KR102664007B1 - Apparatus for providing torque value, apparatus for compensating steering torque, steering apparatus and method for compensating steering torque - Google Patents

Abstract

These embodiments relate to a torque value providing device, a steering torque compensation device, a steering device, and a steering torque compensation method. The torque value providing device includes an estimation unit that estimates the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor, a determination unit that determines whether the steering torque sensor is saturated, and a steering torque sensor. When saturated, it may include an output unit that outputs the estimated steering torque value of the steering wheel.

Description

Torque value providing device, steering torque compensating device, steering device and steering torque compensation method {APPARATUS FOR PROVIDING TORQUE VALUE, APPARATUS FOR COMPENSATING STEERING TORQUE, STEERING APPARATUS AND METHOD FOR COMPENSATING STEERING TORQUE}

These embodiments relate to a steering system, and more specifically, to a torque value providing device, a steering torque compensation device, a steering device, and a steering torque compensation method.

Generally, a steering system refers to a system that can change the steering angle of a wheel based on the steering force (or rotational force) applied to the steering wheel by the driver of the vehicle. Recently, EPS (Electric Power Steer), or electric power steering system, is being applied to vehicles to reduce the steering force of the steering wheel and ensure the stability of the steering state.

This electric power steering system drives the motor according to the vehicle's speed and torque status, providing a light and comfortable steering feeling to the driver of the vehicle when driving at low speeds, a heavy and safe steering feeling to the driver of the vehicle when driving at high speeds, and a feeling of heavy and safe steering to the driver of the vehicle in the event of an emergency. , it is possible to provide the driver of the vehicle with an optimal steering condition so that rapid steering can be achieved.

Recently, research on electric power steering systems that can compensate for the steering torque of the steering wheel has been actively conducted.

These embodiments were designed to solve the above-mentioned problems, and the purpose of these embodiments is to provide a torque value providing device that can accurately provide steering torque of a steering wheel.

Additionally, the purpose of the present embodiments is to provide a steering torque compensation device that can compensate for the steering torque of the steering wheel by accurately reflecting the steering torque of the steering wheel.

Additionally, the purpose of the present embodiments is to provide a steering device that can compensate for the steering torque of the steering wheel by accurately reflecting the steering torque of the steering wheel.

Additionally, the purpose of the present embodiments is to provide a steering torque compensation method that can compensate for the steering torque of the steering wheel by accurately reflecting the steering torque of the steering wheel.

In order to achieve the above-described object, one aspect of the present embodiments includes an estimation unit that estimates the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor, and whether the steering torque sensor is saturated. A torque value providing device including a determination unit that determines and an output unit that outputs the estimated steering torque value of the steering wheel when the steering torque sensor is saturated.

In addition, in order to achieve the above-described object, one aspect of the present embodiments is to estimate the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor, and determine whether the steering torque sensor is saturated. When the steering torque sensor is saturated, a torque value providing module outputs the estimated steering torque value of the steering wheel, and steering compensation so that the steering torque of the steering wheel is compensated based on the estimated steering torque value of the steering wheel. A steering torque compensation device including a torque compensation module that generates at least one of a torque value and a steering compensation current value is provided.

In addition, in order to achieve the above-described object, one aspect of the present embodiments is to obtain steering torque information of the steering wheel through a steering torque sensor, obtain steering angle information of the steering wheel through a steering angle sensor, and obtain steering angle information of the steering wheel through a steering angle sensor, and the steering motor position. An information acquisition module that acquires steering motor angle information of the steering motor through a sensor, a steering motor control module that generates at least one of an assist torque value and an assist current value based on the steering torque information of the steering torque sensor, and steering of the steering angle sensor. Based on the angle information and the steering motor angle information of the steering motor position sensor, the steering torque value of the steering wheel is estimated, and whether the steering torque sensor is saturated is determined. If the steering torque sensor is saturated, the estimated steering torque of the steering wheel is determined. A steering torque compensation module that generates at least one of a steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated based on the value, wherein the steering motor control module generates the assist current value and the steering compensation value. A steering device that controls a steering motor based on current values is provided.

In addition, in order to achieve the above-described object, one aspect of the present embodiments includes the step of estimating the steering torque value of the steering wheel based on the steering angle information of the steering angle sensor and the steering motor angle information of the steering motor position sensor, steering torque Determining whether the sensor is saturated, and when the steering torque sensor is saturated, at least one of a steering compensation torque value and a steering compensation current value is used to compensate the steering torque of the steering wheel based on the estimated steering torque value of the steering wheel. To provide a steering torque compensation method including the step of generating.

According to the torque value providing device of the present embodiments as described above, when the steering torque sensor is saturated, the steering torque value of the steering wheel estimated based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor is calculated. By outputting, there is an effect of accurately providing the steering torque of the steering wheel.

In addition, according to the steering torque compensation device of the present embodiments, when the output value of the steering torque sensor cannot be used for torque compensation control, the steering wheel estimated using the steering angle of the steering angle sensor and the steering motor angle of the steering motor position sensor There is an effect of compensating for torque fluctuations by using the steering torque value as torque compensation control.

1 is an overall block diagram explaining the torque value providing device according to the present embodiments.
Figure 2 is an overall block diagram explaining the steering torque compensation device according to the present embodiments.
Figure 3 is a detailed block diagram explaining the torque compensation module according to the present embodiments.
Figure 4 is an overall block diagram explaining the steering device according to the present embodiments.
Figure 5 is an overall flowchart for explaining the steering torque compensation method according to the present embodiments.
Figure 6 is a detailed flowchart for explaining a method of estimating a steering torque value of a steering wheel according to the present embodiments.
7 to 10 are detailed flowcharts for explaining a method of determining whether the steering torque sensor is saturated according to the present embodiments.
11 to 15 are detailed flowcharts for explaining a method of compensating for steering torque of a steering wheel according to the present embodiments.
Figure 16 is a flowchart for explaining a method of obtaining vehicle status information according to the present embodiments.
Figure 17 is a flowchart for explaining the steering motor control method according to the present embodiments.
Figure 18 is a block diagram of a computer system of a torque value providing device, a steering torque compensating device, and a steering device according to the present embodiments.

Hereinafter, the advantages and features of the present embodiments and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present embodiments are not limited to the embodiments disclosed below and will be implemented in various different forms. These embodiments only serve to ensure that the disclosure of the present embodiments is complete, and are generally used in the technical field to which the present embodiments belong. It is provided to fully inform those with knowledge of the scope of the invention, and the present embodiments are only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification. “And/or” includes each and every combination of one or more of the mentioned items.

Although first, second, etc. are used to describe various elements, elements and/or sections, it is understood that these elements, elements and/or sections are not limited by these terms. These terms are merely used to distinguish one element, component or section from other elements, elements or sections. Therefore, it goes without saying that the first element, first component, or first section mentioned below may also be the second element, second component, or second section within the technical spirit of the present embodiments.

The terminology used herein is for describing the embodiments and is not intended to limit the embodiments. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used herein, “comprises” and/or “comprising” refers to the presence of one or more other components, steps, operations and/or elements. or does not rule out addition.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present embodiments pertain. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

Additionally, in describing the embodiments of the present embodiments, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the gist of the embodiments, the detailed description will be omitted. And the terms described below are terms defined in consideration of functions in the embodiments of the present embodiments, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, a torque value providing device, a steering torque compensating device, a steering device, and a steering torque compensating method will be described in the present embodiments with reference to the attached drawings.

1 is an overall block diagram explaining the torque value providing device according to the present embodiments.

Referring to FIG. 1, the torque value providing device 100 according to the present embodiments may include an estimation unit 120, a determination unit 130, an output unit 140, etc. The torque value providing device 100 according to the present embodiments may further include an input unit 110.

The input unit 110 may receive at least one piece of information among steering torque information of the steering wheel, steering angle information of the steering wheel, and steering motor angle information of the steering motor.

Here, the steering torque information of the steering wheel may include the steering torque value of the steering wheel, but is not limited thereto, and may include any information (e.g., size, phase, frequency, etc.) included in the steering torque of the steering wheel. It can be included.

Here, the steering angle information of the steering wheel may include, but is not limited to, the steering angle value of the steering wheel, and may be any information included in the steering angle of the steering wheel (e.g., size, phase, frequency, etc.). It can be included.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the steering motor, but is not limited thereto. If the information included in the steering motor angle of the steering motor (for example, size, phase, frequency, etc.) It can contain any information.

The estimator 120 may estimate the steering torque value of the steering wheel based on at least one of the steering angle information of the steering wheel and the steering motor angle information of the steering motor.

For example, the estimation unit 120 may estimate the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor.

Specifically, the estimation unit 120 may be connected to the input unit 110. The estimation unit 120 may receive steering angle information of the steering wheel and steering motor angle information of the steering motor from the input unit 110. The estimation unit 120 may estimate the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor provided from the input unit 110.

Here, the steering angle information of the steering wheel may include the steering angle value of the steering angle sensor.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the position sensor of the steering motor.

Accordingly, the estimation unit 120 calculates the twist angle value of the torsion bar using the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and uses the twist angle value of the torsion bar and the constant value of the torsion bar. The steering torque value of the steering wheel can be estimated using .

Specifically, the torque value of the steering wheel caused by the driver can be expressed as Equation 1 below.

[Equation 1]

Torque value of the steering wheel by the driver = torsion bar constant value × twist angle value of the torsion bar

According to Equation 1 above, the torque value of the steering wheel by the driver can be calculated by multiplying the torsion bar constant value and the twist angle value of the torsion bar. The torsion bar constant value may be a preset design value as described above. , if the twist angle value of the torsion bar is calculated, the torque value of the steering wheel caused by the driver can be calculated.

Accordingly, the estimation unit 120 according to the present embodiments calculates the twist angle value of the torsion bar using the difference value between the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and calculates the twist angle value of the torsion bar. The steering torque value of the steering wheel can be estimated by multiplying the twist angle value and the constant value of the torsion bar.

For example, if the torsion bar constant value is 2.4 Nm/1deg, the steering angle value of the steering angle sensor is 201 deg, and the steering motor angle value of the steering motor position sensor is 200 deg, the steering torque value of the steering wheel is 2.4 × ( 201 - 200) = 2.4 N.

As described above, the steering angle of the steering wheel may be angle information in the steering wheel direction, and the steering motor angle of the steering motor may be angle information in the wheel direction. Accordingly, theoretically, there is no case in which there is no twisting of the mechanism in the steering angle of the steering wheel and the steering motor angle of the steering motor.

However, when there is twisting of torque, the steering angle of the steering wheel may be output larger than the steering motor angle of the steering motor in the direction in which the torque is twisted. Accordingly, when the twist angle value of the torsion bar is multiplied by the torsion bar constant value, the steering torque value of the steering wheel can be estimated.

The determination unit 130 may determine whether the steering torque sensor is saturated.

For example, the determination unit 130 may determine whether the steering torque sensor is saturated using the steering torque value of the steering torque sensor.

Specifically, the determination unit 130 may compare the steering torque value of the steering torque sensor with a preset unsaturated range of the steering torque value, and determine whether the steering torque sensor is saturated according to the comparison result.

That is, the determination unit 130 may be connected to the input unit 110. The determination unit 130 may receive the steering torque value of the steering torque sensor from the input unit 110. The determination unit 130 may compare the steering torque value of the steering torque sensor provided from the input unit 110 with a preset unsaturated range of the steering torque value.

Here, the unsaturated range of the preset steering torque value may be set using one value, but is not limited to this, and the unsaturated area may be set using a plurality of values.

Here, the preset steering torque value desaturation range may be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor.

In other words, the maximum steering torque detection value of the steering torque sensor may mean the maximum value that can be output from the steering torque sensor, and the minimum steering torque detection value of the steering torque sensor may mean the minimum value that can be output from the steering torque sensor. You can.

Accordingly, when the preset steering torque value desaturation range consists of two values, that is, the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, the maximum steering torque detection value of the steering torque sensor and the steering torque sensor It may be an area between the minimum steering torque detection values of the torque sensor.

That is, the maximum value of the preset unsaturated range of the steering torque value may be the maximum steering torque detection value of the steering torque sensor, and the minimum value of the preset unsaturated range of the steering torque value may be the minimum steering torque detection value of the steering torque sensor.

In addition, the preset steering torque value desaturation range can be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, so it can be set as a value within the maximum steering torque detection value of the steering torque sensor. It may be an area between a value as small as a set steering torque value and a value as large as a preset steering torque value than the minimum steering torque detection value of the steering torque sensor.

Here, the preset steering torque value may include one value, but is not limited thereto and may include multiple values. Also, when the preset steering torque value includes a plurality of values, the plurality of values may have the same value, but are not limited to this and may have different values.

In particular, the preset steering torque value is the steering torque value determined by the hardware (or mechanism) elements of the steering device (i.e., the steering torque that limits the steering torque of the steering wheel by the hardware (or mechanism) elements of the steering device. value). Accordingly, the preset steering torque value desaturation range is a steering torque value determined by a preset hardware (or mechanism) element of the steering device (i.e., the hardware of the steering device (or, A steering torque value determined by hardware (or mechanism) elements of the steering device that is smaller than the steering torque value that limits the steering torque of the steering wheel by the mechanism element and the minimum steering torque detection value of the steering torque sensor. It may be a range between values as large as (that is, a steering torque value that limits the steering torque of the steering wheel by hardware (or mechanical) elements of the steering device).

For example, the preset steering torque value desaturation range is a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value smaller than the minimum steering torque detection value of the steering torque sensor by the stopper of the steering device. It can be made to a value as large as or within the steering torque value limited by the steering torque value.

In other words, the preset steering torque value desaturation range is two values: a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value smaller than the minimum steering torque detection value of the steering torque sensor. It may be a region between values as large as the steering torque value limited by the stopper of the steering device.

That is, the maximum value of the preset unsaturated range of the steering torque value is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device, and the minimum value of the preset unsaturated range of the steering torque value is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device. The minimum steering torque detection value of the steering torque sensor may be as large as the steering torque value limited by the hardware (eg, stopper, etc.).

As described above, since the saturation of the steering torque sensor is limited in the amount of twist by the stopper of the steering device, the unsaturated range of the steering torque value is determined by the hardware of the steering device (e.g., stopper, etc.) at the output limit of the steering torque sensor. It can be set to reflect the influence of each element.

The determination unit 130 may determine whether the steering torque sensor is saturated according to the comparison result.

In one example, as a result of comparison, the determination unit 130 may determine that the steering torque sensor is saturated when the steering torque value of the steering torque sensor exceeds a preset unsaturated range of the steering torque value.

In another example, the determination unit 130 may determine that the steering torque sensor is unsaturated when, as a result of the comparison, the steering torque value of the steering torque sensor does not exceed the preset steering torque value unsaturated range.

The output unit 140 may output the estimated steering torque value of the steering wheel or the steering torque value of the steering torque sensor according to the result of determining whether the steering torque sensor is saturated.

As an example, as a result of determining whether the steering torque sensor is saturated, the output unit 140 may output the estimated steering torque value of the steering wheel when the steering torque sensor is saturated.

In another example, the output unit 140 may output the steering torque value of the steering torque sensor when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated.

Specifically, the output unit 140 may be connected to the input unit 110. The output unit 140 may receive steering torque information of the steering wheel from the input unit 110. Additionally, the output unit 140 may be connected to the estimation unit 120. The output unit 140 may receive the estimated steering torque value of the steering wheel from the estimation unit 120. Additionally, the output unit 140 may be connected to the determination unit 130. The output unit 140 may receive a result of determining whether the steering torque sensor is saturated from the determination unit 130.

In addition, the output unit 140 outputs the estimated steering torque value of the steering wheel provided from the estimation unit 120 or the steering torque value provided from the input unit 110 according to the result of determining whether the steering torque sensor provided from the determination unit 130 is saturated. The steering torque value of the steering torque sensor can be output.

As an example, as a result of determining whether the steering torque sensor provided by the determination unit 130 is saturated, the output unit 140 provides the estimated steering torque value of the steering wheel provided by the estimation unit 120 when the steering torque sensor is saturated. can be output.

In another example, as a result of determining whether the steering torque sensor provided by the determination unit 130 is saturated, the output unit 140 provides the steering torque value of the steering torque sensor provided from the input unit 110 when the steering torque sensor is unsaturated. can be output.

As described above, when the steering torque sensor is saturated, the torque value providing device according to the present embodiments provides a steering torque value of the steering wheel estimated based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor. By outputting, the steering torque of the steering wheel can be accurately provided.

Figure 2 is an overall block diagram explaining the steering torque compensation device according to the present embodiments.

Referring to FIG. 2, the steering torque compensation device 200 according to the present embodiments may include a torque value providing module 210 and a torque compensation module 220.

Since the torque value providing module 210 can be understood as the same component as the torque value providing device 100 described above with reference to FIG. 1, the torque value providing module 210, which will be described later, provides the torque value described above with reference to FIG. 1. All functions of the provision device 100 can be performed.

The torque value providing module 210 estimates the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor, determines whether the steering torque sensor is saturated, and determines whether the steering torque sensor is saturated. In this case, the estimated steering torque value of the steering wheel may be output.

Specifically, the torque value providing module 210 may receive at least one of steering torque information of the steering wheel, steering angle information of the steering wheel, and steering motor angle information of the steering motor.

Here, the steering torque information of the steering wheel may include the steering torque value of the steering wheel, but is not limited thereto, and may include any information (e.g., size, phase, frequency, etc.) included in the steering torque of the steering wheel. It can be included.

Here, the steering angle information of the steering wheel may include, but is not limited to, the steering angle value of the steering wheel, and may be any information included in the steering angle of the steering wheel (e.g., size, phase, frequency, etc.). It can be included.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the steering motor, but is not limited thereto. If the information included in the steering motor angle of the steering motor (for example, size, phase, frequency, etc.) It can contain any information.

The torque value providing module 210 may estimate the steering torque value of the steering wheel based on at least one of the steering angle information of the steering wheel and the steering motor angle information of the steering motor.

For example, the torque value providing module 210 may estimate the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor.

Here, the steering angle information of the steering wheel may include the steering angle value of the steering angle sensor.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the position sensor of the steering motor.

Accordingly, the torque value providing module 210 calculates the twist angle value of the torsion bar using the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and calculates the twist angle value of the torsion bar and the twist angle value of the torsion bar. The steering torque value of the steering wheel can be estimated using the constant value.

Specifically, the torque value of the steering wheel caused by the driver can be expressed as Equation 1 below.

[Equation 1]

Torque value of the steering wheel by the driver = torsion bar constant value × twist angle value of the torsion bar

According to Equation 1 above, the torque value of the steering wheel by the driver can be calculated by multiplying the torsion bar constant value and the twist angle value of the torsion bar. The torsion bar constant value may be a preset design value as described above. , if the twist angle value of the torsion bar is calculated, the torque value of the steering wheel caused by the driver can be calculated.

Accordingly, the torque value providing module 210 according to the present embodiments calculates the twist angle value of the torsion bar using the difference value between the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and calculates the twist angle value of the torsion bar. The steering torque value of the steering wheel can be estimated by multiplying the twist angle value of the bar and the constant value of the torsion bar.

For example, if the torsion bar constant value is 2.4 Nm/1deg, the steering angle value of the steering angle sensor is 201 deg, and the steering motor angle value of the steering motor position sensor is 200 deg, the steering torque value of the steering wheel is 2.4 × ( 201 - 200) = 2.4 N.

As described above, the steering angle of the steering wheel may be angle information in the steering wheel direction, and the steering motor angle of the steering motor may be angle information in the wheel direction. Accordingly, theoretically, there is no case in which there is no twisting of the mechanism in the steering angle of the steering wheel and the steering motor angle of the steering motor.

However, when there is twisting of torque, the steering angle of the steering wheel may be output larger than the steering motor angle of the steering motor in the direction in which the torque is twisted. Accordingly, when the twist angle value of the torsion bar is multiplied by the torsion bar constant value, the steering torque value of the steering wheel can be estimated.

The torque value providing module 210 may determine whether the steering torque sensor is saturated.

For example, the torque value providing module 210 may determine whether the steering torque sensor is saturated using the steering torque value of the steering torque sensor.

That is, the torque value providing module 210 may compare the steering torque value of the steering torque sensor with a preset unsaturated range of the steering torque value, and determine whether the steering torque sensor is saturated according to the comparison result.

Here, the unsaturated range of the preset steering torque value may be set using one value, but is not limited to this, and the unsaturated area may be set using a plurality of values.

Here, the preset steering torque value desaturation range may be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor.

In other words, the maximum steering torque detection value of the steering torque sensor may mean the maximum value that can be output from the steering torque sensor, and the minimum steering torque detection value of the steering torque sensor may mean the minimum value that can be output from the steering torque sensor. You can.

Accordingly, when the preset steering torque value desaturation range consists of two values, that is, the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, the maximum steering torque detection value of the steering torque sensor and the steering torque sensor It may be an area between the minimum steering torque detection values of the torque sensor.

That is, the maximum value of the preset unsaturated range of the steering torque value may be the maximum steering torque detection value of the steering torque sensor, and the minimum value of the preset unsaturated range of the steering torque value may be the minimum steering torque detection value of the steering torque sensor.

In addition, the preset steering torque value desaturation range can be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, so it can be set as a value within the maximum steering torque detection value of the steering torque sensor. It may be an area between a value as small as a set steering torque value and a value as large as a preset steering torque value than the minimum steering torque detection value of the steering torque sensor.

Here, the preset steering torque value may include one value, but is not limited thereto and may include multiple values. Also, when the preset steering torque value includes a plurality of values, the plurality of values may have the same value, but are not limited to this and may have different values.

In particular, the preset steering torque value is the steering torque value determined by the hardware (or mechanism) elements of the steering device (i.e., the steering torque that limits the steering torque of the steering wheel by the hardware (or mechanism) elements of the steering device. value). Accordingly, the preset steering torque value desaturation range is a steering torque value determined by a preset hardware (or mechanism) element of the steering device (i.e., the hardware of the steering device (or, A steering torque value determined by hardware (or mechanism) elements of the steering device that is smaller than the steering torque value that limits the steering torque of the steering wheel by the mechanism element and the minimum steering torque detection value of the steering torque sensor. It may be a range between values as large as (that is, a steering torque value that limits the steering torque of the steering wheel by hardware (or mechanical) elements of the steering device).

For example, the preset steering torque value desaturation range is a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value smaller than the minimum steering torque detection value of the steering torque sensor by the stopper of the steering device. It can be a value as large as or within the steering torque value limited by the steering torque value.

In other words, the preset steering torque value desaturation range is two values: a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value smaller than the minimum steering torque detection value of the steering torque sensor. It may be a region between values as large as the steering torque value limited by the stopper of the steering device.

That is, the maximum value of the preset unsaturated range of the steering torque value is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device, and the minimum value of the preset unsaturated range of the steering torque value is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device. The minimum steering torque detection value of the steering torque sensor may be as large as the steering torque value limited by the stopper.

As described above, since the saturation of the steering torque sensor is limited in the amount of twist by the stopper of the steering device, the unsaturated range of the steering torque value is determined by the hardware of the steering device (e.g., stopper, etc.) at the output limit of the steering torque sensor. It can be set to reflect the influence of each element.

The torque value providing module 210 may determine whether the steering torque sensor is saturated according to the comparison result.

In one example, as a result of comparison, the torque value providing module 210 may determine that the steering torque sensor is saturated when the steering torque value of the steering torque sensor exceeds a preset unsaturated range of the steering torque value.

In another example, the torque value providing module 210 may determine that the steering torque sensor is unsaturated when, as a result of comparison, the steering torque value of the steering torque sensor does not exceed the preset steering torque value unsaturated range.

The torque value providing module 210 may output the estimated steering torque value of the steering wheel or the steering torque value of the steering torque sensor according to the result of determining whether the steering torque sensor is saturated.

As an example, as a result of determining whether the steering torque sensor is saturated, the torque value providing module 210 may output the estimated steering torque value of the steering wheel when the steering torque sensor is saturated.

In another example, the torque value providing module 210 may output the steering torque value of the steering torque sensor when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated.

The torque compensation module 220 may compensate the steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor.

Specifically, the torque compensation module 220 may be connected to the torque value providing module 210. The torque compensation module 220 may receive at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor from the torque value providing module 210 . The torque compensation module 220 compensates the steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor provided from the torque value providing module 210. You can.

In one example, when the torque compensation module 220 receives the estimated steering torque value of the steering wheel from the torque value providing module 210, the torque compensation module 220 provides the steering torque of the steering wheel based on the estimated steering torque value of the steering wheel. can compensate.

In another example, when the torque compensation module 220 receives the steering torque value of the steering torque sensor from the torque value providing module 210, the torque compensation module 220 may compensate the steering torque of the steering wheel based on the steering torque value of the steering torque sensor. there is.

The torque compensation module 220 is configured to compensate for the steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. You can create at least one.

In one example, the torque compensation module 220 may generate at least one of a steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated based on the estimated steering torque value of the steering wheel.

In another example, the torque compensation module 220 may generate at least one of a steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated based on the steering torque value of the steering torque sensor.

Here, the steering compensation current value may be generated based on the steering compensation torque value.

For example, the torque compensation module 220 generates a steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, A steering compensation current value can be generated based on the steering compensation torque value.

In particular, the steering compensation current value may be generated using the steering compensation torque value and the torque constant of the steering motor. For example, the steering compensation current value may be generated by dividing the steering compensation torque value by the torque constant of the steering motor.

That is, the torque compensation module 220 generates a steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, The steering compensation current value may be generated by using the steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor).

Figure 3 is a detailed block diagram explaining the torque compensation module according to the present embodiments.

Referring to FIG. 3, the torque compensation module 220 according to the present embodiments changes the steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. By performing steering torque compensation control, at least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

In one example, the torque compensation module 220 performs steering torque compensation control for changes in the steering torque of the steering wheel based on the estimated steering torque value of the steering wheel, thereby providing a steering compensation torque value so that the steering torque of the steering wheel is compensated. and at least one of a steering compensation current value may be generated.

In another example, the torque compensation module 220 performs steering torque compensation control for the steering torque variation of the steering wheel based on the steering torque value of the steering torque sensor, and adjusts the steering compensation torque value and steering so that the steering torque of the steering wheel is compensated. At least one of the compensation current values can be generated.

The torque compensation module 220 according to the present embodiments may include at least one of the first torque compensation unit 221 and the second torque compensation unit 222.

The first torque compensation unit 221 performs a differential operation on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, and calculates the steering torque of the steering wheel using the differentially calculated steering torque value. At least one of a first steering compensation torque value and a first steering compensation current value may be generated to compensate.

Specifically, the first torque compensation unit 221 may be connected to the torque value providing module 210. The first torque compensation unit 221 may receive at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor from the torque value providing module 210.

The first torque compensation unit 221 performs a differential operation on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor provided from the torque value providing module 210, and performs a differential operation on the steering torque value obtained from the differential calculation. At least one of a first steering compensation torque value and a first steering compensation current value may be generated using the torque value so that the steering torque of the steering wheel is compensated.

In one example, the first torque compensation unit 221 performs a differential operation on the estimated steering torque value of the steering wheel provided from the torque value providing module 210, and steers the steering wheel using the differential calculated steering torque value. At least one of a first steering compensation torque value and a first steering compensation current value may be generated so that the torque is compensated.

In another example, the first torque compensation unit 221 differentially calculates the steering torque value of the steering torque sensor provided from the torque value providing module 210, and uses the differentially calculated steering torque value to determine the steering torque of the steering wheel. At least one of a first steering compensation torque value and a first steering compensation current value may be generated for compensation.

The first torque compensation unit 221 may include a friction compensation controller (eg, a static friction controller, etc.).

Meanwhile, the first steering compensation current value may be generated based on the first steering compensation torque value.

For example, the first torque compensation unit 221 provides a first steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The first torque compensation unit 221 may generate a first steering compensation current value based on the first steering compensation torque value.

In particular, the first steering compensation current value may be generated using the first steering compensation torque value and the torque constant of the steering motor. For example, the first steering compensation current value may be generated by dividing the first steering compensation torque value by the torque constant of the steering motor.

That is, the first torque compensation unit 221 provides a first steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The first torque compensation unit 221 uses the first steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor) to generate the first steering compensation current value. You can.

The second torque compensation unit 222 high-pass filters at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, and outputs the high-pass filtered steering torque value. At least one of a second steering compensation torque value and a second steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

Specifically, the second torque compensation unit 222 may be connected to the torque value providing module 210. The second torque compensation unit 222 may receive at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor from the torque value providing module 210.

The second torque compensation unit 222 performs high pass filtering on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor provided from the torque value providing module 210. And, using the high-pass filtered steering torque value, at least one of a second steering compensation torque value and a second steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

In one example, the second torque compensator 222 performs high pass filtering on the estimated steering torque value of the steering wheel provided from the torque value providing module 210, and generates the high pass filtered steering torque value. At least one of a second steering compensation torque value and a second steering compensation current value can be generated so that the steering torque of the steering wheel is compensated.

In another example, the second torque compensation unit 222 high-pass filters the steering torque value of the steering torque sensor provided from the torque value providing module 210 and uses the high-pass filtered steering torque value. Thus, at least one of a second steering compensation torque value and a second steering compensation current value can be generated so that the steering torque of the steering wheel is compensated.

The second torque compensator 222 may include a high frequency controller (eg, a boost controller, etc.).

Meanwhile, the second steering compensation current value may be generated based on the second steering compensation torque value.

For example, the second torque compensation unit 222 provides a second steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The second torque compensation unit 222 may generate a second steering compensation current value based on the second steering compensation torque value.

In particular, the second steering compensation current value may be generated using the second steering compensation torque value and the torque constant of the steering motor. For example, the second steering compensation current value may be generated by dividing the second steering compensation torque value by the torque constant of the steering motor.

That is, the second torque compensation unit 222 provides a second steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The second torque compensator 222 uses the second steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor) to generate a second steering compensation current value. You can.

In a steering system, if the steering wheel is moved to one end of the rack and then the steering wheel is strongly twisted, the output of the steering torque sensor may be the maximum value of the preset steering torque sensor, but the actual driver steering torque is greater than the maximum output value of the steering torque sensor. It can be big.

Accordingly, if the output of the steering torque sensor is saturated and does not reflect the actual steering torque of the steering wheel, torque compensation control for changes in steering torque cannot be operated. That is, the high pass filter and differential term may be 0.

Additionally, if the steering wheel is applied and maintained in that state, OLP (Over Load Protection) may be activated. When OLP operates, the output of the steering motor, which was producing the maximum output, is linearly reduced, and due to the reduced steering motor torque, the driver has difficulty steering, and the position of the steering wheel may also change in the direction of reduced torque. . In this situation, torque compensation control for steering torque fluctuations is continuously impossible, and when the position is moved, changes in torque due to mechanical friction are transmitted to the steering wheel and perceived by the driver.

Accordingly, when the steering torque compensation device 200 according to the present embodiments cannot use the output value of the steering torque sensor for torque compensation control, the steering torque compensation device 200 makes an estimate using the steering angle of the steering angle sensor and the steering motor angle of the steering motor position sensor. Torque fluctuations can be compensated by using the steering torque value of the steering wheel as torque compensation control.

Figure 4 is an overall block diagram explaining the steering device according to the present embodiments.

Referring to FIG. 4, the steering device 300 according to the present embodiments may include an information acquisition module 310, a steering torque compensation module 320, and a steering motor control module 330.

The information acquisition module 310 may acquire status information of the vehicle.

Specifically, the information acquisition module 310 may measure the status of the vehicle through at least one sensor. The information acquisition module 310 may acquire vehicle status information based on the measured vehicle status.

Here, the at least one sensor may include at least one of a steering torque sensor, a steering angle sensor, and a steering motor position sensor, but is not limited thereto, and may include any sensor (for example, an acceleration sensor) if it can measure the state of the vehicle. Pedal sensor (e.g., accelerator pedal position sensor), throttle valve sensor, engine torque sensor, vehicle speed sensor (e.g., wheel speed sensor and/or rear wheel speed sensor, etc.), yaw rate sensor, steering acceleration sensor, etc.) It can be included.

Here, the vehicle status information may include at least one of steering torque information of the steering wheel, steering angle information of the steering wheel, and steering motor angle information of the steering motor, but is not limited thereto and may indicate the status of the vehicle. Any information that exists can be included.

Accordingly, the information acquisition module 310 acquires steering torque information of the steering wheel through the steering torque sensor, acquires steering angle information of the steering wheel through the steering angle sensor, and acquires steering angle information of the steering motor through the steering motor position sensor. Each piece of information can be obtained.

Since the steering torque compensation module 320 can be understood as the same component as the steering torque compensation device 200 described above with reference to FIGS. 2 and 3, the steering torque compensation module 320, which will be described later, is similar to that of FIGS. 2 and 3. All functions of the steering torque compensation device 200 described above can be performed.

The steering torque compensation module 320 estimates the steering torque value of the steering wheel based on the steering angle information of the steering angle sensor and the steering motor angle information of the steering motor position sensor, determines whether the steering torque sensor is saturated, and determines whether the steering torque sensor is saturated. When is saturated, at least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque of the steering wheel is compensated based on the estimated steering torque value of the steering wheel.

Specifically, the steering torque compensation module 320 may be connected to the information acquisition module 310. The steering torque compensation module 320 receives steering torque information of the steering wheel of the steering torque sensor, steering angle information of the steering wheel through the steering angle sensor, and steering motor angle information of the steering motor of the steering motor position sensor from the information acquisition module 310. At least one piece of information can be provided.

Here, the steering torque information of the steering wheel may include the steering torque value of the steering wheel, but is not limited thereto, and may include any information (e.g., size, phase, frequency, etc.) included in the steering torque of the steering wheel. It can be included.

Here, the steering angle information of the steering wheel may include, but is not limited to, the steering angle value of the steering wheel, and may be any information included in the steering angle of the steering wheel (e.g., size, phase, frequency, etc.). It can be included.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the steering motor, but is not limited thereto. If the information included in the steering motor angle of the steering motor (for example, size, phase, frequency, etc.) It can contain any information.

The steering torque compensation module 320 may estimate the steering torque value of the steering wheel based on at least one of the steering angle information of the steering wheel and the steering motor angle information of the steering motor.

For example, the steering torque compensation module 320 may estimate the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor.

Here, the steering angle information of the steering wheel may include the steering angle value of the steering angle sensor.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the position sensor of the steering motor.

Accordingly, the steering torque compensation module 320 calculates the twist angle value of the torsion bar using the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and calculates the twist angle value of the torsion bar and the twist angle value of the torsion bar. The steering torque value of the steering wheel can be estimated using the constant value.

Specifically, the torque value of the steering wheel caused by the driver can be expressed as Equation 1 below.

[Equation 1]

Torque value of the steering wheel by the driver = torsion bar constant value × twist angle value of the torsion bar

According to Equation 1 above, the torque value of the steering wheel by the driver can be calculated by multiplying the torsion bar constant value and the twist angle value of the torsion bar. The torsion bar constant value may be a preset design value as described above. , if the twist angle value of the torsion bar is calculated, the torque value of the steering wheel caused by the driver can be calculated.

Accordingly, the steering torque compensation module 320 according to the present embodiments calculates the twist angle value of the torsion bar using the difference value between the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and calculates the twist angle value of the torsion bar. The steering torque value of the steering wheel can be estimated by multiplying the twist angle value of the bar and the constant value of the torsion bar.

For example, if the torsion bar constant value is 2.4 Nm/1deg, the steering angle value of the steering angle sensor is 201 deg, and the steering motor angle value of the steering motor position sensor is 200 deg, the steering torque value of the steering wheel is 2.4 × ( 201 - 200) = 2.4 N.

As described above, the steering angle of the steering wheel may be angle information in the steering wheel direction, and the steering motor angle of the steering motor may be angle information in the wheel direction. Accordingly, theoretically, there is no case in which there is no twisting of the mechanism in the steering angle of the steering wheel and the steering motor angle of the steering motor.

However, when there is twisting of torque, the steering angle of the steering wheel may be output larger than the steering motor angle of the steering motor in the direction in which the torque is twisted. Accordingly, when the twist angle value of the torsion bar is multiplied by the torsion bar constant value, the steering torque value of the steering wheel can be estimated.

The steering torque compensation module 320 may determine whether the steering torque sensor is saturated.

For example, the steering torque compensation module 320 may determine whether the steering torque sensor is saturated using the steering torque value of the steering torque sensor.

That is, the steering torque compensation module 320 may compare the steering torque value of the steering torque sensor with a preset unsaturated range of the steering torque value, and determine whether the steering torque sensor is saturated based on the comparison result.

Here, the unsaturated range of the preset steering torque value may be set using one value, but is not limited to this, and the unsaturated area may be set using a plurality of values.

Here, the preset steering torque value desaturation range may be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor.

In other words, the maximum steering torque detection value of the steering torque sensor may mean the maximum value that can be output from the steering torque sensor, and the minimum steering torque detection value of the steering torque sensor may mean the minimum value that can be output from the steering torque sensor. You can.

Accordingly, when the preset steering torque value desaturation range consists of two values, that is, the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, the maximum steering torque detection value of the steering torque sensor and the steering torque sensor It may be an area between the minimum steering torque detection values of the torque sensor.

That is, the maximum value of the preset unsaturated range of the steering torque value may be the maximum steering torque detection value of the steering torque sensor, and the minimum value of the preset unsaturated range of the steering torque value may be the minimum steering torque detection value of the steering torque sensor.

In addition, the preset steering torque value desaturation range can be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, so it can be set as a value within the maximum steering torque detection value of the steering torque sensor. It may be an area between a value as small as a set steering torque value and a value as large as a preset steering torque value than the minimum steering torque detection value of the steering torque sensor.

Here, the preset steering torque value may include one value, but is not limited thereto and may include multiple values. Also, when the preset steering torque value includes a plurality of values, the plurality of values may have the same value, but are not limited to this and may have different values.

In particular, the preset steering torque value is a steering torque value determined by hardware (or mechanism) elements of the steering device 300 (i.e., the steering torque of the steering wheel is determined by the hardware (or mechanism) elements of the steering device 300. It may be a steering torque value that limits torque). Accordingly, the preset steering torque value desaturation range is a steering torque value determined by a preset hardware (or mechanism) element of the steering device 300 (i.e., the steering torque value determined by the steering device 300) rather than the maximum steering torque detection value of the steering torque sensor. ) and a value smaller than the steering torque value that limits the steering torque of the steering wheel by the hardware (or mechanism) element of ) and the hardware (or mechanism) of the steering device 300 that is preset than the minimum steering torque detection value of the steering torque sensor. ) may be an area between values as large as the steering torque value determined by the element (i.e., the steering torque value that limits the steering torque of the steering wheel by the hardware (or mechanism) element of the steering device 300).

For example, the preset steering torque value desaturation range is a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device 300 and a value smaller than the minimum steering torque detection value of the steering torque sensor. It can be made to a value as large as or within the steering torque value limited by the stopper of (300).

That is, the preset steering torque value desaturation range is two values, that is, a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device 300 and the minimum steering torque of the steering torque sensor. It may be an area between the detected value and a value as large as the steering torque value limited by the stopper of the steering device 300.

That is, the maximum value of the preset steering torque value desaturation range is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device 300, and the minimum value of the preset steering torque value desaturation range may be the minimum steering torque detection value of the steering torque sensor that is as large as the steering torque value limited by the stopper of the steering device 300.

As described above, since the saturation of the steering torque sensor is limited in the amount of twist by the stopper of the steering device 300, the unsaturated range of the steering torque value is determined by the hardware (hardware) of the steering device 300 at the output limit of the steering torque sensor. For example, it can be set to reflect the influence of factors (for example, a stopper, etc.).

The steering torque compensation module 320 may determine whether the steering torque sensor is saturated according to the comparison result.

In one example, as a result of comparison, the steering torque compensation module 320 may determine that the steering torque sensor is saturated when the steering torque value of the steering torque sensor exceeds a preset unsaturated range of the steering torque value.

In another example, the steering torque compensation module 320 may determine that the steering torque sensor is unsaturated when, as a result of comparison, the steering torque value of the steering torque sensor does not exceed the preset steering torque value unsaturated range.

The steering torque compensation module 320 may compensate the steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor.

In one example, when the steering torque compensation module 320 determines whether the steering torque sensor is saturated and the steering torque sensor is saturated, the steering torque compensation module 320 may compensate the steering torque of the steering wheel based on the estimated steering torque value of the steering wheel. .

In another example, the steering torque compensation module 320 may compensate the steering torque of the steering wheel based on the steering torque value of the steering torque sensor when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated.

The steering torque compensation module 320 determines the steering compensation torque value and the steering compensation current value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. At least one of them can be created.

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, the steering torque compensation module 320 compensates the steering so that the steering torque of the steering wheel is compensated based on the estimated steering torque value of the steering wheel. At least one of a torque value and a steering compensation current value may be generated.

In another example, the steering torque compensation module 320 provides a steering compensation torque so that the steering torque of the steering wheel is compensated based on the steering torque value of the steering torque sensor when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated. At least one of a value and a steering compensation current value may be generated.

Here, the steering compensation current value may be generated based on the steering compensation torque value.

For example, the steering torque compensation module 320 generates a steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, , the steering compensation current value can be generated based on the steering compensation torque value.

In particular, the steering compensation current value may be generated using the steering compensation torque value and the torque constant of the steering motor. For example, the steering compensation current value may be generated by dividing the steering compensation torque value by the torque constant of the steering motor.

That is, the steering torque compensation module 320 generates a steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, , the steering compensation current value can be generated by using the steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor).

Meanwhile, the steering torque compensation module 320 performs steering torque compensation control for changes in the steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. At least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, the steering torque compensation module 320 provides a steering torque for the steering torque variation of the steering wheel based on the estimated steering torque value of the steering wheel. Compensation control may be performed to generate at least one of a steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated.

In another example, when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated, the steering torque compensation module 320 compensates for the steering torque change of the steering wheel based on the steering torque value of the steering torque sensor. Control may be performed to generate at least one of a steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated.

The steering torque compensation module 320 according to the present embodiments generates at least one of a first steering compensation torque value and a first steering compensation current value, and at least one of a second steering compensation torque value and a second steering compensation current value. can do.

The steering torque compensation module 320 performs a differential operation on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, and uses the differentially calculated steering torque value to determine the steering torque of the steering wheel. At least one of a first steering compensation torque value and a first steering compensation current value may be generated for compensation.

Specifically, the steering torque compensation module 320 performs a differential operation on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, according to the result of determining whether the steering torque sensor is saturated. At least one of a first steering compensation torque value and a first steering compensation current value may be generated using the calculated steering torque value to compensate for the steering torque of the steering wheel.

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, the steering torque compensation module 320 performs a differential operation on the estimated steering torque value of the steering wheel and uses the differentially calculated steering torque value. Thus, at least one of a first steering compensation torque value and a first steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

In another example, when the steering torque compensation module 320 determines whether the steering torque sensor is saturated and the steering torque sensor is unsaturated, the steering torque compensation module 320 performs a differential operation on the steering torque value of the steering torque sensor and uses the differentially calculated steering torque value. At least one of a first steering compensation torque value and a first steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

The steering torque compensation module 320 may include a friction compensation controller (eg, a static friction controller, etc.).

Meanwhile, the first steering compensation current value may be generated based on the first steering compensation torque value.

For example, the steering torque compensation module 320 sets a first steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The steering torque compensation module 320 may generate a first steering compensation current value based on the first steering compensation torque value.

In particular, the first steering compensation current value may be generated using the first steering compensation torque value and the torque constant of the steering motor. For example, the first steering compensation current value may be generated by dividing the first steering compensation torque value by the torque constant of the steering motor.

That is, the steering torque compensation module 320 sets a first steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The steering torque compensation module 320 can generate the first steering compensation current value by using the first steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor). there is.

The steering torque compensation module 320 performs high-pass filtering on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, and uses the high-pass filtered steering torque value. Thus, at least one of a second steering compensation torque value and a second steering compensation current value can be generated so that the steering torque of the steering wheel is compensated.

Specifically, the steering torque compensation module 320 performs high pass filtering (high pass filtering) on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor according to the result of determining whether the steering torque sensor is saturated. pass filtering), and using the high-pass filtered steering torque value, at least one of a second steering compensation torque value and a second steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

In one example, the steering torque compensation module 320 performs high pass filtering on the estimated steering torque value of the steering wheel when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated. At least one of a second steering compensation torque value and a second steering compensation current value may be generated using the filtered steering torque value to compensate for the steering torque of the steering wheel.

In another example, the steering torque compensation module 320 performs high pass filtering on the steering torque value of the steering torque sensor when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated. At least one of a second steering compensation torque value and a second steering compensation current value may be generated using the generated steering torque value to compensate for the steering torque of the steering wheel.

The steering torque compensation module 320 may include a high-frequency controller (eg, a boost controller, etc.).

Meanwhile, the second steering compensation current value may be generated based on the second steering compensation torque value.

For example, the steering torque compensation module 320 sets a second steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The steering torque compensation module 320 may generate a second steering compensation current value based on the second steering compensation torque value.

In particular, the second steering compensation current value may be generated using the second steering compensation torque value and the torque constant of the steering motor. For example, the second steering compensation current value may be generated by dividing the second steering compensation torque value by the torque constant of the steering motor.

That is, the steering torque compensation module 320 sets a second steering compensation torque value so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. can be created.

The steering torque compensation module 320 may generate a second steering compensation current value by using the second steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor). there is.

The steering motor control module 330 may generate at least one of an assist torque value and an assist current value based on steering torque information from the steering torque sensor.

Specifically, the steering motor control module 330 may be connected to the information acquisition module 310. The steering motor control module 330 may receive vehicle status information from the information acquisition module 310. The steering motor control module 330 generates (or calculates) at least one of an assist torque value and an assist current value based on vehicle status information (e.g., steering torque information, etc.) provided from the information acquisition module 310. can do.

In particular, the assist current value can be generated using the assist torque value and the torque constant of the steering motor. For example, the assist current value may be generated by dividing the assist torque value by the torque constant of the steering motor.

That is, the steering motor control module 330 generates an assist torque value based on vehicle status information (e.g., steering torque information, etc.) provided from the information acquisition module 310, and combines the assist torque value and the torque of the steering motor. The assist current value can be generated by using a constant (for example, dividing the assist torque value by the torque constant of the steering motor).

The steering motor control module 330 may control the steering motor based on the assist current value.

Specifically, the steering motor control module 330 converts the assist current value into a gate signal corresponding to the assist current value through a gate driver, converts power according to the gate signal through an inverter to generate assist current, and provides the assist current to the steering motor. This allows you to control the steering motor.

The steering motor control module 330 may control the steering motor based on the assist current value and the steering compensation current value.

Specifically, the steering motor control module 330 may be connected to the steering torque compensation module 320. The steering motor control module 330 may receive at least one of a steering compensation torque value and a steering compensation current value from the steering torque compensation module 320.

The steering motor control module 330 may control the steering motor based on at least one of the assist torque value and the assist current value, and at least one of the steering compensation torque value and the steering compensation current value.

In one example, the steering motor control module 330 generates (or calculates) a final torque value by adding the assist torque value and the steering compensation torque value, and uses the final torque value and the torque constant of the steering motor (for example, the final torque value). The final current value can be generated by dividing the torque value by the torque constant of the steering motor.

Then, the steering motor control module 330 converts the final current value into a gate signal corresponding to the final current value through a gate driver, converts power according to the gate signal through an inverter to generate the final current, and provides the final current to the steering motor. The steering motor can be controlled.

In another example, the steering motor control module 330 may generate (or calculate) a final current value by adding the assist current value and the steering compensation current value.

Then, the steering motor control module 330 converts the final current value into a gate signal corresponding to the final current value through a gate driver, converts power according to the gate signal through an inverter to generate the final current, and provides the final current to the steering motor. The steering motor can be controlled.

Meanwhile, the steering motor control module 330 controls at least one of an assist torque value and an assist current value, at least one of a first steering compensation torque value and a second steering compensation current value, a second steering compensation torque value, and a second steering compensation current value. The steering motor may be controlled based on at least one of the values.

In one example, the steering motor control module 330 generates (or calculates) a final torque value by combining the assist torque value with at least one of the first steering compensation torque value and the second steering compensation torque value, and the final torque value. The final current value can be generated by using the torque constant of the steering motor (for example, dividing the final torque value by the torque constant of the steering motor).

Then, the steering motor control module 330 converts the final current value into a gate signal corresponding to the final current value through a gate driver, converts power according to the gate signal through an inverter to generate the final current, and provides the final current to the steering motor. The steering motor can be controlled.

In another example, the steering motor control module 330 may generate (or calculate) a final current value by combining the assist current value with at least one of the first steering compensation current value and the second steering compensation current value.

Then, the steering motor control module 330 converts the final current value into a gate signal corresponding to the final current value through a gate driver, converts power according to the gate signal through an inverter to generate the final current, and provides the final current to the steering motor. The steering motor can be controlled.

The operation of the steering motor 340 may be controlled based on the assist current.

Specifically, the steering motor 340 may be connected to the steering motor control module 330. The steering motor may receive assist current (or final current) from the steering motor control module 330. The steering motor 340 may have its operation controlled based on the assist current (or final current) provided from the steering motor control module 330 to assist steering of the vehicle.

The steering motor 340 may include at least one of a single winding type motor and a dual winding type motor, but is not limited thereto and is a motor capable of assisting in steering the vehicle. If so, it can include any motor.

The steering motor 340 may include at least one of a three-phase motor and a five-phase motor, but is not limited thereto and may include any motor that can assist steering of the vehicle.

The torque value providing device 100, the steering torque compensating device 200, and the steering device 300 according to the present embodiments described above may include, but are not limited to, an ECU (Electronic Control Unit) and are controlled electronically. Any control device (or system) that can do this can be included.

Hereinafter, a steering torque compensation method according to the present embodiments will be described with reference to the attached drawings. In particular, parts that overlap with the torque value providing device, steering torque compensating device, and steering device according to the present embodiments described above with reference to FIGS. 1 to 4 will be omitted below for simplicity of explanation.

The steering torque compensation method according to the present embodiments may be performed through a torque value providing device, a steering torque compensating device, and a steering device.

Figure 5 is an overall flowchart for explaining the steering torque compensation method according to the present embodiments.

Referring to FIG. 5, the steering torque compensation method according to the present embodiments includes estimating the steering torque value of the steering wheel (S100), determining whether the steering torque sensor is saturated (S200), and steering torque of the steering wheel. It may include a step of compensating (S300), etc.

First, the steering torque value of the steering wheel can be estimated based on at least one of the steering angle information of the steering wheel and the steering motor angle information of the steering motor (S100).

Afterwards, it can be determined whether the steering torque sensor is saturated (S200).

Thereafter, according to the result of determining whether the steering torque sensor is saturated in step S200, the steering torque of the steering wheel is compensated based on at least one of the steering torque value of the steering wheel estimated in step S100 and the steering torque value of the steering torque sensor. You can do it (S300).

In one example, if the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated in step S200, the steering torque compensation module may compensate the steering torque of the steering wheel based on the steering torque value of the steering wheel estimated in step S100. You can.

In another example, when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated in step S200, the steering torque compensation module may compensate the steering torque of the steering wheel based on the steering torque value of the steering torque sensor.

Figure 6 is a detailed flowchart for explaining a method of estimating a steering torque value of a steering wheel according to the present embodiments.

Referring to FIG. 6, the method of estimating the steering torque value of the steering wheel according to the present embodiments can estimate the steering torque value of the steering wheel based on the steering angle information of the steering wheel and the steering motor angle information of the steering motor. There is (S110).

Here, the steering angle information of the steering wheel may include the steering angle value of the steering angle sensor.

Here, the steering motor angle information of the steering motor may include the steering motor angle value of the position sensor of the steering motor.

Accordingly, first, the twist angle value of the torsion bar can be calculated using the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor (S111).

Then, the steering torque value of the steering wheel can be estimated using the twist angle value of the torsion bar and the constant value of the torsion bar (S112).

Specifically, the torque value of the steering wheel caused by the driver can be expressed as Equation 1 below.

[Equation 1]

Torque value of the steering wheel by the driver = torsion bar constant value × twist angle value of the torsion bar

According to Equation 1 above, the torque value of the steering wheel by the driver can be calculated by multiplying the torsion bar constant value and the twist angle value of the torsion bar. The torsion bar constant value may be a preset design value as described above. , if the twist angle value of the torsion bar is calculated, the torque value of the steering wheel caused by the driver can be calculated.

Accordingly, the steering torque compensation method according to the present embodiments calculates the twist angle value of the torsion bar using the difference value between the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and calculates the twist angle value of the torsion bar. The steering torque value of the steering wheel can be estimated by multiplying the angle value and the constant value of the torsion bar.

For example, if the torsion bar constant value is 2.4 Nm/1deg, the steering angle value of the steering angle sensor is 201 deg, and the steering motor angle value of the steering motor position sensor is 200 deg, the steering torque value of the steering wheel is 2.4 × ( 201 - 200) = 2.4 N.

As described above, the steering angle of the steering wheel may be angle information in the steering wheel direction, and the steering motor angle of the steering motor may be angle information in the wheel direction. Accordingly, theoretically, there is no case in which there is no twisting of the mechanism in the steering angle of the steering wheel and the steering motor angle of the steering motor.

However, when there is twisting of torque, the steering angle of the steering wheel may be output larger than the steering motor angle of the steering motor in the direction in which the torque is twisted. Accordingly, when the twist angle value of the torsion bar is multiplied by the torsion bar constant value, the steering torque value of the steering wheel can be estimated.

7 to 10 are detailed flowcharts for explaining a method of determining whether the steering torque sensor is saturated according to the present embodiments.

Referring to FIG. 7, the method of determining whether the steering torque sensor is saturated according to the present embodiments may first determine whether the steering torque sensor is saturated using the steering torque value of the steering torque sensor (S211).

Thereafter, as a result of determining whether the steering torque sensor is saturated in step S211, if the steering torque value of the steering torque sensor is saturated, it may be determined that the steering torque sensor is saturated (S212).

And, as a result of determining whether the steering torque sensor is saturated in step S211, if the steering torque value of the steering torque sensor is unsaturated, it can be determined that the steering torque sensor is unsaturated (S213).

Referring to FIG. 8, the method of determining whether the steering torque sensor is saturated according to the present embodiments first compares the steering torque value of the steering torque sensor with a preset unsaturated range of the steering torque value, and adjusts the steering torque according to the comparison result. It is possible to determine whether the sensor is saturated (S221).

Thereafter, as a result of determining whether the steering torque sensor is saturated in step S221, if the steering torque value of the steering torque sensor exceeds the preset steering torque value unsaturated range, it may be determined that the steering torque sensor is saturated (S222).

And, as a result of determining whether the steering torque sensor is saturated in step S221, if the steering torque value of the steering torque sensor is within the preset unsaturated range of the steering torque value, it may be determined that the steering torque sensor is saturated (S223).

Here, the unsaturated range of the preset steering torque value may be set using one value, but is not limited to this, and the unsaturated area may be set using a plurality of values.

Referring to FIGS. 9 and 10, the preset steering torque value desaturation range according to the present embodiments may be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor. there is.

In other words, the maximum steering torque detection value of the steering torque sensor may mean the maximum value that can be output from the steering torque sensor, and the minimum steering torque detection value of the steering torque sensor may mean the minimum value that can be output from the steering torque sensor. You can.

Accordingly, when the preset steering torque value desaturation range consists of two values, that is, the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, the maximum steering torque detection value of the steering torque sensor and the steering torque sensor It may be an area between the minimum steering torque detection values of the torque sensor.

That is, the maximum value of the preset unsaturated range of the steering torque value may be the maximum steering torque detection value of the steering torque sensor, and the minimum value of the preset unsaturated range of the steering torque value may be the minimum steering torque detection value of the steering torque sensor.

In addition, the preset steering torque value desaturation range can be a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor, so it can be set as a value within the maximum steering torque detection value of the steering torque sensor. It may be an area between a value as small as a set steering torque value and a value as large as a preset steering torque value than the minimum steering torque detection value of the steering torque sensor.

Here, the preset steering torque value may include one value, but is not limited thereto and may include multiple values. Also, when the preset steering torque value includes a plurality of values, the plurality of values may have the same value, but are not limited to this and may have different values.

In particular, the preset steering torque value is the steering torque value determined by the hardware (or mechanism) elements of the steering device (i.e., the steering torque that limits the steering torque of the steering wheel by the hardware (or mechanism) elements of the steering device. value). Accordingly, the preset steering torque value desaturation range is a steering torque value determined by a preset hardware (or mechanism) element of the steering device (i.e., the hardware of the steering device (or, A steering torque value determined by hardware (or mechanism) elements of the steering device that is smaller than the steering torque value that limits the steering torque of the steering wheel by the mechanism element and the minimum steering torque detection value of the steering torque sensor. It may be a range between values as large as (that is, a steering torque value that limits the steering torque of the steering wheel by hardware (or mechanical) elements of the steering device).

For example, the preset steering torque value desaturation range is a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value smaller than the minimum steering torque detection value of the steering torque sensor by the stopper of the steering device. It can be made to a value as large as or within the steering torque value limited by the steering torque value.

In other words, the preset steering torque value desaturation range is two values: a value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value smaller than the minimum steering torque detection value of the steering torque sensor. It may be a region between values as large as the steering torque value limited by the stopper of the steering device.

That is, the maximum value of the preset unsaturated range of the steering torque value is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device, and the minimum value of the preset unsaturated range of the steering torque value is the maximum steering torque detection value of the steering torque sensor that is smaller than the steering torque value limited by the stopper of the steering device. The minimum steering torque detection value of the steering torque sensor may be as large as the steering torque value limited by the stopper.

As described above, since the saturation of the steering torque sensor is limited in the amount of twist by the stopper of the steering device, the unsaturated range of the steering torque value is determined by the hardware of the steering device (e.g., stopper, etc.) at the output limit of the steering torque sensor. It can be set to reflect the influence of each element.

Referring to FIG. 9, in the method of determining whether the steering torque sensor is saturated according to the present embodiments, first, the steering torque value of the steering torque sensor, the maximum steering torque detection value of the steering torque sensor are the maximum values, and the steering torque sensor's The minimum steering torque detection value is compared with a preset unsaturated range of the steering torque value, which is the minimum value, and it can be determined whether the steering torque sensor is saturated according to the comparison result (S231).

Thereafter, as a result of determining whether the steering torque sensor is saturated in step S231, the steering torque value of the steering torque sensor is set to a preset value where the maximum steering torque detection value of the steering torque sensor is the maximum value and the minimum steering torque detection value of the steering torque sensor is the minimum value. If the steering torque value exceeds the unsaturated range, it may be determined that the steering torque sensor is saturated (S232).

As a result of determining whether the steering torque sensor is saturated in step S231, the steering torque value of the steering torque sensor is preset, with the maximum steering torque detection value of the steering torque sensor being the maximum value and the minimum steering torque detection value of the steering torque sensor being the minimum value. If the steering torque value is within the unsaturated range, it may be determined that the steering torque sensor is saturated (S233).

Referring to FIG. 10, the method of determining whether the steering torque sensor is saturated according to the present embodiments is limited by the stopper of the steering device rather than the steering torque value of the steering torque sensor and the maximum steering torque detection value of the steering torque sensor. A value smaller than the steering torque value is the maximum value, and a value larger than the minimum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device is the minimum value. Compare and compare with the preset steering torque value unsaturated range. Depending on the results, it can be determined whether the steering torque sensor is saturated (S241).

Thereafter, as a result of determining whether the steering torque sensor is saturated in step S241, the maximum value is that the steering torque value of the steering torque sensor is smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device. , If the value greater than the minimum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device exceeds the minimum preset steering torque value unsaturation range, the steering torque sensor may be determined to be saturated. (S242).

And, as a result of determining whether the steering torque sensor is saturated in step S231, the maximum value is that the steering torque value of the steering torque sensor is smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device. , If the value greater than the minimum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device is within the unsaturated range of the preset steering torque value, which is the minimum value, the steering torque sensor can be determined to be saturated. (S243).

11 to 15 are detailed flowcharts for explaining a method of compensating for steering torque of a steering wheel according to the present embodiments.

Referring to FIG. 11, the method for compensating the steering torque of the steering wheel according to the present embodiments is based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. At least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque is compensated (S310).

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, a steering compensation torque value and steering compensation are provided so that the steering torque of the steering wheel is compensated based on the estimated steering torque value (S311) of the steering wheel. At least one of the current values can be generated (S313).

In another example, when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated, the steering compensation torque value and steering compensation current are calculated so that the steering torque of the steering wheel is compensated based on the steering torque value (S312) of the steering torque sensor. At least one of the values can be generated (S313).

Referring to FIG. 12, the steering compensation current value may be generated based on the steering compensation torque value.

For example, first, a steering compensation torque value may be generated so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor (S313-1). .

Then, the steering compensation current value can be generated based on the steering compensation torque value (S313-2).

In particular, the steering compensation current value may be generated using the steering compensation torque value and the torque constant of the steering motor. For example, the steering compensation current value may be generated by dividing the steering compensation torque value by the torque constant of the steering motor.

That is, first, in step S313-1, a steering compensation torque value may be generated so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. .

Then, in step S313-2, the steering compensation current value can be generated by using the steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor).

Referring to FIG. 13, the method for compensating the steering torque of the steering wheel according to the present embodiments is based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. By performing steering torque compensation control for steering torque fluctuations, at least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque of the steering wheel is compensated (S320).

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, steering torque compensation control is performed for the steering torque variation of the steering wheel based on the estimated steering torque value (S321) of the steering wheel. At least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque of the steering wheel is compensated (S313).

In another example, when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated, steering torque compensation control is performed for the steering torque fluctuation of the steering wheel based on the steering torque value (S322) of the steering torque sensor to control the steering. At least one of a steering compensation torque value and a steering compensation current value may be generated so that the steering torque of the wheel is compensated (S323).

Referring to FIG. 14, the method of compensating the steering torque of the steering wheel according to the present embodiments includes at least one of a first steering compensation torque value and a first steering compensation current value, a second steering compensation torque value, and a second steering At least one of the compensation current values can be generated.

Continuing to refer to FIG. 14, the method for compensating the steering torque of the steering wheel according to the present embodiments includes performing a differential operation on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. , At least one of the first steering compensation torque value and the first steering compensation current value may be generated so that the steering torque of the steering wheel is compensated using the differentially calculated steering torque value (S323-1).

Specifically, the method of compensating the steering torque of the steering wheel according to the present embodiments includes at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor, depending on the result of determining whether the steering torque sensor is saturated. One value may be differentiated, and at least one of a first steering compensation torque value and a first steering compensation current value may be generated so that the steering torque of the steering wheel is compensated using the differentially calculated steering torque value.

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, the estimated steering torque value of the steering wheel is differentiated, and the steering torque of the steering wheel is compensated using the differential calculated steering torque value. At least one of a first steering compensation torque value and a first steering compensation current value may be generated as much as possible.

In another example, when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated, the steering torque value of the steering torque sensor is differentially calculated, and the steering torque of the steering wheel is compensated using the differentially calculated steering torque value. At least one of a first steering compensation torque value and a first steering compensation current value may be generated.

The method of compensating the steering torque of the steering wheel according to the present embodiments may include friction compensation control (eg, static friction control, etc.).

Continuing to refer to FIG. 14, the method for compensating the steering torque of the steering wheel according to the present embodiments involves high-pass filtering at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. (high pass filtering), and using the high pass filtered steering torque value, at least one of a second steering compensation torque value and a second steering compensation current value may be generated so that the steering torque of the steering wheel is compensated (S323-2 ).

Specifically, the method for compensating the steering torque of the steering wheel according to the present embodiments is based on a result of determining whether the steering torque sensor is saturated, at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. High pass filtering the value of and using the high pass filtered steering torque value to generate at least one of a second steering compensation torque value and a second steering compensation current value so that the steering torque of the steering wheel is compensated. You can.

In one example, when the steering torque sensor is saturated as a result of determining whether the steering torque sensor is saturated, the estimated steering torque value of the steering wheel is high-pass filtered, and the high-pass filtered steering torque value is used. At least one of a second steering compensation torque value and a second steering compensation current value may be generated so that the steering torque of the steering wheel is compensated.

In another example, when the steering torque sensor is unsaturated as a result of determining whether the steering torque sensor is saturated, high pass filtering is performed on the steering torque value of the steering torque sensor, and steering is performed using the high pass filtered steering torque value. At least one of a second steering compensation torque value and a second steering compensation current value may be generated so that the steering torque of the wheel is compensated.

The method of compensating the steering torque of the steering wheel according to the present embodiments may include high frequency control (eg, boost control, etc.).

Referring to FIG. 15, the first steering compensation current value may be generated based on the first steering compensation torque value.

For example, first, a first steering compensation torque value may be generated so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor (S323- 11)

Then, the first steering compensation current value may be generated based on the first steering compensation torque value (S323-12).

In particular, the first steering compensation current value may be generated using the first steering compensation torque value and the torque constant of the steering motor. For example, the first steering compensation current value may be generated by dividing the first steering compensation torque value by the torque constant of the steering motor.

That is, first, in step S323-11, a first steering compensation torque value is generated so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. You can.

Then, in step S323-12, the first steering compensation current value can be generated by using the first steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor). there is.

Referring to FIG. 15, the second steering compensation current value may be generated based on the second steering compensation torque value.

For example, first, a second steering compensation torque value may be generated so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor (S323- 21).

Then, the second steering compensation current value may be generated based on the second steering compensation torque value (S323-22).

In particular, the second steering compensation current value may be generated using the second steering compensation torque value and the torque constant of the steering motor. For example, the second steering compensation current value may be generated by dividing the second steering compensation torque value by the torque constant of the steering motor.

That is, first, in step S323-21, a second steering compensation torque value is generated so that the steering torque of the steering wheel is compensated based on at least one value of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. You can.

Then, in step S323-22, a second steering compensation current value can be generated by using the second steering compensation torque value and the torque constant of the steering motor (for example, dividing the steering compensation torque value by the torque constant of the steering motor). there is.

Figure 16 is a flowchart for explaining a method of obtaining vehicle status information according to the present embodiments.

Referring to FIG. 16, status information of the vehicle can be obtained before step S100 (S10).

Specifically, the state of the vehicle can first be measured through at least one sensor (S11). Then, vehicle status information can be obtained based on the measured vehicle status (S12).

Here, the at least one sensor may include at least one of a steering torque sensor, a steering angle sensor, and a steering motor position sensor, but is not limited thereto, and may include any sensor (for example, an acceleration sensor) if it can measure the state of the vehicle. Pedal sensor (e.g., accelerator pedal position sensor), throttle valve sensor, engine torque sensor, vehicle speed sensor (e.g., wheel speed sensor and/or rear wheel speed sensor, etc.), yaw rate sensor, steering acceleration sensor, etc.) It can be included.

Here, the vehicle status information may include at least one of steering torque information of the steering wheel, steering angle information of the steering wheel, and steering motor angle information of the steering motor, but is not limited thereto and may indicate the status of the vehicle. Any information that exists can be included.

Therefore, in step S11, the steering torque of the steering wheel can be measured through the steering torque sensor, the steering angle of the steering wheel can be measured through the steering angle sensor, and the steering motor angle of the steering motor can be measured through the steering motor position sensor. there is.

Then, in step S12, the steering torque information of the steering wheel is acquired based on the steering torque of the steering wheel measured in step S11, and the steering angle information of the steering wheel is acquired based on the steering angle of the steering wheel measured in step S11. And, the steering motor angle information of the steering motor can be obtained based on the steering motor angle of the steering motor measured in step S11.

Figure 17 is a flowchart for explaining the steering motor control method according to the present embodiments.

Referring to FIG. 17, the steering motor control method according to the present embodiments may be performed after step S300.

The steering motor control method according to the present embodiments can control the steering motor based on the assist current value (S400).

Specifically, first, at least one of the assist torque value and the assist current value may be generated based on the steering torque information of the steering torque sensor (S410).

Afterwards, the steering motor can be controlled based on the assist current value of step S410 (S420).

Specifically, in step S420, the assist current value is converted into a gate signal corresponding to the assist current value through a gate driver, power is converted according to the gate signal through an inverter to generate an assist current, and the assist current is provided to the steering motor to control the steering motor. can do.

Meanwhile, in step S400, the steering motor can be controlled based on the assist current value and the compensation current value.

Specifically, first, in step S410, at least one of an assist torque value and an assist current value may be generated based on the steering torque information of the steering torque sensor.

Thereafter, in step S420, the steering motor can be controlled based on the assist current value and compensation current value in step S410.

Specifically, the steering motor may be controlled based on at least one of the assist torque value and the assist current value, and at least one of the steering compensation torque value and the steering compensation current value.

In one example, in step S420, the final torque value is generated (or calculated) by adding the assist torque value and the steering compensation torque value, and the final torque value and the torque constant of the steering motor are used (for example, the final torque value is applied to the steering motor (divide by the torque constant) to generate the final current value.

Then, it is converted into a gate signal corresponding to the final current value through a gate driver, power is converted according to the gate signal through an inverter to generate the final current, and the final current is provided to the steering motor to control the steering motor.

In another example, in step S420, the final current value may be generated (or calculated) by adding the assist current value and the steering compensation current value.

Then, it is converted into a gate signal corresponding to the final current value through a gate driver, power is converted according to the gate signal through an inverter to generate the final current, and the final current is provided to the steering motor to control the steering motor.

Meanwhile, steering is performed based on at least one of the assist torque value and the assist current value, at least one of the first steering compensation torque value and the second steering compensation current value, and at least one of the second steering compensation torque value and the second steering compensation current value. The motor can be controlled.

In one example, in step S420, the assist torque value is combined with at least one of the first steering compensation torque value and the second steering compensation torque value to generate (or calculate) a final torque value, and the final torque value and the torque of the steering motor are combined. The final current value can be generated using a constant (for example, dividing the final torque value by the torque constant of the steering motor).

Then, it is converted into a gate signal corresponding to the final current value through a gate driver, the power is converted according to the gate signal through an inverter to generate the final current, and the final current is provided to the steering motor to control the steering motor.

In another example, in step S420, the final current value may be generated (or calculated) by adding the assist current value and at least one of the first steering compensation current value and the second steering compensation current value.

Then, it is converted into a gate signal corresponding to the final current value through a gate driver, the power is converted according to the gate signal through an inverter to generate the final current, and the final current is provided to the steering motor to control the steering motor.

The steering motor may have its operation controlled based on the assist current.

Specifically, the steering motor may be provided with assist current (or final current). The steering motor's operation is controlled based on the provided assist current (or final current) to assist steering of the vehicle.

The steering motor may include at least one of a single winding type motor and a dual winding type motor, but is not limited thereto, and may include any motor capable of assisting in steering the vehicle. It can also include a motor.

The steering motor may include at least one of a three-phase motor and a five-phase motor, but is not limited thereto and may include any motor that can assist steering of the vehicle.

Figure 18 is a block diagram of a computer system of a torque value providing device, a steering torque compensating device, and a steering device according to the present embodiments.

Referring to FIG. 18, the above-described embodiments may be implemented within a computer system, for example, as a computer-readable recording medium. As shown in the figure, the computer system 1000, such as a torque value providing device, a steering torque compensating device, and a steering device, includes one or more processors 1010, a memory 1020, a storage unit 1030, and a user interface input unit 1040. ) and a user interface output unit 1050, which may communicate with each other through the bus 1060. Additionally, computer system 1000 may also include a network interface 1070 for connecting to a network. The processor 1010 may be a CPU or a semiconductor device that executes processing instructions stored in the memory 1020 and/or the storage 1030. Memory 1020 and storage unit 1030 may include various types of volatile/non-volatile storage media. For example, memory may include ROM 1021 and RAM 1023.

Accordingly, the present embodiments may be implemented using a computer-implemented method or a non-volatile computer recording medium storing computer-executable instructions. When executed by a processor, the instructions may perform a method according to at least one embodiment of the present embodiments.

Although embodiments of the torque value providing device, steering torque compensating device, steering device, and steering torque compensating method according to the above-described embodiments have been described, the present embodiments are not limited thereto and are limited to the scope of the patent claims and invention. It is possible to implement various modifications within the scope of the detailed description and attached drawings, and these also belong to the present embodiments.

100: Torque value providing device
110: input unit 120: estimation unit
130: judgment unit 140: output unit
200: Steering torque compensation device
210: Torque value providing module 220: Torque compensation module
221: first torque compensation unit 222: second torque compensation unit
300: steering device
310: Information acquisition module 320: Steering torque compensation module
330: Steering motor control module 340: Steering motor

Claims (20)

An input unit that receives steering torque information of the steering wheel obtained through a steering torque sensor, steering angle information of the steering wheel obtained through a steering angle sensor, and steering motor angle information of the steering motor obtained through a steering motor position sensor;
an estimation unit that estimates a steering torque value of a steering wheel based on steering angle information from the steering angle sensor and steering motor angle information from the steering motor position sensor;
a determination unit that compares the steering torque value included in the steering torque information of the steering torque sensor with a preset unsaturated range of the steering torque value, and determines whether the steering torque sensor is saturated according to the comparison result; and
When the steering torque sensor is saturated, the estimated steering torque value of the steering wheel received from the estimation unit is output, and when the steering torque sensor is unsaturated, the steering torque value included in the steering torque information of the steering torque sensor provided from the input unit is output. A torque value providing device including an output unit that outputs a steering torque value.
According to claim 1,
The estimation part is,
The twist angle value of the torsion bar is calculated using the steering angle value of the steering angle sensor and the steering motor angle value of the steering motor position sensor, and the steering torque of the steering wheel is calculated using the twist angle value of the torsion bar and the constant value of the torsion bar. A torque value providing device that estimates the value.
delete According to claim 1,
The preset steering torque value unsaturation range is,
It consists of a value within the maximum steering torque detection value of the steering torque sensor and the minimum steering torque detection value of the steering torque sensor,
The judgment department,
A torque value providing device that determines that the steering torque sensor is saturated when the steering torque value of the steering torque sensor exceeds the preset unsaturated range of the steering torque value.
According to claim 4,
The preset steering torque value unsaturation range is,
A value smaller than the maximum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device and a value greater than the minimum steering torque detection value of the steering torque sensor by the steering torque value limited by the stopper of the steering device, within A torque value providing device consisting of values.
delete Steering torque information of the steering wheel acquired through a steering torque sensor, steering angle information of the steering wheel acquired through a steering angle sensor, and steering motor angle information of the steering motor acquired through a steering motor position sensor are provided, and the steering angle The steering torque value of the steering wheel is estimated based on the steering angle information of the sensor and the steering motor angle information of the steering motor position sensor, and the steering torque value included in the steering torque information of the steering torque sensor and the preset steering torque value are not provided. Compare with the steering torque range, determine whether the steering torque sensor is saturated according to the comparison result, output the estimated steering torque value of the steering wheel if the steering torque sensor is saturated, and if the steering torque sensor is unsaturated, a torque value providing module that outputs a steering torque value included in the steering torque information of the steering torque sensor; and
A steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor provided from the torque value providing module. A steering torque compensation device comprising a torque compensation module that generates at least one of the following:
delete delete delete delete delete delete According to claim 7,
The torque compensation module is,
Differentially calculating the estimated steering torque value of the steering wheel, and using the differentially calculated steering torque value to generate at least one of a first steering compensation torque value and a first steering compensation current value so that the steering torque of the steering wheel is compensated. a first torque compensation unit; and
High pass filtering the estimated steering torque value of the steering wheel, and using the high pass filtered steering torque value to compensate for the steering torque of the steering wheel, a second steering compensation torque value and a second steering compensation current. A steering torque compensation device comprising at least one of a second torque compensator that generates at least one of the values.
An information acquisition module that acquires steering torque information of the steering wheel through a steering torque sensor, acquires steering angle information of the steering wheel through a steering angle sensor, and acquires steering motor angle information of the steering motor through a steering motor position sensor;
a steering motor control module that generates at least one of an assist torque value and an assist current value based on steering torque information from a steering torque sensor; and
The steering torque value of the steering wheel is estimated based on the steering angle information of the steering angle sensor and the steering motor angle information of the steering motor position sensor, and the steering torque value included in the steering torque information of the steering torque sensor and the preset steering torque value. Compare with the unsaturated range, determine whether the steering torque sensor is saturated according to the comparison result, and if the steering torque sensor is saturated, output the estimated steering torque value of the steering wheel, and if the steering torque sensor is unsaturated , outputs a steering torque value included in the steering torque information of the steering torque sensor, and outputs a steering torque of the steering wheel based on at least one of the estimated steering torque value of the steering wheel and the steering torque value of the steering torque sensor. Includes a steering torque compensation module that generates at least one of a steering compensation torque value and a steering compensation current value so that is compensated,
The steering motor control module,
A steering device that controls a steering motor based on the assist current value and the steering compensation current value.
delete delete delete delete Steering torque information of the steering wheel acquired through a steering torque sensor, steering angle information of the steering wheel acquired through a steering angle sensor, and steering motor angle information of the steering motor acquired through a steering motor position sensor are provided, and the steering angle estimating a steering torque value of a steering wheel based on steering angle information from a sensor and steering motor angle information from the steering motor position sensor;
Comparing the steering torque value included in the steering torque information of the steering torque sensor with a preset unsaturated range of the steering torque value, and determining whether the steering torque sensor is saturated according to the comparison result; and
When the steering torque sensor is saturated, the estimated steering torque value of the steering wheel is output, and when the steering torque sensor is unsaturated, the steering torque value included in the steering torque information of the steering torque sensor is output, and the estimated steering torque value is output. Generating at least one of a steering compensation torque value and a steering compensation current value so that the steering torque of the steering wheel is compensated based on at least one of the steering torque value of the steering wheel and the steering torque value of the steering torque sensor. Steering torque compensation method.

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