KR19980028764A - Electronic Power Steering Control - Google Patents
Electronic Power Steering Control Download PDFInfo
- Publication number
- KR19980028764A KR19980028764A KR1019960047938A KR19960047938A KR19980028764A KR 19980028764 A KR19980028764 A KR 19980028764A KR 1019960047938 A KR1019960047938 A KR 1019960047938A KR 19960047938 A KR19960047938 A KR 19960047938A KR 19980028764 A KR19980028764 A KR 19980028764A
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- South Korea
- Prior art keywords
- steering
- control valve
- slip
- power steering
- speed
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/26—Wheel slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
본 발명은 자동차의 파워스티어링장치에 관한 것으로서 특히 자동차의 파워스티어링의 감도가 노면의 상태에 따라 변화하여 마찰계수가 큰 노면상태에서는 조향력을 크도록 하고 마찰력이 작은 미끄러운 노면에서는 조향력을 약하게하여, 미끄러운 노면에서 스티어링 휠이 가벼워져 발생할 수 있는 위험을 경감하는 자동차용 전자식 파워스티어링제어장치를 제공하는 것을 목적으로 한다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power steering apparatus of an automobile. In particular, the sensitivity of the power steering of an automobile is changed according to the state of the road, so that the steering force is increased in a road surface having a large friction coefficient, and the steering force is weak in a slippery road surface having a small friction, An object of the present invention is to provide an electronic power steering control device for automobiles that reduces the risk of lightening the steering wheel on the road surface.
본 발명은 속도검출센서로부터의 차속을 기초로 PWM제어기(21)와 밸브스위치(22)를 이용하여 유량제어밸브(23)을 제어하여 컨트롤밸브부의 유압을 제어시킴으로서 조향감응력을 변화시킬 수 있는 속도감응조향력제어부(20)를 구비한 전자식 파워스티어링제어장치(16)에 있어서, 슬립률연산수단을 구비하여 전기한 차륜센서(14),(15)로부터의 검출값을 기초로 차량의 슬립률을 연산하는 슬립률연산부(19)와, 슬립률연산부로부터의 연산된 현재의 차량슬립률을 사전에 구분설정된 기준치와 비교하여 슬립률이 크면 PWM제어기(21)와 밸브스위치(22)를 이용하여 유량제어밸브(23)를 닫아 컨트롤밸브부의 유압을 증가시킴으로서 조향감응력을 낮추고, 슬립률이 작으면 PWM제어기(21)와 밸브스위치(22)를 이용하여 유량제어밸브(23)을 열어 컨트롤밸브부의 유압을 감소시킴으로서 조향감응력을 높이도록 하는 슬립감응조향력제어부(20)를 포함하는 것을 특징으로 하는 전자식파워스티어링 제어장치(16 )를 제공한다.The present invention controls the flow rate control valve 23 using the PWM controller 21 and the valve switch 22 on the basis of the vehicle speed from the speed detection sensor to control the hydraulic pressure of the control valve unit to change the steering stress. In the electronic power steering control device (16) having the inductive steering force control unit (20), the slip ratio of the vehicle is determined based on the detected values from the wheel sensors (14) and (15), which are provided with slip ratio calculation means. If the slip ratio is large by comparing the slip rate calculating unit 19 to be calculated and the current vehicle slip rate calculated from the slip rate calculating unit with a preset reference value, the flow rate is increased by using the PWM controller 21 and the valve switch 22. By closing the control valve 23 to increase the hydraulic pressure of the control valve portion to lower the steering stress, if the slip ratio is small, the flow control valve 23 is opened by using the PWM controller 21 and the valve switch 22 to open the hydraulic pressure of the control valve portion. At reducing It provides an electronic power steering control device 16, characterized in that it comprises a slip sensitive steering force control unit 20 to increase the steering stress by pressing.
Description
본 발명은 자동차의 파워스티어링장치에 관한 것으로서 특히 노면상태에따라 제어상태를 자동적으로 변화시킬 수 있는 전자제어식 파워 스티어링장치에 관한 것이다. 본 발명은 자동차의 파워스티어링의 감도가 노면의 상태에 따라 변화하여 마찰계수가 큰 노면상태에서는 조향력을 크도록 하고 마찰력이 작은 미끄러운 노면에서는 조향력을 약하게하여, 미끄러운 노면에서 스티어링 휠이 가벼워져 발생할 수 있는 위험을 경감하는 자동차용 전자식 파워스티어링제어장치를 제공하는 것을 목적으로 한다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power steering apparatus for an automobile, and more particularly, to an electronically controlled power steering apparatus capable of automatically changing a control state according to a road surface condition. According to the present invention, the sensitivity of the power steering of the vehicle is changed according to the road surface condition, so that the steering force is increased in the road surface state with a high friction coefficient, and the steering wheel is weakened on the slippery road surface where the friction force is small, so that the steering wheel may be light. It is an object of the present invention to provide an electronic power steering control device for automobiles that reduces the risks.
한편, 통상 스티어링 장치는 차량의 속력이 빨라질수록 조향력이 가벼워지지만, 배력이 일정한 파워스티어링 장치의 경우 휠이 가벼워 사고의 위험이 있으므로 이를 방지하기위해 엔진회전수 또는 차속감응에따라 조향력을 변화시키는 전자제어식 파워스티어링 장치가 제공되고 있다.컨트롤밸브부(5)를 통과한 오일이 공급되어 핸들(8)의 회전력을 상기 오일의 압력에 따라 배력하여 타이로드(9,9')에 전달하는 파워 스티어링 기어 박스(4), 오일통로(10)의 유량을 제어하여 컨트롤 박스의 유압을 조정하는 유량제어밸브(6), 조향각속도센서(12), 차속센서(13),On the other hand, in general, the steering device has a lighter steering force as the speed of the vehicle increases, but in the case of a power steering device with constant power, the wheel is lighter and there is a risk of an accident, so the steering force is changed according to the engine speed or the vehicle speed response to prevent this. A controlled power steering device is provided. A power steering for supplying oil passing through the control valve part 5 to multiply the rotational force of the handle 8 in accordance with the pressure of the oil and to transmit it to the tie rods 9 and 9 '. Flow rate control valve 6 for adjusting the oil pressure of the control box by controlling the flow rate of the gear box 4, the oil passage 10, the steering angular velocity sensor 12, the vehicle speed sensor 13,
전술한 바와 같은 종래의 자동차의 파워 스티어링 장치의 작용은 다음과 같다. 먼저, 자동차의 운전자가 자동차의 시동을 건 상태에서 자동차의 핸들(8)을 회전시키면, 핸들(8)의 회전력이 조향 샤프트(7)를 통해 컨트롤 밸브부(5)에 전달된다. 그리고 엔진(1)이 구동될 때 회전하는 오일 펌프(2)는 오일 탱크(3)에서 공급되는 오일을 컨트롤 밸브부(5)에 공급한다.The operation of the power steering apparatus of the conventional vehicle as described above is as follows. First, when the driver of the vehicle rotates the handle 8 of the vehicle while the vehicle is started, the rotational force of the handle 8 is transmitted to the control valve part 5 through the steering shaft 7. And the oil pump 2 which rotates when the engine 1 is driven supplies the oil supplied from the oil tank 3 to the control valve part 5.
한편, 전자식 파워스티어링제어기(11)은 차속센서(13)으로부터의 차속에따라 유량제어밸브(6)의 유량을 제어하여, 차량이 고속으로 주행중이면 유량제어밸브(6)를 닫아 오일펌프의 고압이 컨트롤밸브부(5)의 파워실린더(도시되지않음)에 그대로 작용토록하여 조향력을 줄이게되며, 차량이 저속주행중이면 유량제어밸브(6)를 열어 고압측의 유압의 일부가 제어밸브(6)를 바이패스하도록 하여 파워실린더의 작동압을 저하시켜 조향력을 크게한다.On the other hand, the electronic power steering controller 11 controls the flow rate of the flow rate control valve 6 according to the vehicle speed from the vehicle speed sensor 13, and closes the flow rate control valve 6 when the vehicle is traveling at high speed, thereby increasing the high pressure of the oil pump. The steering force is reduced as it acts on the power cylinder (not shown) of the control valve part 5, and when the vehicle is traveling at a low speed, the flow control valve 6 is opened to open a part of the hydraulic pressure on the high pressure side. Bypassing the motor reduces the operating pressure of the power cylinder to increase steering power.
그러나 이러한 종래의 전자제어식 파워스티어링 장치는 저속 및 고속에서의 배력작용을 구분하여 작동할 뿐 노면 상태에 따른 작동차이가 없으므로 마찰계수가 높은 노면에서는 그 효과가 크지만, 마찰계수가 작은 미끄러운 노면에서는 비록 저속일지라도 파워스티어링 효과가 작용하기 때문에 스티어링이 가벼워지므로 오히려 차량의 차선이탈 또는 미끄러짐으로 차량의 조향능력이 떨어지게 된다.However, the conventional electronically controlled power steering device operates by distinguishing the back-lifting action at low speed and high speed, and there is no operation difference according to the road surface condition, so the effect is great on the road surface with high friction coefficient, but on slippery road surface with small friction coefficient Even at low speeds, the steering is lighter because of the power steering effect, so the steering ability of the vehicle is reduced due to lane departure or slippage of the vehicle.
본 발명은 전술한 종래의 전자제어식 파워스티어링장치가 갖는 문제점을 해결하기 위한 것으로서, 자동차의 파워스티어링의 감응도가 노면의 상태에 따라 변화하여 마찰계수가 큰 노면상태에서는 조향력을 크도록 하고 마찰력이 작은 미끄러운 노면에서는 조향력을 약하게하여, 미끄러운 노면에서 스티어링 휠이 가벼워져 발생할 수 있는 위험을 경감하는 자동차용 전자식 파워스티어링 장치를 제공하는 것을 기술적과제로 한다.The present invention is to solve the above problems of the conventional electronically controlled power steering device, the sensitivity of the power steering of the vehicle is changed according to the state of the road surface so that the steering force in the road surface state with a large coefficient of friction, and the friction force is small It is a technical task to provide an electronic power steering device for automobiles that reduces steering force on slippery roads and reduces the risk of lightening the steering wheel on slippery roads.
도1은 종래의 전자식 파워스티어링제어장치의 실시도1 is an embodiment of a conventional electronic power steering control device
본 발명은 전술한 기술적 과제를 해결하기위한 수단으로, 전륜의 현재속력을 검출해내는 전륜속력검지센서(14) 및 후륜의 현재속력을 검출해내는 후륜속력검지센서(15)로부터 현재의 차속을 연산하는 차속연산부(17)와, 밸브스위치(22)의 개폐기간을 조정하는 PWM 제어기(21)와, 차속연산부(17)로부터 연산된 차속을 사전 설정된값과 비교하여 고속상태이면 PWM제어기(21)와 밸브스위치(22)를 이용하여 유량제어밸브(23)를 닫아 컨트롤밸브부의 유압을 증가시킴으로서 조향감응력을 낮추고, 지속상태면 PWM제어기(21)와 밸브스위치(22)를 이용하여 유량제어밸브(23)을 열어 컨트를밸브부의 유압을 감소시킴으로서 조향감응력을 높이도록 하는 속도감응조향력제어부(20)를 구비한 전자식 파워스티어링제어장치(16)에 있어서, 슬립률연산수단을 구비하여 전기한 차륜센서(14),(15)로부터의 검출값을 기초로 차량의 슬립률을 연산하는 슬립률연산부(19)와, 슬립률연산부로부터의 연산된 현재의 차량슬립률을 사전에 구분설정된 기준치와 비교하여 슬립률이 크면 PWM제어기(21)와 밸브스위치(22)를 이용하어 유량제어밸브(23)를 닫아 칸트를밸브부의 유압을 증가시킴으로서 조향감응력을 낮추고, 슬립률이 작으면 PWM제어기(21)와 밸브스위치(22)를 이용하여, 유량제어밸브(23)을 열어 컨트롤밸브부의 유압을 감소시킴으로서 조향감응력을 높이도록 하는 슬립감응조향력제어부(20)를 포함하는 것을 특징으로 하는 전자식파워스티어링제어장치(16)를 제공한다.The present invention is a means for solving the above-mentioned technical problem, the current vehicle speed from the front wheel speed detection sensor 14 for detecting the current speed of the front wheel and the rear wheel speed detection sensor 15 for detecting the current speed of the rear wheel. Comparing the vehicle speed calculation unit 17 to calculate, the PWM controller 21 to adjust the opening and closing period of the valve switch 22, and the vehicle speed calculated from the vehicle speed calculation unit 17 to a preset value, the PWM controller 21 ) And the valve control switch 22 to close the flow control valve 23 to increase the hydraulic pressure of the control valve portion, thereby reducing the steering stress, and in the continuous state, the flow control valve using the PWM controller 21 and the valve switch 22. An electronic power steering control device (16) having a speed sensitive steering force control unit (20) which opens the control section (23) to increase the steering stress by reducing the hydraulic pressure of the valve portion, wherein the wheels are provided with slip ratio calculation means. The slip rate calculating unit 19 for calculating the slip rate of the vehicle based on the detected values from the books 14 and 15 and the current vehicle slip rate calculated from the slip rate calculating unit are compared with a predetermined reference value. If the slip ratio is large, the PWM controller 21 and the valve switch 22 are used to close the flow control valve 23 to increase the hydraulic pressure of the valve to lower the steering stress, and if the slip ratio is small, the PWM controller 21 is used. And an electric power steering control device comprising a slip-sensitive steering force control unit 20 which increases the steering-sensing stress by opening the flow rate control valve 23 to reduce the hydraulic pressure of the control valve unit by using the valve switch 22. Provide 16.
도2는 본 발명의 일실시예로서 전자식 파워스티어링제어기(16)와 그 주변장치를 도시한 것이다. 도2중 유량제어밸브(23)는 도1의 도면부호 (6)과 같은 것으로서 종래의 밸브이며 솔레노이드밸브로 구성되어 전류가 많이 흐를수록 열리는 구조로 되어 있다. 이 밸브가 열리면 밸브를 통해 오일이 바이패스되므로 컨트롤 밸브부(5)내의 파워실린더의 내압이 줄게되고 그 결과 핸들이 가벼워져 조향이 쉽게된다(조향감응력이 커진다) 한편, 이 밸브가 닫히면 밸브를 바이패스하던 오일의 유압이 컨트롤 밸브(5)내의 파워실린더에 가해지므로 그결과 핸들이 무거워지고 조향이 상대적으로 잘 안된다(조향감응력이 작아진다). 유량제어밸브(23)의 개폐는 밸브스위치(22)에 의해 제어된다.속도감응제어부이다. 차속연산부(17)는 전륜속력검지센서(14) 및 후륜속력검지센서(15)로부터 검출된 속력을 이용하여 차량의 속력을 연산하고, 속도감응제어부(18)는 차속연산부로부터의 차속을 사전에 설정된 기준값과 비교하여, 고속이면 PWM제어기(21)에 제어신호를 보내 밸브스위치(22)를 온하는 시간을 길게하여 유량제어밸브에 흐르는 전류랑을 줄여 밸브를 닫고, 저속이면 PWM제어기(21)로 하여금 밸브스위치(22)를 오프하는 시간을 늘이도록하여 유량제어밸브로의 전류량을 늘여 밸브를 연다. 다른 실시예로서 유량제어밸브(23)를 전류가 흐르면 닫히는 것으로 선택한다면 유량제어밸브의 입력단을 밸브스위치의 컬렉터측에 접속하도록 구성할 수도 있다.Figure 2 shows an electronic power steering controller 16 and its peripheral device as one embodiment of the present invention. The flow control valve 23 in Fig. 2 is the same as the reference numeral 6 in Fig. 1, which is a conventional valve, and is composed of a solenoid valve, which has a structure that opens as much current flows. When this valve is opened, the oil is bypassed through the valve, which reduces the internal pressure of the power cylinder in the control valve section 5, and as a result, the handle is lighter, which makes steering easier (steering stress is increased). Hydraulic pressure of the bypassed oil is applied to the power cylinder in the control valve 5, resulting in heavy handles and relatively poor steering (reduced steering stress). Opening / closing of the flow control valve 23 is controlled by the valve switch 22. It is a speed sensitive control unit. The vehicle speed calculation unit 17 calculates the speed of the vehicle using the speeds detected by the front wheel speed detection sensor 14 and the rear wheel speed detection sensor 15, and the speed sensitive control unit 18 calculates the vehicle speed from the vehicle speed calculation unit in advance. Compared with the set reference value, if the high speed sends a control signal to the PWM controller 21 to lengthen the time to turn on the valve switch 22 to reduce the current flow through the flow control valve to close the valve, if the low speed PWM controller 21 The valve is opened to increase the amount of time to turn off the valve switch 22, thereby increasing the amount of current to the flow control valve. As another embodiment, if the flow control valve 23 is selected to close when the current flows, the input end of the flow control valve may be connected to the collector side of the valve switch.
물론, 방법은 이 식에 한정되지 않으며 다른 연산수단이 사용될 수도 있으며, 다른 슬립률 검지수단이 사용될 수도 있다.밸브스위치를 온하는 기간을 늘이도록 하여 유량제어밸브로 흐르는 전류량을 줄여 유량제어밸브(23)을 닫는다. 그러면 고속이라는 판단에서와 동일한 과정에 의해 핸들의 조향감응력이 떨어지도록되어 한편, 현재슬립률이 작아 마찰계수가 높은 노면이라 판단되면, PWM제어기(21)가 밸브 스위치(22)를 오프하는 기간을 늘이도록하여 유량제어밸브로 흐르는 전류량을 늘려 유량제어밸브(23)를 열어 핸들의 조향성을 높이도록한다.Of course, the method is not limited to this equation, and other calculation means may be used, and other slip rate detection means may be used. The flow rate control valve may be reduced by extending the period for turning on the valve switch. 23) Close. Then, steering steering stress of the steering wheel is decreased by the same process as that of high speed. On the other hand, if it is determined that the current slip ratio is small and the friction coefficient is high, the PWM controller 21 turns off the valve switch 22. Increase the amount of current flowing to the flow control valve to open the flow control valve 23 to increase the steering of the handle.
전술한 바와 같이, 본 발명에 의해 제안된 전자식 파워스티어링제어장치에 의해, 자동차의 파워스티어링의 감응도가 노면의 상태에 따라 변화하여 마찰계수가 큰 노면상태에서는 조향력을 크도록 하고 마찰력이 작은 미끄러운 노면에서는 조향력을 약하게하여, 미끄러운 노면에서 스티어링 휠이 가벼워져 발생할 수 있는 위험을 경감할 수있게 되었다.As described above, by the electronic power steering control device proposed by the present invention, the sensitivity of the power steering of the vehicle is changed according to the state of the road surface, so that the steering force is increased in the road surface state where the friction coefficient is large and the frictional force is small slippery road surface. Esau reduced steering and reduced the risk of lightening the steering wheel on slippery roads.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960047938A KR0178655B1 (en) | 1996-10-24 | 1996-10-24 | Electric power steering control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960047938A KR0178655B1 (en) | 1996-10-24 | 1996-10-24 | Electric power steering control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR19980028764A true KR19980028764A (en) | 1998-07-15 |
| KR0178655B1 KR0178655B1 (en) | 1999-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019960047938A KR0178655B1 (en) | 1996-10-24 | 1996-10-24 | Electric power steering control system |
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| Country | Link |
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| KR (1) | KR0178655B1 (en) |
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| KR0178655B1 (en) | 1999-03-20 |
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