KR20020047922A - A steering angle sensor using a potentiometer - Google Patents

A steering angle sensor using a potentiometer Download PDF

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Publication number
KR20020047922A
KR20020047922A KR1020000076563A KR20000076563A KR20020047922A KR 20020047922 A KR20020047922 A KR 20020047922A KR 1020000076563 A KR1020000076563 A KR 1020000076563A KR 20000076563 A KR20000076563 A KR 20000076563A KR 20020047922 A KR20020047922 A KR 20020047922A
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KR
South Korea
Prior art keywords
steering
potentiometer
wire
angle sensor
steering angle
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KR1020000076563A
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Korean (ko)
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KR100387791B1 (en
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이상태
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이계안
현대자동차주식회사
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Priority to KR10-2000-0076563A priority Critical patent/KR100387791B1/en
Publication of KR20020047922A publication Critical patent/KR20020047922A/en
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Publication of KR100387791B1 publication Critical patent/KR100387791B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
    • B62D5/0406—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box including housing for electronic control unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

PURPOSE: A steering angle sensor by using a potentiometer is provided to simplify the structure by measuring the length of a wire wound on a steering shaft in turning a steering wheel with the potentiometer and by calculating the rotational angle of the steering wheel and the angular velocity with an ECU(Electronic Control Unit). CONSTITUTION: A steering angle sensor is composed of a spool(24) winding a wire(40) by integrally turning with a rotating shaft(22); a bearing(25) supporting the rotating shaft to turn; a windup spring(23) keeping tension of the wire; a potentiometer(30) measuring the length of the wire wound on the spool with voltage; and an ECU(10) calculating the rotational angle and the rotational angular velocity according to measured voltage from the potentiometer. The wire is wound on the spool of the steering angle sensor through a hole(21) from a steering shaft. The length of the wire is measured with voltage of the potentiometer, and transmitted to the ECU. The rotational angle of the steering wheel is calculated considering the full diameter of a pulley, and the angular velocity is output by differentiating. The structure of the steering system is simplified.

Description

포텐셔미터를 이용한 조향각 센서{A STEERING ANGLE SENSOR USING A POTENTIOMETER}Steering angle sensor using potentiometer {A STEERING ANGLE SENSOR USING A POTENTIOMETER}

본 발명은 차량의 조향각을 검출하는 조향각 검출 센서에 관한 것으로, 특히 포텐셔미터를 이용한 조향각 센서에 관한 것이다.The present invention relates to a steering angle detection sensor for detecting a steering angle of a vehicle, and more particularly to a steering angle sensor using a potentiometer.

일반적으로 자동차는 고속 주행하는 장치일 뿐만 아니라 앞바퀴의 움직임을 바꾸어 자동차의 진행 방향을 조작하는 장치이다. 조향각 센서는 주행중인 차량에서 직진 위치를 기준으로 조향휠의 회전각이나 회전 각속도에 관한 정보를 ECU에 제공하고 ECU가 이들 정보를 이용하여 롤(roll) 제어나 선회 제어 등에 사용한다.In general, a vehicle is not only a high-speed driving device but also a device for manipulating the direction in which the vehicle moves by changing the movement of the front wheel. The steering angle sensor provides the ECU with information about the rotation angle or the rotational angular velocity of the steering wheel based on the straight position in the driving vehicle, and the ECU uses the information to be used for roll control or turning control.

도 1은 종래의 조향각 측정 방식을 설명하는 블록도이다. 일반적으로 종래의 조향각 측정은 포토 단속기와 슬릿원판을 이용한 조향각 센서(20)에서 조향 정보를 측정하고 ECU(10)에 전달하여 ECU(10)에서 조향각 및 조향각속도를 계산하는 방식으로 행해졌다.1 is a block diagram illustrating a conventional steering angle measurement method. In general, the conventional steering angle measurement is performed by measuring the steering information in the steering angle sensor 20 using the photo interrupter and the slit disc and transmitting the steering information to the ECU 10 to calculate the steering angle and the steering angle velocity in the ECU 10.

종래의 조향각 센서는 도 2와 3에 도시한 바와 같이, 대부분 2개의 포토단속기(1, 2)와 1개의 슬릿원판(3)으로 구성된다. 포토 단속기(1, 2)를 포함한 칼럼 스위치는 조향 칼럼에 고정되어 있고, 슬릿원판(3)은 조향축(8)에 설치되어 조향휠을 회전시키면 같이 회전하도록 되어 있다.2. Description of the Related Art A conventional steering angle sensor is composed mainly of two photo interrupters 1 and 2 and one slit disc 3, as shown in Figs. The column switch including the photo interrupters 1 and 2 is fixed to the steering column, and the slit disc 3 is provided on the steering shaft 8 to rotate together when the steering wheel is rotated.

포토 단속기(1, 2)의 발광 소자(5)(LED)와 포토트랜지스터 (6) 사이에 설치된 슬릿원판(3)은 조향휠의 조향에 따라 조향휠과 함께 회전한다. 이때, 발광소자(5)의 빛이 포토트랜지스터(6)에 전달되는지의 여부에 따라 전기적 신호가 결정된다.The slit disc 3 provided between the light emitting element 5 (LED) and the phototransistor 6 of the photo interrupter 1, 2 rotates together with the steering wheel in accordance with the steering of the steering wheel. At this time, an electrical signal is determined depending on whether light of the light emitting element 5 is transmitted to the phototransistor 6.

도 4에 종래의 신호 인식 방법에 의해 발생한 출력 파형을 나타내고 있다. 즉, 발광소자(5)로부터의 빛이 포토트랜지스터(6)에 전달되지 않을 때는 전압이 높고, 발광소자(5)로부터의 빛이 포토트랜지스터(6)에 전달될 때는 전압이 낮아진다.4 shows the output waveform generated by the conventional signal recognition method. That is, when light from the light emitting element 5 is not transmitted to the phototransistor 6, the voltage is high, and when light from the light emitting element 5 is transmitted to the phototransistor 6, the voltage is lowered.

따라서, 조향휠의 회전 각속도에 의해 포토 단속기(1)와 단속기(2)에서 발생되는 파형의 동시성이 결정되게 된다. 조향휠의 회전 각속도가 느릴 경우에는 2개의 파형의 발생시각이 서로 다르고, 반대로 조향휠의 회전 각속도가 아주 빠르면 2개의 파형의 발생시각은 거의 같아지게 된다. 또한 조향휠의 회전 각속도가 아주 느릴 때는 출력신호가 발생하지 않는다.Therefore, the simultaneousness of the waveform generated in the photo interrupter 1 and the interrupter 2 is determined by the rotational angular velocity of the steering wheel. When the rotational angular velocity of the steering wheel is slow, the generation times of the two waveforms are different. On the contrary, when the steering angular velocity is very fast, the generation times of the two waveforms are almost the same. Also, no output signal is generated when the steering wheel's rotational angular speed is very slow.

그러나, 종래의 조향각 센서(20)는 메카니즘이 복잡하여 조향계 구성에 어려움이 있다. 또한 종래의 기술로는 저속 조향시의 조향 특성을 측정하지 못하므로 운전자의 모든 운전 조건을 측정할 수 없다.However, the conventional steering angle sensor 20 is difficult to configure the steering system due to the complicated mechanism. In addition, the conventional technology does not measure the steering characteristics during low-speed steering, it is not possible to measure all the driving conditions of the driver.

따라서, 본 발명의 목적은 상기한 문제점을 해결하기 위한 것으로, 조향휠의회전시 조향축에 감기는 와이어의 길이를 포텐셔미터가 전압으로 측정한 후 ECU에서 조향휠의 회전각 및 회전 각속도를 계산할 수 있도록 한 포텐셔미터를 이용한 조향각 센서를 제공하는 것이다.Accordingly, an object of the present invention is to solve the above problems, so that the potentiometer measures the length of the wire wound on the steering shaft during the rotation of the steering wheel as a voltage, so that the ECU can calculate the rotation angle and rotational angular velocity of the steering wheel. It is to provide a steering angle sensor using a potentiometer.

상기와 같은 목적을 실현하기 위해, 본 발명에 따르면, 회전 샤프트, 상기 회전 샤프트와 일체형으로 회전하여 와이어가 감기게 되는 스풀, 회전 가능하게 상기 회전 샤프트를 지지하는 베어링, 상기 와이어의 장력을 유지시키는 와인드업 스프링, 상기 스풀에 감긴 와이어의 길이를 전압으로 측정하는 포텐셔미터, 및 상기 포텐셔미터로부터 측정된 전압을 이용하여 회전각 및 회전 각속도를 산출하는 ECU로 구성된 포텐셔미터를 이용한 조향각 센서가 제공된다.In order to achieve the above object, according to the present invention, a rotary shaft, a spool which is integrally rotated with the rotary shaft to wind the wire, a bearing supporting the rotary shaft rotatably, maintaining the tension of the wire A steering angle sensor using a potentiometer comprising a windup spring, a potentiometer for measuring the length of the wire wound on the spool as a voltage, and an ECU for calculating the rotation angle and the rotational angular velocity using the voltage measured from the potentiometer.

또한, 본 발명에 따르면, 조향휠의 회전에 따라 조향축에 와이어가 감기도록 조향축에 도르래가 설치된다.In addition, according to the present invention, the pulley is installed on the steering shaft so that the wire is wound around the steering shaft in accordance with the rotation of the steering wheel.

또한, 본 발명에 따른 조향각 센서의 상단 한쪽에는 와이어 가이드용 홀이 형성되고, 이 홀을 통해 상기 조향축으로부터의 와이어가 상기 조향각 센서의 스풀에 감기게 된다.In addition, a wire guide hole is formed at one end of the steering angle sensor according to the present invention, through which the wire from the steering shaft is wound on the spool of the steering angle sensor.

도 1은 종래의 조향각 측정 방식을 설명하는 블록도이다.1 is a block diagram illustrating a conventional steering angle measurement method.

도 2는 종래의 조향각 센서의 구조를 나타내는 개략도이다.2 is a schematic view showing the structure of a conventional steering angle sensor.

도 3은 종래의 조향각 센서의 원리를 설명하는 개략도이다.3 is a schematic diagram illustrating the principle of a conventional steering angle sensor.

도 4는 종래의 조향각 센서의 출력신호를 나타내는 파형도이다.4 is a waveform diagram illustrating an output signal of a conventional steering angle sensor.

도 5는 본 발명의 조향각 측정 방식을 설명하는 블록도이다.5 is a block diagram illustrating a steering angle measuring method according to the present invention.

도 6은 본 발명에 따라 조향축에 설치된 조향각 센서의 구조를 나타내는 단면도이다.6 is a cross-sectional view illustrating a structure of a steering angle sensor installed on a steering shaft according to the present invention.

도 7은 본 발명에 따른 조향각 센서의 설치 구조를 나타내는 단면도이다.7 is a cross-sectional view showing an installation structure of a steering angle sensor according to the present invention.

도 8은 본 발명에 따른 조향각 센서의 구조를 나타내는 단면도이다.8 is a cross-sectional view showing the structure of a steering angle sensor according to the present invention.

도 9는 본 발명의 조향각 센서에 이용된 포텐셔미터의 작동 회로도이다.9 is an operating circuit diagram of a potentiometer used in the steering angle sensor of the present invention.

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

1, 2 : 포토 단속기3 : 슬릿원판1, 2: Photo interrupter 3: Slit disc

4 : 홈5 : 발광소자4 groove 5 light emitting element

6 : 포토트랜지스터8 : 조향축6: phototransistor 8: steering shaft

9 : 조향 칼럼10 : ECU9: Steering Column 10: ECU

11 : 도르래12 : 도르래 고정용 강철 밴드11 pulley 12 pulley fixing steel band

13 : 조향각 센서 고정용 강철 밴드20 : 조향각 센서13 steel band for fixing the steering angle sensor 20: steering angle sensor

21 : 와이어 가이드용 홀22 : 회전 샤프트21: hole for wire guide 22: rotating shaft

23 : 와인드업 스프링24 : 스풀(spool)23: wind-up spring 24: spool

25 : 베어링30 : 포텐셔미터25: bearing 30: potentiometer

40 : 와이어40: wire

이하, 본 발명의 실시예를 첨부한 도면을 참조하여 설명한다.Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

본 발명은 직진 위치를 기준으로 조향휠의 회전각이나 회전 각속도에 관한 정보를 ECU(10)에 제공하는 조향각 센서이다.The present invention is a steering angle sensor that provides the ECU 10 with information about the rotation angle or rotational angular velocity of the steering wheel based on the straight position.

도 5는 본 발명의 조향각 측정 방식을 설명하는 블록도이다.5 is a block diagram illustrating a steering angle measuring method according to the present invention.

본 발명에 의한 조향각 센서는 조향휠의 회전시 조향축(8)에 감기는와이어(40)의 길이를 포텐셔미터(30)가 전압으로 측정한 후 ECU(10)에서 다시 조향휠의 회전각 및 회전 각속도를 계산한다.In the steering angle sensor according to the present invention, after the potentiometer 30 measures the length of the wire 40 wound on the steering shaft 8 when the steering wheel is rotated, the rotation angle and rotation of the steering wheel again in the ECU 10. Calculate the angular velocity.

도 6 내지 도 8은 본 발명에 따른 조향각 센서의 구조를 나타낸다.6 to 8 show the structure of the steering angle sensor according to the present invention.

도시한 바와 같이, 본 발명에 의한 조향각 센서(20)는, 회전 샤프트(22)와 일체형으로 회전하여 와이어(40)가 감기게 되는 스풀(24), 회전 가능하게 회전 샤프트(22)를 지지하는 베어링(25), 와이어(40)의 장력을 유지시키는 와인드업 스프링(23), 스풀(24)에 감긴 와이어(40)의 길이를 전압으로 측정하는 포텐셔미터(30), 및 상기 포텐셔미터(30)로부터 측정된 전압을 이용하여 회전각 및 회전 각속도를 산출하는 ECU(10)로 구성된다.As shown, the steering angle sensor 20 according to the present invention, the spool 24 to which the wire 40 is wound by rotating integrally with the rotary shaft 22, the rotatably supporting the rotary shaft 22 Measured from the potentiometer 30 for measuring the length of the wire 25 wound on the spool 24, the wind-up spring 23 for maintaining the tension of the bearing 25, the wire 40, and the potentiometer 30 It is composed of the ECU 10 for calculating the rotation angle and rotation angular velocity using the obtained voltage.

도 7에 도시한 바와 같이, 조향휠의 회전에 따라 조향축(8)에 와이어(40)가 감기도록 조향축(8)에 도르래(11)가 설치되어 강철 밴드(12)로 고정된다. 이때 도르래(11)에는 초기 감김량을 충분히 하여 양방향 풀턴(full-turn)시에도 와이어 장력이 유지되도록 한다.As shown in FIG. 7, the pulley 11 is installed on the steering shaft 8 so that the wire 40 is wound around the steering shaft 8 according to the rotation of the steering wheel, and fixed to the steel band 12. In this case, the pulley 11 has a sufficient initial winding amount so that the wire tension is maintained even in the bidirectional full-turn.

조향각 센서(2)는 조향각 센서 고정용 강철 밴드(13)로 조향축(8)의 조향 칼럼(9)에 고정되고, 조향각 센서(20)의 상단 한쪽에는 와이어 가이드용 홀(21)이 형성되어, 이 홀(21)을 통해 조향축(8)으로부터의 와이어(40)가 조향각 센서(20)의 스풀(24)에 감기게 된다.The steering angle sensor 2 is fixed to the steering column 9 of the steering shaft 8 by a steel band 13 for fixing the steering angle sensor, and a wire guide hole 21 is formed at one end of the steering angle sensor 20. The wire 40 from the steering shaft 8 is wound around the spool 24 of the steering angle sensor 20 through the hole 21.

여기서, 조향각 센서(20)의 스풀(24)에 감기는 와이어(40)의 길이는 포텐셔미터(30)에 의해 전압으로 측정되어 ECU(10)에 전달된다. 도 9에 포텐셔미터(30)의 작동 회로를 도시하고 있다. ECU(10)에 전달된 전압은 도르래(11)의 외경을 고려하여 조향휠의 회전각으로 계산되고 이 값을 미분하여 회전 각속도를 산출하게 된다.Here, the length of the wire 40 wound on the spool 24 of the steering angle sensor 20 is measured as a voltage by the potentiometer 30 and transmitted to the ECU 10. 9 shows the operating circuit of the potentiometer 30. The voltage transmitted to the ECU 10 is calculated by the rotation angle of the steering wheel in consideration of the outer diameter of the pulley 11 and differentiates this value to calculate the rotational angular velocity.

상기한 바와 같이, 본 발명은 조향휠의 회전시 조향축에 감기는 와이어의 길이를 포텐셔미터가 전압으로 측정한 후 ECU에서 다시 조향휠의 회전각 및 회전 각속도를 계산하게 되는 것이다.As described above, the present invention is to calculate the rotation angle and the rotational angular velocity of the steering wheel in the ECU after the potentiometer measures the voltage of the wire wound on the steering shaft when the steering wheel is rotated.

즉, 조향축에 감기는 와이어의 길이에 의해 조향휠의 회전각과 회전 각속도를 계산할 수 있으므로 조향계 구조가 간단하여 쉽게 제품화할 수 있다.That is, since the rotation angle and the rotational angular velocity of the steering wheel can be calculated by the length of the wire wound on the steering shaft, the steering system structure is simple and can be easily manufactured.

Claims (3)

회전 샤프트, 상기 회전 샤프트와 일체형으로 회전하여 와이어가 감기게 되는 스풀, 회전 가능하게 상기 회전 샤프트를 지지하는 베어링, 상기 와이어의 장력을 유지시키는 와인드업 스프링, 상기 스풀에 감긴 와이어의 길이를 전압으로 측정하는 포텐셔미터, 및 상기 포텐셔미터로부터 측정된 전압을 이용하여 회전각 및 회전 각속도를 산출하는 ECU로 구성되는 것을 특징으로 하는 포텐셔미터를 이용한 조향각 센서.Rotating shaft, a spool which is integrally rotated with the rotating shaft to wind the wire, a bearing supporting the rotating shaft to be rotatable, a wind-up spring for maintaining the tension of the wire, and a length of the wire wound on the spool as a voltage measurement A potentiometer, and a steering angle sensor using a potentiometer, characterized in that composed of an ECU for calculating the rotation angle and the rotation angular velocity using the voltage measured from the potentiometer. 제1항에 있어서,The method of claim 1, 조향휠의 회전에 따라 상기 조향축에 와이어가 감기도록 상기 조향축에 도르래가 설치되는 것을 특징으로 하는 포텐셔미터를 이용한 조향각 센서.Steering angle sensor using a potentiometer, characterized in that the pulley is installed on the steering shaft so that the wire is wound around the steering shaft in accordance with the rotation of the steering wheel. 제1항에 있어서,The method of claim 1, 상기 조향각 센서의 상단 한쪽에 와이어 가이드용 홀이 형성되고, 이 홀을 통해 상기 조향축으로부터의 와이어가 상기 조향각 센서의 스풀에 감기게 되는 것을 특징으로 하는 포텐셔미터를 이용한 조향각 센서.A wire guide hole is formed at one upper end of the steering angle sensor, through which the wire from the steering shaft is wound on the spool of the steering angle sensor.
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100857367B1 (en) * 2007-08-16 2008-09-05 현대자동차주식회사 Measuring method of angular velocity for car
KR101129639B1 (en) * 2009-12-07 2012-03-28 삼성중공업 주식회사 Pulley for measuring rotating angle of wire and wire-driven system having the same
CN102530078A (en) * 2012-01-06 2012-07-04 陕西科技大学 System for displaying automobile wheel steering angles
KR101535037B1 (en) * 2014-08-25 2015-07-27 성균관대학교산학협력단 Apparatus for parking assist of vehicle
CN105258665A (en) * 2015-10-14 2016-01-20 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 Mechanism for measuring rotation angle
KR20190092166A (en) * 2018-01-30 2019-08-07 한국생산기술연구원 Steering control device for agricultural vehicles

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100857367B1 (en) * 2007-08-16 2008-09-05 현대자동차주식회사 Measuring method of angular velocity for car
KR101129639B1 (en) * 2009-12-07 2012-03-28 삼성중공업 주식회사 Pulley for measuring rotating angle of wire and wire-driven system having the same
CN102530078A (en) * 2012-01-06 2012-07-04 陕西科技大学 System for displaying automobile wheel steering angles
KR101535037B1 (en) * 2014-08-25 2015-07-27 성균관대학교산학협력단 Apparatus for parking assist of vehicle
CN105258665A (en) * 2015-10-14 2016-01-20 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 Mechanism for measuring rotation angle
KR20190092166A (en) * 2018-01-30 2019-08-07 한국생산기술연구원 Steering control device for agricultural vehicles

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