KR20120018508A - Method for motor speed setting for electronical hybrid power steering system - Google Patents

Method for motor speed setting for electronical hybrid power steering system Download PDF

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Publication number
KR20120018508A
KR20120018508A KR1020100081384A KR20100081384A KR20120018508A KR 20120018508 A KR20120018508 A KR 20120018508A KR 1020100081384 A KR1020100081384 A KR 1020100081384A KR 20100081384 A KR20100081384 A KR 20100081384A KR 20120018508 A KR20120018508 A KR 20120018508A
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KR
South Korea
Prior art keywords
steering
motor
speed
vehicle
mpu
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KR1020100081384A
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Korean (ko)
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KR101612363B1 (en
Inventor
방진석
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현대자동차주식회사
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Priority to KR1020100081384A priority Critical patent/KR101612363B1/en
Publication of KR20120018508A publication Critical patent/KR20120018508A/en
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Publication of KR101612363B1 publication Critical patent/KR101612363B1/en

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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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed

Abstract

PURPOSE: A method for setting motor speed of an electrical hybrid power steering system is provided to control steering direction because hydraulic pressure supplied from an EHPS is controlled by controlling the RPM of an MPU supplying the hydraulic pressure of the EHPS. CONSTITUTION: A method for setting motor speed of an electrical hybrid power steering system is as follows. The vehicle speed and steering angle are set(S001). The RPM of an MPU is set to an initial speed and operated(S002). Steering torque is measured. The steering angle is linearly changed(S004). The steering torque is measured at each of the linearly changed steering angles(S005). The vehicle speed, the steering angle and the ROM of the MOU are stored(S007).

Description

Method for Motor Speed Setting for Electronic Hybrid Power Steering System

The present invention relates to a method of controlling motor rotation of an electronic hybrid power steering (EHPS) system, and more particularly, a motor for driving a pump in an MPU (Motor Pump Unit) for supplying hydraulic pressure of an EHPS. It relates to a motor rotational speed setting method of the electronic hybrid power steering system that controls to adjust the number of revolutions according to the driving state of the vehicle.

In general, in order to smoothly steer the steering wheel of a vehicle, a power steering device is generated that generates steering assist force and supplies the steering wheel. The power steering system typically uses hydraulic pressure to facilitate the operation of the steering wheel, to speed it up, and to avoid heavy forces on the steering.

1 illustrates a conventional general hydraulic power steering system. As shown, a conventional general hydraulic power steering system was generating hydraulic pressure through the P / S pump 1 to provide steering complementary force. The P / S pump 1 depends on the engine of the vehicle and is always driven together with the driving of the engine.

However, steering steering force is not always required to rotate the steering wheel while the vehicle is running, and the steering steering force supplied from the general hydraulic power steering system is required because the steering steering force required varies depending on the steering angle desired by the driver. Is used only as needed for steering, not the rest.

Therefore, steering steering force not used while driving the vehicle has a problem that leads to energy loss. This problem occurs more particularly in the high-speed rotation of the engine of the vehicle. In other words, when the engine of the vehicle rotates at high speed, the P / S pump 1 of the hydraulic power steering system subordinate to the engine also operates at high speed, and a large amount of hydraulic pressure is generated and supplied in accordance with the high speed driving of the pump. On the other hand, since the necessary steering complementary force does not increase in proportion to the speed of the vehicle, unnecessary driving of the pump occurs. Therefore, there is a disadvantage in that energy loss occurs due to hydraulic pressure not generated and used more than necessary. In addition, accordingly, there was a disadvantage in reducing fuel efficiency.

On the other hand, in the conventional general hydraulic power steering system, as described above, since the P / S motor operates in dependence on the engine, the engine rotates at a low speed when the vehicle runs at low speed, and accordingly, the P / S pump 1 is driven. It will also run at low speed. Therefore, the steering assist force to be supplied to the steering wheel during low speed driving of the vehicle is reduced by the low speed operation of the P / S motor, and the driver has a problem in that he / she feels heavy on the steering wheel operation of the vehicle.

The present invention, in order to solve the above problems, in the vehicle using an electronic hybrid power steering (EHPS) system, which is one of the electric power steering system for steering of the vehicle, MPU (Motor Pump) for supplying the hydraulic pressure of the EHPS It is an object of the present invention to provide a method of controlling the rotational speed of a motor driving a pump in a unit according to a driving state of a vehicle.

According to an aspect of the present invention,

In the motor rotational speed setting method of the electronic hybrid power steering system comprising an MPU,

A: setting vehicle speed and steering angle;

B: operating by setting the RPM of the MPU to the initial speed;

C: measuring a steering torque value;

D: linearly changing the steering angle;

E: measuring a steering torque value for each steering angle that is changed linearly; and

F: storing the vehicle speed, steering angle and RPM of the MPU,

When the catch-up occurs in step D, the RPM of the MPU is increased and the steps C to E are repeated.

In addition, it is characterized by repeating the steps A to F while increasing the vehicle speed step by step.

The present invention having the configuration as described above,

Since the hydraulic pressure supplied from the EHPS is controlled by controlling the RPM of the MPU supplying the hydraulic pressure of the EHPS, the steering feeling can be easily adjusted.

In addition, it can be controlled to supply the minimum hydraulic pressure in accordance with each condition according to the driving state of the vehicle, it is possible to avoid the loss of unnecessary energy, there is an effect that can improve the fuel economy of the vehicle.

In addition, there is an effect of determining the rotational speed of the motor of the MPU so as to provide an optimal steering complementary force only by driving conditions of the vehicle, without applying the actual vehicle test, and applying it to the actual vehicle.

1 shows a conventional general hydraulic power steering system.
Figure 2 is a partial cross-sectional view showing the MPU of the EHPS system used in the method of setting the motor rotation speed of the electronic hybrid power steering system according to a preferred embodiment of the present invention.
Figure 3 shows the configuration of the system used in the motor rotational speed setting method of the electronic hybrid power steering system according to a preferred embodiment of the present invention.
Figure 4 shows a method of setting the motor rotation speed of the electronic hybrid power steering system according to the present invention.
5 is a graph showing a catch-up phenomenon.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a partial cross-sectional view showing the MPU of the EHPS system used in the method of setting the motor rotation speed of the electronic hybrid power steering system according to a preferred embodiment of the present invention.

As shown, the MPU comprises a pump 2, a motor 3 and an electronic control unit (ECU) 4.

The pump 2 is a means for generating hydraulic pressure, which is driven by the rotation of the motor 3 in conjunction with the motor 3. In other words, the pump 2 operates by driving the motor 3 and has a configuration to generate and supply hydraulic pressure in accordance with the rotational force of the motor 3.

The drive of the motor 3 is controlled by an electronic control unit (ECU) 4 arranged at its lower end. The ECU 4 is a means for controlling the rotation of the motor in accordance with the driving conditions of the vehicle detected by the vehicle speed sensor, the steering torque sensor, etc. disposed in the vehicle, typically driving the motor (3) during low-speed driving of the vehicle The steering wheel is controlled to lighten the steering feeling by applying hydraulic pressure to the wheel, and to control the steering wheel to be relatively heavy when driving the vehicle at a high speed compared to the driving at low speed.

Therefore, the ECU 4 sets the rotational speed of the motor for each driving state of the vehicle in advance so as to determine the rotational speed of the motor 3 according to the driving conditions of the vehicle, and the vehicle speed sensor and the steering torque sensor arranged in the vehicle. The motor 3 is controlled by receiving driving conditions of the vehicle detected by the back. The present invention relates to a method for determining the rotational speed of a motor of the ECU.

Figure 3 shows the configuration of the system used in the motor rotational speed setting method of the electronic hybrid power steering system according to a preferred embodiment of the present invention.

As shown, the motor rotational speed setting method of the electronic hybrid power steering system of the present invention is configured to configure the steering system of the vehicle to HILS, to determine the motor rotational speed of the MPU. The hardware-in-the-loop simulation (HILS) is typically used for the development and testing of a complex real-time system. The present invention provides a rotation of a motor of a vehicle without driving an actual vehicle through the HILS configuration. Is made to determine the number.

HILS system according to the present invention is a servo motor 1 (10), servo motor 2 (20), torque sensor 30, DAQ (40), MPU (50), motor controller 1 (60), motor controller 2 (70) , Ball / nut gearbox 80 and control unit 90.

The motor controller 1 60 and the motor controller 2 70 are controlled by the controller 90, and the motor controller 1 60 controls the speed of the servo motor 1 10. The servo motor 1 (10) inputs the rotational force of the steering wheel, and generates a torque corresponding to the torque of the steering wheel input by the driver when driving the actual vehicle, and is a means for inputting the gearbox (80).

In addition, the motor control unit 2 70 controls the speed of the servo motor 2 (20). The servomotor 2 (20) inputs a resistance torque, which is a means for inputting a rotational force corresponding to the ground force of the ground caused by friction with the ground when the vehicle is driven to the gearbox (80). The servo motor 2 20 is input to consider the ground resistance when determining the motor rotation speed using the method of setting the motor rotation speed of the electronic hybrid power steering system of the present invention.

Torque sensor 30 is a means for measuring the torque generated by the servo motor 1 (10) applied to the gear box (80). When the servo motor 1 10 is driven, the torque sensor 30 measures steering torque according to the driving of the servo motor 1 10. The measured steering torque is transmitted to the DAQ 40 and the DAQ transmits the received steering torque information to the controller.

The gear box 80 is a means provided in the actual vehicle to transmit the rotational movement of the steering shaft to the wheel, in the HILS system used in the present invention is to apply the rotational force from the servo motor 1 (10) and the servo motor 2 (20) It receives the input, receives the hydraulic pressure from the MPU 50, and is made to operate in the same manner as when mounted on the actual vehicle.

The MPU 50 receives a driving condition (which may be an arbitrary driving condition) of the vehicle, such as a vehicle speed and steering torque of the vehicle, and operates a motor based thereon to supply hydraulic pressure to the gearbox 80. do.

The control unit 90 controls the motor control unit 1 (60) and the motor control unit 2 (70) to control the rotation of the servo motor 1 (10) and the servo motor 2 (20), and the torque sensor (30) Steering torque value measured at and stores the current vehicle speed, steering angle and RPM of the motor of the MPU 50, and functions to compare according to the driving state of the vehicle. The current vehicle speed, steering angle and RPM of the MPU stored in the controller 90 are stored in the electronic control unit (ECU) of the corresponding MPU 50 to control the motor to rotate at a set speed.

Figure 4 shows a method of setting the motor rotation speed of the electronic hybrid power steering system according to the present invention.

The present invention determines the rotation speed of the motor in the following manner through the HILS system made as shown in FIG.

When the system is driven, the controller first sets the speed and the steering angle of the vehicle (S001). The speed and the steering angle of the vehicle may be changed in certain units, and the above steps may be executed to control the speed of the motor of the MPU at various speeds and steering angles.

When the speed and steering angle of the vehicle are set, the RPM of the MPU is set to the set initial speed, and the MPU is operated (S002). At this time, the set initial speed of the RPM of the MPU may be, for example, 1000 RPM.

When the hydraulic pressure is generated by the MPU operating at the set RPM, and the generated hydraulic pressure is supplied to the gearbox, the torque sensor measures the steering torque value and the steering torque value measured by the DAQ is transmitted to the controller (S003). .

The control unit controls the operation of the servo motor 1 through the motor control unit 1, and linearly changes the steering angle generated by the servo motor 1 (for example, increases from 90 degrees to 720 degrees in increments of 90 degrees). (S004). Whenever the steering angle of the servomotor 1 is changed, the torque sensor measures the steering torque value and transmits the steering torque value to the control unit (S005).

The controller continuously recognizes the steering torque value measured according to the linear change in the steering angle, and determines whether a catch up phenomenon occurs (S006).

The catch-up phenomenon is a phenomenon in which the steering torque value does not increase linearly according to a linearly changing steering angle. As shown in FIG. 5, the torque of the steering wheel does not increase linearly as the steering angle increases. Due to the catch-up phenomenon, steering steering force may be heavy due to a lack of steering complementary force.

If the catch-up phenomenon does not occur in the step, the control unit stores the vehicle speed, steering angle and RPM of the MPU (S007).

If it is determined that the catch-up phenomenon occurs in the step, the control unit increases the hydraulic pressure supplied to the gearbox by increasing the RPM of the MPU at the steering angle and the vehicle speed to prevent this (S008) and the occurrence of catch-up again. Repeat the steps (S004 to S006) to measure the. At this time, the RPM increase of the MPU may be made to increase by a predetermined predetermined unit, for example, may be increased by 200 RPM.

When the step S007 or S008 is completed at the set vehicle speed, the controller increases the vehicle speed by a predetermined unit (S009). In this case, the vehicle speed may be increased by, for example, 10 km / h.

If it is determined that the current vehicle speed is the final vehicle speed that is changed for the measurement of the steering torque values of the various vehicle speeds, the controller finishes the change of the vehicle speed and finally stores the record (S010).

As mentioned above, the preferred embodiment of the method for setting the motor rotation speed of the electronic hybrid power steering system of the present invention has been described in detail, but it is merely presented a specific example to help the understanding of the present invention, and the scope of the present invention is limited. It is not intended to be. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

1: P / S Pump 2: Pump
3: motor 4: electronic controller
10: Servo motor 1 20: Servo motor 2
30: Torque Sensor 40: DAQ
50: MPU 60: motor control unit 1
70: motor control unit 2 80: gear box
90: control unit

Claims (2)

In the motor rotational speed setting method of the electronic hybrid power steering system comprising an MPU,
A: setting vehicle speed and steering angle;
B: operating by setting the RPM of the MPU to the initial speed;
C: measuring a steering torque value;
D: linearly changing the steering angle;
E: measuring a steering torque value for each steering angle that is changed linearly; and
F: storing the vehicle speed, steering angle and RPM of the MPU,
If the catch-up occurs in the step D, the motor RPM setting method of the electronic hybrid power steering system, characterized in that to increase the RPM of the MPU and repeating the steps C to E.
The method of claim 1,
And increasing the vehicle speed step by step and repeating the steps A to F.
KR1020100081384A 2010-08-23 2010-08-23 Method for Motor Speed Setting for Electronical Hybrid Power Steering System KR101612363B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020100081384A KR101612363B1 (en) 2010-08-23 2010-08-23 Method for Motor Speed Setting for Electronical Hybrid Power Steering System

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100081384A KR101612363B1 (en) 2010-08-23 2010-08-23 Method for Motor Speed Setting for Electronical Hybrid Power Steering System

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KR20120018508A true KR20120018508A (en) 2012-03-05
KR101612363B1 KR101612363B1 (en) 2016-04-14

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160063618A (en) * 2014-11-27 2016-06-07 현대자동차주식회사 Control method for electro hydraulic power steering system
KR102593087B1 (en) * 2023-03-20 2023-10-24 클레온(주) Modular ride-on vacuum cleaner with electric power steering

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160063618A (en) * 2014-11-27 2016-06-07 현대자동차주식회사 Control method for electro hydraulic power steering system
CN105644621A (en) * 2014-11-27 2016-06-08 现代自动车株式会社 Control method for electrohydraulic power steering system
US9522697B2 (en) 2014-11-27 2016-12-20 Hyundai Motor Company Control method for electrohydraulic power steering system
CN105644621B (en) * 2014-11-27 2019-05-03 现代自动车株式会社 Control method for electric hydaulic power steering system
KR102593087B1 (en) * 2023-03-20 2023-10-24 클레온(주) Modular ride-on vacuum cleaner with electric power steering

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