KR100992775B1 - Repulsion control system for steering system - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a feedback reaction force control system of a steering apparatus. In the hydraulic power steering apparatus of an automobile, the oil flow rate of the oil hose connected between the control valve and the gearbox at each stage is appropriately controlled according to the road surface conditions. The present invention relates to a feedback reaction force control system of a vehicle steering apparatus that maintains a constant amount of reaction force fed back through a steering wheel when driving on a road and a rough road so that a driver can feel a comfortable operation of the steering wheel.

In particular, the present invention is provided with a flow rate control means for controlling the oil flow step by step in the oil hose, the controller inputs a torque sensor for detecting the steering torque and a road surface sensor for detecting the road surface condition of the driving road By configuring the flow control means to appropriately control the flow rate of the oil hose, it is possible to control the oil flow rate of the oil hose so that the most constant reaction force can be transmitted when driving on the road and the rough road, thereby providing a comfortable operation of the steering wheel. will be.

Steering device, feedback, reaction force, flow control means, controller

Description

Feedback control system for steering system             

1 is a block diagram showing a reaction force control system according to the present invention,

Figures 2a to 2c is a view for explaining the embodiment configuration and the operating state of the flow control means in the reaction force control system according to the present invention.

<Explanation of symbols for the main parts of the drawings>

1: control valve 2: gearbox

3a, 3b: oil hose 10: torque sensor

20: road detection sensor 30: controller

40: flow control means 41: step motor

42: drive gear 43: flow control valve

44: main body housing 45, 46: internal flow path

45a, 46a: branch passage 47: guide passage

48, 49: valve body

The present invention relates to a feedback reaction force control system of a steering apparatus, and more particularly, to appropriately control the oil flow rate of an oil hose connected between a control valve and a gearbox at each stage in a hydraulic power steering apparatus of an automobile. In this regard, the feedback reaction force control system of a vehicle steering apparatus which maintains a constant magnitude of reaction force fed back through a steering wheel at the time of driving on a general road and a rough road, allows a driver to feel a comfortable operation feeling of the steering wheel.

In general, a steering system in a vehicle is a device that changes a driving direction of a vehicle according to a driver's operation.

Such steering devices include steering mechanisms including steering wheels, steering shafts and columns, steering gear mechanisms such as worm sector type, worm sector roller type, ball nut type, variable gear ratio type, and rack pinion type, and Pitman. It consists of a link mechanism consisting of an arm, a steering link, a steering knuckle, etc., to transmit the rotation of the steering wheel to the driving wheel through the steering gear.

In recent years, in addition to mechanical steering, power steering using a power cylinder for light steering and quick steering operation has been widely used.

This device is designed to send oil pressure from the power steering pump attached to the engine to the power cylinder, which makes the steering wheel lighter.

Meanwhile, in the steering apparatus, shimmy, which is a phenomenon that causes vibration of the steering wheel due to vibration caused by resonance of the tire and the power steering apparatus, or a disturbance acting on the tire suddenly, is shockingly transmitted to the steering wheel. In kick back, etc., is causing discomfort to the driver, and these vibration phenomena must be improved.

In fact, many technologies have been developed such as the installation of hydraulic dampers to improve the sima kickback.

However, factors that are fed back to the driver's steering wheel, that is, the restoring force for restoring the steering wheel, and the reaction force that the driver feels when the road friction coefficient is changed are very important factors when driving.

Accordingly, even in an electric steering apparatus employing a Steer-By-Wire (SBW) system in which the handle and the gearbox are completely mechanically disconnected, a reaction force reproducing apparatus for transmitting the feedback elements is provided.

In general, if a vehicle tuned for driving on a normal road travels on a rough road, the reaction force may be high, and a kickback phenomenon may occur. On the contrary, when a vehicle tuned for driving on a rough road runs on a normal road, the reaction force is weak, and the information on the road surface is fed back to the driver. it's difficult.

In particular, since the reaction force transmitted to the driver on the rough road is greater than the reaction force transmitted when driving on the general road, the reaction force needs to be adjusted as in the general road so that the driver does not feel uncomfortable on the rough road.

Accordingly, a technology for controlling the amount of reaction force fed back to the driver through the steering wheel in the power steering device as constant as possible regardless of the road conditions has been required for the driver to feel a more comfortable operation when driving on roads and rough roads.

Accordingly, the present invention has been invented in view of the above, and according to the road surface, the oil flow rate of the oil hose connected between the control valve and the gearbox at each stage in the hydraulic power steering device of the steering vehicle is controlled appropriately. It provides a feedback reaction control system of a vehicle steering device that allows the driver to feel the comfortable operation of the steering wheel by keeping the amount of reaction force fed back through the steering wheel as constant as possible while driving on roads and rough roads. have.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The present invention provides a system for controlling a reaction force fed back to a driver through a steering wheel in a power steering apparatus,

A torque sensor for detecting steering torque;                     

A road surface detection sensor for detecting a road surface state of a driving road;

A flow control means configured to control the flow rate of the oil moving along the two oil hoses connected between the control valve of the steering apparatus and the gearbox at each stage;

A controller for outputting a signal for controlling the flow control means based on a signal input from the torque sensor and the road surface detection sensor;

Characterized in that comprises a.

As a preferred embodiment, the flow rate control means is a step motor which is driven and controlled by the output signal of the controller, and installed on the two oil hoses to perform step-by-step flow control by the drive control of the step motor It is characterized by consisting of a flow control valve.

Here, the flow control valve,

A body housing having a respective inner flow path formed for each of the oil hoses such that oil flowing along the two oil hoses passes through the inner flow path;

A drive gear installed on a rotation shaft of the step motor inserted into the main body housing;

One for each of the internal passages is installed to move forward and backward along the guide passages formed to penetrate the respective internal passages, and meshes with the drive gears through teeth of one side to move forward and backward in accordance with the amount of rotation of the drive gear in the form of a rack. A valve body configured to be controlled in position and to block a selected portion of the internal flow path according to the movement position;

Characterized in that comprises a.

Here, each of the internal flow passages are composed of a plurality of branch flow passages, and some of the branch flow passages constituting the corresponding internal flow passages are selectively blocked according to the forward and backward movement positions of the valve bodies, so that the flow rate of each internal flow passage may be adjusted. It is characterized by being able to.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

The present invention is to control the oil flow rate of the oil hose connected between the control valve and the gearbox at each stage in the hydraulic power steering device of the vehicle appropriately according to the condition of the road surface, so that the feedback on the steering wheel during normal road and rough road driving The present invention relates to a feedback reaction force control system of an automobile steering apparatus that maintains a constant amount of reaction force to allow a driver to feel a comfortable operation of a steering wheel.

In particular, the system of the present invention is configured to appropriately control the amount of oil moving between the control valve and the gearbox in accordance with the road surface conditions, in this way by controlling the amount of oil in accordance with the road conditions to the driver through the steering wheel The amount of feedback force fed back can be controlled as constantly as possible regardless of road conditions.

1 is a block diagram showing a reaction force control system according to the present invention, Figures 2a to 2c is a view for explaining an embodiment configuration and the operating state of the flow control means in the reaction force control system according to the present invention.

In FIG. 1, a control valve and a gearbox part of a hydraulic power steering device are shown. In the hydraulic power steering device, a power piston (not shown) is used to help the driver's steering force by moving left and right by hydraulic pressure in the gearbox 2. Shown) is built in.

In addition, between the control valve 1 and the gearbox 2, two oil hoses (3a, 3b) are connected and installed so that oil can be selectively supplied to and discharged from both ends of the power piston, two oil hose (3a) In 3b), oil always flows in reverse due to the operating characteristics of the power piston.

That is, when oil is supplied to one oil hose so that the oil provided by the power steering pump can be supplied to either end of the power piston via the control valve 1, the oil escaping from the opposite end is reversed to the other oil hose. To flow.

On the other hand, the reaction force control system of the present invention, the torque sensor 10 for detecting the steering torque, the road surface sensor 20 for detecting the road surface condition of the driving road, the control valve 1 and the gear box of the steering device ( 2) a flow control means 40 configured to control the flow rate of the oil moving along the two oil hoses 3a and 3b connected between the stages, the torque sensor 10 and the road surface sensor 20 It comprises a controller 30 for outputting a signal for controlling the flow control means 40 based on the signal input from the).

Here, the torque sensor 10 may be installed in the steering column, it is provided to detect the steering torque according to the driver's steering wheel operation to output the electrical signal accordingly.

The road surface sensor 20 may be installed in the suspension to detect the movement of the suspension when the vehicle is driving, and may be configured to detect the state of the road surface.

Alternatively, the road surface sensor may be installed at the bottom of the vehicle body to directly detect the state of the road surface by transmitting ultrasonic waves or infrared rays to the road surface, and the basic function of such a sensor is well known.

The flow control means 40 is configured to control the oil flow rate of the two oil hoses (3a, 3b) connecting the control valve (1) and the gearbox (2), which is connected to the two oil hoses (3a, 3b) It is configured to perform stepwise flow control by the control signal output from the controller 30 while controlling the oil flow rate with respect to the same.

As an example, FIGS. 2A to 2C show the step motor 41 driven by the output signal of the controller 30 and the drive control of the step motor 41 provided on the two oil hoses 3a and 3b. The flow rate control means 40 which consists of the flow rate control valve 43 which can perform step-by-step flow rate control by this is shown.

The main body housing 44 of the flow control valve 43 is separated into two parts with respect to the internal flow paths 45 and 46 and then assembled together.

The main body housing 44 is provided with four connecting portions 44a such that one side and the other side of the respective oil hoses 3a and 3b are connected, and the respective oil hoses 3a and 3b are provided inside the main body housing 44. Inner flow passages 45 and 46 of mutually symmetrical structures are formed on one side and the other side, respectively, so that the oil flowing through the oil hoses can pass therethrough. 46 is composed of a plurality of branch passages 45a and 46a.

In addition, the valve body 48 is provided with one valve body 48 and 49 operating forward and backward along the guide passage 47 with respect to each of the internal passages 45 and 46. Reference numeral 49 denotes a forward and backward operation by receiving the rotational force of the step motor 41.

More specifically, the rotation shaft of the step motor 41 is inserted into the main body housing 44, and drive gears 42 are mounted on the rotation shaft inserted therein, and both sides of the driving gear 42 are centered. The valve bodies 48 and 49 are provided.

Each of the valve bodies 48 and 49 has a rack gear shape in which teeth 48a and 49a are formed at predetermined lengths on one side thereof. Particularly, teeth 48a and 49a of one side in the body housing 44 are formed. It is mounted in mesh with the drive gear 42.

The valve bodies 48 and 49 are configured to move back and forth along the guide passage 47 formed in the main body housing 44 by gear engagement when the drive gear 42 rotates, and in particular, each guide passage 47. ) Is formed through the corresponding internal passages 45 and 46, and when the valve bodies 48 and 49 are advanced, part of the branch passages 45a and 46a is formed by the valve bodies 48 and 49. The shutoff flow passages 45a and 46a are opened when they are reversed.

Particularly, in the flow control valve 43, some of the branch passages 45a and 46a constituting the corresponding passages 45 and 46 are selectively blocked according to the forward and backward movement positions of the valve bodies 48 and 49. As the flow rate of each internal flow passage can be adjusted, the number of branch flow paths opened from the corresponding internal flow path varies according to the moved position of each valve body, and thus the amount of oil flowing through the entire internal flow path varies. By controlling the position of the valve body, the amount of oil passing through the main body housing of the valve can be controlled.

That is, FIG. 2A shows a state in which the valve bodies 48 and 49 are most retracted. In this case, since each of the internal passages 45 and 46 are opened, the maximum flow rate can flow.

In addition, FIG. 2B shows a state in which the valve bodies 48 and 49 are partially advanced by rotating the step motor 41 and the drive gear 42. In this case, the valve bodies 48 and 49 are branched passages 45a, 46a) The amount of oil flowing through each of the internal passages 45 and 46 is reduced compared to the state of FIG. 2A while one is blocked.

In addition, FIG. 2C shows a state in which the valve bodies 48 and 49 are further advanced by rotating the step motor 41 and the drive gear 42, in which case the valve bodies 48 and 49 are divided into two branches. As the flow paths 45a and 46a are blocked, the amount of oil flowing through each of the internal flow paths 45 and 46 becomes smaller than that in FIG. 2B.

In the present invention, the rotation amount of the step motor 41 and the drive gear 42 is stepwise controlled by the output signal of the controller 30, and the valve body 48, 49 is controlled while the rotation amount of the drive gear 42 is stepwise controlled. The amount of movement of the gas is also controlled step by step, so that the flow control valve 43 made as described above can control the flow rate of the oil moving along the oil hoses 3a and 3b stepwise by the control state of the step motor 41. It becomes possible.

On the other hand, the controller 30 is connected to receive the output signal of the torque sensor 10 and the road surface sensor 20, and receives a signal for controlling the step motor 41 based on the output signal of each sensor Output

When the controller 30 determines that the driver operates the steering wheel from the output signal of the torque sensor 10, that is, when it is determined that there is a steering torque according to the driver's steering wheel manipulation, the controller 30 displays the flow rate as shown in FIG. 2A. A step motor control signal for completely opening the control valve 43 is output, so that steering force is transmitted at the maximum flow rate of the oil.

On the other hand, when it is determined that the driver does not operate the steering wheel from the output signal of the torque sensor 10, that is, when it is determined that there is no steering torque, the flow control valve based on the output signal of the road surface sensor 20 ( The reaction force is controlled by controlling the opening degree of 43) step by step according to the road condition.

For example, since the reaction force is small when driving on a general road, a step motor control signal for maximally opening the flow path in the flow regulating valve 43 is output as shown in FIG. 2A. Allow feedback.

On the other hand, when driving on a rough road, the step motor 41 is controlled according to the roughness of the road surface detected by the road surface sensor 20 so that the flow path in the flow regulating valve 43 is preset in steps as shown in FIGS. 2B and 2C. Open as much.

That is, when driving on a rough road surface, as shown in FIG. 2B, the step motor 41 and the valve bodies 48 and 49 are controlled to further reduce the flow path in the flow control valve 43, and when driving on a very rough road surface. As described above, the step motor and the valve body are controlled to further reduce the flow path in the flow regulating valve, so that the magnitude of the feedback force fed back is controlled to be about the same as when driving on a general road.

In this way, the flow rate through the valve is controlled by controlling the rotational amount of the step motor, the driving gear, and the valve body movement step by step depending on the roughness of the road surface. Control as constant as possible.

In the present invention, it is possible to control the step motor in accordance with the conditions of the road, so that the mode can be controlled in several stages, thereby controlling the magnitude of feedback feedback to an optimal state, and allowing the driver to obtain a more comfortable operation feeling and appropriate feedback reaction force. can do.

As described above, according to the feedback reaction force control system of the steering apparatus according to the present invention, there is provided a flow rate control means capable of controlling the oil flow step by step in the oil hose, the torque sensor for the steering torque and the running of the controller By configuring the flow control means to properly control the flow control means based on the signal input from the road surface detection sensor for detecting the road surface condition of the road, to control the oil flow of the oil hose so that the most constant reaction force can be transmitted when driving on the road and rough road This has the effect of improving the operation of the steering wheel.

Claims (4)

A system for controlling reaction forces fed back to a driver via a steering wheel in a power steering device, A torque sensor for detecting steering torque; A road surface detection sensor for detecting a road surface state of a driving road; A flow control means configured to control the flow rate of the oil moving along the two oil hoses connected between the control valve of the steering apparatus and the gearbox at each stage; A controller for outputting a signal for controlling the flow control means based on a signal input from the torque sensor and the road surface detection sensor; Feedback reaction force control system of the steering apparatus comprising a. The method according to claim 1, The flow rate control means comprises a step motor driven by the output signal of the controller and a flow rate control valve installed on the two oil hoses to perform stepwise flow control by the drive control of the step motor Feedback reaction force control system of the steering apparatus. The method according to claim 2, The flow control valve, A body housing having a respective inner flow path formed for each of the oil hoses such that oil flowing along the two oil hoses passes through the inner flow path; A drive gear installed on a rotation shaft of the step motor inserted into the main body housing; One for each of the internal passages is installed to move forward and backward along the guide passages formed to penetrate the respective internal passages, and meshes with the drive gears through teeth of one side to move forward and backward in accordance with the amount of rotation of the drive gear in the form of a rack. A valve body adapted to be controlled in position and to block a selected portion of the internal flow path according to the movement position; Feedback reaction force control system of the steering apparatus characterized in that comprises a. The method according to claim 3, Each of the internal flow passages may include a plurality of branch flow passages, and some of the branch flow passages constituting the internal flow passages may be selectively blocked according to the forward and backward movement positions of the valve bodies, and thus the flow rate of each internal flow passage may be adjusted. Feedback reaction force control system, characterized in that the steering device.

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