KR101558704B1 - Control apparatus for MDPS having variable friction and controlling method for MDPS using of the same - Google Patents
Control apparatus for MDPS having variable friction and controlling method for MDPS using of the same Download PDFInfo
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- KR101558704B1 KR101558704B1 KR1020130162019A KR20130162019A KR101558704B1 KR 101558704 B1 KR101558704 B1 KR 101558704B1 KR 1020130162019 A KR1020130162019 A KR 1020130162019A KR 20130162019 A KR20130162019 A KR 20130162019A KR 101558704 B1 KR101558704 B1 KR 101558704B1
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Abstract
The present invention relates to a variable frictional force control device capable of monitoring the friction of a tire measured at the time of traveling of a vehicle and controlling the MDPS in consideration of friction that decreases as the travel distance of the vehicle increases, And an MDPS control method using the same.
The variable friction MDPS control apparatus according to the present invention includes an external signal processing unit 11 for receiving signals measured outside the MDPS according to the running of the vehicle, A friction value decrease monitoring unit 13 that receives signals output from the external signal processing unit 11 and the internal signal processing unit 12 and monitors the friction value of the MDPS in real time based on the signals output from the external signal processing unit 11 and the internal signal processing unit 12, A compensation determination unit 14 for determining whether compensation is required for the friction value of the MDPS monitored by the value decrease monitoring unit 13 and a compensation for calculating a compensation amount for the friction value of the MDPS in the compensation determination unit 14, Amount calculating unit 15, and controls the MDPS by using it.
Description
[0001] The present invention relates to an MDPS of a vehicle, and more particularly, to a method of controlling an MDPS of a vehicle by monitoring friction of a tire measured at the time of running of the vehicle and controlling the MDPS in consideration of friction that decreases as the travel distance of the vehicle increases, The present invention relates to a variable friction MDPS control device and a MDPS control method using the variable friction MDPS control device.
2. Description of the Related Art [0002] An electric steering system capable of assisting a steering operation of a driver is applied to a vehicle. In recent years, a motor driven power steering system (MDPS) has been widely applied to assist a driver in steering operation using a motor.
In this MDPS, as the cumulative travel distance of the vehicle increases, the friction of the steering system including the MDPS gradually decreases compared with the initial value. Therefore, as the mileage of the vehicle accumulates, the driver feels that the steering wheel becomes lighter than the initial value of the vehicle.
As described above, as the cumulative travel distance of the vehicle increases, the friction of the MDPS decreases and the operation feeling that the driver feels when operating the steering wheel gradually decreases. However, in the MDPS control according to the related art, The handle becomes gradually lighter as the cumulative travel distance increases compared to when the cumulative travel distance is low.
For example, as shown in FIG. 1, the friction value of the MDPS tends to increase at an initial steering angle of the vehicle according to the steering angle. On the other hand, as shown in FIG. 2, as the travel distance of the vehicle increases, there occurs a difference between the initial friction value A and the actually measured friction value B. 2 is an enlarged graph of the section of FIG. 1, which initially has a friction value as shown by 'A', but the friction value measured in the actual MDPS is 'B' As shown in FIG. Accordingly, the friction value of 'A-B' decreases as the vehicle travel distance increases. Since the MDPS is controlled as in the initial stage despite the accumulation of the travel distance, the steering wheel becomes lighter as the vehicle speed increases.
The following prior art document relates to an apparatus and method for selecting a steering force of a vehicle, and discloses a technique for allowing a driver to select a steering force mode of a steering apparatus to feel a desired steering feeling.
SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an improved MDPS control method and a system for controlling the MDPS by reducing the friction value of the MDPS, There is provided a variable friction MDPS control device for allowing a driver to feel a certain amount of weight in operating a steering wheel and a control method of the MDPS using the same.
According to an aspect of the present invention, there is provided a variable friction MDPS controller comprising: an external signal processor for receiving a signal measured outside the MDPS in accordance with the running of the vehicle; A friction value decrease monitoring unit that receives a signal output from the external signal processing unit and the internal signal processing unit and monitors a friction value of the MDPS in real time based on the signal output from the friction value decrease monitoring unit, A compensation determination unit that determines whether compensation is required for the friction value of the MDPS; and a compensation amount calculation unit that calculates a compensation amount for the friction value of the MDPS in the compensation determination unit.
The signal input to the external signal processing unit is at least one of a navigation signal, a tire friction value, a vehicle speed, and a wiper operation signal.
The signal input to the internal signal processing unit is at least one of a Q-axis current applied to the motor of the MDPS, a steering angle of the steering wheel, a steering angle of the steering wheel, and a column torque of the column connected to the steering wheel.
Wherein the compensation amount calculation unit calculates the compensation amount from the compensation current map stored with the compensation current value supplied for controlling the MDPS according to the vehicle speed and the steering angle according to the reduced MDPS friction value.
According to another aspect of the present invention, there is provided a method of controlling an MDPS, the method comprising: a driving signal input step of inputting a signal according to driving of a vehicle; a step of determining a driving signal input in the driving signal input step, A control compensation determination step of determining whether to compensate a current supplied to the MDPS by comparing a reduction amount of the friction value of the MDPS with a reduction amount of the compensation determination friction value set in advance, And a compensation amount calculation step of calculating a compensation amount of the current supplied to the MDPS if the reduction amount is larger than the predetermined compensation judgment friction value reduction amount.
In the driving signal input step, a navigation signal, a tire friction value, a vehicle speed, a wiper operating signal, a Q-axis current applied to a motor of the MDPS, a steering angle of a steering wheel, a steering angle speed of a steering wheel, At least one of which is input.
The method further includes a wiper operation determining step of determining whether the wiper is operated after the driving signal inputting step. When the wiper is not operated, the friction value decreasing monitoring step is performed, and when the wiper is operated, the monitoring is terminated.
The compensation amount calculating step calculates the compensation amount from the compensation current map stored with the compensating current value supplied for controlling the MDPS according to the vehicle speed and the steering angle according to the reduced MDPS friction value.
According to the variable friction MDPS control device and the MDPS control method using the variable friction MDPS control device according to the present invention, as the distance traveled by the vehicle increases, the frictional value of the MDPS measured through the tire is monitored, The assist torque generated from the MDPS is reduced, so that even if the driving distance of the vehicle is accumulated, the driver can feel a certain weight in operating the steering wheel.
BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a graph showing the MDPS friction value per vehicle speed in the initial state. Fig.
FIG. 2 is a graph showing an initial friction value and a real-time friction value of the MDPS in a state in which the travel distance is accumulated.
3 is a block diagram illustrating an MDPS controller according to the present invention;
4 is a block diagram illustrating an MDPS control method in accordance with the present invention.
Hereinafter, a variable friction MDPS controller according to the present invention will be described in detail with reference to the accompanying drawings.
The variable friction MDPS control apparatus according to the present invention includes an external
The external
The external
The navigation information receives the coordinate information of the road currently in operation and is used as basic information through the road information on the same route.
The tire friction value is the friction value between the tire and the road surface, which is measured from the torque value measured from the torque sensor attached to the column mounted on the side of the gearbox in the MDPS, or measured by the frictional force compensating current input from the tire. The mechanical friction value of the MDPS is expressed by a friction value between the tire and the road surface. Since the change of the friction value of the MDPS including the MDPS is obtained from the tire friction value, the tire friction value is also input.
In addition, since the MDPS current needs to be compensated in consideration of the current vehicle speed, the vehicle speed information is also input.
The wiper operating signal is input to determine whether the friction value of the MDPS varies depending on the road surface condition. In other words, the friction value of the MDPS is finally measured as the friction value between the road surface and the tire reflecting the various mechanical friction values of the article system. In the case of snowfall or rainfall, the road surface is wet, Friction is reduced much more than usual. Therefore, at the time of snowfall and rainfall, compensation control of the MDPS due to the decrease of the friction value is meaningless, so it is judged indirectly whether the road surface is wet by using the wiper signal.
Values applied to the MDPS are input to the internal
The q-axis current is the component of the current applied by the motor, and the q-axis is the axis of the current that generates the vector control torque at right angles to the d-axis where the magnetic flux is generated. Therefore, the current applied to the motor, especially the q-axis current, is input.
Steering angle and steering angle velocity of the steering wheel are measured and inputted from the steering angle sensor provided on the steering wheel.
The column torque is a torque acting on the column connected to the steering wheel by rotating the steering wheel to steer the driver. In proportion thereto, the required assist torque is input to the MDPS, and the assist torque is exerted from the MDPS. In the MDPS, column torque and required assist torque are also important factors for control, so they are input to the
The friction value reduction friction value
The
The compensation
Here, the compensation amount is calculated by an input expression or determined by a map stored in advance. For example, as shown in FIG. 3, the compensation current value supplied to the MDPS from a plurality of maps previously stored in the compensation amount according to the vehicle speed and the steering angle, that is, the current supplied to the MDPS The value can be calculated.
As described above, as the cumulative running distance of the vehicle increases, the reduced compensating current value is supplied to the MDPS as compared with the case where the cumulative running distance of the vehicle is small, so that the MDPS can be exerted from the MDPS in proportion to the driving force of the driver, As a result, the driver can have a constant sense of steering even when the cumulative running distance of the vehicle is increased.
Hereinafter, a variable friction MDPS control method according to the present invention will be described.
The MDPS control method according to the present invention includes a driving signal input step (S120) for inputting information according to running of a vehicle, and a driving signal input step (S120) for determining a friction value of the reduced MDPS A control compensation determination step (S140) of comparing a friction value reduction amount of the MDPS with a predetermined friction value reduction amount to determine whether to compensate a current supplied to the MDPS, (S150) for calculating a compensation amount of a current supplied to the MDPS when the amount of decrease in friction value of the MDPS is larger than a predetermined amount of friction reduction.
The driving signal input step S120 is a basic information for calculating a control value for controlling the MDPS according to a friction value of a reduced MDPS by receiving various signals according to running of the vehicle, Is used. The information input in the driving signal input step S120 may be a signal input from the inside of the MDPS and a signal input from the outside of the MDPS. For example, the navigation signal, the vehicle speed, the tire friction value, the wiper operating signal and the like are external signals, and the q-axis current, the steering angle of the steering wheel, the steering angle velocity of the steering wheel and the column torque of the column connected to the steering wheel are internal signals .
The wiper operation determination step (S120) indirectly determines the state of the road surface based on the wiper input signal input in the driving signal input step (S120). If the snow surface is wet during snowfall or rainfall, the friction value becomes very low and the MDPS control method according to the present invention can not be implemented. Therefore, it is determined whether or not the wiper is operated by the wiper input signal. Only when the wiper is not operated, the following procedure is performed. Otherwise, the process is terminated.
The friction value decrease monitoring step S130 monitors the reduction amount of the friction value of the MDPS in real time using the signal input in the driving signal input step S120.
In the control compensation determination step (S140), the friction value of the MDPS measured in the friction value decrease monitoring step (S130) is compared with a predetermined compensation determination friction value reduction amount to determine whether to perform the control compensation. If the amount of reduction of the friction value of the MDPS measured through monitoring is greater than the preset compensation value, the compensation of the MDPS supply current is compensated, otherwise the compensation of the MDPS supply current is not performed.
In the compensation amount calculation step (S150), when compensation of the current supplied to the MDPS is required in the control compensation determination step (S140), the compensation amount is calculated. If the friction value of the MDPS is larger than the preset compensation value, the assist torque output from the MDPS must be reduced to allow the driver to feel a certain sense of steering even if the friction is reduced. Thereby compensating the supplied current.
On the other hand, the compensation amount of the current supplied to the MPDS can be stored in the form of an equation or in the form of a map. For example, as shown in FIG. 3, a plurality of maps are created in accordance with a decrease in friction value, and compensation maps of the currents supplied to the MDPS are stored in the respective maps created differently according to the decrease in friction value, according to the vehicle speed and the steering angle .
Therefore, by outputting the compensation value of the current supplied to the MDPS to the MDPS according to the degree of decrease of the friction value, the assist torque outputted from the MDPS is reduced by the reduced friction value, so that the driver has the same sense of steering, Even if the distance increases, the steering wheel does not become lighter and has the same feeling as the first.
11: external signal processing unit 12: internal signal processing unit
13: friction value decrease monitoring part 14: compensation judgment part
15: compensation amount calculation unit S110: traveling signal input step
S120: Wiper operation determination step S130: Friction value reduction monitoring step
S140: Control compensation determination step S150: Compensation amount calculation step
Claims (9)
An internal signal processing unit for inputting a Q-axis current, a steering angle of a steering wheel, a steering angle of a steering wheel, and a column torque signal of a column connected to a steering wheel according to the running of the vehicle,
A friction value decrease monitoring unit that receives a signal output from the external signal processing unit and the internal signal processing unit and monitors a friction value of the MDPS in real time,
Wherein the frictional value reduction monitoring unit monitors the frictional value reduction monitoring unit to determine whether compensation is necessary to compensate for the decreased frictional value of the MDPS as the travel distance of the vehicle increases with respect to the frictional value of the reduced MDPS as the travel distance of the vehicle increases A determination unit,
And a compensation amount calculation unit for calculating a compensation amount for the friction value of the MDPS in the compensation determination unit.
Wherein the compensation amount calculation unit calculates a compensation amount from a compensation current map in which a compensation current value supplied for controlling the MDPS is stored according to a vehicle speed and a steering angle according to a reduced MDPS friction value.
A friction value reduction monitoring step of monitoring a friction value of the reduced MDPS in real time by determining a traveling signal inputted in the traveling signal input step;
The friction amount reduction amount of the reduced MDPS is compared with the predetermined compensation determination friction amount reduction amount as the travel distance of the vehicle increases, and the current supplied to the MDPS is corrected so that the decrease amount of the friction value of the reduced MDPS increases as the travel distance of the vehicle increases A control compensation judgment step of judging whether or not to compensate,
And a compensation amount calculation step of calculating a compensation amount of a current supplied to the MDPS when the friction value reduction amount of the MDPS is larger than the predetermined compensation judgment friction value reduction amount,
Further comprising a wiper operation judging step of judging whether or not the wiper is operated after the execution of the traveling signal input step,
And terminating the operation when the wiper operates in the wiper operation determination step.
Wherein in the wiper operation determination step, the friction value decrease monitoring step is performed when the wiper is not operated.
Wherein the compensation amount calculation step calculates the compensation amount from the compensation current map in which the compensation current value supplied for controlling the MDPS is stored according to the vehicle speed and the steering angle according to the reduced MDPS friction value, .
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| Application Number | Priority Date | Filing Date | Title |
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| KR1020130162019A KR101558704B1 (en) | 2013-12-24 | 2013-12-24 | Control apparatus for MDPS having variable friction and controlling method for MDPS using of the same |
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| KR1020130162019A KR101558704B1 (en) | 2013-12-24 | 2013-12-24 | Control apparatus for MDPS having variable friction and controlling method for MDPS using of the same |
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| KR20150074346A KR20150074346A (en) | 2015-07-02 |
| KR101558704B1 true KR101558704B1 (en) | 2015-10-19 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2936706B2 (en) * | 1990-11-27 | 1999-08-23 | スズキ株式会社 | Electric power steering device |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2936706B2 (en) * | 1990-11-27 | 1999-08-23 | スズキ株式会社 | Electric power steering device |
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