KR102545394B1 - Apparatus for synchronization dual steering motor in EPS system and Method thereof - Google Patents

Abstract

The present disclosure relates to an apparatus and method for synchronizing dual steering assist motors in an EPS system. More specifically, when two steering auxiliary motors are applied in an EPS system, it relates to a specific device and method for synchronizing two steering auxiliary motors by applying additional torque to a delayed motor based on RPM difference information between the two motors. . An embodiment is based on a result of comparing the first motor RPM information and the second motor RPM information with a reception unit that receives steering angular velocity information and RPM information of a first motor and a second motor, which are steering assist motors, from a sensor configured in a vehicle. The abnormal occurrence determining unit determines the RPM synchronization of the first motor and the second motor, determines whether there is an abnormal motor, and determines the abnormal motor, and any one of the first and second motors has an abnormality. If it is determined that it has occurred, additional information to be applied to the abnormality motor based on at least one of steering angular velocity motor output matching table information, first motor RPM information, second motor RPM information, and steering angular velocity information preset for each motor. An apparatus and method for synchronizing a dual steering assist motor including an additional torque determining unit for determining torque and a motor current controller for controlling current to be supplied to an abnormal motor based on additional torque information.

Description

Apparatus for synchronization dual steering motor in EPS system and method thereof}

The present disclosure relates to an apparatus and method for synchronizing dual steering assist motors in an EPS system. More specifically, when two steering auxiliary motors are applied in an EPS system, it relates to a specific device and method for synchronizing two steering auxiliary motors by applying additional torque to a delayed motor based on RPM difference information between the two motors. .

An EPS (Electric Power Steering) system refers to a system that applies auxiliary steering force to a driver's steering force using a motor. In order to assist the driver's steering force, an auxiliary steering force is generated by applying current to the steering assist motor.

Recently, even in the case of heavy, high-output vehicles other than general passenger vehicles such as trucks and pickup trucks, the demand for electrification in steering devices is increasing. However, the above vehicles should have a large output compared to the EPS system applied to general passenger cars. At this time, as a method for increasing the output of the EPS, if a dual steering auxiliary motor is applied, the output of the system may be increased.

However, due to the difference in performance of each motor, increase in clearance gap, or disturbance, fundamentally, a lack of output compared to the theoretical output and abnormal operation may occur. In addition, when the two motors rotate under the same command value condition, the two motors may not rotate identically in case of performance degradation due to heat of the motor itself.

In this way, if the steering auxiliary motor is not synchronized, the natural steering feeling does not occur, the torque ripple is transmitted to the driver, and the durability of the hardware is lowered due to the instantaneous peak contact between the delayed steering auxiliary motor and the reducer teeth. this can happen

One embodiment devised from the above background is to provide a dual steering auxiliary motor synchronization apparatus and method capable of synchronizing two steering auxiliary motors based on RPM difference information of the two steering auxiliary motors.

In addition, an embodiment is a dual steering auxiliary motor synchronization device and method capable of improving the driver's steering feeling and increasing the durability of a reducer by applying auxiliary torque to the corresponding steering auxiliary motor when the steering auxiliary motor does not produce proper output. want to provide

Based on a result of comparing the first motor RPM information and the second motor RPM information with a receiving unit that receives steering angle velocity information and RPM information of the first and second motors, which are steering auxiliary motors, from sensors configured in the vehicle, the first motor and an abnormal occurrence determination unit that determines whether an abnormal motor exists and determines an abnormal motor by determining RPM synchronization of the second motor and determining that an abnormality has occurred in any one of the first and second motors. Then, based on at least one information of the steering angular velocity motor output matching table information, the first motor RPM information, the second motor RPM information, and the steering angular velocity information preset for each motor, additional torque to be applied to the abnormal motor is determined. Provided is a dual steering auxiliary motor synchronizing device including an additional torque determining unit and a motor current control unit that controls current to be supplied to an abnormal motor based on additional torque information.

In addition, an embodiment compares the receiving step of receiving steering angular velocity information and RPM information of a first motor and a second motor, which are steering auxiliary motors, from a sensor configured in a vehicle and the first motor RPM information and the second motor RPM information An abnormal occurrence determination step of determining the RPM synchronization of the first motor and the second motor based on the result, determining whether an abnormal motor exists, and determining an abnormal motor, and either the first motor or the second motor If it is determined that the motor has an abnormality, the abnormality occurs based on at least one of steering angular velocity motor output matching table information, first motor RPM information, second motor RPM information, and steering angular velocity information preset for each motor. Provided is a dual steering auxiliary motor synchronization method including an additional torque determining step of determining an additional torque to be applied to and a motor current control step of controlling a current to be supplied to an abnormal motor based on the additional torque information.

According to the above-described embodiment, synchronization of the dual steering assist motors in the EPS system can be performed based on RPM information of the two steering assist motors, thereby increasing the driver's steering feeling, suppressing torque ripple, and steering assist motors. It provides the effect of increasing the durability of the reducer connected to.

1 is a diagram for explaining the configuration of a dual steering assist motor synchronization device according to an embodiment.
2 is a diagram for explaining an operation in which a dual steering assist motor synchronizing apparatus according to an exemplary embodiment is applied in a vehicle.
3 is a diagram for explaining an operation of an abnormal occurrence determination unit according to an exemplary embodiment.
4 is a diagram for explaining an example of a steering angular velocity motor output matching table of an additional torque determiner according to an exemplary embodiment.
5 is a diagram for explaining a method of determining additional torque based on RPM difference information in an additional torque determining unit according to an exemplary embodiment.
6 is a diagram for explaining an operation of a method for synchronizing dual steering assist motors according to an exemplary embodiment.

The present technical idea discloses an apparatus and method for synchronizing dual steering auxiliary motors in an EPS system.

Hereinafter, some embodiments of the present technical idea will be described in detail through exemplary drawings. In describing the components of the present technical idea, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element is directly connected or connectable to the other element, but there is another element between the elements. It will be understood that elements may be “connected”, “coupled” or “connected”.

The dual steering auxiliary motor synchronization device in the present specification controls steering auxiliary motors in an EPS system using two steering auxiliary motors and performs a function of synchronizing two motors when synchronization of both motors is not performed. In this case, the two steering auxiliary motors are described as a first motor and a second motor, respectively, which is an expression for referring to the two steering auxiliary motors. However, there is no restriction on the order and name of the steering auxiliary motor.

Hereinafter, an apparatus and method for synchronizing dual steering assist motors according to the present disclosure will be described with reference to the drawings.

1 is a diagram for explaining the configuration of a dual steering assist motor synchronization device according to an embodiment.

Referring to FIG. 1 , the dual steering auxiliary motor synchronizing apparatus 100 includes a receiver 110 that receives steering angular velocity information and RPM information of a first motor and a second motor as steering auxiliary motors from a sensor configured in a vehicle, and a first An abnormal occurrence determination unit for determining the RPM synchronization of the first motor and the second motor based on the result of comparing the motor RPM information and the second motor RPM information, determining whether an abnormal motor exists, and determining an abnormal motor ( 120), and if it is determined that any one of the first motor and the second motor has an abnormality, steering angular velocity motor output matching table information preset for each motor, first motor RPM information, second motor RPM information, and An additional torque determining unit 130 that determines additional torque to be applied to the faulty motor based on at least one of steering angular velocity information and a motor current controller that controls current to be supplied to the faulty motor based on the additional torque information 140) may be included.

The receiving unit 110 of the dual steering assist motor synchronizing device 100 according to an embodiment includes steering angular velocity information and RPM information of the first motor and the second motor through a steering angular velocity sensor mounted in the vehicle or an RPM sensor of the steering assist motor. can receive In this case, the RPM sensor of the steering assist motor may be an encoder installed in the motor. The encoder may detect the rotational speed and direction of rotation of the first motor and the second motor. Further, according to an embodiment, a plurality of sensors configured inside or outside the vehicle generating information received by the receiving unit 110 may be plural. In addition, the above-mentioned sensor may be a preliminary sensor in preparation for a sensor error or failure in the vehicle, and the steering angular velocity or first motor and second motor RPM information received by the receiver 110 is directly received through the above-mentioned sensor. It may be estimated value information calculated using other sensors instead of information. Alternatively, the receiving unit 110 may calculate steering angular velocity information or RPM information using information received from the aforementioned sensor. For example, the receiving unit 110 may estimate the steering angle speed information of the driver using the RPM information received from the RPM sensor of the steering auxiliary motor when the steering angle speed sensor has an error or malfunction, and may use the calculated steering angle speed information. . For another example, when the RPM sensor of the steering auxiliary motor is out of order, the receiving unit 110 may use the RPM information calculated by estimating the RPM information of the steering auxiliary motor using received steering angular velocity information. In addition, the information received by the receiver 110 according to an embodiment is not limited to steering angle speed information or RPM information, but may include steering angle information, steering angle holding time information, driver steering torque information, steering assist motor torque information, and the like. there is.

On the other hand, according to an embodiment, the abnormal occurrence determination unit 120 determines the RPM synchronization of the first motor and the second motor based on the result of comparing the first motor RPM information and the second motor RPM information, and the abnormal motor It is possible to determine the existence of and determine the abnormal motor. That is, in the EPS system using the dual steering assist motors, both motors can provide steering assist power according to the driver's steering, and the two steering assist motors can share the output for the steering assist force and produce the same output. Accordingly, the abnormal occurrence determination unit 120 may compare the RPM information and determine a steering auxiliary motor having less RPM information as an abnormal motor.

For example, the abnormal occurrence determination unit 120 compares the first motor RPM information and the second motor RPM information, and when one of the RPM information has a value lower than the other, the RPM information having the lower value The corresponding steering auxiliary motor can be determined as the faulty motor. That is, when it is determined that the abnormal occurrence determination unit 120 exceeds the first motor RPM information, the second motor RPM information is determined as the abnormal occurrence motor, and the first motor RPM information is the second motor RPM information. If it is determined that the first motor is less than the first motor, it may be determined as the abnormal motor.

In this case, when the RPM information of one steering auxiliary motor has a lower value than the RPM information of the other steering auxiliary motor, it may mean that the output is lowered due to an abnormal factor such as internal heat and the delayed driving is performed. Alternatively, when the RPM information of one steering auxiliary motor has a lower value than the RPM information of the other steering auxiliary motor, it may mean delayed driving due to disturbance of the motor or an increase in clearance. The operation of the abnormal occurrence determination unit 120 will be described in more detail in FIG. 3 to be described later.

In addition, when it is determined that an abnormality has occurred in any one of the first motor and the second motor, the additional torque determining unit 130 according to an embodiment includes steering angle velocity motor output matching table information preset for each motor, Additional torque to be applied to the abnormal motor may be determined based on at least one of first motor RPM information, second motor RPM information, and steering angular speed information. That is, the additional torque determining unit 130 is based on the torque information of the motor to be output when there is no abnormality in the steering auxiliary motor and the RPM information of the motor and the RPM information of both motors by the difference that should be applied when there is no abnormality. Additional torque can be applied to the retard motor. Through this, since the RPMs of the two steering auxiliary motors can maintain the same value, the dual steering auxiliary motor synchronizing apparatus 100 can perform synchronization of both motors.

At this time, the steering angular velocity motor output matching table information of the additional torque determiner 130 may include normal motor output torque information and normal motor output RPM information mapped to each steering angular velocity information that may be generated in the vehicle. Since the EPS system is a system for providing steering assistance according to the driver's steering, normal motor output torque information and normal motor output RPM information to be output from the steering assistance motor can be allocated according to the steering angular velocity. Therefore, the steering angular velocity motor output matching table information of the additional torque determiner 130 may be a table in which output information to be calculated from the steering auxiliary motor is pre-allocated according to the steering angular velocity information. In this case, since the steering angular velocity motor output matching table information may have different values according to the characteristics of the steering auxiliary motor, the steering angular velocity motor output matching table information may be different according to the characteristics of the steering auxiliary motor.

Therefore, the additional torque determiner 130 according to an embodiment may perform additional torque such that RPM information output from the abnormal motor is matched with normal motor output RPM information mapped to the steering angular velocity information based on the steering angular velocity motor output matching table information. can decide Through this, the abnormal motor and the normal motor output RPM information are the same, so that the dual steering auxiliary motor synchronizing apparatus 100 can synchronize the two steering auxiliary motors.

In addition, the additional torque determining unit 130 according to an embodiment checks normal motor output RPM information and normal motor output torque information corresponding to the steering angular velocity information using steering angular velocity motor output matching table information of the abnormal motor, The additional torque may be determined by calculating RPM difference information obtained by calculating the difference between the first motor RPM information and the second motor RPM information. According to an embodiment, the additional torque determiner 130 may determine additional torque that may be normal motor output RPM information and normal motor output torque information based on the RPM difference information. Through this, it is possible to perform synchronization of the RPMs of the abnormal motor and the normal motor by utilizing the RPM difference information between the abnormal motor and the normal motor.

For example, the additional torque determiner 130 according to an embodiment may determine a value calculated by multiplying a value obtained by dividing RPM difference information by normal motor output RPM information by normal motor output torque information as the additional torque. In addition, the additional torque determiner 130 according to an embodiment may determine the additional torque using a preset relational expression having at least one of RPM difference information, normal motor output RPM information, and normal motor output torque information as a variable. . At this time, additional torque determination by the additional torque determining unit 130 will be described in detail with reference to FIGS. 4 and 5 to be described later.

Also, the motor current controller 140 according to an embodiment may control the current to be supplied to the abnormal motor based on the additional torque information. Since the additional torque determiner 130 according to an embodiment determines the additional torque to be applied to the steering assist motor, the motor current control unit 140 directly performs synchronization of the two steering assist motors by supplying current to the corresponding motor. can do.

In this case, the motor current controller 140 according to an embodiment may convert the additional torque information into an additional current to be applied to the abnormal motor through a conversion value preset in the vehicle and supply the additional current to the abnormal motor. Since the additional torque determiner 130 according to an embodiment determines the additional torque of the steering assist motor using a unit of torque amount, the motor current controller 140 is based on the unique characteristics of the steering assist motor and the unique characteristics of the vehicle. Therefore, it is necessary to supply current by converting the additional torque into an amount of current. For example, a preset conversion value may be a torsion bar constant. That is, additional torque may be converted into additional current by the torsion bar constant. In this case, the motor current controller 140 may apply the converted additional current to the abnormal motor. However, if the preset conversion value is a value that can be converted into additional current by reflecting the unique characteristics of the vehicle based on the additional torque information, the conversion value that can be preset is not limited.

Through this, the motor current control unit 140 substantially supplies current to be applied to the steering auxiliary motor to match RPM information and torque information of the abnormal motor with normal motor output torque information and normal motor output RPM information to match the two steering auxiliary motors. synchronization can be performed.

As described above, the reception unit 110, the abnormal occurrence determination unit 120, the additional torque determination unit 130, and the motor current control unit 140 of the dual steering auxiliary motor synchronizing device 100 are configured according to the set program for the purpose described above. It may be implemented with one or more microprocessors that operate, and the set program may include a series of commands for performing each step included in a method for synchronizing dual steering auxiliary motors according to an embodiment of the present technical idea to be described later. there is.

Above, the configuration of the dual steering auxiliary motor synchronization device 100 and the operation of each component have been schematically described. Hereinafter, in detail, how each component of the dual steering auxiliary motor synchronization device 100 can be operated is shown in FIGS. It will be described in detail with reference to FIG. 5 .

2 is a diagram for explaining an operation in which a dual steering assist motor synchronizing apparatus according to an exemplary embodiment is applied in a vehicle.

Referring to FIG. 2, the dual steering auxiliary motor synchronization device receives RPM information of a delayed motor, that is, an abnormal motor, RPM information of a motor that is normally driven, and steering angular velocity information, and based on this, an abnormal motor that is delayed and driven. Synchronization of the steering assist motor may be performed by applying additional torque to

Specifically, steering angle information 200 and steering angle speed information 201 may be generated through a steering wheel steered by a driver of the vehicle. Since the EPS system uses a steering assist motor to apply an auxiliary steering force to the driver's steering force, the magnitude of the steering assist force to be provided by the steering assist motor is determined based on the steering angle information 200 and the steering angle velocity information 201. and the EPS system may calculate and apply the current command value 210 of the steering auxiliary motor corresponding thereto to the steering auxiliary motor.

In this case, the EPS system of the dual steering assist motor including the first motor 221 and the second motor 231 as steering assist motors may provide the current command value 210 to each of the first motor and the second motor. The first motor 221 and the second motor 231 may receive current according to the current command value 210 and apply steering assist force.

If both the first motor 221 and the second motor 231 are normally driven, the dual steering auxiliary motor synchronizing device 100 may not apply additional torque to the delay driving motor. That is, since the abnormal occurrence determination unit of the dual steering auxiliary motor synchronizing device 100 determines that the RPM information of the first motor and the second motor are the same, it is determined that no abnormality has occurred in the steering auxiliary motor and no additional torque is applied. may not be

However, when one of the motors is driven with a delay, synchronization of the steering assist motors may be required. For example, when the first motor 221 performs the delayed driving 222, synchronization of the steering assist motor may be required. To this end, the dual steering auxiliary motor synchronizing device 100 delays driving 220 based on the steering angular velocity information 201, the first motor RPM information 223, and the second motor RPM information 233 (1 motor 221). ) can apply additional torque. The above example can also be applied to the case where the second motor 231 performs delay driving 222 like the first motor 221 and the first motor 221 normally drives 232 like the second motor 231. .

According to the above embodiment, the dual steering auxiliary motor synchronizing device 100 is steered according to the operations of the above-described receiving unit 110, abnormality determination unit 120, additional torque determination unit 130, and motor current control unit 140. Synchronization of the dual steering auxiliary motors can be performed based on the RPM information of the auxiliary motors, thereby increasing the driver's steering feel, suppressing torque ripple, and providing an effect of increasing the durability of the reducer connected to the steering auxiliary motor. can do.

The above embodiment is only one embodiment of the dual steering auxiliary motor synchronization device 100, and a configuration in which the dual steering auxiliary motor synchronization device 100 can be operated in a vehicle is not limited or limited to the above-described embodiment. In addition, application of the above-described dual steering assist motor synchronization device 100 to an in-vehicle system may be implemented in various EPS systems having the same function as the operation described above.

3 is a diagram for explaining an operation of an anomaly determination unit 120 according to an exemplary embodiment.

Referring to FIG. 3 , the abnormal occurrence determination unit 120 determines RPM synchronization of the first motor and the second motor based on the result of comparing the first motor RPM information and the second motor RPM information, which are steering auxiliary motors, It is possible to determine whether or not there is an abnormal motor and determine the abnormal motor.

Specifically, the abnormal occurrence determining unit 120 may receive the first motor RPM information and the second motor RPM information from the receiving unit 110 (S300). Thereafter, it may be checked whether the first motor RPM information and the second motor RPM information are the same (S310). If the first motor RPM information and the second motor RPM information are the same, the abnormal occurrence determination unit 120 may determine that there is no motor in which an abnormality such as delayed driving exists and determine whether the abnormality continues to occur (in step S310). NO).

However, if the first motor RPM information and the second motor RPM information are different, the abnormal occurrence determination unit 120 may determine that there is a motor in which an abnormality such as delayed driving exists (YES in step S310). However, in this case, the first motor RPM information and the second motor RPM information are not the same, but the first motor RPM information and the second motor RPM information are considered in consideration of an error in the sensing information in the receiving process or an error that may occur in a realistic driving process of the motor. When there is a slight difference between the motor RPM information, the abnormal occurrence determining unit 120 may determine that the first motor RPM information and the second motor RPM information are the same. In this case, the criterion for making the RPM information of the two motors the same may be determined by a user setting or a preset error rate considered during design.

In addition, the abnormal occurrence determination unit 120 may compare information of the first motor RPM information and the second motor RPM information to determine whether the first motor RPM information exceeds the second motor RPM information (S320). If, as a result of the determination in step S320, it is determined that the first motor RPM information exceeds the second motor RPM information (YES in step S320), the abnormal occurrence determination unit 120 may determine the second motor as an abnormal motor Yes (S330). However, as a result of the determination in step S320, when it is determined that the first motor RPM information is less than the second motor RPM information (NO in step S320), the abnormal occurrence determination unit 120 may determine the first motor as an abnormal motor. (S340).

For example, when the RPM of the first motor is 300 and the RPM of the second motor is 300, the abnormality determination unit 120 may not determine that an abnormality has occurred. However, when the RPM of the first motor is 300 and the RPM of the second motor is 400, the abnormal occurrence determination unit 120 compares the RPM information of the first motor and the RPM information of the second motor, and since both information are different, the abnormality occurs. It may be determined that this has occurred, and since the RPM information of the first motor has a value less than the RPM information of the second motor, the first motor may be determined as the abnormally occurring motor. That is, the abnormal occurrence determining unit 120 may determine the steering auxiliary motor having lower RPM information as the abnormal occurrence motor.

In this case, when the RPM information of one steering auxiliary motor has a lower value than the RPM information of the other steering auxiliary motor, it may mean that the output is lowered due to an abnormal factor such as internal heat and the delayed driving is performed. Alternatively, when the RPM information of one steering auxiliary motor has a lower value than the RPM information of the other steering auxiliary motor, it may mean delayed driving due to disturbance of the motor or an increase in clearance.

Through this, the abnormal occurrence determining unit 120 can determine whether synchronization of the two steering auxiliary motors has been performed through the RPM information of the first motor and the second motor, and determine the motor in which the abnormality has occurred based on the compared RPM information. possible effects can be provided.

4 is a diagram for explaining an example of a steering angular velocity motor output matching table of an additional torque determiner according to an exemplary embodiment.

When it is determined that any one of the first motor and the second motor has an abnormality, the additional torque determining unit 130 includes steering angular speed motor output matching table information preset for each motor, first motor RPM information, and second motor RPM information. 2 Additional torque to be applied to the abnormal motor may be determined based on at least one of motor RPM information and steering angular velocity information.

Referring to FIG. 4 , the steering angular velocity motor output matching table information may include normal motor output torque information and normal motor output RPM information mapped to each steering angular velocity information that may be generated in the vehicle. In this case, the normal motor output torque information may be a torque value output from the steering auxiliary motor when the steering auxiliary motor is normally driven according to the current command value of the EPS system. Similarly, the normal motor output RPM information may be an RPM value output from the steering auxiliary motor when the steering auxiliary motor is normally driven according to the current command value of the EPS system.

Since the EPS system is a system for providing steering assistance according to the driver's steering, normal motor output torque information and normal motor output RPM information to be output from the steering assistance motor can be allocated according to the steering angular velocity. Therefore, the steering angular velocity motor output matching table information of the additional torque determiner 130 may be a table in which output information to be calculated from the steering auxiliary motor is pre-allocated according to the steering angular velocity information. In this case, the steering angular velocity motor output matching table information may be a diagram of a single steering assist motor or a plurality of steering auxiliary motors. Also, the steering angular velocity motor output matching table information may not have the same value depending on the characteristics of each steering auxiliary motor.

In addition, the steering angular velocity motor output matching table information can be allocated to normal motor output torque information and normal motor output RPM information according to steering angular velocity, as well as information that can indicate vehicle conditions such as vehicle speed, steering angle, and driver steering torque. It can also be changed and reflected by For example, even at the same steering angular velocity, since the amount of steering assist force to be provided may vary according to the vehicle speed, steering angle, or driver's steering torque, the steering angular velocity motor output matching table information reflects the above information indicating the vehicle state. Thus, normal motor output torque information and normal motor output RPM information may be allocated.

In addition, steering angular velocity motor output matching table information may have different values according to steering auxiliary motor characteristics. In addition to the information indicating the current state of the vehicle, the normal motor output torque information and the normal motor output RPM information according to the steering angular velocity may be differently allocated to each motor by reflecting the unique hardware properties of the steering auxiliary motor.

In this case, information on the steering angular velocity motor output matching table may be applied not only to a normal motor but also to an abnormal motor. That is, the additional torque determining unit 130 may determine the additional torque so that RPM information output from the abnormal motor is matched with normal motor output RPM information mapped to the steering angular velocity information based on the steering angular velocity motor output matching table information. Through this, the abnormal motor and the normal motor output RPM information are the same, so that the dual steering auxiliary motor synchronizing apparatus 100 can synchronize the two steering auxiliary motors.

According to the above embodiment, the dual steering auxiliary motor synchronizing device 100 may include normal motor output RPM information and normal motor output torque information for synchronizing the steering auxiliary motor through the operation of the aforementioned additional torque determiner 130. can

The above embodiment is only a specific example in which normal motor output RPM information and normal motor output torque information are allocated according to steering angular velocity in steering angular velocity motor output matching table information, and normal motor output RPM information and normal motor output RPM information and The method of allocating the normal motor output torque information according to the steering angular speed is not limited to or limited to the foregoing embodiment. In addition, the steering angular velocity motor output matching table information can be reflected in various ways by information such as vehicle speed, steering angle, or driver steering torque, as described above, and various information that allows other information to be calculated to determine additional torque is mapped may reflect.

Above, the information calculated from the steering angular velocity motor output matching table information of the additional torque determining unit 130 has been described. Hereinafter, the additional torque determining unit 130 uses the steering angular velocity motor output matching table information A specific method of determining will be described in detail with reference to FIG. 5 .

5 is a diagram for explaining a method of determining additional torque based on RPM difference information in an additional torque determining unit according to an exemplary embodiment.

Referring to FIG. 5 , the additional torque determining unit 130 checks normal motor output RPM information and normal motor output torque information corresponding to the steering angular velocity information by using the steering angular velocity motor output matching table information of the abnormal motor, and Additional torque may be determined by calculating RPM difference information obtained by calculating a difference between 1 motor RPM information and 2nd motor RPM information. That is, the additional torque determining unit 130 according to an embodiment may determine that synchronization is not achieved by the difference between the RPM information of the abnormal motor and the normal driving motor. That is, the difference between the first motor RPM information and the second motor RPM information may mean the difference in rotational speed according to the delayed driving of the steering assist motor, and the RPM difference information means a scale indicating the degree to which the delayed motor is delayed more than the other motors. can do. The additional torque determiner 130 according to an embodiment may perform synchronization between the abnormal motor and the normal driving motor by correcting a difference of corresponding RPM information. In addition, in this case, based on the steering angular velocity motor output matching table information, the additional torque determining unit 130 checks the normal motor output RPM information and normal motor output torque information of the normal steering auxiliary motor, and determines that the normal motor is the normal motor output RPM. Information and normal motor output torque information can be checked. If the normal steering auxiliary motor does not output the normal motor output RPM information and the normal motor output torque information, the additional torque determiner 130 determines the normal motor output RPM information or Additional torque may be determined to match normal motor output torque information.

Also, the additional torque determiner 130 according to an embodiment may determine additional torque in proportion to RPM difference information between the first motor and the second motor. To this end, the additional torque may be determined through a preset relational expression in which at least one of RPM difference information, normal motor output RPM information, and normal motor output torque information of the additional torque determining unit 130 according to an embodiment is used as a variable. . For example, the additional torque determiner 130 calculates the RPM difference information, and then calculates the additional torque to be applied to the delay motor through a preset relationship between the RPM difference information, the normal motor output RPM information, and the normal motor output RPM information. can decide

In this case, the preset relational expression may be a relational expression in which a value calculated by multiplying a value obtained by dividing RPM difference information by normal motor output RPM information by normal motor output torque information is determined as the additional torque. This can be expressed as a specific example using [Equation 1].

Here, RPM1 is first motor RPM information, and RPM2 is second motor RPM information. RPMr is the normal motor output RPM value, Tr is the normal motor output torque value, and Tp is the additional torque value. That is, the additional torque determiner 130 may determine a value calculated by multiplying the value obtained by dividing the RPM difference information by the normal motor output RPM information by the normal motor output torque information as the additional torque.

This is because the two motors are not synchronized at the ratio of the RPM difference between the first motor and the second motor to the normal motor output RPM information, so the value obtained by multiplying the ratio by the normal motor output torque information is applied to the abnormal motor. This is to be able to synchronize both motors by applying additional torque. Alternatively, the preset relational expression may be a relational expression in which a gain value for actual driving is reflected based on an experimental value by adding a constant proportional coefficient to the above relational expression. Alternatively, the preset relational expression may be a relational expression for determining the additional torque by reflecting the current state of the vehicle, such as RPM difference information, steering angular speed, and vehicle speed. For example, in the previously set relational expression, the previously set gain value may vary according to the vehicle speed. In another example, a preset relationship is an equation in which additional torque is calculated by multiplying the value obtained by dividing RPM difference information by normal motor output RPM information by normal motor output torque information. Mapping to vehicle speed information so that additional torque can vary depending on vehicle speed A gain value may be included in a preset relational expression. In addition, the preset relational expression may utilize information calculated from steering angular velocity motor output matching table information to perform vehicle synchronization.

Referring to FIG. 5 , a graph of a specific embodiment of [Equation 1] for additional torque calculation in the additional torque determiner 130 is presented. In this case, the horizontal axis may be RPM difference information between the first motor and the second motor, and the vertical axis may be the determined additional torque. As the RPM difference information increases, one steering auxiliary motor performs stronger delay driving. Therefore, as the RPM difference information increases, the amount of additional torque determined by the additional torque determiner 130 may increase. Specifically, when the RPM difference information has a value of about 20 rpm, and the normal motor output RPM information and normal motor output torque information based on the steering angular velocity information in the steering angular velocity motor output matching table information are determined to be 37.5 RPM and 4.77 Nm, respectively, When substituted into [Equation 1], (20RPM * 4.77Nm) / 37.5RPM is obtained, and as a result, the additional torque determining unit 130 may determine 2.544Nm as the additional torque.

According to the above embodiment, the dual steering auxiliary motor synchronizing device 100 may determine additional torque for synchronizing the steering auxiliary motor through the operation of the aforementioned additional torque determining unit 130 .

The above embodiment is only a specific embodiment in which the additional torque determining unit 130 determines the additional torque according to the RPM difference information, and the relational expression or method for configuring the additional torque by the additional torque determining unit 130 is the same as in the above-described embodiment. limited or not limited In addition, the relational expression or method for determining the additional torque by the additional torque determining unit 130 may be implemented as the method described above or a preset relational expression including a gain value, or may be implemented as various relational expressions for performing the same function. there is. To this end, the additional torque determiner 130 may use various pieces of information of the steering angular velocity motor output matching table information.

As described with reference to FIGS. 1 to 5 , the present embodiments can perform synchronization of the dual steering auxiliary motors in the EPS system based on the RPM information of the two steering auxiliary motors, thereby increasing the driver's steering feeling, , It suppresses torque ripple and provides the effect of increasing the durability of the reducer connected to the steering assist motor.

Hereinafter, a method for synchronizing dual steering auxiliary motors capable of performing all of the above-described embodiments will be described with reference to the drawings.

6 is a diagram for explaining an operation of a method for synchronizing dual steering assist motors according to an exemplary embodiment.

Referring to FIG. 6 , a method for synchronizing dual steering auxiliary motors includes a receiving step of receiving steering angular velocity information and RPM information of a first motor and a second motor serving as steering auxiliary motors from a sensor configured in a vehicle, and the first motor RPM information and the second motor RPM information. Based on the result of comparing the 2 motor RPM information, the RPM synchronization of the first motor and the second motor is determined, the presence of an abnormal motor is determined, and an abnormal occurrence determination step of determining the abnormal motor and the first motor and the second motor are performed. If it is determined that any one of the two motors has an abnormality, at least one information of steering angular velocity motor output matching table information preset for each motor, first motor RPM information, second motor RPM information, and steering angular velocity information An additional torque determining step of determining additional torque to be applied to the faulty motor based on and a motor current control step of controlling current to be supplied to the faulty motor based on the additional torque information.

The receiving step of the method for synchronizing dual steering assist motors according to an embodiment may include receiving steering angular velocity information and RPM information of the first motor and the second motor through a steering angular velocity sensor mounted in a vehicle or an RPM sensor of a steering assist motor. (S600). In this case, the RPM sensor of the steering assist motor may be an encoder installed in the motor. The encoder may detect the rotational speed and direction of rotation of the first motor and the second motor. Further, according to an embodiment, a plurality of sensors configured inside or outside the vehicle generating information received by the receiving step may be plural. In addition, the above-described sensor may be a preliminary sensor in preparation for a sensor error or failure in the vehicle, and the steering angular velocity or first motor and second motor RPM information received in the receiving step is information directly received through the above-described sensor. It may also be estimated value information calculated using other sensors. Alternatively, the receiving step may calculate steering angular velocity information or RPM information using information received from the aforementioned sensor. For example, in the receiving step, steering angle speed information calculated by estimating the steering angle speed information of the driver using RPM information received from the RPM sensor of the steering auxiliary motor may be used when the steering angle speed sensor has an error or failure. For another example, the receiving step may use the RPM information calculated by estimating the RPM information of the steering auxiliary motor using the received steering angular velocity information when the RPM sensor of the steering auxiliary motor is out of order. In addition, the information received in the receiving step according to an embodiment is not limited to steering angular velocity information or RPM information, but may include steering angular velocity holding time information, driver steering torque information, steering assist motor torque information, and the like.

On the other hand, the step of determining the occurrence of an abnormality according to an embodiment may include determining whether an abnormality occurs by determining synchronization of RPM of the first motor and the second motor based on a result of comparing the first motor RPM information and the second motor RPM information. It is possible to determine and determine the abnormal motor (S610). That is, in the EPS system using the dual steering assist motors, both motors can provide steering assist power according to the driver's steering, and the two steering assist motors can share the output for the steering assist force and produce the same output. Accordingly, in the abnormal occurrence determination step, a steering auxiliary motor having less RPM information may be determined as an abnormal occurrence motor by comparing RPM information.

For example, the abnormal occurrence determination step compares the first motor RPM information and the second motor RPM information, and if any one of the RPM information has a value less than the other one, the steering corresponding to the RPM information having a value less than the other one. Auxiliary motors can be determined as faulty motors. That is, in the abnormal occurrence determination step, when it is determined that the first motor RPM information exceeds the second motor RPM information, the second motor is determined as the abnormal occurrence motor, and the first motor RPM information is less than the second motor RPM information. If determined, the first motor may be determined as the abnormal motor.

In this case, when the RPM information of one steering auxiliary motor has a lower value than the RPM information of the other steering auxiliary motor, it may mean that the output is lowered due to an abnormal factor such as internal heat and the delayed driving is performed. Alternatively, when the RPM information of one steering auxiliary motor has a lower value than the RPM information of the other steering auxiliary motor, it may mean delayed driving due to disturbance of the motor or an increase in clearance.

In addition, the step of determining the additional torque according to an embodiment, when it is determined that an abnormality has occurred in any one of the first motor and the second motor, steering angular velocity motor output matching table information preset for each motor, the first motor Additional torque to be applied to the abnormal motor may be determined based on at least one of RPM information, second motor RPM information, and steering angular speed information (S620). That is, the additional torque determining step is based on the torque information of the motor to be output when there is no abnormality in the steering auxiliary motor and the RPM information of the motor and the RPM information of both motors, based on the difference between the additional torque to be applied when there is no abnormality. can be applied to the delay motor. Through this, since the RPMs of the two steering auxiliary motors can maintain the same value, the dual steering auxiliary motor synchronization method can perform synchronization of both motors.

In this case, steering angular velocity motor output matching table information in the additional torque determining step may include normal motor output torque information and normal motor output RPM information mapped to each steering angular velocity information that may be generated in the vehicle. Since the EPS system is a system for providing steering assistance according to the driver's steering, normal motor output torque information and normal motor output RPM information to be output from the steering assistance motor can be allocated according to the steering angular velocity. Accordingly, the steering angular velocity motor output matching table information in the additional torque determining step may be a table in which output information to be calculated from the steering auxiliary motor is pre-allocated according to the steering angular velocity information. In this case, since the steering angular velocity motor output matching table information may have different values according to the characteristics of the steering auxiliary motor, the steering angular velocity motor output matching table information may be different according to the characteristics of the steering auxiliary motor.

Therefore, the additional torque determining step according to an embodiment may determine the additional torque so that the RPM information output from the abnormal motor is matched with the normal motor output RPM information mapped to the steering angular velocity information based on the steering angular velocity motor output matching table information. there is. Through this, since the abnormal motor and the normal motor output RPM information are identical, the dual steering auxiliary motor synchronization method can synchronize the two steering auxiliary motors.

In addition, the additional torque determining step according to an embodiment may include checking normal motor output RPM information and normal motor output torque information corresponding to the steering angular velocity information using steering angular velocity motor output matching table information of the abnormal motor, and checking the first motor output torque information. The additional torque may be determined by calculating RPM difference information obtained by calculating the difference between the RPM information and the second motor RPM information. In an embodiment, the additional torque determining step may determine additional torque that may be normal motor output RPM information and normal motor output torque information based on the RPM difference information. Through this, it is possible to perform synchronization of the RPMs of the abnormal motor and the normal motor by utilizing the RPM difference information between the abnormal motor and the normal motor.

For example, in the additional torque determining step according to an embodiment, a value obtained by multiplying a value obtained by dividing RPM difference information by normal motor output RPM information by normal motor output torque information may be determined as the additional torque. In addition, the additional torque determining step according to an embodiment may determine the additional torque using a preset relational expression using at least one of RPM difference information, normal motor output RPM information, and normal motor output torque information as a variable.

In addition, the step of controlling the motor current according to an embodiment may control the current to be supplied to the abnormal motor based on the additional torque information (S630). Since the additional torque to be applied to the steering auxiliary motor is determined in the additional torque determining step according to an embodiment, the motor current control step may directly perform synchronization of the two steering auxiliary motors by supplying current to the corresponding motor.

In this case, the motor current control step according to an embodiment may convert the additional torque information into an additional current to be applied to the abnormal motor through a conversion value preset in the vehicle and supply the additional current to the abnormal motor. In the additional torque determining step according to an exemplary embodiment, since the additional torque of the steering assist motor is determined using a unit of torque amount, the motor current control step determines the additional torque based on the unique characteristics of the steering assist motor and the unique characteristics of the vehicle. It is necessary to supply current by converting it into an amount of current. Through this, the motor current control step substantially supplies current to be applied to the steering auxiliary motor to match RPM information and torque information of the abnormal motor with normal motor output torque information and normal motor output RPM information to synchronize the two steering auxiliary motors. can be performed.

As described above, the receiving step, the abnormal occurrence determination step, the additional torque determining step, and the motor current control step of the dual steering auxiliary motor synchronization method for the described purpose may be implemented by one or more microprocessors operating according to a set program, and set The program may include a series of commands for performing each step included in the dual steering auxiliary motor synchronization device according to an embodiment of the present technical idea described above.

The terms "system", "processor", "controller", "component", "module", "interface", "model", and "unit" generally refer to computer-related entities hardware, combinations of hardware and software, software or It can mean running software. For example, but is not limited to, a process driven by a processor, a processor, a controller, a control processor, an object, a thread of execution, a program, and/or a computer. For example, a component can be both an application running on a controller or processor and a controller or processor. One or more components can reside within a process and/or thread of execution, and a component can be located on one machine or distributed across two or more machines.

The above description and accompanying drawings are only illustrative of the technical idea of the present embodiment, and a person having ordinary knowledge in the technical field to which the present technical idea belongs can configure it within a range that does not deviate from the essential characteristics of the present technical idea. Various modifications and variations such as combination, separation, substitution and change of will be possible. Therefore, the disclosed embodiments are intended to explain rather than limit the technical idea, and the scope of the technical idea is not limited by these embodiments. The scope of protection of the present embodiments should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present technical idea.

Claims (9)

a receiver configured to receive steering angular velocity information and RPM information of a first motor and a second motor serving as steering auxiliary motors from a sensor configured in a vehicle;
Based on the result of comparing the first motor RPM information and the second motor RPM information, RPM synchronization of the first motor and the second motor is determined to determine whether an abnormal motor exists and to determine the abnormal motor. an abnormal occurrence determination unit to do;
When it is determined that any one of the first motor and the second motor has an abnormality, steering angular velocity motor output matching table information preset for each motor, the first motor RPM information, and the second motor RPM information and an additional torque determiner configured to determine additional torque to be applied to the abnormal motor based on at least one of the steering angular velocity information. and
And a motor current control unit for controlling a current to be supplied to the abnormal motor based on the additional torque information,
The steering angular velocity motor output matching table information,
Includes normal motor output torque information and normal motor output RPM information mapped for each steering angular velocity information that may be generated in the vehicle,
The additional torque determining unit,
Checking the normal motor output RPM information and the normal motor output torque information corresponding to the steering angular velocity information using the steering angular velocity motor output matching table information of the abnormal motor,
Calculating RPM difference information obtained by calculating a difference between the first motor RPM information and the second motor RPM information;
The dual steering auxiliary motor synchronizing device for determining a value calculated by multiplying a value obtained by dividing the RPM difference information by the normal motor output RPM information by the normal motor output torque information as the additional torque. According to claim 1,
The abnormal occurrence determination unit,
When it is determined that the first motor RPM information exceeds the second motor RPM information, the second motor is determined as an abnormal motor. According to claim 1,
The abnormal occurrence determination unit,
When it is determined that the first motor RPM information is less than the second motor RPM information, the dual steering auxiliary motor synchronizing device, characterized in that for determining the first motor as an abnormal motor. delete delete delete According to claim 1,
The motor current controller,
The dual steering auxiliary motor synchronizing device, characterized in that the additional torque information is converted into an additional current to be applied to the abnormal motor through a conversion value preset in the vehicle and supplied to the abnormal motor. A receiving step of receiving steering angular velocity information and RPM information of a first motor and a second motor serving as steering auxiliary motors from a sensor configured in a vehicle;
Based on a result of comparing the first motor RPM information and the second motor RPM information, RPM synchronization of the first motor and the second motor is determined, and the presence or absence of an abnormal motor and the abnormal motor are determined. occurrence determination step;
When it is determined that any one of the first motor and the second motor has an abnormality, steering angular velocity motor output matching table information preset for each motor, the first motor RPM information, and the second motor RPM information and an additional torque determination step of determining additional torque to be applied to the abnormal motor based on at least one of the steering angular velocity information. and
And a motor current control step of controlling a current to be supplied to the abnormal motor based on the additional torque information,
The steering angular velocity motor output matching table information,
Includes normal motor output torque information and normal motor output RPM information mapped for each steering angular velocity information that may be generated in the vehicle,
The additional torque determining step,
Checking the normal motor output RPM information and the normal motor output torque information corresponding to the steering angular velocity information using the steering angular velocity motor output matching table information of the abnormal motor,
Calculating RPM difference information obtained by calculating a difference between the first motor RPM information and the second motor RPM information;
A method for synchronizing dual steering auxiliary motors, wherein a value obtained by multiplying a value obtained by dividing the RPM difference information by the normal motor output RPM information is multiplied by the normal motor output torque information to determine the additional torque.
delete

Images