KR20120050644A - Method and appratus for controlling vibration reduction in steering apparatus - Google Patents
Method and appratus for controlling vibration reduction in steering apparatus Download PDFInfo
- Publication number
- KR20120050644A KR20120050644A KR1020100112001A KR20100112001A KR20120050644A KR 20120050644 A KR20120050644 A KR 20120050644A KR 1020100112001 A KR1020100112001 A KR 1020100112001A KR 20100112001 A KR20100112001 A KR 20100112001A KR 20120050644 A KR20120050644 A KR 20120050644A
- Authority
- KR
- South Korea
- Prior art keywords
- vibration
- vibration reduction
- vehicle speed
- frequency
- steering apparatus
- 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
- 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
- B62D5/0472—Controlling the motor for damping vibrations
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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
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
- B60Y2300/20—Reducing vibrations in the driveline
- B60Y2300/207—Reducing vibrations in the driveline related to drive shaft torsion, e.g. driveline oscillations
Abstract
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for reducing vibration in a vehicle, and more particularly, to a method and apparatus for accurately grasping characteristics of vibration generated in a steering apparatus and providing a vibration reduction control of a suitable steering apparatus accordingly.
Description
BACKGROUND OF THE
Various types of vibration or shaking may occur in the steering device of the vehicle for various reasons. For example, tire imbalance due to uneven wear of the tire causes small tremor (ie, vibration) to occur in the steering wheel included in the steering apparatus.
Such vibration or tremor may reduce the quietness of the vehicle interior, reduce the steering feeling felt by the driver, and may interfere with the driver's driving.
Therefore, it is necessary to accurately grasp the characteristics of the vibration generated in the steering apparatus of the vehicle, and accordingly appropriate vibration reduction control.
In this background, an object of the present invention is to accurately grasp the characteristics of vibrations generated in the steering apparatus of a vehicle and to provide appropriate vibration reduction control accordingly.
In order to achieve the above object, in one aspect, the present invention estimates the vibration frequency of the vibration generated in the steering apparatus based on the input vehicle speed, and cut-off frequency based on the estimated vibration frequency ) And a vehicle speed variable filter for filtering the input torque signal based on the determined cutoff frequency; A vibration reduction current generation unit configured to generate a vibration reduction current for reducing the vibration by using the filtered torque signal; And a motor control unit configured to supply the generated vibration reduction current to the motor to perform motor control.
In another aspect, the present invention, the vibration reduction control method of the steering apparatus provided by the vibration reduction control apparatus, comprising: estimating the vibration frequency of the vibration generated in the steering apparatus based on the input vehicle speed; Determining a cut-off frequency based on the estimated vibration frequency; Filtering the input torque signal based on the determined cutoff frequency; Generating a vibration reduction current for reducing the vibration by using the filtered torque signal; And supplying the generated vibration reduction current to the motor to perform motor control.
As described above, according to the present invention, it is possible to accurately grasp the characteristics of the vibration generated in the steering apparatus of the vehicle and to provide the appropriate vibration reduction control accordingly.
1 is a block diagram of a vibration reduction control apparatus according to an embodiment of the present invention.
2 and 3 are diagrams for explaining the vibration to be reduced by the vibration reduction control apparatus according to an embodiment of the present invention.
4 is a view showing the vibration frequency characteristics of the vibration to be reduced by the vibration reduction control apparatus according to an embodiment of the present invention.
5 is a view for explaining the vibration reduction effect for the vibration reduction control device according to an embodiment of the present invention.
6 is another view for explaining the vibration reduction effect for the vibration reduction control apparatus according to an embodiment of the present invention.
7 is a flowchart illustrating a vibration reduction control method according to an embodiment of the present invention.
Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.
In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".
1 is a block diagram of a vibration
Vibration
The vibration
The above-described vehicle
The vehicle
The "vibration frequency" of the vibration occurring in the vehicle may have a characteristic that increases constantly with the vehicle speed. In this case, the above-described predefined vibration frequency relationship information with respect to the vehicle speed is relation information in which the vehicle speed and vibration frequency are proportional to each other. Can be.
In addition, the vibration generated in the vehicle also shows a characteristic that occurs large in the region of a specific vibration frequency. For example, the largest vibration can occur in the region of the column resonance frequency of the vehicle. For example, when the column resonance frequency is 15 Hz and the vehicle speed corresponding to the vibration frequency of 15 Hz is 60 MPH according to the predefined vehicle speed-to-vibration frequency relationship information, the largest vibration occurs near the column resonance frequency of 15 Hz. This means that the region in which the vibration frequency is 15 Hz and the vehicle speed is 60 MPH is the region in which the vibration reduction control according to an embodiment of the present invention should operate most intensively. Accordingly, the vehicle speed received by the vehicle
The vehicle
On the other hand, as shown in Figure 1, the vibration
In this case, the vibration reduction
On the other hand, as shown in Figure 1, the vibration
The above-mentioned "vibration" to be reduced in the vibration
If the vibration
2 and 3 are diagrams for explaining the vibration to be reduced by the vibration
Here, if the vibration to be reduced by the vibration
In Figure 2 (a) M is the weight corresponding to the tire imbalance. M is the weight of the weight that is experimentally attached to generate a tire imbalance by attaching an arbitrary weight to a normal tire to arbitrarily generate a tire imbalance. V corresponds to the tangential velocity of the weight, which produces a weight corresponding to tire imbalance.
At this time, the tire imbalance generated in the tire generates an unbalance of one force each time the tire is rotated, and the frequency thereof varies according to the vehicle speed. 2B is a graph showing the lateral force M × V 2 generated by tire imbalance.
3 is a view for explaining that the lateral force generated by the tire imbalance is transmitted to the steering wheel.
Referring to Figure 3, the tire lateral force F is generated by the tire unbalance generates a torque T tire, the torque T is a tire force F rack to the rack bar (Rack Bar) T pinion at the pinion Generates. This torque T pinion causes the same torque T column in the steering column to transmit vibration to the steering wheel. Where F tire , T tire , F rack , T pinion , T column May be represented by
4 is a view showing the vibration frequency characteristics of the vibration to be reduced by the vibration
The above-described vehicle
In addition, the vibration generated in the vehicle also shows a characteristic that occurs large in the region of a specific vibration frequency. For example, the largest vibration can occur in the region of the column resonance frequency of the vehicle. For example, when the column resonance frequency is 15 Hz and the vehicle speed corresponding to the vibration frequency of 15 Hz is 60 MPH according to the predefined vehicle speed-to-vibration frequency relationship information, the largest vibration occurs near the column resonance frequency of 15 Hz. This means that the region in which the vibration frequency is 15 Hz and the vehicle speed is 60 MPH is the region in which the vibration reduction control according to an embodiment of the present invention should operate most intensively. Accordingly, the vehicle speed received by the vehicle speed
5 is a view for explaining the vibration reduction effect by the vibration
In FIG. 5, an analog torque signal 410, a
Referring to FIG. 5, it can be seen that the analog torque signal 410 passes through the HPF so that the high pass filtered
6 is another view for explaining the vibration reduction effect by the vibration
Referring to FIG. 6, in an experiment to determine a vibration reduction effect by the vibration
As shown in Fig. 6, when the torque signal in the case where the vibration reduction control is not in operation (OFF), the torque value is approximately 10.8kgf.cm, and when the vibration reduction control is turned on (ON), The torque value is approximately 6.6 kgf.cm. Accordingly, it can be confirmed that the vibration reduction control is operated to reduce the torque value of the torque signal by about 4.2 kgf.cm. This means the reduction of vibration transmitted to the steering wheel.
In addition, as shown in Figure 6, when the vibration reduction control by the vibration
Hereinafter, a vibration reduction control method provided by the vibration
7 is a flowchart illustrating a vibration reduction control method according to an embodiment of the present invention.
Referring to FIG. 7, the vibration reduction control method provided by the vibration
As described above, according to the present invention, it is possible to accurately grasp the characteristics of the vibration generated in the vehicle and to provide the appropriate vibration reduction control accordingly.
In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.
It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.
The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.
Claims (9)
A vibration reduction current generation unit configured to generate a vibration reduction current for reducing the vibration by using the filtered torque signal; And
Motor control unit for performing the motor control by supplying the generated vibration reduction current to the motor
Vibration reduction control device of the steering apparatus comprising a.
The vehicle speed variable filter,
The vibration reduction control device of the steering apparatus, characterized in that for estimating the vibration frequency in accordance with the input vehicle speed with reference to the vibration frequency relationship information relative to the vehicle speed.
The predefined vibration frequency relationship information relative to the vehicle speed is vibration reduction control device of the steering apparatus, characterized in that the relationship information proportional to the vehicle speed and vibration frequency.
The input vehicle speed is
According to the vehicle speed-to-vehicle frequency relationship information, vibration reduction control device of the steering apparatus, characterized in that included in the vehicle speed region corresponding to the region of the column resonance frequency as the vibration frequency.
And the vehicle speed variable filter is a high pass filter (HPF) for passing only a region above the cutoff frequency.
Vibration for determining a vibration reduction level according to the input vehicle speed, and outputting the information on the determined vibration reduction level to the vibration reduction current generation unit with reference to gain information on a vibration reduction level compared to a vehicle speed in advance. Further includes a reduction level determination unit,
The vibration reduction current generation unit,
And adjust the current value according to the filtered torque signal according to the determined vibration reduction level, and generate the vibration reduction current having the regulated current value.
And a clipper for clipping the vibration reduction current generated by the vibration reduction current generation unit to be supplied to the motor based on a predefined maximum current value.
The vehicle speed variable filter,
The input torque signal is filtered based on the determined cutoff frequency, thereby adjusting the phase of the input torque signal with the vibration in which the lateral force due to the tire imbalance in the vehicle is transmitted to the steering wheel. Vibration reduction control device of the device.
Estimating a vibration frequency of vibration generated in the steering apparatus based on the input vehicle speed;
Determining a cut-off frequency based on the estimated vibration frequency;
Filtering the input torque signal based on the determined cutoff frequency;
Generating a vibration reduction current for reducing the vibration by using the filtered torque signal; And
Supplying the generated vibration reduction current to a motor to perform motor control
Vibration reduction control method of the steering apparatus comprising a.
Priority Applications (1)
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KR20100112001A KR101205558B1 (en) | 2010-11-11 | 2010-11-11 | Method and appratus for controlling vibration reduction in steering apparatus |
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KR20100112001A KR101205558B1 (en) | 2010-11-11 | 2010-11-11 | Method and appratus for controlling vibration reduction in steering apparatus |
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KR20120050644A true KR20120050644A (en) | 2012-05-21 |
KR101205558B1 KR101205558B1 (en) | 2012-11-27 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20170078405A (en) * | 2015-12-29 | 2017-07-07 | 주식회사 만도 | Steering control apparatus and steering control method |
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JP3884236B2 (en) | 2001-02-06 | 2007-02-21 | 株式会社ジェイテクト | Electric power steering device |
JP4475434B2 (en) | 2007-03-12 | 2010-06-09 | 三菱電機株式会社 | Electric power steering control device |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20170078405A (en) * | 2015-12-29 | 2017-07-07 | 주식회사 만도 | Steering control apparatus and steering control method |
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