KR19980038252A - Optimal Gain Estimator for Automobile Rear Steering Controller - Google Patents

Optimal Gain Estimator for Automobile Rear Steering Controller Download PDF

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Publication number
KR19980038252A
KR19980038252A KR1019960057132A KR19960057132A KR19980038252A KR 19980038252 A KR19980038252 A KR 19980038252A KR 1019960057132 A KR1019960057132 A KR 1019960057132A KR 19960057132 A KR19960057132 A KR 19960057132A KR 19980038252 A KR19980038252 A KR 19980038252A
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South Korea
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gain
rear wheel
optimum gain
wheel steering
optimum
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KR1019960057132A
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Korean (ko)
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KR100231586B1 (en
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정연구
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김영귀
기아자동차 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2304/00—Optimising design; Manufacturing; Testing
    • B60Y2304/05—Reducing production costs, e.g. by redesign
    • 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
    • B60Y2400/84—Rear wheel steering; All wheel steerings

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

본 발명은 전륜각과 차속에 따라 능동적으로 후륜을 조타할 수 있도록 하는 자동차의 후륜조향시스템에 있어서 조향액튜에이터를 제어하는 후륜조향제어기의 최적의 게인을 추정할 수 있도록 하는 자동차 후륜조향제어기의 최적게인 추정장치에 관한 것으로, 종래에는 작업자가 일일이 게인을 변화시켜주면서 응답특성을 확인하고 게인을 설정하였기 때문에 최적의 게인을 추정하기 위해서는 시간이 많이 소요될 뿐 아니라 비용이 많이 들게 되는 문제가 있었던 바, 온라인최적게인추정기(PC)를 엔진콘트롤유니트(ECU)와 시리얼 인터페이스(serial interface)로 접속하여 최적의 게인을 설정할 수 있도록 한 것을 특징으로 하는 본 발명에 의하면 작업자가 일일이 게인을 변화시켜가며 응답특성을 확인할 필요없이 각 액튜에이터에 대한 제어기의 최적게인을 자동으로 설정할 수 있게 되므로 작업이 극히 간편하게 됨은 물론 빠른 시간내에 작업을 마칠 수 있게 되어 작업비용을 크게 절감할 수 있게 된다.The present invention is to estimate the optimum gain of the vehicle rear wheel steering controller for estimating the optimum gain of the rear wheel steering controller for controlling the steering actuator in the rear wheel steering system of the vehicle to actively steer the rear wheel according to the front wheel angle and vehicle speed Regarding the device, in the past, since the operator changed the gain and checked the response characteristics and set the gain, it was not only time-consuming but also expensive to estimate the optimum gain. According to the present invention, a gain estimator (PC) is connected to an engine control unit (ECU) and a serial interface so as to set an optimum gain. The optimum gain of the controller for each actuator It can be set automatically, making the work extremely easy, as well as completing the work in a short time, greatly reducing the work cost.

Description

자동차 후륜조향제어기의 최적게인 추정장치Optimal Gain Estimator for Automobile Rear Steering Controller

본 발명은 전륜각과 차속에 따라 능동적으로 후륜을 조타할 수 있도록 하는 자동차의 후륜조향시스템에 있어서 조향액튜에이터를 제어하는 후륜조향제어기의 최적의 게인을 추정할 수 있도록 하는 자동차 후륜조향제어기의 최적게인 추정장치에 관한 것으로, 더 자세하게는 외부연산장치(PC)와 엔진콘트롤유니트(ECU)의 시리얼 인터페이스(serial interface)에 의한 온라인(on line)작업으로 최적의 게인을 설정할 수 있도록 한 것에 관한 것이다.The present invention is to estimate the optimum gain of the vehicle rear wheel steering controller for estimating the optimum gain of the rear wheel steering controller for controlling the steering actuator in the rear wheel steering system of the vehicle to actively steer the rear wheel according to the front wheel angle and vehicle speed More particularly, the present invention relates to an apparatus capable of setting an optimum gain by on-line operation by a serial interface of an external computing device (PC) and an engine control unit (ECU).

본 발명이 관계하는 자동차의 후륜조향시스템은 전륜각과 차속에 따라 능동적으로 후륜을 조타하여 줌으로써 자동차의 조정성 및 주행안정성을 크게 향상시킬 수 있도록 하는 최첨단시스템이다.The rear wheel steering system of a vehicle to which the present invention relates is a state-of-the-art system that can greatly improve the controllability and running stability of a vehicle by actively steering the rear wheel according to the front wheel angle and the vehicle speed.

즉, 기존의 2륜조향시스템의 자동차는 전륜만을 조타하여 진행방향을 바꾸게 되므로 전륜과 후륜의 횡력(lateral force)의 발생시점이 서로 다르게 되어 자동차의 진행방향과 운전자의 주시방향이 일치하지 않게 된다.In other words, the conventional two-wheel steering system changes the direction of travel by steering only the front wheels, so that the starting point of the lateral force of the front and rear wheels is different from each other, so that the driving direction of the car and the driver's gaze direction do not coincide. .

이에 반하여 4륜조향시스템은 후륜을 전륜과 차속에 따라 조타시켜줌으로써 전륜과 후륜의 횡력의 발생시점을 일치시키게 되며, 이를 통해 자동차의 진행방향과 운전자의 주시방향을 일치시킬 수 있게 된다.On the other hand, the four-wheel steering system controls the rear wheels according to the front wheels and the vehicle speed to match the time of occurrence of the lateral force of the front wheels and the rear wheels, thereby matching the driving direction of the car and the driver's gaze direction.

이와 같이 전륜과 후륜의 횡력의 발생시점을 일치시켜 자동차의 진행방향과 운전자의 주시방향을 일치시키는 것을 자동차의 바디슬립앵글(body slip angle)이 O이 되도록 한다라고 하는 바, 이와 같은 경우에는 저속에서 자동차의 조정성이 향상되고, 고속에서 자동차의 주행안전성이 향상된다.In this way, the body slip angle of the car is set to O by matching the time of occurrence of the lateral force between the front wheel and the rear wheel, so that the body slip angle of the car is 0. This improves the controllability of the vehicle and improves the driving safety of the vehicle at high speed.

상기 4륜조향시스템에서 후륜각과 전륜각의 관계는 도 1에 나타낸 것과 같이 통상 저속에서 후륜을 전륜과 역상으로 조타시키게 되고, 40~50Km/H 이상의 고속에서 동상으로 조타시키게 된다.In the four-wheel steering system, the relationship between the rear wheel angle and the front wheel angle is normally steered in reverse with the front wheel at a low speed as shown in FIG. 1, and steered in phase at a high speed of 40 to 50 km / h or more.

상기 4륜조향시스템은 초창기에 유압시스템으로 구현되었으나 경량화와 시스템의 단순화, 제어의 유연성(flexibility) 향상을 위해 최근에는 도 2와 같이 직류모터(DC motor)를 작동기로 하여 개발되고 있는 실정이며, 더 구체적으로는 직류모터(1)를 동력전달용 타이밍벨트(2)를 통해 회전운동을 직선운동으로 바꿀 수 있도록 하는 볼스크류(3)에 접속하고, 링크(5)를 통해 후륜(6)과 접속되는 볼스크류(3)를 조타실패시 후륜을 중립으로 유지시킬 수 있도록 하는 예압스프링(4)을 통해 지지하는 형태로 구성하는 것이 보통이다.The four-wheel steering system was implemented as a hydraulic system in the early days, but in order to reduce the weight, simplify the system, and improve the flexibility of the control, the current situation is being developed by using a DC motor as shown in FIG. 2. More specifically, the DC motor 1 is connected to the ball screw 3 for changing the rotational movement into linear motion through the power transmission timing belt 2, and through the link 5, the rear wheel 6 and It is common to configure the ball screw 3 to be connected through a preload spring 4 to keep the rear wheel neutral in steering failure.

도 3에는 본 발명이 관계하는 4륜조향시스템의 작동블럭도가 도시되어 있다.3 shows an operating block diagram of a four-wheel steering system in accordance with the present invention.

도 3과 같이 4륜조향시스템은 전륜각과 차속이 4륜조향로직 및 제어기, 증폭기를 통해 제어되고, 이 제어값에 의해 작동되는 작동기와 링크를 통해 후륜각을 조타하게 된다.As shown in FIG. 3, the four-wheel steering system controls the front wheel angle and the vehicle speed through four-wheel steering logic, a controller, and an amplifier, and steers the rear wheel angle through an actuator and a link operated by the control value.

한편 상기 4륜조향시스템 중에 후륜조향시스템에 있어서 후륜에 직접적인 조타력을 공급하는 조향액튜에이터는 후륜조향제어기에 의해 제어되며, 이 후륜조향제어기에 있어서는 그 최적의 게인을 설정하여 주는 것이 무엇보다도 중요하게 된다.In the four-wheel steering system, a steering actuator that supplies steering force directly to the rear wheels of the rear wheel steering system is controlled by a rear wheel steering controller. In this rear wheel steering controller, it is most important to set the optimum gain. do.

종래에는 상기 조향액튜에이터마다 최적의 게인값이 다르기 때문에 후륜조향제어기의 최적의 게인을 설정함에 있어서 작업자가 일일이 게인을 변화시켜주면서 응답특성을 확인하고 게인을 설정하였다.Conventionally, since the optimum gain value is different for each steering actuator, the operator checks the response characteristics and sets the gain while changing the gain in setting the optimum gain of the rear wheel steering controller.

즉, 종래에는 게인의 설정과 컴파일(compile), 롬에뮬레이팅(rom emulating), 테스트(test)의 과정을 작업자가 반복 수행하여야 했기 때문에 최적의 게인을 추정하기 위해서는 시간이 많이 소요될 뿐 아니라 비용이 많이 들게 되는 문제가 있었다.In other words, in order to estimate the optimal gain, it is not only time-consuming and expensive to set the gain, compile, rom emulating, and test. There was a problem cost a lot.

본 발명은 상기 종래의 실정을 감안하여 안출한 것이며, 그 목적은 작업자가 일일이 게인을 변화시켜가며 응답특성을 확인할 필요없이 간편하게 응답특성을 테스트하고 빠른 시간내에 목표응답특성에 도달할 수 있도록 게인을 최적화하는 자동차 후륜조향제어기의 최적게인 추정장치를 제공하는 데에 있는 것이다.The present invention has been made in view of the above-mentioned conventional situation, and an object thereof is to allow the operator to easily change the gain and test the response characteristic without having to check the response characteristic and to achieve the target response characteristic within a short time. An object of the present invention is to provide an optimum gain estimation device for an automobile rear wheel steering controller to be optimized.

도 1은 본 발명이 관계하는 4륜조향시스템의 속도별 후륜 조타각도 계산곡선1 is a calculation curve of a rear wheel steering angle for each speed of a four-wheel steering system according to the present invention;

도 2는 동 4륜조향시스템의 구성도2 is a configuration diagram of the four-wheel steering system;

도 3은 동 4륜조향시스템의 작동블럭도3 is an operation block diagram of the four-wheel steering system;

도 4는 본 발명의 구성도4 is a block diagram of the present invention

도 5는 본 발명의 작동순서도5 is a flow chart of the present invention

* 도면중 주요 부분에 대한 부호 설명 *Explanation of symbols on the main parts of the drawings

PC : 온라인최적게인추정기 ECU : 엔진콘트롤유니트PC: Online Optimal Gain Estimator ECU: Engine Control Unit

1 : 직류모터 2 : 타이밍벨트1: DC motor 2: Timing belt

3 : 볼스크류 4 : 예압스프링3: ball screw 4: preload spring

5 : 링크 6 : 후륜5: link 6: rear wheels

본 발명은 상기의 목적을 달성하기 위하여 온라인최적게인추정기(PC)를 엔진콘트롤유니트(ECU)와 시리얼 인터페이스(serial interface)로 접속하여 최적의 게인을 설정할 수 있도록 하는 것을 특징으로 하며, 이하 그 구체적인 기술내용을 첨부도면에 의거하여 더욱 자세히 설명하면 다음과 같다.In order to achieve the above object, the present invention is characterized in that the optimum gain estimator (PC) is connected to the engine control unit (ECU) and a serial interface so as to set an optimum gain. The technical contents will be described in more detail based on the attached drawings as follows.

즉, 본 발명은 온라인최적게인추정기(PC)와 엔진콘트롤유니트(ECU)와의 시리얼 인터페이스(serial interface)에 의한 온라인최적게인설정장치로, 온라인최적게인추정기가 설정한 게인에 따라 엔진콘트롤유니트(ECU)가 규격화된 테스트(step response test)를 수행하도록 하고, 그 때의 조향액튜에이터의 응답특성을 다시 온라인최적게인추정기(PC)로 전달되도록 하며, 이 응답특성을 근거로 온라인최적게인추정기(PC)가 제어 게인을 재설정하고 이를 엔진콘트롤유니트(ECU)가 전달받아 다시 테스트를 수행하도록 하는 과정을 반복하여 목적한 응답특성에 도달하도록 하고, 그 때의 게인을 최적의 게인으로 설정하도록 한 것이다.That is, the present invention is an on-line optimum gain setting device using a serial interface between an on-line optimum gain estimator (PC) and an engine control unit (ECU). ) Performs a standardized test (step response test), and transmits the response characteristics of the steering actuator at that time to the online optimal gain estimator (PC), and based on this response characteristic, the online optimal gain estimator (PC) The control gain is reset and the engine control unit (ECU) is delivered to perform the test again to reach the desired response characteristics, and the gain at that time is set to the optimum gain.

본 발명에 있어서 온라인최적게인추정기(PC)는 후륜조향장치모델, 게인설정부, 응답특성분석부, 그리고 조향각입력발생부로 이루어진다.In the present invention, the online optimum gain estimator (PC) includes a rear wheel steering device model, a gain setting unit, a response characteristic analysis unit, and a steering angle input generation unit.

도 5에는 본 발명에 작동순서도가 도시되어 있는 바, 본 발명에 있어서는 모델링에 의한 1차게인을 산출한 후 엔진콘트롤유니트(ECU)에 인가하고, 조향각을 입력하면 엔진콘트롤유니트(ECU)에서 액튜에이터를 제어하여 후륜각을 온라인최적게인추정기(PC)에 전달하게 된다.5 is a flowchart illustrating the operation of the present invention. In the present invention, after calculating the primary gain by modeling and applying it to the engine control unit (ECU) and inputting a steering angle, the actuator in the engine control unit (ECU) is input. By controlling the rear wheel angle is transmitted to the online optimum gain estimator (PC).

그리고 온라인최적게인추정기(PC)에서는 그 응답특성을 분석하여 목표응답특성에 부합되는 경우에는 작업을 종료하고 그 때의 게인을 최적의 게인으로 설정하게 되며, 부합되지 않는 경우에는 게인을 재산출한 후 다시 엔진콘트롤유니트에 인가하여 목표응답특성과 부합될 때까지 반복하게 된다.On-line optimal gain estimator (PC) analyzes the response characteristics and ends the work if it meets the target response characteristics, and sets the gain at that time to the optimum gain. It is applied to the engine control unit again and repeated until the target response characteristic is met.

이상에서와 같이 본 발명은 작업자가 일일이 게인을 변화시켜가며 응답특성을 확인할 필요없이 온라인최적게인기와 엔진콘트롤유니트를 시리얼 인터페이스로 연결하여 응답특성에 대한 테스트를 반복 수행하여 최적의 게인을 얻을 수 있도록 한 것으로, 본 발명에 의하면 각 액튜에이터에 대한 제어기의 게인을 자동으로 설정할 수 있게 되어 작업이 극히 간편하게 됨은 물론 빠른 시간내에 작업을 마칠 수 있게 되어 작업비용을 크게 절감할 수 있게 되는 효과를 얻을 수 있게 된다.As described above, the present invention can obtain optimal gain by repeatedly performing the test on the response characteristics by connecting the online optimum gain and the engine control unit through the serial interface without the operator having to change the gain one by one and checking the response characteristics. According to the present invention, it is possible to automatically set the gain of the controller for each actuator, so that the work is extremely simple and the work can be completed in a short time, and thus the work cost can be greatly reduced. Will be.

Claims (2)

온라인최적게인추정기(PC)와 엔진콘트롤유니트(ECU)를 시리얼 인터페이스로 접속하는 한편, 온라인최적게인추정기(PC)가 설정한 게인에 따라 엔진콘트롤유니트(ECU)가 규격화된 테스트를 수행하도록 하고, 그 때의 조향액튜에이터의 응답특성을 다시 온라인최적게인추정기(PC)로 전달되도록 하며, 이 응답특성을 근거로 온라인최적게인추정기(PC)가 제어 게인을 재설정하고 이를 엔진콘트롤유니트(ECU)가 전달받아 다시 테스트를 수행하도록 하는 과정을 반복하여 목적한 응답특성에 도달하도록 하고, 그 때의 게인을 최적의 게인으로 설정하도록 한 것을 특징으로 하는 자동차 후륜조향제어기의 최적게인 추정장치.While the online optimum gain estimator (PC) and engine control unit (ECU) are connected via a serial interface, the engine control unit (ECU) performs a standardized test according to the gain set by the online optimal gain estimator (PC). The response characteristic of the steering actuator at that time is transmitted back to the online optimum gain estimator (PC). Based on this response characteristic, the online optimum gain estimator (PC) resets the control gain and the engine control unit (ECU) delivers it. And an optimum gain estimating apparatus for the rear wheel steering controller, characterized in that the target response characteristic is repeated by repeating the process of performing the test and receiving the test again. 청구항 1에 있어서, 온라인최적게인추정기(PC)를 후륜조향장치모델, 게인설정부, 응답특성분석부, 그리고 조향각입력발생부로 구성한 것을 특징으로 하는 자동차 후륜조향제어기의 최적게인 추정장치.The apparatus of claim 1, wherein the on-line optimum gain estimator (PC) comprises a rear wheel steering device model, a gain setting unit, a response characteristic analysis unit, and a steering angle input generation unit.
KR1019960057132A 1996-11-25 1996-11-25 Effective gain control device of rear wheel steering system for an automobile KR100231586B1 (en)

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Publication number Priority date Publication date Assignee Title
KR100527344B1 (en) * 1997-06-30 2006-01-27 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 Automatic Gain Tuning Device and Method of Heavy Equipment

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KR102277285B1 (en) * 2017-06-30 2021-07-14 현대모비스 주식회사 Apparatus for controlling rear wheel steering and method thereof
KR102035933B1 (en) 2018-06-25 2019-10-23 이용운 Sleeve capable of preventing backflow

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100527344B1 (en) * 1997-06-30 2006-01-27 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 Automatic Gain Tuning Device and Method of Heavy Equipment

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