KR102253268B1 - 래크 힘을 결정하기 위한 방법과 시스템, 작업 장치를 위한 작동 보조 방법, 작동 보조 장치 및 작업 장치 - Google Patents

래크 힘을 결정하기 위한 방법과 시스템, 작업 장치를 위한 작동 보조 방법, 작동 보조 장치 및 작업 장치 Download PDF

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Publication number
KR102253268B1
KR102253268B1 KR1020180161052A KR20180161052A KR102253268B1 KR 102253268 B1 KR102253268 B1 KR 102253268B1 KR 1020180161052 A KR1020180161052 A KR 1020180161052A KR 20180161052 A KR20180161052 A KR 20180161052A KR 102253268 B1 KR102253268 B1 KR 102253268B1
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KR
South Korea
Prior art keywords
rack force
value
zst
force
rack
Prior art date
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KR1020180161052A
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English (en)
Korean (ko)
Other versions
KR20190071616A (ko
Inventor
요하네스 그라우
크리슈토퍼 크라이스
Original Assignee
폭스바겐 악티엔게젤샤프트
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Application filed by 폭스바겐 악티엔게젤샤프트 filed Critical 폭스바겐 악티엔게젤샤프트
Publication of KR20190071616A publication Critical patent/KR20190071616A/ko
Application granted granted Critical
Publication of KR102253268B1 publication Critical patent/KR102253268B1/ko

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    • 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
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/12—Steering gears mechanical of rack-and-pinion type
    • 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
    • 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
    • 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
    • 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
    • B62D6/003—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 in order to control vehicle yaw movement, i.e. around a vertical axis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/06—Steering behaviour; Rolling behaviour

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
KR1020180161052A 2017-12-14 2018-12-13 래크 힘을 결정하기 위한 방법과 시스템, 작업 장치를 위한 작동 보조 방법, 작동 보조 장치 및 작업 장치 KR102253268B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017222776.1 2017-12-14
DE102017222776.1A DE102017222776A1 (de) 2017-12-14 2017-12-14 Verfahren und System zum Bestimmen einer Zahnstangenkraft, Betriebsassistenzverfahren für eine Arbeitsvorrichtung, Betriebsassistenzvorrichtung und Arbeitsvorrichtung

Publications (2)

Publication Number Publication Date
KR20190071616A KR20190071616A (ko) 2019-06-24
KR102253268B1 true KR102253268B1 (ko) 2021-05-20

Family

ID=66674702

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020180161052A KR102253268B1 (ko) 2017-12-14 2018-12-13 래크 힘을 결정하기 위한 방법과 시스템, 작업 장치를 위한 작동 보조 방법, 작동 보조 장치 및 작업 장치

Country Status (4)

Country Link
JP (1) JP6826091B2 (zh)
KR (1) KR102253268B1 (zh)
CN (1) CN109955898B (zh)
DE (1) DE102017222776A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017121952A1 (de) * 2017-09-21 2019-03-21 Trw Automotive Gmbh Verfahren zum Erkennen von Störgrößen in einem Lenkungssystem sowie Lenkungssystem für ein Kraftfahrzeug
DE102020212259A1 (de) * 2020-09-29 2022-03-31 Volkswagen Aktiengesellschaft Ermittlung einer Zahnstangenkraft für ein Fahrzeuglenksystem
US11827293B2 (en) * 2021-02-09 2023-11-28 GM Global Technology Operations LLC Real-time estimation of achievable angle, velocity, and acceleration capabilities of steering actuator

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JP2002536233A (ja) 1999-02-01 2002-10-29 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト 特に車両用ｅｓｐシステムのためのセンサ監視方法と装置
JP2007331715A (ja) 2006-06-19 2007-12-27 Toyota Motor Corp 車両状態量推定装置及びその装置を用いた車両操舵制御装置
US20120046836A1 (en) * 2010-07-06 2012-02-23 Joerg Strecker Method for determining a toothed rack force for a steering device in a vehicle
KR101694764B1 (ko) * 2015-10-29 2017-01-10 주식회사 만도 조향 제어 장치 및 조향 제어 방법

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JP2895198B2 (ja) * 1990-09-29 1999-05-24 カヤバ工業株式会社 後輪舵角制御方法
JP2003534180A (ja) * 1999-12-29 2003-11-18 デルファイ・テクノロジーズ・インコーポレーテッド 電動式パワーステアリングシステムを組み込んだ自動車の安定性を改良するための方法及びシステム
DE10332023A1 (de) * 2002-07-31 2004-02-12 Daimlerchrysler Ag Verfahren zum Bestimmen eines Lenkmoments für eine Lenkung eines Fahrzeugs
DE102008042666B4 (de) 2008-10-08 2011-03-17 Ford Global Technologies, LLC, Dearborn Verfahren zur Kompensation von Störgrößen, welche auf ein Fahrzeug mit einer hilfskraftunterstützten Lenkung wirken
DE102010042135B4 (de) * 2010-10-07 2015-10-22 Robert Bosch Automotive Steering Gmbh Verfahren zur Bestimmung einer Zahnstangenkraft für eine Lenkvorrichtung in einem Fahrzeug
CN102971201B (zh) * 2011-07-07 2016-11-16 罗伯特博世汽车转向有限公司 用于测定车辆中转向装置的齿条力的方法
DE102011055339B4 (de) * 2011-11-15 2018-06-14 Robert Bosch Automotive Steering Gmbh Verfahren zum bestimmen einer zahnstangenkraft für eine lenkvorrichtung und lenkvorrichtung
FR2992937B1 (fr) * 2012-07-06 2016-04-29 Jtekt Europe Sas Procede ameliore de determination de la position angulaire absolue du volant de direction d'un vehicule automobile
DE102014205321A1 (de) * 2014-03-21 2015-09-24 Volkswagen Aktiengesellschaft Lenkvorrichtung und Verfahren zur Schätzung einer Zahnstangenkraft
US9845109B2 (en) * 2015-03-25 2017-12-19 Steering Solutions Ip Holding Corporation Continuous estimation of surface friction coefficient based on EPS and vehicle models
KR101720313B1 (ko) * 2015-08-03 2017-04-04 남양공업주식회사 차량의 전동식 조향장치 및 그 제어 방법
KR101694763B1 (ko) 2015-10-06 2017-01-10 주식회사 만도 조향 제어 장치 및 조향 제어 방법
DE102017103034B4 (de) * 2016-02-16 2022-02-10 Steering Solutions Ip Holding Corporation Lenkungssystem zum Detektieren von Bewegungszuständen eines Fahrzeugs
DE102017108692A1 (de) * 2016-04-25 2017-10-26 Steering Solutions Ip Holding Corporation Steuerung einer elektrischen Servolenkung unter Verwendung von Systemzustandsvorhersagen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002536233A (ja) 1999-02-01 2002-10-29 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト 特に車両用ｅｓｐシステムのためのセンサ監視方法と装置
JP2007331715A (ja) 2006-06-19 2007-12-27 Toyota Motor Corp 車両状態量推定装置及びその装置を用いた車両操舵制御装置
US20120046836A1 (en) * 2010-07-06 2012-02-23 Joerg Strecker Method for determining a toothed rack force for a steering device in a vehicle
KR101694764B1 (ko) * 2015-10-29 2017-01-10 주식회사 만도 조향 제어 장치 및 조향 제어 방법

Also Published As

Publication number Publication date
CN109955898B (zh) 2022-04-22
JP6826091B2 (ja) 2021-02-03
JP2019104486A (ja) 2019-06-27
DE102017222776A1 (de) 2019-06-19
KR20190071616A (ko) 2019-06-24
CN109955898A (zh) 2019-07-02

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