KR101124775B1 - Method for Detecting White Noise of Torque Signal and Electronic Control Unit Therefor - Google Patents

Abstract

The present invention relates to a method for detecting white noise of a torque signal and an electronic control unit (ECU) therefor.

The present invention relates to an electronic control unit (ECU) which is connected to a torque sensor and a motor and detects white noise introduced into a torque signal received from a torque sensor. Compares the current value with the current value to determine whether the torque signal is increased or decreased, and if both the increase and decrease of the torque signal occur during a specific time, the white noise of the torque signal is characterized in that the white noise is generated in the torque signal. An electronic controller for detection is provided.

According to the present invention, the electronic control device can accurately detect the white noise flowing into the torque signal, and stops the generation of the distorted steering assistance force generated by the white noise introduced into the torque signal, thereby reducing the driver's safety. More considerations are possible.

Electronic Control, Torque, Sensor, White, Noise, Distortion, Detection, Steering, Assist

Description

Method for detecting white noise of torque signal and electronic control device therefor {Method for Detecting White Noise of Torque Signal and Electronic Control Unit Therefor}

The present invention relates to a method for detecting white noise of a torque signal and an electronic control unit (ECU) therefor. More specifically, when the electronic control device of the vehicle controls the motor according to the torque signal received from the torque sensor to provide steering assistance, the torque signal is increased by comparing the previous value and the current value of the torque signal at regular intervals. Alternatively, if the increase or decrease of the torque signal occurs during a certain time period, the controller recognizes that the white noise has occurred. A method of stopping control of a motor for steering assist force generation and an electronic control device therefor.

Normally, a hydraulic power steering device (Hydraulic Power Steering Apparatus) using the hydraulic pressure of a hydraulic pump is used as a steering device of an automobile, but since the 1990s, an electric power steering device (EPS: Electronic Power Steering Apparatus) has gradually become more common. have. Conventional hydraulic power steering system consumes energy regardless of whether the steering wheel is rotated by the hydraulic pump driven by the engine, which is a power source that assists the power, whereas the electric steering system generates torque by rotating the steering wheel. A motor driven by electrical energy then provides steering assistance. Therefore, when the electric steering device is used, energy efficiency can be improved compared to the hydraulic power steering device.

In general, the electric steering device uses the generated torque, vehicle speed, steering angle, etc. to grasp the driver's steering intention and the driving condition of the vehicle, and generates steering assistance by comprehensively considering the steering column, rack bar, rack and pinion, etc. This makes it easier for the driver to drive and makes the car run safer.

The electric steering device is composed of many mechanical parts and electronic parts, but the most essential configuration is the electronic control device. The electronic controller analyzes the electric signals transmitted from various external sensors to grasp the driver's steering intention and the driving situation of the car, and uses the various logic to control the motor. Device.

In particular, the electronic controller is connected to a torque sensor that detects steering torque transmitted from the steering wheel when the driver rotates the steering wheel, converts it into a torque signal corresponding to an electrical signal, and transmits the steering torque using the torque signal. The steering assist force is generated by detecting and controlling the motor accordingly, which makes it easier for the driver to steer the vehicle.

On the other hand, the electric steering device is composed of a variety of electronic components, such as a torque sensor, electrical and electronically operated as described above, and an electronic control device for transmitting and receiving electrical signals and a motor for generating power using electric power. In this case, white noise may be generated in an electrical signal such as a torque signal due to such power, operation of electronic components, electromagnetic waves, and the like.

In particular, when white noise is introduced into the torque signal of the electric steering system, the steering will of the driver determined by the electronic controller is severely distorted, and the steering of the vehicle is severely distorted, which may seriously affect the driver's safety. have.

As described above, when white noise is introduced by detecting an unexpected white noise flowing into the torque signal, the electronic controller stops controlling the motor to prevent steering control by distortion of the steering torque. Should be promoted.

On the other hand, the conventional electronic controller detects an error of the torque signal by using the difference of the housewife signal of the torque signal. That is, the conventional electronic controller continuously checks the difference between the main signal and the sub-signal of the torque signal transmitted from the torque sensor, the over or under of the main signal of the torque signal, and the over or under of the auxiliary signal of the torque signal. If the difference between the call and sub-signals, the over or under of the main signal of the torque signal and the over or under of the auxiliary signal of the torque signal last for, for example, 32 ms, it is determined that an error occurs in the torque sensor.

However, when white noise is introduced into the torque signal, an excessive or underestimated signal waveform of the torque signal is changed at least in 1 ms units, which is a period during which the electronic controller controls the motor, resulting in irregular frequency and amplitude of the noise. As a conventional white noise detection method using the difference of the housewife signal of the torque signal, there is a problem that the white noise cannot be detected.

Therefore, there is a need for the development of a technology that can accurately detect the white noise flowing into the torque signal and accordingly cause the electronic control device to stop the steering control, thereby enhancing the safety of the driver.

In order to solve the above problems, the present invention, when providing a steering assistance by controlling the motor in accordance with the torque signal received from the torque sensor in the vehicle electronic control device, the previous value and the current value of the torque signal at regular intervals Compare and check whether the torque signal increases or decreases, and if both increase and decrease of the torque signal occur for a certain time, recognize that white noise has occurred, and if the white noise is detected more than the reference number of times for a certain time, the steering torque is serious. It is an object of the present invention to provide a method for stopping the control of the motor for steering assist force generation and determining an electronic control device therefor.

In order to achieve the above object, the present invention is connected to the torque sensor and the motor, the electronic control unit (ECU: Electronic Control Unit) for detecting the white noise (White Noise) flowing into the torque signal received from the torque sensor When the torque signal increases or decreases for a certain period of time, it compares the previous value with the current value of the torque signal at regular intervals. An electronic control apparatus for detecting white noise of a torque signal is provided.

In addition, according to another object of the present invention, in the electronic control unit (ECU) connected to the torque sensor and the motor, a method for detecting white noise introduced into the torque signal received from the torque sensor (A) comparing the previous value and the current value of the torque signal at a predetermined period to check whether the torque signal is increased or decreased, and recording the number of increase or decrease of the torque signal; And (b) recognizing that the white noise has occurred in the torque signal when the number of increase and the number of decreases is at least one time or more during a specific time period.

As described above, according to the present invention, the electronic controller can accurately detect the white noise flowing into the torque signal, and stop the generation of the distorted steering assistance force generated by the white noise introduced into the torque signal. The safety of the driver can be further considered.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a block diagram schematically illustrating an electronic configuration of a white noise detection system of a torque signal according to an exemplary embodiment of the present invention.

The white noise detection system of the torque signal according to the preferred embodiment of the present invention includes a torque sensor 110, an electronic control unit 120, and a motor 130.

The torque sensor 110 detects steering torque input to the steering wheel of the vehicle, generates a torque signal which is an electrical signal proportional to the steering torque, and transmits the generated torque signal to the electronic controller 120.

The electronic controller 120 is connected to various sensors such as the torque sensor 110 and the like to detect the driving situation, and the motor 130, and analyzes an electric signal input from the torque sensor 110 to drive the driving situation by the driver. Senses the output current for controlling the driving torque of the motor 130 to be suitable for the driving situation.

The electronic control apparatus 120 according to a preferred embodiment of the present invention checks whether the torque signal is increased or decreased by comparing the previous value with the current value of the torque signal transmitted from the torque sensor 110 at regular intervals, and determines the torque signal. If both increases and decreases during a certain time, it is recognized that white noise has occurred in the torque signal.

In addition, the electronic control apparatus 120 according to the preferred embodiment of the present invention stops the control of the motor 130 when white noise occurs in the torque signal more than a reference number of times for a predetermined time.

In addition, when the absolute value of the difference between the present value and the previous value of the torque signal is greater than or equal to the reference value, the electronic control apparatus 120 according to the preferred embodiment of the present invention determines the increase or decrease of the torque signal.

The motor 130 is connected to the electronic controller 120, and when a supply current is supplied from the electronic controller 120, generates a driving torque corresponding to the supply current to generate steering assistance.

2 is a flowchart illustrating a method of detecting white noise of a torque signal according to an exemplary embodiment of the present invention.

When the driver operates the steering wheel of the vehicle, the steering torque transmitted to the steering wheel is detected by the torque sensor 110, and the torque sensor 110 generates a torque signal, which is an electrical signal corresponding to the detected steering torque, to generate an electronic signal. Transfer to the control device 120.

The electronic control apparatus 120 that receives the torque signal compares the previous value and the current value of the torque signal at predetermined intervals (S310) and checks whether the torque signal is increased or decreased (S320).

That is, when the torque signal is transmitted from the torque sensor 110, the electronic controller 120 converts the torque signal, which is an analog signal, into a digital signal to continuously store the digital value, and a predetermined period (for example, Every 1 ms), the previous value, the digital value of the previously stored torque signal, is compared with the current value, the digital value of the currently stored torque signal.

In addition, the electronic controller 120 compares the previous value and the present value of the torque signal to determine whether the torque signal is increased or decreased, and increases only when the absolute value of the difference between the current value and the previous value of the torque signal is greater than or equal to the reference value. Or as a decrease.

For example, if the previous value of the torque signal is 16 digits and the current value of the torque signal is 32 digits, the difference between the current value and the previous value of the torque signal is +16 digits and the absolute value is 16 digits. . At this time, when the reference value is 10 digits, since the absolute value of the difference between the present value and the previous value of the torque signal is greater than or equal to the reference value, the electronic controller 120 recognizes that the torque signal is increased or decreased.

As such, the decision to increase or decrease only when the absolute value of the difference between the present value and the previous value of the torque signal is greater than or equal to the reference value is to ignore the case where noise having a small amplitude is introduced into the torque signal. In other words, when a small amount of noise is introduced into the torque signal, since the distortion of the steering torque is not large, there is little risk of affecting the driver's safety. Therefore, the distortion of the torque signal due to the small noise may be ignored.

Here, whether the difference between the present value and the previous value of the torque signal has a positive value or a negative value determines whether the torque signal is increased or decreased. That is, when the difference between the present value and the previous value of the torque signal has a positive value, the torque signal is recognized as being increased. When the difference between the present value and the previous value of the torque signal has a negative value, the torque signal is decreased. It is recognized.

On the other hand, the electronic controller 120 checks whether there is an increase or decrease in the torque signal in step S320, and if there is no increase or decrease, continuously compares the present value with the previous value of the torque signal as in step S310, If there is an increase or decrease, the number of increase or decrease is increased by +1 (S330). That is, the electronic controller 120 stores the number of times so that the number of increase and decrease of the torque signal can be calculated, and increases and stores the number of times the increase or decrease of the torque signal.

As such, the electronic control apparatus 120 that checks the increase or decrease of the torque signal and calculates the increase or decrease number of times increases the increase and decrease times during a specific time (S340). 5 ms) during the increase or decrease is confirmed whether at least one or more occurrences (S350), if the increase or decrease is not more than one time, continue to check the number of increases and decreases, increase When the number of times and the number of times of reduction occur at least once, the number of occurrences of noise is increased by + 1 (S360).

That is, the electronic controller 120 determines that the white noise has occurred only when the number of increases and decreases occurs at least once during a specific time, and calculates the number of noise occurrences to determine the number of times the white noise has occurred. Save it. In this case, the electronic controller 120 does not calculate the number of occurrences of noise when the number of times of increase or decrease is not one or more times. This is to recognize that the white noise occurs only when the torque signal increases or decreases by more than the reference value for a certain time, thereby generating a constant amplitude noise.

The electronic control apparatus 120 that has calculated the number of noise occurrences as shown in step S360 checks the number of noise occurrences for a predetermined time (S370), checks whether the number of noise occurrences is greater than or equal to the reference number of times (S380), and generates the number of noises. If is not equal to or more than the reference number of times and proceeds to step S310 again compares the current value and the previous value of the torque signal every predetermined period, and if the number of occurrences of noise is greater than or equal to the reference number of the motor 130 for generating the steering assistance force The control is stopped (S390).

That is, when the number of occurrences of the noise is greater than or equal to the predetermined reference number of times for a predetermined time, the electronic controller 120 determines that the white noise introduced into the torque signal seriously distorts the steering torque to ensure the driver's safe driving. By stopping controlling the motor 130, the generation of the steering assistance force is stopped. Therefore, from this point on, the electric steering is stopped and the vehicle is driven only by the driver's manual operation.

Here, as described above, the electronic controller 120 may completely stop the control of the motor 130, but stops controlling the motor 130 only for a predetermined time, thereby distorting the torque signal by white noise. It may be to control the motor 130 again when this is not serious.

The reference number for determining whether the electronic controller 120 stops the control of the motor 130 may be arbitrarily determined as two or more times or three or more times, but is not limited thereto. It may be determined in consideration of the characteristics, the hardware characteristics of the electronic control device 120, the electronic characteristics of various electronic sensors, and the like.

As described above, when white noise is introduced into the torque signal generated from the torque sensor, the direction of the torque signal may be changed at least every 1 ms (control cycle of the motor 130 of the electronic controller 120) ( That is, since the torque signal changes rapidly to a positive value or a negative value at least every 1 ms), when the electronic controller 120 controls the motor 130 according to this unstable torque signal, it is generated by the motor 130. The steering assist force may cause the steering wheel to vibrate violently from side to side regardless of the driver's will. In addition, as the amplitude of the white noise increases, the assisting power of the motor 130 according to the control of the electronic controller 120 also increases, which may cause vibrations that cannot be controlled by the driver's force.

Therefore, in a preferred embodiment of the present invention, by detecting whether the white noise is introduced into the torque signal with an accurate reference, when the white noise is excessively detected, it is possible to improve driver safety by stopping the generation of steering assistance. .

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a block diagram schematically illustrating an electronic configuration of a white noise detection system of a torque signal according to an exemplary embodiment of the present invention;

2 is a flowchart illustrating a method of detecting white noise of a torque signal according to an exemplary embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

110: torque sensor 120: electronic control device

130: motor

Claims (5)

In an electronic control unit (ECU) which is connected to a torque sensor and a motor and detects white noise introduced into a torque signal received from the torque sensor, By comparing the previous value and the present value of the torque signal at regular intervals, it is determined whether the torque signal is increased or decreased, and when both the increase and the decrease of the torque signal occur for a specific time, the white noise is generated in the torque signal. Electronic control device for detecting the white noise of the torque signal, characterized in that recognized as. The method of claim 1, wherein the electronic control device, And the control of the motor is stopped when the white noise occurs more than a reference number of times for a predetermined time. The method of claim 1, wherein the electronic control device, And when the absolute value of the difference between the present value and the previous value is equal to or greater than a reference value, determine the increase or decrease of the torque signal. In an electronic control unit (ECU) connected to a torque sensor and a motor, a method of detecting white noise introduced into a torque signal received from the torque sensor, (a) comparing the previous value and the present value of the torque signal at a predetermined period to check whether the torque signal is increased or decreased, and recording the number of increase or decrease of the torque signal; And (b) recognizing that the white noise has occurred in the torque signal when the number of increase and the number of decreases are at least one or more times for a specific time; White noise detection method of the torque signal comprising a. The method of claim 4, wherein the white noise detection method, After step (b), (c) recording the number of noise occurrences each time the white noise occurs; And (d) stopping control of the motor if the number of occurrences of noise is equal to or greater than a reference number within a predetermined time; White noise detection method of the torque signal, characterized in that it further comprises.

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