KR20030097472A - Steering assist power control method of eps system - Google Patents

Steering assist power control method of eps system Download PDF

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KR20030097472A
KR20030097472A KR1020020034862A KR20020034862A KR20030097472A KR 20030097472 A KR20030097472 A KR 20030097472A KR 1020020034862 A KR1020020034862 A KR 1020020034862A KR 20020034862 A KR20020034862 A KR 20020034862A KR 20030097472 A KR20030097472 A KR 20030097472A
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steering
vehicle
steering assist
signal
acceleration
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KR1020020034862A
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Korean (ko)
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KR100738437B1 (en
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최치권
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주식회사 만도
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    • 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
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input

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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)

Abstract

PURPOSE: A steering assist power control method of an EPS(Electronic Power Steering) system is provided to secure stability in steering by compensating steering assist power even under sudden acceleration and deceleration running conditions through utilization of an acceleration signal by differentiation of a speed signal of a vehicle. CONSTITUTION: A steering assist power control method of an EPS system comprises the steps of outputting a large steering assist torque value when a speed signal of a vehicle is small and outputting a small steering assist torque value when the speed signal is large; getting an acceleration signal with the speed signal of the vehicle; and calculating the output steering assist torque value and the accelerated signal, through a subtracter(5) and compensating and outputting the steering assist power to prevent a change of the steering assist power even under sudden acceleration and deceleration running conditions.

Description

전자제어 파워 스티어링 시스템의 조향보조력 제어방법 {STEERING ASSIST POWER CONTROL METHOD OF EPS SYSTEM}Steering assist control method of electronically controlled power steering system {STEERING ASSIST POWER CONTROL METHOD OF EPS SYSTEM}

본 발명은 전자제어 파워 스티어링(Electric Power Steering ; 이하, 'EPS'라 칭함) 시스템의 조향보조력 제어방법에 관한 것으로, 특히 차량의 속도신호를 미분한 가속도신호를 이용하여 차량의 급가속 및 급감속 운행조건에서도 조향보조력의 변동을 막아 차량의 조향안정성을 보장할 수 있도록 한 EPS 시스템의 조향보조력 제어방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling steering assistance of an electric power steering (hereinafter, referred to as "EPS") system. In particular, the present invention relates to a rapid acceleration and sudden reduction of a vehicle using an acceleration signal obtained by differentiating a vehicle speed signal. The present invention relates to a steering assist control method of an EPS system that prevents a change in steering assist power even in a fast driving condition to ensure steering stability of a vehicle.

일반적으로 차량에는 각종 입력센서에서 검출되는 전기적 신호를 입력받아 출력측의 각종 액츄에이터를 구동하기 위한 디지털 제어신호를 출력하는 차량용 전자 제어 장치(Electronic Control Unit ; 이하, 'ECU'라 칭함)가 구비되어 있다.In general, a vehicle is provided with an electronic control unit (hereinafter referred to as "ECU") for a vehicle that receives electrical signals detected by various input sensors and outputs digital control signals for driving various actuators on the output side. .

상기와 같은 ECU를 이용하여 차량의 속도에 따라 운전자 핸들의 조작력을 줄여주어 가볍고 신속한 조향 조작이 가능하도록 한 EPS 시스템은 도 1에 도시된 바와 같이, 차량의 속도를 검출하는 차속 센서, 모터의 상대 조향각을 검출하는 모터 위치 센서, 운전자 핸들의 토오크를 검출하는 토오크 센서 등의 센서부(1)와, 상기 센서부(1)에서 검출되는 각종 입력신호에 따라 운전자 핸들의 조작력을 줄여주기 위한 모터 제어신호 및 구동신호를 출력하는 ECU(2)와, 상기 ECU(2)에서 출력되는 모터 제어신호 및 구동신호에 따라 모터의 구동을 제어하고, 모터의 구동에 따른 출력으로 랙바를 구동시키는 모터 제어 및 구동부(3)로 크게 이루어진다.As shown in FIG. 1, the EPS system that reduces the operating force of the driver's steering wheel according to the speed of the vehicle by using the ECU as described above, enables a light and fast steering operation. Motor control for reducing the operating force of the driver's steering wheel according to the sensor unit 1, such as a motor position sensor for detecting the steering angle, a torque sensor for detecting the torque of the driver's handle, and various input signals detected by the sensor unit 1. ECU 2 for outputting signals and driving signals, motor control for controlling the driving of the motor according to the motor control signal and the driving signal output from the ECU 2, and motor control for driving the rack bar with the output according to the driving of the motor; The drive unit 3 is made large.

상기와 같이 구성된 EPS 시스템은 차량 운전자의 조향의도를 조향륜인 전륜에 부착된 토오크 센서를 통해 검출하여 모터의 동력으로 조향랙바를 밀어 조향력을 보조하도록 하고 있다.The EPS system configured as described above detects the steering intention of the vehicle driver through the torque sensor attached to the front wheel, which is the steering wheel, and assists the steering force by pushing the steering rack bar by the power of the motor.

한편, 종래에는 부가적으로 차량의 속도신호를 입력받아 정차 및 저속시에는 운전자의 조향 토오크가 작아지도록 동력보조량을 증가시키고, 고속시에는 차량의 안정성을 보장하기 위해 동력보조량을 감소시키도록 하고 있다.Meanwhile, in the related art, the power assistance amount is increased to reduce the steering torque of the driver at the stop and the low speed by additionally receiving the speed signal of the vehicle, and reduce the power assistance amount to ensure the stability of the vehicle at high speed. Doing.

즉, 도 2에 도시된 종래 EPS 시스템에서의 조향보조력 제어에서와 같이, 조향보조 토오크 Ta는 운전자가 조향휠을 돌리는 토오크인 Ts의 증가에 따라서 증가하는 함수로 나타난다.That is, as in the steering assist force control in the conventional EPS system shown in FIG. 2, the steering assist torque Ta is represented as a function that increases with an increase in Ts, the torque at which the driver turns the steering wheel.

이때, EPS 시스템의 ECU에서 차량의 속도신호 V를 보조적인 입력으로 받아 속도가 작을 때는 큰 조향보조 토오크값을, 속도가 클 때는 작은 조향보조 토오크값을 갖도록 제어하며, 이를 수식으로 표현하면 아래와 같다.At this time, the ECU of the EPS system receives the vehicle's speed signal V as an auxiliary input and controls to have a large steering assist torque value when the speed is small, and a small steering assistance torque value when the speed is large. .

Ta = f(Ts , V)Ta = f (Ts, V)

한편, 종래 차량의 운행조건중 급가속시에는 차체의 무게중심이 후륜으로 편향되는 현상이 발생하여 조향륜인 전륜에 인가되는 무게가 감소하면서 조향보조력이 과대해져 안정성을 잃는 문제점이 있었다.On the other hand, when the rapid acceleration of the driving conditions of the conventional vehicle has a problem that the center of gravity of the vehicle body is deflected to the rear wheel, the weight applied to the front wheel, which is a steering wheel is reduced, the steering assistance power is excessive, there is a problem that loses stability.

또한, 차량의 운행조건중 급감속시에는 차체의 무게중심이 전륜으로 편향되는 현상이 발생하여 조향륜인 전륜에 인가되는 무게가 증가하면서 조향보조력이 부족해져 응답 특성이 나빠지는 문제점이 있었다.In addition, when the vehicle suddenly decelerates during driving conditions, the center of gravity of the vehicle body is deflected to the front wheels, and the weight applied to the front wheels, which is the steering wheel, increases, resulting in a lack of steering assistance and a poor response characteristic.

본 발명은 상기와 같은 문제점을 해결하기 위한 것으로서, 그 목적은 차량의 속도신호를 미분한 가속도신호를 이용하여 차량의 급가속 및 급감속 운행조건에서도 조향보조력의 변동이 일어나지 않도록 조향보조력을 보상해 줌으로써 차량의 조향안정성을 보장할 수 있도록 한 EPS 시스템의 조향보조력 제어방법을 제공하는 데에 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object thereof is to use the steering assistance force so that the steering assistance force does not change even under the rapid acceleration and deceleration driving conditions of the vehicle by using the acceleration signal obtained by differentiating the speed signal of the vehicle. The present invention provides a method for controlling steering assist force of an EPS system to compensate for steering stability of a vehicle by compensating for the compensation.

도 1은 일반적인 EPS 시스템의 간략한 블록 구성도,1 is a simplified block diagram of a typical EPS system,

도 2는 종래 EPS 시스템에서의 조향보조력 제어를 보인 도면,2 is a view showing steering assist control in the conventional EPS system,

도 3은 본 발명에 의한 EPS 시스템에서의 조향보조력 제어 및 보상을 보인 도면.3 is a view showing steering assist control and compensation in the EPS system according to the present invention.

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

1 : 센서부2 : ECU1 sensor 2 ECU

3 : 모터 제어 및 구동부4 : 미분기3: motor control and drive unit 4: differentiator

5 : 감속기5: reducer

상기와 같은 목적을 달성하기 위한 본 발명의 EPS 시스템의 조향보조력 제어방법은, 차량의 속도신호에 따라 조향보조력을 출력 제어하는 차량 EPS 시스템의 조향보조력 제어방법에 있어서, 상기 차량의 속도신호가 작을 때는 큰 조향보조 토오크값을, 차량의 속도신호가 클 때는 작은 조향보조 토오크값을 출력하는 단계와, 상기 차량의 속도신호로서 가속도 신호를 구하는 단계와, 상기 출력된 조향보조 토오크값과 상기 구한 가속도 신호를 감산기를 통해 연산하여 급가속 및 급감속 운행조건에서도 조향보조력의 변동이 일어나지 않도록 조향보조력을 보상하여 출력하는 단계로 이루어지는 것을 특징으로 한다.Steering assistance control method of the EPS system of the present invention for achieving the above object, in the steering assistance control method of the vehicle EPS system for output control of the steering assistance force according to the speed signal of the vehicle, the speed of the vehicle Outputting a large steering assistance torque value when the signal is small, and a small steering assistance torque value when the vehicle speed signal is large, obtaining an acceleration signal as the speed signal of the vehicle, and outputting the steering assistance torque value and Computing the obtained acceleration signal through a subtractor to compensate for and output the steering assistance power so that the steering assistance power does not change even under the sudden acceleration and deceleration driving conditions.

이하, 첨부된 도면을 참고하여 본 발명에 의한 EPS 시스템의 조향보조력 제어방법을 상세히 설명한다.Hereinafter, a steering assist force control method of the EPS system according to the present invention will be described in detail with reference to the accompanying drawings.

도 3은 본 발명에 의한 EPS 시스템에서의 조향보조력 제어 및 보상을 보인 도면으로서, 조향보조 토오크 Ta는 운전자가 조향휠을 돌리는 토오크인 Ts의 증가에 따라서 증가하는 함수로 나타난다.3 is a view illustrating steering assist control and compensation in the EPS system according to the present invention, wherein the steering assist torque Ta is represented as a function of increasing with increasing Ts, the torque at which the driver turns the steering wheel.

이때, EPS 시스템의 ECU에서 차량의 속도신호 V를 보조적인 입력으로 받아 속도가 작을 때는 큰 조향보조 토오크값을, 속도가 클 때는 작은 조향보조 토오크값을 각각 출력한다.At this time, the ECU of the EPS system receives the vehicle speed signal V as an auxiliary input and outputs a large steering assist torque value when the speed is small, and a small steering assistance torque value when the speed is large.

그리고, 미분기(4)를 통해 차량의 속도신호 V를 미분하여 가속도 신호를 구하고, 이 구한 가속도 신호와 상기 출력된 조향보조 토오크값을 연산하여 조향보조력을 보상하도록 한다.The differential signal 4 obtains an acceleration signal by differentiating the speed signal V of the vehicle, and calculates the acceleration signal and the output steering assist torque value to compensate for the steering assist force.

즉, 차량의 급가속시에는 상기 가속도 신호값이 양수로써 감산기(5)에 입력되어 상기 출력된 조향보조 토오크값과 연산되어 조향보조력을 감소시키고, 차량의급감속시에는 상기 가속도 신호값이 음수로써 상기 감산기(5)에 입력되어 상기 출력된 조향보조 토오크값과 연산되어 조향보조력을 증가시킨다.That is, in case of rapid acceleration of the vehicle, the acceleration signal value is input to the subtractor 5 as a positive number to be calculated with the output steering assist torque value to reduce steering assistance power, and during acceleration / deceleration of the vehicle, the acceleration signal value is It is input to the subtractor 5 as a negative number and calculated with the output steering assist torque value to increase steering assistance.

상기와 같은 내용을 수식으로 표현하면 아래와 같다.If the above content is expressed by a formula, it is as follows.

Ta = f(Ts , V) - α×d/dt(V)Ta = f (Ts, V)-α × d / dt (V)

상기와 같이 본 발명에서는 차량의 속도신호를 미분하여 가속도신호를 구하고, 이 가속도신호를 통해 차량의 급가속시에는 조향보조력을 감소시키는 방향으로 보상해 주고, 차량의 급감속시에는 조향보조력을 증가시키는 방향으로 보상해 주는 것이다.As described above, in the present invention, the acceleration signal is obtained by differentiating the speed signal of the vehicle, and the acceleration signal is compensated in the direction of reducing the steering assistance force during rapid acceleration of the vehicle through the acceleration signal, and the steering assistance force during the sudden deceleration of the vehicle. To compensate in the direction of increasing.

상기에서 설명한 바와 같이, 본 발명은 차량의 속도신호를 미분한 가속도신호를 이용하여 차량의 급가속 및 급감속 운행조건에서도 조향보조력의 변동이 일어나지 않도록 조향보조력을 보상해 줌으로써 차량의 조향안정성을 증대시킬 수 있음은 물론 차량의 응답 특성이 나빠지는 것을 방지할 수 있게 되는 효과가 있다.As described above, the present invention uses the acceleration signal obtained by differentiating the speed signal of the vehicle to compensate for the steering assist force so that the steering assist force does not change even under the rapid acceleration and deceleration driving conditions of the vehicle. In addition, it is possible to increase the speed, as well as to prevent the response characteristics of the vehicle from being deteriorated.

Claims (3)

차량의 속도신호에 따라 조향보조력을 출력 제어하는 차량 EPS 시스템의 조향보조력 제어방법에 있어서,In the steering assist control method of the vehicle EPS system for controlling the steering assist output in accordance with the speed signal of the vehicle, 상기 차량의 속도신호가 작을 때는 큰 조향보조 토오크값을, 차량의 속도신호가 클 때는 작은 조향보조 토오크값을 출력하는 단계와,Outputting a large steering assist torque value when the vehicle speed signal is small and a small steering assistance torque value when the vehicle speed signal is large; 상기 차량의 속도신호로서 가속도 신호를 구하는 단계와,Obtaining an acceleration signal as a speed signal of the vehicle; 상기 출력된 조향보조 토오크값과 상기 구한 가속도 신호를 감산기를 통해 연산하여 급가속 및 급감속 운행조건에서도 조향보조력의 변동이 일어나지 않도록 조향보조력을 보상하여 출력하는 단계로 이루어지는 것을 특징으로 하는 전자제어 파워 스티어링 시스템의 조향보조력 제어방법.Comprising the calculated steering assistance torque value and the obtained acceleration signal through a subtractor to compensate for the steering assistance power so that the steering assistance power does not occur even under rapid acceleration and sudden deceleration driving conditions, characterized in that the electronic Steering assist control method of control power steering system. 제1항에 있어서, 차량의 급가속시에는 상기 가속도신호가 양수로써 연산되어 조향보조력을 감소시키는 방향으로 조향보조력을 보상해 주는 것을 특징으로 하는 전자제어 파워 스티어링 시스템의 조향보조력 제어방법.The method of claim 1, wherein the acceleration signal is calculated as a positive number during the rapid acceleration of the vehicle to compensate for steering assistance in a direction of reducing steering assistance. . 제1항에 있어서, 차량의 급감속시에는 상기 가속도신호가 음수로써 연산되어 조향보조력을 증가시키는 방향으로 조향보조력을 보상해 주는 것을 특징으로 하는 전자제어 파워 스티어링 시스템의 조향보조력 제어방법.The method of claim 1, wherein the acceleration signal is calculated as a negative number when the vehicle is suddenly decelerated to compensate for steering assistance in a direction of increasing steering assistance. .
KR1020020034862A 2002-06-21 2002-06-21 Steering assist power control method of eps system KR100738437B1 (en)

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Publication number Priority date Publication date Assignee Title
CN113859416A (en) * 2021-09-06 2021-12-31 天津爱玛车业科技有限公司 Electric vehicle and control method thereof

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KR100355764B1 (en) * 1998-09-10 2003-02-19 주식회사 만도 Electric power steering
KR100316911B1 (en) * 1999-05-20 2001-12-22 이계안 Power steering of vehicle
US6484841B2 (en) * 1999-12-13 2002-11-26 Kayaba Industry Co., Ltd. Power steering
JP4670161B2 (en) * 2000-07-13 2011-04-13 マツダ株式会社 Electric power steering device for automobile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113859416A (en) * 2021-09-06 2021-12-31 天津爱玛车业科技有限公司 Electric vehicle and control method thereof
CN113859416B (en) * 2021-09-06 2024-01-02 天津爱玛车业科技有限公司 Electric vehicle and control method thereof

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