KR20130064542A - Motor driving power steering system and control method thereof - Google Patents

Motor driving power steering system and control method thereof Download PDF

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Publication number
KR20130064542A
KR20130064542A KR1020110131202A KR20110131202A KR20130064542A KR 20130064542 A KR20130064542 A KR 20130064542A KR 1020110131202 A KR1020110131202 A KR 1020110131202A KR 20110131202 A KR20110131202 A KR 20110131202A KR 20130064542 A KR20130064542 A KR 20130064542A
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KR
South Korea
Prior art keywords
torque
steering
compensation
booster
curve
Prior art date
Application number
KR1020110131202A
Other languages
Korean (ko)
Inventor
이선목
Original Assignee
현대자동차주식회사
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Priority to KR1020110131202A priority Critical patent/KR20130064542A/en
Publication of KR20130064542A publication Critical patent/KR20130064542A/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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • 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
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • 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
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • 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
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Disclosed is a control method of an electric power steering system in which a torque compensation is provided by a double booster curve by overlaying a steering torque according to a driver's input and a compensation torque due to tilting.
The present invention comprises a first step of determining the compensation torque for providing the complementary force by applying the vehicle speed, steering torque, steering angle to the set map; A first step of analyzing steering torque and yaw rate to determine the occurrence of tilt due to the lateral force; A third step of determining an anti-tip compensation torque by applying to a set torque compensation map when it is determined that the tilt occurs due to a lateral force; Determining a booster curve for the anti-tip compensation torque; And a fifth process of performing torque compensation by driving the motor with two booster curves by overlaying the compensation torque determined in the first process and the booster curve determined in the fourth process.

Description

Electric Power Steering System and Control Method {MOTOR DRIVING POWER STEERING SYSTEM AND CONTROL METHOD THEREOF}

The present invention relates to an electric power steering system. More specifically, the electric power steering system and control for overlaying the compensating torque according to the driver's input and the compensating torque due to the occurrence of torque to provide torque compensation with two booster curves. It is about a method.

The power steering system applied to the vehicle is a hydraulic power steering system using the driving force of the engine, but in order to improve the disadvantages of deterioration of fuel efficiency due to the use of the engine driving force, the motor drive power steering (MDPS) It is applied to the system.

Electric power steering system (MDPS) can use the driving force of the engine at all, can provide a complementary power by the power of the motor separately mounted can reduce the load of the engine can exhibit an excellent effect on fuel economy.

The electric power steering system (MDPS) determines steering force by applying steering angle, steering torque and vehicle speed according to steering wheel operation while driving, and drives the motor with the current control value of the driving force. By providing a compensating torque for the steering power of, a convenient steering feeling can be provided.

In addition, the electric power steering system (MDPS) is to prevent the drift drift left or right due to the characteristics of the vehicle such as the lateral force (lateral load) applied on the lateral direction, the state of the road surface, the state of the tire or the alignment state By providing a compensation torque of an offset angle to the driver's steering torque to prevent the vehicle from tipping, the driver's steering power can be reduced to provide convenience for maintaining straight driving.

As described above, the torque compensation amount determined by the occurrence of tilting according to the input of the lateral load is input as a constant value so as to reduce the steering force and reduce the steering force with respect to the amount of pulling.

Step input is performed for the constant value of the torque compensation amount, and the maximum value of the compensation torque is provided so that the level of compensating force when the actual tilt occurs is 2 to 3 Nm or the heterogeneity is not provided to the driver. Since it is limited to about 0.4 ~ 0.5Nm there is a problem that can not provide the optimal retaining force reduction and tipping prevention.

In order to solve the above problems of the present invention, the object is to overlay the complementary torque and the compensation torque according to the driver input according to the driver's input by performing torque compensation with two booster curves, a state in which heterogeneity does not occur To provide maximum torque compensation.

Features according to an embodiment of the present invention is a steering torque sensor for detecting a steering torque of the steering wheel; A steering angle sensor for detecting a steering angle of a steering wheel; A vehicle speed sensor detecting a vehicle speed; A yaw rate sensor for detecting a yaw rate that rotates about a center point due to the occurrence of the vehicle tilting due to the lateral force; A torque compensating controller for analyzing steering torque, steering angle, vehicle speed, and yaw speed of the steering wheel to determine an anti-tip compensation torque according to lateral force; A booster curve determination unit configured to determine a booster curve by applying the anti-tip compensation torque provided by the torque compensation control unit to a set booster curve map; Compensation torque is determined by applying the driver's input torque of steering wheel, steering angle, and vehicle speed to the set torque compensation map, and the compensation torque for the driver's input torque and booster for preventing tipping provided from the booster curve determining unit. An electric power steering system is provided that includes an MDPS control that overlays the curve and controls the steering force with two booster curves.

The steering torque sensor and the steering angle sensor may be mounted at a predetermined position of the steering column.

The booster curve determining unit may set a booster curve map for preventing tilting according to the specification of the vehicle.

The MDPS control unit detects the driver's input torque from steering torque, steering angle, and vehicle speed to determine compensation torque for steering force, and compensation determined by booster curve and driver's input torque for preventing tilt provided from the booster curve determination unit. MDPS torque determination unit for overlaying the torque to determine the complementary force to the two booster curve; The MDPS torque determination unit may include a motor driving unit for driving the MDPS motor with two overlay booster curves applied.

The torque compensation control unit includes a signal processing unit for converting a steering torque, a steering angle, a steering direction, a traveling vehicle speed, and an yaw speed into a digital signal provided as an analog signal; A straight decision unit for analyzing steering torque and steering to determine whether to drive straight; Lateral force determination unit for analyzing the steering torque and the yaw rate to determine the occurrence of the pull by the lateral force (lateral load); When tilting is generated by the lateral force (lateral load), it may include a compensation torque determiner for determining the compensation torque for the tilt compensation.

In addition, a feature according to another embodiment of the present invention is a first process of determining the compensation torque for providing the complementary force by applying the vehicle speed, steering torque, steering angle to the set map; A first step of analyzing steering torque and yaw rate to determine the occurrence of tilt due to the lateral force; A third step of determining an anti-tip compensation torque by applying to a set torque compensation map when it is determined that the tilt occurs due to a lateral force; Determining a booster curve with respect to the anti-tip compensation torque; There is provided a method for controlling an electric power steering system including a fifth step of performing torque compensation by driving a motor with two booster curves by overlaying the compensation torque determined in the first step and the booster curve determined in the fourth step.

The booster curve may have linearity with respect to the compensation torque.

As such, the embodiment of the present invention overlays the compensating torque according to the driver's input and the compensating torque caused by tilting to drive the MDPS motor with two booster curves, thereby providing the maximum torque compensation in a state where heterogeneity does not occur. can do.

In addition, the present invention can realize the maximum amount of compensation torque for the occurrence of the tilt can provide a maximum effect of reducing the force in the absence of heterogeneity in the occurrence of the tilt.

In addition, the present invention can provide a booster curve map customized according to the specifications of each vehicle by applying a booster curve of the compensation torque according to the generation by vehicle type.

1 is a view showing a schematic configuration of an electric power steering system according to an embodiment of the present invention.
2 is a flowchart illustrating a control procedure of the electric power steering system according to the embodiment of the present invention.
3 is a diagram illustrating an overlay state of compensation torque in the electric power steering system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

The present invention can be embodied in various different forms, and thus the present invention is not limited to the embodiments described herein.

1 is a view showing a schematic configuration of an electric power steering system according to an embodiment of the present invention.

Referring to FIG. 1, an embodiment of the present invention includes a steering torque sensor 101, a steering angle sensor 102, a vehicle speed sensor 103, a yaw angle sensor 104, an MDPS control unit 200, and a torque compensation control unit 300. And a booster curve determining unit 400.

The steering torque sensor 101 is mounted at a predetermined position of a steering column to which a rotating shaft of the steering wheel is connected, detects steering torque according to the operation of the steering wheel, and provides the steering torque to the MDPS controller 200 and the torque compensation controller 300.

The steering angle sensor 102 is mounted at a predetermined position on the upper side of the steering column to which the rotating shaft of the steering wheel is connected, detects the steering angle and the steering direction according to the operation of the steering wheel, and provides the steering angle to the MDPS controller 200 and the torque compensation controller 300. .

The vehicle speed sensor 103 detects the current traveling vehicle speed from the output shaft rotational speed of the transmission and provides it to the MDPS controller 200 and the torque compensation controller 300.

The yaw rate sensor 104 detects the yaw rate at which the vehicle rotates with respect to the center point due to the characteristics of the vehicle such as lateral force (lateral load), the state of the road surface, the state of the tire and the alignment state, and the torque compensation control unit 300. to provide.

The MDPS control unit 200 includes a driver's input including steering torque of the steering wheel provided by the steering torque sensor 101, steering angle and steering direction provided by the steering angle sensor 102, and vehicle speed information provided by the vehicle speed sensor 103. The torque is applied to the set torque compensation map to determine the compensating torque for the driver's input torque to control the driving of the motor to provide optimum steering force for steering torque.

The MDPS control unit 200 overlays the compensation torque for the driver's input torque and the compensation torque provided by the torque compensation control unit 300 to control the driving of the motor with two booster curves so that heterogeneity does not occur. Provides maximum torque compensation.

The MDPS controller 200 includes an MDPS torque determiner 210 and a motor driver 230.

The MDPS torque determiner 210 detects steering torque, steering angle, vehicle speed, etc. of the steering wheel to extract the driver's input torque, and applies the driver's input torque to the set torque compensation map to provide steering power to the steering force. Determine the compensation torque for

In addition, the MDPS torque determiner 210 overlays the compensation torque determined for the driver's input torque and the tilt generation compensation torque provided by the booster curve determiner 400 as a booster curve as shown in FIG. 3. The compensation torque is executed by driving the motor with the compensation torque.

The motor driver 230 drives the MDPS motor with two compensation torques in which the compensation torque determined by the driver's input torque provided by the MDPS torque determination unit 210 and the compensation torque due to the generation of the overlay are overlaid with a booster curve.

The torque compensation control unit 300 is a steering torque of the steering wheel provided by the steering torque sensor 101, a steering angle provided by the steering angle sensor 102, a steering direction, a traveling vehicle speed provided by the vehicle speed sensor 103, and a yaw rate speed sensor ( Analyzing the yaw rate provided by the 104 to detect the occurrence of the tilt, determine the compensation torque for preventing the tilt is provided to the MDPS control unit 200.

The torque compensation controller 300 includes a signal processor 310, a straight decision unit 320, a lateral force decision unit 330, a compensation torque determiner 340, and a fail safe processor 350.

The signal processor 310 converts a steering torque, a steering angle, a steering direction, a driving vehicle speed, a yaw speed, and the like of the steering wheel provided as an analog signal into a digital signal.

The straight decision unit 320 analyzes the steering torque, the steering angle, the steering angle speed, the yaw moment, and the vehicle speed provided through the signal processor 310 to determine whether the vehicle is currently traveling straight.

The lateral force determining unit 330 analyzes the steering torque, the steering angle information and the yaw velocity caused by the influence of the lateral force (lateral load), the road condition, the tire condition, the alignment, etc., to determine whether the tilt occurs.

The compensation torque determiner 340 determines the compensation torque for preventing the occurrence of tilting by applying the lateral load to the set torque compensation map when the tilting force is detected in the lateral force determining unit 330.

The fail safe processing unit 350 performs initialization when the release of the compensation torque for providing the complementary force is performed.

The booster curve determination unit 400 applies the compensation torque determined to prevent the occurrence of tilting to the booster curve map and outputs the booster curve.

The booster curve determination unit 400 is applied to the booster curve map according to the specifications of each vehicle to provide a compensation torque to prevent the tip to the booster curve.

Referring to the operation of the present invention including the function as described above is executed as follows.

When the driving of the vehicle to which the electric power steering system according to the embodiment of the present invention is applied starts (S101), the MDPS control unit 200 detects a driver's input torque including steering torque, steering angle, vehicle speed, and the like (S102).

The MDPS torque determiner 210 in the MDPS control unit 200 applies the driver's input torque detected by the steering torque, the steering angle, and the vehicle speed to the set torque compensation map to determine the compensation torque for providing the steering force to the steering force. (S103).

In addition, the straight decision unit 320 of the torque compensation control unit 300 detects steering torque, steering angle, and vehicle speed to determine the driving state of the vehicle, and the lateral force determination unit 330 determines whether the yaw rate is detected through the CAN signal. (S104).

If the yaw rate is not detected through the CAN signal in S104, the MDPS controller 200 outputs the compensation torque determined in S103 to the motor driver 230 to provide a steering force for steering force by driving the MDPS motor. Provides a steering feeling (S105).

In S104, when the yaw rate is detected by the CAN signal, the lateral force determining unit 330 determines that the vehicle tilt occurs due to the occurrence of the lateral load (S106).

When it is determined that the vehicle is being tilted in S106, the compensation torque determiner 340 applies the set compensation compensation torque map to determine the compensation torque for preventing the tilt, and provides the compensation torque to the booster curve determining unit 400 (S107). ).

The booster determination unit 400 applies the set boots curve map to determine the compensation torque for preventing tipping as a booster curve and provides the booster curve to the MDPS torque determination unit 210 in the MDPS control unit 200 (S108).

As shown in FIG. 3, the MDPS torque determiner 210 in the MDPS control unit 200 provides a compensation torque for the driver's input torque and a compensation torque for preventing tipping determined by the booster curve determiner 400 as a booster curve. By overlaying the two booster curves to generate (S109), the motor control unit 230 is controlled by the two overlayer booster curves to drive the MDPS motor (S110).

Therefore, by compensating the driver's input torque, the steering torque and the lateral force anti-tip compensation torque with the booster curve, and overlaying the two booster curves to execute torque compensation control, heterogeneity is not generated when the compensation torque is entered. It can provide the maximum of the compensation torque without.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood that various modifications and changes may be made without departing from the scope of the appended claims.

101: steering torque sensor 102: steering angle sensor
103: vehicle speed sensor 104: yaw angle speed sensor
200: MDPS control unit 300: torque compensation control unit
400: booster curve determination unit

Claims (7)

A steering torque sensor for detecting steering torque of a steering wheel;
A steering angle sensor for detecting a steering angle of a steering wheel;
A vehicle speed sensor for detecting a vehicle speed;
A yaw rate sensor for detecting a yaw rate that rotates with respect to a center point due to the occurrence of tilting of the vehicle according to the lateral force;
A torque compensating controller for analyzing steering torque, steering angle, vehicle speed, and yaw speed of the steering wheel to determine an anti-tip compensation torque according to lateral force;
A booster curve determination unit configured to determine a booster curve by applying the anti-tip compensation torque provided by the torque compensation control unit to a set booster curve map;
Compensation torque is determined by applying the driver's input torque of steering wheel, steering angle, and vehicle speed to the set torque compensation map, and the compensation torque for the driver's input torque and booster for preventing tipping provided from the booster curve determining unit. MDPS control unit for overlaying the curve to control the steering force to the two booster curve;
Electric power steering system comprising a. The method of claim 1,
The steering torque sensor and the steering angle sensor are electric power steering system, characterized in that mounted to a predetermined position of the steering column. The method of claim 1,
The booster curve determination unit is an electric power steering system, characterized in that the booster curve map for preventing the tilt is set in accordance with the specifications of the vehicle. The method of claim 1,
The MDPS control unit detects the driver's input torque from the steering torque, steering angle, and vehicle speed to determine the compensation torque for the steering force, and the compensation determined by the booster curve and the driver's input torque for preventing the tilt provided by the booster curve determination unit. MDPS torque determination unit for overlaying the torque to determine the complementary force to the two booster curve;
A motor driver for driving the MDPS motor with two overlaid booster curves applied by the MDPS torque determiner;
Electric power steering system comprising a. The method of claim 1,
The torque compensation control unit includes a signal processing unit for converting a steering torque, a steering angle, a steering direction, a traveling vehicle speed, and an yaw speed into a digital signal provided as an analog signal;
A straight decision unit for analyzing steering torque and steering to determine whether to drive straight;
Lateral force determination unit for analyzing the steering torque and the yaw rate to determine the occurrence of the pull by the lateral force (lateral load);
A compensation torque determiner for determining compensation torque for deflection compensation when deflection occurs due to lateral force (lateral load);
Electric power steering system comprising a. A first step of determining a compensation torque for providing complementary force by applying a vehicle speed, a steering torque, and a steering angle to a set map;
A first step of analyzing steering torque and yaw rate to determine the occurrence of tilt due to the lateral force;
A third step of determining an anti-tip compensation torque by applying to a set torque compensation map when it is determined that the tilt occurs due to a lateral force;
Determining a booster curve with respect to the anti-tip compensation torque;
A fifth step of performing torque compensation by driving the motor with two booster curves by overlaying the compensation torque determined in the first step and the booster curve determined in the fourth step;
Electric power steering system control method comprising a. The method according to claim 6,
The booster curve has a linearity with respect to the compensation torque.
KR1020110131202A 2011-12-08 2011-12-08 Motor driving power steering system and control method thereof KR20130064542A (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150057530A (en) * 2013-11-19 2015-05-28 현대모비스 주식회사 Apparatus and method for prevnting steering pull of a vehicle
CN104742957A (en) * 2013-12-30 2015-07-01 现代自动车株式会社 Method Of Detecting Deviation Of Travel Path Of Vehicle
KR20170120733A (en) * 2016-04-21 2017-11-01 현대모비스 주식회사 Method for determining neutral position of motor driven power steering system
KR20180049853A (en) * 2016-11-03 2018-05-14 현대자동차주식회사 Method for controlling position of vehicle
US10532768B2 (en) 2016-06-30 2020-01-14 Hyundai Motor Company Method for controlling position of vehicle
CN110775152A (en) * 2018-07-26 2020-02-11 现代摩比斯株式会社 Motor-driven power steering apparatus and control method thereof
CN111376973A (en) * 2020-03-30 2020-07-07 北京经纬恒润科技有限公司 Electric power steering control method, device and system
US11247719B2 (en) 2018-10-25 2022-02-15 Hyundai Motor Company Control method of MDPS
US11338850B2 (en) 2017-12-13 2022-05-24 Hyundai Motor Company Method for estimating steering wheel torque of vehicle

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150057530A (en) * 2013-11-19 2015-05-28 현대모비스 주식회사 Apparatus and method for prevnting steering pull of a vehicle
CN104742957A (en) * 2013-12-30 2015-07-01 现代自动车株式会社 Method Of Detecting Deviation Of Travel Path Of Vehicle
KR20170120733A (en) * 2016-04-21 2017-11-01 현대모비스 주식회사 Method for determining neutral position of motor driven power steering system
US10532768B2 (en) 2016-06-30 2020-01-14 Hyundai Motor Company Method for controlling position of vehicle
KR20180049853A (en) * 2016-11-03 2018-05-14 현대자동차주식회사 Method for controlling position of vehicle
US11338850B2 (en) 2017-12-13 2022-05-24 Hyundai Motor Company Method for estimating steering wheel torque of vehicle
CN110775152A (en) * 2018-07-26 2020-02-11 现代摩比斯株式会社 Motor-driven power steering apparatus and control method thereof
CN110775152B (en) * 2018-07-26 2022-03-08 现代摩比斯株式会社 Motor-driven power steering apparatus and control method thereof
US11247719B2 (en) 2018-10-25 2022-02-15 Hyundai Motor Company Control method of MDPS
CN111376973A (en) * 2020-03-30 2020-07-07 北京经纬恒润科技有限公司 Electric power steering control method, device and system
CN111376973B (en) * 2020-03-30 2021-08-24 北京经纬恒润科技股份有限公司 Electric power steering control method, device and system

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