KR102376065B9 - 전동식 조향 장치의 제어 방법 - Google Patents

전동식 조향 장치의 제어 방법

Info

Publication number
KR102376065B9
KR102376065B9 KR1020150141932A KR20150141932A KR102376065B9 KR 102376065 B9 KR102376065 B9 KR 102376065B9 KR 1020150141932 A KR1020150141932 A KR 1020150141932A KR 20150141932 A KR20150141932 A KR 20150141932A KR 102376065 B9 KR102376065 B9 KR 102376065B9
Authority
KR
South Korea
Prior art keywords
control method
system control
power steering
steering system
motor driven
Prior art date
Application number
KR1020150141932A
Other languages
English (en)
Other versions
KR20170042845A (ko
KR102376065B1 (ko
Inventor
김도영
Original Assignee
현대모비스 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020150141932A priority Critical patent/KR102376065B1/ko
Priority to CN201610886015.1A priority patent/CN106985900B/zh
Priority to US15/291,430 priority patent/US10370026B2/en
Priority to DE102016219835.1A priority patent/DE102016219835B4/de
Publication of KR20170042845A publication Critical patent/KR20170042845A/ko
Application granted granted Critical
Publication of KR102376065B1 publication Critical patent/KR102376065B1/ko
Publication of KR102376065B9 publication Critical patent/KR102376065B9/ko

Links

Classifications

    • 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
    • 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
    • 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
    • B62D5/0469—End-of-stroke control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • B62D5/049—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 monitoring the steering system, e.g. failures detecting sensor failures
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • B62D5/0493—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 monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
    • 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
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
KR1020150141932A 2015-10-12 2015-10-12 전동식 조향 장치의 제어 방법 KR102376065B1 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
KR1020150141932A KR102376065B1 (ko) 2015-10-12 2015-10-12 전동식 조향 장치의 제어 방법
CN201610886015.1A CN106985900B (zh) 2015-10-12 2016-10-11 用于控制电机驱动动力转向系统的方法和设备
US15/291,430 US10370026B2 (en) 2015-10-12 2016-10-12 Method and apparatus for controlling motor driven power steering system
DE102016219835.1A DE102016219835B4 (de) 2015-10-12 2016-10-12 Verfahren und Vorrichtung zur Steuerung eines motorangetriebenen Servolenksystems

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150141932A KR102376065B1 (ko) 2015-10-12 2015-10-12 전동식 조향 장치의 제어 방법

Publications (3)

Publication Number Publication Date
KR20170042845A KR20170042845A (ko) 2017-04-20
KR102376065B1 KR102376065B1 (ko) 2022-03-18
KR102376065B9 true KR102376065B9 (ko) 2023-05-11

Family

ID=58405668

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150141932A KR102376065B1 (ko) 2015-10-12 2015-10-12 전동식 조향 장치의 제어 방법

Country Status (4)

Country Link
US (1) US10370026B2 (ko)
KR (1) KR102376065B1 (ko)
CN (1) CN106985900B (ko)
DE (1) DE102016219835B4 (ko)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102350043B1 (ko) * 2015-11-20 2022-01-12 주식회사 만도 자동 조향 제어 시스템 및 방법
JP7014028B2 (ja) * 2018-04-19 2022-02-15 株式会社デンソー ステアリング制御装置
JP7014029B2 (ja) * 2018-04-20 2022-02-15 株式会社デンソー ステアリング制御装置
US11679802B2 (en) * 2019-09-26 2023-06-20 Jtekt Corporation Steering control device
KR20210086874A (ko) * 2019-12-31 2021-07-09 주식회사 만도 조향 제어장치 및 방법
CN112140868B (zh) * 2020-10-13 2024-07-05 武汉鲸鱼座机器人技术有限公司 一种满足自动驾驶冗余要求的底盘架构与控制方法
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
KR102585084B1 (ko) * 2021-08-31 2023-10-05 현대모비스 주식회사 차량의 전자식 조향장치 및 그 제어방법

Family Cites Families (22)

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JPH0629033B2 (ja) * 1988-05-28 1994-04-20 富士重工業株式会社 電動式パワーステアリング装置のモータ制御装置
KR100247334B1 (ko) 1997-06-13 2000-04-01 오상수 전동 동력조향장치
GB9902438D0 (en) 1999-02-05 1999-03-24 Trw Lucas Varity Electric Improvements relating to electric power assisted steering assemblies
DE10032340A1 (de) * 2000-07-04 2002-01-31 Bosch Gmbh Robert Verfahren zum Lenken eines Fahrzeugs mit Servolenkung
US6661191B2 (en) * 2002-01-30 2003-12-09 Visteon Global Technologies, Inc. Method and apparatus for compensating drive current for an electric motor vehicle steering system
WO2005007489A1 (de) * 2003-07-11 2005-01-27 Continental Teves Ag & Co. Ohg Verfahren zum ermitteln eines istwertes einer stellgrösse, insbesondere eines lenkwinkels
EP1923299B1 (en) * 2006-11-20 2010-09-01 NSK Ltd. Absolute steering angle detecting device
DE102010049431B4 (de) 2010-10-23 2022-06-02 Volkswagen Ag Verfahren zur Diagnose mindestens einer zu diagnostizierenden Sensoreinheit einer elektromechanischen Lenkung und elektromechanische Lenkung
BR112013017312A2 (pt) 2011-01-07 2016-10-04 Honda Motor Co Ltd dispositivo de direcionamento de energia elétrica
KR101285464B1 (ko) * 2011-06-28 2013-07-12 주식회사 만도 조향각센서 페일 검출 시스템
JP2013071559A (ja) * 2011-09-27 2013-04-22 Jtekt Corp パワーステアリング装置
KR101896694B1 (ko) * 2011-11-15 2018-09-11 현대모비스 주식회사 펄스 토크를 이용하여 정지 마찰 구간을 개선한 차량의 전동식 조향 장치 및 그 조향각 제어 방법
KR101606231B1 (ko) 2012-07-26 2016-04-01 주식회사 만도 전동식 조향 장치 및 그의 제어방법
DE102012022900A1 (de) 2012-11-23 2014-05-28 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Einstellen eines Software-Endanschlags
EP2755023B1 (en) 2013-01-11 2017-06-21 MEAS France Capacitive sensor integrated onto semiconductor circuit
CN203651884U (zh) * 2013-06-06 2014-06-18 宁波工程学院 电动助力转向系统中助力电机的控制决策系统
KR102019516B1 (ko) * 2013-10-15 2019-09-06 현대자동차주식회사 전동식 조향장치의 조향휠 복원 시스템 및 방법
KR101543091B1 (ko) * 2013-11-14 2015-08-07 현대자동차주식회사 전동식 조향장치의 제어방법
JP5943018B2 (ja) 2014-02-25 2016-06-29 トヨタ自動車株式会社 操舵制御装置
FR3026708B1 (fr) * 2014-10-07 2016-11-18 Jtekt Europe Sas Securisation d'une fonction d'aide a la conduite au sein d'une direction assistee
US10252745B2 (en) * 2015-08-11 2019-04-09 Nsk, Ltd. Motor control apparatus, electric power steering apparatus, and vehicle
JP6278019B2 (ja) * 2015-09-25 2018-02-14 トヨタ自動車株式会社 車両用運転支援装置

Also Published As

Publication number Publication date
CN106985900B (zh) 2020-03-03
DE102016219835A1 (de) 2017-04-13
US10370026B2 (en) 2019-08-06
CN106985900A (zh) 2017-07-28
KR20170042845A (ko) 2017-04-20
DE102016219835B4 (de) 2024-06-20
KR102376065B1 (ko) 2022-03-18
US20170101126A1 (en) 2017-04-13

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Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]