 복원제어방법을 보인 동작 흐름도,2 is an operation flowchart showing a restoration control method in a conventional EPS system;

도 3은 본 발명에 의한 EPS 시스템에서의 복원제어방법을 보인 동작 흐름도.3 is an operation flowchart showing a restoration control method in an EPS system according to the present invention;

<도면의 주요부분에 대한 부호의 설명><Description of Symbols for Main Parts of Drawings>

1 : 센서부 1: sensor

2 : ECU2: ECU

3 : 모터 제어 및 구동부3: motor control and driving unit

본 발명은 전자제어 파워 스티어링(Electronic Power Steering ; 이하, 'EPS'라 칭함) 시스템에서의 복원제어방법에 관한 것으로, 특히 조향각도와 조향각속도를 이용하여 복원제어기능을 수행함으로써 조타후 복원시 매끄러운 조향감을 제공할 수 있도록 한 EPS 시스템에서의 복원제어방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a restoration control method in an electronic power steering system (hereinafter, referred to as an 'EPS') system. In particular, a restoration control function using a steering angle and a steering angle speed enables smooth steering during restoration after steering. The restoration control method in the EPS system to provide a sense.

일반적으로 차량에는 각종 입력센서에서 검출되는 전기적 신호를 입력받아 출력측의 각종 액츄에이터를 구동하기 위한 디지털 제어신호를 출력하는 차량용 전자 제어 장치(Electronic Control Unit ; 이하, 'ECU'라 칭함)가 구비되어 있다. In general, a vehicle is provided with an electronic control unit (hereinafter referred to as "ECU") for a vehicle that receives electrical signals detected by various input sensors and outputs digital control signals for driving various actuators on the output side. .

한편, 상기와 같은 ECU를 이용하여 차량의 속도에 따라 운전자 핸들의 조작력을 줄여주어 가볍고 신속한 조향 조작이 가능하도록 한 EPS 시스템은 도 1에 도시된 바와 같이 차량의 속도를 검출하는 차속 센서, 운전자 핸들의 조향각도 및 조향각속도를 검출하는 조향각 센서, 운전자 핸들의 토오크를 검출하는 토오크 센서 등의 센서부(1)와, 상기 센서부(1)에서 검출되는 각종 입력신호에 따라 운전자 핸들의 조작력을 줄여주기 위한 모터 제어신호 및 구동신호를 출력하는 ECU(2)와, 상기 ECU(2)에서 출력되는 모터 제어신호 및 구동신호에 따라 모터의 구동을 제어하고, 모터의 구동에 따른 출력으로 랙 바(Rack Bar)를 구동시키는 모터 제어 및 구동부(3)로 이루어진다.On the other hand, the EPS system that reduces the operating force of the driver's steering wheel according to the speed of the vehicle by using the ECU as described above to enable a light and quick steering operation, the vehicle speed sensor, the driver's steering wheel to detect the speed of the vehicle as shown in FIG. Sensor unit 1, such as a steering angle sensor for detecting the steering angle and the steering angle speed of the vehicle, a torque sensor for detecting the torque of the driver's steering wheel, and the operating force of the driver's steering wheel according to various input signals detected by the sensor unit 1 ECU 2 which outputs a motor control signal and a drive signal for the cycle, and controls the driving of the motor according to the motor control signal and the drive signal output from the ECU 2, and the rack bar ( It consists of a motor control and drive part 3 which drives a rack bar.

상기와 같이 구성된 EPS 시스템은 일반 유압식 파워 스티어링 시스템에 비해 모터나 감속기 등의 기구부가 추가로 구성되어 프릭션이 증가하게 되고, 이에 따라 조타중의 프릭션 감이나 복원성의 저하와 같은 특징이 나타난다.Compared to the general hydraulic power steering system, the EPS system configured as described above additionally includes a mechanical part such as a motor or a reducer, so that the friction increases. As a result, the feeling of friction during steering or deterioration of stability is exhibited.

그러므로, 조향 입력각도에 대한 조타 토오크의 관계를 그래프로 나타내 보면 히스테리시스(Hysteresis)가 다른 유압식 파워 스티어링 차량보다 커지는 단점을 갖게 되는데, 종래에는 이를 보완하기 위해 복원제어기능을 이용하였다.Therefore, when the relationship of the steering torque to the steering input angle is shown in a graph, hysteresis has a disadvantage in that it is larger than other hydraulic power steering vehicles, and a restoration control function is conventionally used to compensate for this.

즉, 일반적으로 복원성의 판단 시험은 조타를 한 후 운전자 핸들을 놓아 핸들의 복귀속도나 잔류각도를 보고 판별하게 된다.That is, in general, the stability test is performed after steering and releases the driver's handle to determine the return speed or the residual angle of the steering wheel.

특히, EPS 시스템에서 적용되는 복원제어방법은 절대 조향각 신호를 이용하 여 운전자가 핸들을 놓은 경우, 핸들이 중립 위치를 향하는 보조전류를 발생함으로써 조타후 복귀시 핸들이 쉽게 복귀되도록 한다. In particular, the restoration control method applied in the EPS system, when the driver releases the steering wheel using the absolute steering angle signal, the steering wheel generates an auxiliary current toward the neutral position so that the steering wheel can be easily returned when the steering is returned.

즉, 도 2에 도시된 종래 EPS 시스템에서의 복원제어방법에서와 같이, 차속에 대한 복원게인을 설정하고(S1), 조향각도에 대한 복원패턴을 설정한 후(S2), 상기 복원게인과 복원패턴을 이용하여 복원전류를 구한다(S3).That is, as in the restoration control method in the conventional EPS system shown in FIG. 2, after setting the restoration gain for the vehicle speed (S1) and setting the restoration pattern for the steering angle (S2), the restoration gain and restoration The restored current is obtained using the pattern (S3).

그리고 나서, 조타 토오크가 데드존(Deadzone) 이하인 경우(S4)에 어시스트(Assist)전류와 상기 단계(S3)에서 구한 복원전류를 합하여 모터 구동전류를 구하고(S5), 최종적으로 상기 단계(S5)에서 구한 모터 구동전류에 따라 모터의 구동을 제어함으로써 복원제어기능을 수행한다.Then, when the steering torque is equal to or less than the dead zone (S4), the assist current and the restoration current obtained in the step S3 are summed to obtain the motor driving current (S5), and finally, the step (S5). The restoring control function is performed by controlling the driving of the motor according to the motor driving current obtained from.

그러나, 상기와 같은 종래 복원제어방법에 있어서 상기 운전자 핸들을 놓은 경우를 판별하는 조건이 조타 토오크 신호를 이용하여 판별하게 되는데, 만약 운전자가 핸들을 완전히 놓지 않고 서서히 풀면서 진행하게 되면 운전자 핸들에 적은 양의 토오크가 존재하여 완전한 복원제어가 적용되지 않게 되는 문제점이 있었다.However, in the conventional restoration control method as described above, the condition for determining when the driver handle is released is determined by using a steering torque signal. There is a problem that a positive torque is present so that complete restoration control is not applied.

본 발명은 상기와 같은 문제점을 해결하기 위한 것으로서, 그 목적은 복원제어의 적용조건을 조향 토오크에 의해 판별하는 것이 아니라 조향각도와 조향각속도를 이용하여 판별한 후 복원제어기능을 수행함으로써 운전자가 핸들을 놓지 않은 채로 복원할 경우에도 복원제어가 적용되는 등, 조타후 복원시 매끄러운 조향감을 제공할 수 있도록 한 EPS 시스템에서의 복원제어방법을 제공하는 데에 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and its object is not to determine the application condition of the restoration control by the steering torque, but by using the steering angle and the steering angle speed to perform the restoration control function. The present invention provides a restoration control method in an EPS system that can provide a smooth steering feeling during restoration after steering, such as restoration control is applied even when restoration is not performed.

상기와 같은 목적을 달성하기 위한 본 발명의 EPS 시스템에서의 복원제어방법은, EPS 시스템의 ECU에서 차량의 속도에 대한 복원게인을 설정하고, 조향각도에 대한 복원패턴을 설정하는 제1단계와, 상기 제1단계에서 설정된 복원게인과 복원패턴을 곱하여 복원전류를 구하는 제2단계와, 상기 제2단계 수행 후, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지 또는 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지를 판단하는 제3단계와, 상기 제3단계의 판단 결과, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내거나 조향각도가 왼쪽이면서 조향각속도가 우회전을 나타내면 어시스트전류와 상기 제2단계에서 구한 복원전류를 합하여 모터 구동전류를 구하고, 이 구한 모터 구동전류에 따라 모터의 구동을 제어함으로써 복원제어기능을 수행하는 제4단계로 이루어지는 것을 특징으로 한다.The restoration control method in the EPS system of the present invention for achieving the above object, the first step of setting the restoration gain for the vehicle speed in the ECU of the EPS system, and setting the restoration pattern for the steering angle; A second step of obtaining a restoring current by multiplying the restoring gain and the restoring pattern set in the first step; and after performing the second step, the steering angle is on the right and the steering angle is on the left or the steering angle is on the right, and the steering angle is on the right. In the third step of determining whether it indicates left turn, and as a result of the determination of the third step, if the steering angle is right and the steering angle speed indicates left turn or the steering angle is left and steering angle speed indicates right turn, the assist current and the second step The motor drive current is obtained by summing the restored currents, and the motor drive is controlled according to the obtained motor drive current. It characterized by comprising a fourth step of performing an original control function.

이하, 첨부된 도면을 참고하여 본 발명에 의한 EPS 시스템에서의 복원제어방법을 상세히 설명한다.Hereinafter, a restoration control method in an EPS system according to the present invention will be described in detail with reference to the accompanying drawings.

여기서, EPS 시스템은 도 1에 도시된 바와 같이 차속 센서, 조향각 센서, 토오크 센서 등을 포함하는 센서부(1), ECU(2), 모터 제어 및 구동부(3)로 이루어진다.As shown in FIG. 1, the EPS system includes a sensor unit 1 including a vehicle speed sensor, a steering angle sensor, a torque sensor, and the like, an ECU 2, a motor control unit, and a driver unit 3.

상기와 같이 구성된 EPS 시스템에서 이루어지는 본 발명에 의한 복원제어방법을 도 3을 참고하여 설명하면 다음과 같다.The restoration control method according to the present invention made in the EPS system configured as described above will be described with reference to FIG.

먼저, EPS 시스템의 ECU(2)에서는 차량의 속도에 대한 복원게인을 설정하고(S11), 조향각도에 대한 복원패턴을 설정한다(S12). First, the ECU 2 of the EPS system sets the restoration gain for the speed of the vehicle (S11), and sets the restoration pattern for the steering angle (S12).                     

이어, 상기 단계(S11)에서 설정된 복원게인과 상기 단계(S12)에서 설정된 복원패턴을 곱하여 복원전류를 구한다(S13).Subsequently, a restoration current is obtained by multiplying the restoration gain set in the step S11 and the restoration pattern set in the step S12 (S13).

그리고 나서, 센서부(1)내 조향각 센서를 통해 검출된 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지를 판단하고(S14), 판단 결과 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내지 않으면 이번에는 센서부(1)내 조향각 센서를 통해 검출된 조향각도가 왼쪽이면서 조향각속도가 우회전을 나타내는지를 판단한다(S15).Then, it is determined whether the steering angle detected by the steering angle sensor in the sensor unit 1 is right while the steering angle speed indicates left turn (S14). It is determined whether the steering angle detected by the steering angle sensor in the unit 1 is left while the steering angle speed indicates a right turn (S15).

상기 단계(S14,S15)의 판단 결과, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내거나 조향각도가 왼쪽이면서 조향각속도가 우회전을 나타내면 상기 ECU(2)에서는 어시스트전류와 상기 단계(S13)에서 구한 복원전류를 합하여 모터 구동전류를 구하고(S16), 최종적으로 상기 단계(S16)에서 구한 모터 구동전류에 따라 모터의 구동을 제어함으로써 복원제어기능을 수행한다.As a result of the determination of the steps S14 and S15, when the steering angle is right and the steering angle speed indicates left turn or when the steering angle is left and the steering angle speed indicates right turn, the ECU 2 calculates the assist current and the step S13. The motor driving current is obtained by adding the restoration currents (S16), and finally, the restoration control function is performed by controlling the driving of the motor according to the motor driving currents obtained in the step S16.

상기와 같이 본 발명에서는 복원제어의 적용조건을 조타 토오크에 의해 판별하는 것이 아니라 조향각도와 조향각속도를 이용하여 판단하도록 한다.As described above, in the present invention, the application condition of the restoration control is determined not by the steering torque but by the steering angle and the steering angle speed.

그러므로 운전자가 핸들을 놓지 않은 채로 복원할 경우에도 복원제어가 적용되게 되고, 조향 입력각도에 대한 조타 토오크의 관계 그래프에서도 히스테리시스가 일정하게 작아지게 것을 볼 수 있다.Therefore, restoring control is applied even when the driver restores the vehicle without releasing the steering wheel, and it can be seen that the hysteresis is uniformly reduced even in the relation graph of the steering torque with respect to the steering input angle.

상기에서 설명한 바와 같이, 본 발명은 복원제어의 적용조건을 조향 토오크에 의해 판별하는 것이 아니라 조향각도와 조향각속도를 이용하여 판별한 후 복원 제어기능을 수행함으로써 운전자가 핸들을 놓지 않은 채로 복원할 경우에도 복원제어가 적용되는 등, 조타후 복원시 매끄러운 조향감을 제공할 수 있게 되는 효과가 있다.
















As described above, the present invention does not determine the application condition of the restoration control by the steering torque, but also by using the steering angle and the steering angle speed, and then performs the restoration control function to restore the vehicle without the steering wheel being released. There is an effect that can provide a smooth steering feeling during restoration after steering, such as the restoration control is applied.
















Claims (1)

EPS 시스템의 ECU에서 차량의 속도에 대한 복원게인을 설정하고, 조향각도에 대한 복원패턴을 설정하는 제1단계와,A first step of setting the restoration gain for the vehicle speed in the ECU of the EPS system and setting the restoration pattern for the steering angle; 상기 제1단계에서 설정된 복원게인과 복원패턴을 곱하여 복원전류를 구하는 제2단계와,A second step of obtaining a restore current by multiplying the restore gain set in the first step and a restore pattern; 상기 제2단계 수행 후, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지 또는 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내는지를 판단하는 제3단계와,After performing the second step, determining whether the steering angle indicates a right turn while the steering angle is to the right or the steering angle indicates a left turn while the steering angle is to the right; 상기 제3단계의 판단 결과, 조향각도가 오른쪽이면서 조향각속도가 좌회전을 나타내거나 조향각도가 왼쪽이면서 조향각속도가 우회전을 나타내면 어시스트전류와 상기 제2단계에서 구한 복원전류를 합하여 모터 구동전류를 구하고, 이 구한 모터 구동전류에 따라 모터의 구동을 제어함으로써 복원제어기능을 수행하는 제4단계로 이루어지는 것을 특징으로 하는 전자제어 파워 스티어링 시스템에서의 복원제어방법.As a result of the determination in the third step, when the steering angle is right and the steering angle speed indicates left turn or when the steering angle is left and steering angle speed shows right turn, the assist current and the restored current obtained in the second step are summed to obtain a motor driving current. And a fourth step of performing a restoring control function by controlling the driving of the motor in accordance with the obtained motor driving current.
KR1020030008396A 2003-02-11 2003-02-11 Restoration control method in eps system KR100695425B1 (en)

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