KR20140031021A - Method for controlling current of motor driven power steering - Google Patents

Method for controlling current of motor driven power steering Download PDF

Info

Publication number
KR20140031021A
KR20140031021A KR1020120097894A KR20120097894A KR20140031021A KR 20140031021 A KR20140031021 A KR 20140031021A KR 1020120097894 A KR1020120097894 A KR 1020120097894A KR 20120097894 A KR20120097894 A KR 20120097894A KR 20140031021 A KR20140031021 A KR 20140031021A
Authority
KR
South Korea
Prior art keywords
mdps
current
steering wheel
motor
steering
Prior art date
Application number
KR1020120097894A
Other languages
Korean (ko)
Inventor
박진효
Original Assignee
현대모비스 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020120097894A priority Critical patent/KR20140031021A/en
Publication of KR20140031021A publication Critical patent/KR20140031021A/en

Links

Images

Classifications

    • 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
    • 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
    • B62D5/0496—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 by using a temperature sensor
    • 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

Landscapes

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

Abstract

The present invention includes a step of inputting the surrounding temperature of a vehicle into MDPS ECU, a step of determining whether the input surrounding temperature is the same as or lower than a set temperature and inputting steering angle and steering wheel rotation speed into the MDPS ECU when a condition is satisfied, a step of limiting the current of an MDPS motor according to the input steering angle and steering wheel rotation speed. The present invention can provide a method for controlling the current of an MDPS motor, wherein the method prevents the malfunction of MDPS due to characteristic deterioration of a battery by limiting the current of an MDPS motor when a vehicle is left at low temperatures for a long time. [Reference numerals] (AA) Start; (BB,DD,FF) No; (CC,EE,GG) Yes; (HH) End; (S10) Measure surrounding temperature; (S20) Surrounding temperature < Set temperature?; (S30) Input steering angle and steering wheel rotation speed; (S40) ¦Steering angle ¦ > ¦Set angle¦?; (S50) Steering wheel rotation speed > Set speed?; (S60) Limit MDPS motor current; (S70) Normal operation

Description

ＭＤＰＳ 모터의 전류 제어 방법{METHOD FOR CONTROLLING CURRENT OF MOTOR DRIVEN POWER STEERING}Current control method of MDP motor {METHOD FOR CONTROLLING CURRENT OF MOTOR DRIVEN POWER STEERING}

본 발명은 MDPS 모터의 전류 제어 방법에 관한 것으로서, 보다 상세하게는 차량이 저온에서 장시간 방치되었을 경우, MDPS 모터의 전류를 제한함으로써 배터리의 특성 저하에 따른 MDPS 오동작을 방지하는 MDPS 모터의 전류 제어 방법에 관한 것이다.
The present invention relates to a current control method of the MDPS motor, and more particularly, when the vehicle is left for a long time at low temperature, by limiting the current of the MDPS motor current control method of the MDPS motor to prevent MDPS malfunction due to deterioration of the battery characteristics It is about.

차량의 파워스티어링장치(동력조향장치)는 운전자의 조향휠 조작력을 감소시키기 위한 장치이다.The power steering device (power steering device) of the vehicle is a device for reducing the steering wheel operating force of the driver.

그 중, MDPS(Motor Driven Power Steering)는 유압을 대신하여 모터의 힘을 이용하는 장치로써, 종래의 유압식 파워스티어링 장치와 대비하여 무게가 가볍고, 공간을 적게 차지하며, 오일교환이 불필요하므로 승용 차량에서 최근에 널리 사용되고 있다.Among them, MDPS (Motor Driven Power Steering) is a device that uses the power of a motor in place of hydraulic pressure, and compared to the conventional hydraulic power steering device, it is light in weight, takes up less space, and does not require oil change. Recently widely used.

기본적으로 MDPS는 모터, 스티어링기어박스, 토크센서, MDPS ECU(Electronic Control Unit)를 포함한다. Basically, MDPS includes motor, steering gear box, torque sensor and MDPS ECU (Electronic Control Unit).

여기서, MDPS ECU는 토크센서를 통해 조향휠의 회전력을 감지하여 차속에 따라 모터에 전류를 인가하여 조향휠의 토크를 제어하며, 스티어링기어박스는 스티어링샤프트를 통하여 구동력을 전달받아 회전방향을 변환하여(릴레이로드, 타이로드, 너클암으로 구성된) 암을 통해 전륜을 회전시킨다.Here, MDPS ECU senses the rotational force of the steering wheel through the torque sensor to control the torque of the steering wheel by applying a current to the motor according to the vehicle speed, the steering gear box receives the driving force through the steering shaft to change the rotation direction Rotate the front wheel through the arm (composed of relay rod, tie rod and knuckle arm).

토크센서는 통상적으로 광센서(optical sensor)를 이용한다. 가령, 조향휠과 함께 회전하는 토션바에 수광부를 부설하고, 고정된 지점에 발광부를 부설하여 조향휠의 조향각도 및 조향속도의 측정이 가능하다.The torque sensor typically uses an optical sensor. For example, it is possible to measure the steering angle and steering speed of the steering wheel by placing a light receiving unit on a torsion bar that rotates with the steering wheel and by placing a light emitting unit at a fixed point.

이러한 MDPS가 장착된 차량이 저온에서 장시간 방치되었을 경우, 차량 배터리의 동작 특성이 저하되므로 차량의 시동을 켠 후 즉시 MDPS를 최대로 작동(약 90A 소비시 MDPS가 최대로 작동됨)시키면 MDPS ECU및 모터 전원이 저전압으로 떨어져서 오동작이 발생하는 문제점이 있다.When a vehicle equipped with such a MDPS is left at a low temperature for a long time, the operating characteristics of the vehicle battery are deteriorated. Therefore, if the MDPS is operated immediately after turning on the vehicle (the MDPS is operated at maximum consumption of about 90A), the MDPS ECU and There is a problem that a malfunction occurs because the motor power drops to low voltage.

즉, 배터리를 저온에서 장시간 방치시 배터리 특성 저하로 인하여 MDPS가 90A의 부하를 소비할 때, 배터리는 MDPS의 부하를 견디지 못하여 MDPS 공급 전류와 전압 모두가 낮아진다.That is, when MDPS consumes a load of 90A due to deterioration of battery characteristics when the battery is left at a low temperature for a long time, the battery does not endure the load of MDPS and both the MDPS supply current and the voltage are lowered.

이는 MDPS의 저전압으로 인한 고장코드를 유발하고, 심할 경우 MDPS ECU 내부의 전원 공급 장치인 레귤레이터 입력전압의 기준치보다 낮은 전압이 공급되어 MDPS ECU의 리셋 현상을 일으킬 수도 있다.This may cause a fault code due to the low voltage of the MDPS, and in some cases, a voltage lower than the reference value of the regulator input voltage, which is a power supply inside the MDPS ECU, may be supplied to cause a reset of the MDPS ECU.

기존에 배터리 저전압 검출 로직은 배터리를 10초 동안 모니터링하도록 구현(10초 동안 배터리 저전압이 9V 이하를 유지해야 고장코드 검출)되어 있기 때문에 저온에 장시간 방치된 차량에 대해 시동을 켜자마자 MDPS를 최대로 작동할 때는 배터리 저전압 고장코드가 검출되지 않아 MDPS 오동작을 일으킬 수 있는 여지가 있다.
Previously, battery low voltage detection logic was implemented to monitor the battery for 10 seconds (detection of fault codes when the battery low voltage was kept below 9V for 10 seconds), so the MDPS was maximized as soon as the engine was turned on for a long time in low temperature. During operation, there is room for battery undervoltage fault code not detected, which may cause MDPS malfunction.

이와 관련된 선행기술로는 대한민국 공개특허 10-2010-0064229호 "엠디피에스 시스템의 모터제어방법"(2010.06.14)이 있다.
Prior art related to this is disclosed in Republic of Korea Patent Publication No. 10-2010-0064229 "motor control method of the MDP system" (2010.06.14).

본 발명은 상기와 같은 문제점을 개선하기 위해 창작된 것으로서, 차량이 저온에서 장시간 방치되어 배터리 특성이 저하된 경우, MDPS 모터의 전류를 제한함으로써 배터리의 특성 저하에 따른 MDPS 오동작을 방지하는 MDPS 모터의 전류 제어 방법을 제공하는데 그 목적이 있다.
The present invention was created to improve the above problems, when the vehicle is left at a low temperature for a long time when the battery characteristics are deteriorated, by limiting the current of the MDPS motor of the MDPS motor to prevent the MDPS malfunction due to deterioration of the characteristics of the battery Its purpose is to provide a current control method.

본 발명의 일 측면에 따른 MDPS 모터의 전류 제어 방법은, MDPS ECU가 차량의 주변온도를 입력받는 단계; 상기 입력된 주변온도가 설정온도 이하인지 판단하고 조건을 만족하면, 상기 MDPS ECU가 조향각 및 조향휠 회전속도를 각각 입력받는 단계; 및 상기 입력된 조향각 및 조향휠 회전속도에 따라 MDPS 모터의 전류를 제한하는 단계; 를 포함하는 것을 특징으로 한다.According to an aspect of the present invention, there is provided a method of controlling a current of an MDPS motor, including: receiving, by the MDPS ECU, an ambient temperature of a vehicle; Determining whether the input ambient temperature is lower than or equal to a set temperature and if the condition is satisfied, receiving, by the MDPS ECU, a steering angle and a steering wheel rotation speed, respectively; And limiting the current of the MDPS motor according to the input steering angle and the steering wheel rotation speed. And a control unit.

본 발명에서, 상기 MDPS 모터의 전류를 제한하는 단계는 상기 조향각 및 조향휠 회전속도가 설정각 및 설정속도 이상이면, 상기 MDPS 모터의 전류를 70% 내지 80%로 제한하는 것을 특징으로 한다.In the present invention, the step of limiting the current of the MDPS motor is characterized in that the current of the MDPS motor is limited to 70% to 80% if the steering angle and the steering wheel rotational speed is more than the set angle and the set speed.

본 발명에서, 상기 MDPS 모터의 전류를 제한하는 단계는 상기 조향각 및 조향휠 회전속도는 설정각 및 설정속도 이상이면, 상기 조향휠 회전속도에 대해 반비례하게 감소되도록 상기 MDPS 모터의 전류를 제한하는 것을 특징으로 한다.
In the present invention, the step of limiting the current of the MDPS motor is to limit the current of the MDPS motor so that the steering angle and the steering wheel rotational speed is inversely proportional to the steering wheel rotational speed, if the steering angle and the setting speed or more. It features.

본 발명은 차량이 저온에서 장시간 방치되어 배터리 특성이 저하된 경우, MDPS 모터의 전류를 제한함으로써 배터리의 특성 저하에 따른 MDPS 오동작을 방지하여 시스템 신뢰도를 향상시킬 수 있다.According to the present invention, when the vehicle is left at a low temperature for a long time and the battery characteristics are deteriorated, the current of the MDPS motor is limited to prevent MDPS malfunction due to the deterioration of the battery characteristics, thereby improving system reliability.

또한, 본 발명은 배터리의 공급전원이 MDPS의 부하를 견딜 수 있고, 운전자가 조향 이질감을 느낄 수 없을 정도로만 MDPS 모터의 전류를 제한하여 출력함으로써 MDPS의 정상동작이 가능함과 동시에 운전자의 만족감을 향상시킬 수 있다.
In addition, the present invention is that the power supply of the battery can withstand the load of the MDPS, and by limiting the output current of the MDPS motor so that the driver can not feel the steering heterogeneity, the normal operation of the MDPS is possible and at the same time improve the driver's satisfaction. Can be.

도 1은 본 발명의 일 실시예에 따른 MDPS 모터의 전류 제어 장치를 도시한 블록구성도,
도 2는 본 발명의 일 실시예에 따른 MDPS 모터의 전류 제어 방법을 설명하기 위한 흐름도이다.1 is a block diagram showing an apparatus for controlling current of an MDPS motor according to an embodiment of the present invention;
2 is a flowchart illustrating a current control method of an MDPS motor according to an embodiment of the present invention.

이하, 첨부된 도면을 참조하여 본 발명에 따른 MDPS 모터의 전류 제어 방법의 일 실시예를 상세하게 설명한다. 이러한 과정에서 도면에 도시된 선들의 두께나 구성요소의 크기 등은 설명의 명료성과 편의상 과장되게 도시되어 있을 수 있다. 또한, 후술되는 용어들은 본 발명에서의 기능을 고려하여 정의된 용어들로서 이는 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 그러므로, 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 할 것이다.Hereinafter, with reference to the accompanying drawings will be described in detail an embodiment of the current control method of the MDPS motor according to the present invention. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

도 1은 본 발명의 일 실시예에 따른 MDPS 모터의 전류 제어 장치를 도시한 블록구성도이다.1 is a block diagram showing a current control device of the MDPS motor according to an embodiment of the present invention.

도 1에 도시된 바와 같이 본 발명은, 온도센서(10), 조향각센서(20), 토크센서(30), 배터리(40), MDPS ECU(50), MDPS 모터(60)를 포함한다.As shown in FIG. 1, the present invention includes a temperature sensor 10, a steering angle sensor 20, a torque sensor 30, a battery 40, an MDPS ECU 50, and an MDPS motor 60.

온도센서(10)는 차량의 주변온도를 검출한다.The temperature sensor 10 detects an ambient temperature of the vehicle.

본 실시예에서 온도센서(10)는 MDPS ECU(50)에 장착되어 지속적으로 MDPS ECU(50)의 온도를 검출하여 차량의 주변온도를 판단하고 있으나, 차량의 주변온도를 검출하기 위해 다양한 위치에 장착될 수도 있다.In this embodiment, the temperature sensor 10 is mounted on the MDPS ECU 50 and continuously detects the temperature of the MDPS ECU 50 to determine the ambient temperature of the vehicle. It may be mounted.

조향각센서(20)는 운전자에 의해 조향휠이 조향된 각도를 센싱한다.The steering angle sensor 20 senses an angle at which a steering wheel is steered by a driver.

토크센서(30)는 조향휠 회전속도를 센싱한다.The torque sensor 30 senses the steering wheel rotation speed.

배터리(40)는 MDPS 모터(60)에 전류를 인가해준다.The battery 40 applies a current to the MDPS motor 60.

이때, 온도센서(10)에 의해 검출된 온도가 설정온도보다 낮으면 배터리(40) 특성이 저하되어 MDPS의 부하를 견디지 못하므로 MDPS 모터(60)에 공급되는 전류와 전압이 모두 낮아지게 된다.At this time, when the temperature detected by the temperature sensor 10 is lower than the set temperature, the battery 40 characteristics are deteriorated and thus the load of the MDPS cannot be tolerated, so that both the current and the voltage supplied to the MDPS motor 60 are lowered.

다시말해, 차량이 저온상태에 장시간 방치되어 배터리(40) 특성이 저하되었을 때 MDPS를 작동시키면, 배터리(40)의 공급전류가 MDPS ECU(50) 내부 레귤레이터의 입력전압 한계치보다 낮아져서 MDPS ECU(50)의 오동작 및 리셋을 유발하게 된다.In other words, when the vehicle is left in a low temperature state for a long time and the MDPS is operated when the characteristics of the battery 40 are deteriorated, the supply current of the battery 40 becomes lower than the input voltage limit of the internal regulator of the MDPS ECU 50 and thus the MDPS ECU 50 Will cause malfunction and reset.

따라서, MDPS ECU(50)는 온도센서(10)로부터 검출된 MDPS ECU(50)의 온도가 설정온도 이하인지 판단하여 설정온도 이하이면, 조향각센서(20) 및 토크센서(30)로부터 각각 조향각 및 조향휠 회전속도를 입력받는다.Accordingly, the MDPS ECU 50 determines whether the temperature of the MDPS ECU 50 detected by the temperature sensor 10 is lower than or equal to the set temperature, and when the MDPS ECU 50 is lower than or equal to the set temperature, the steering angle and the steering angle from the steering angle sensor 20 and the torque sensor 30 are respectively. The steering wheel rotation speed is input.

이때, MDPS ECU(50)는 입력받은 조향각 및 조향휠 회전속도와 설정각 및 설정속도를 비교하여, 조향각 및 조향휠 회전속도가 설정각 및 설정속도 이상이면, MDPS 모터(60)에 인가되는 전류를 제한하고, 조향각 및 조향휠 회전속도가 설정각 및 설정속도 미만이면 MDPS 모터(60)에 인가되는 전류를 제한하지 않고 정상출력한다.At this time, the MDPS ECU 50 compares the input steering angle and the steering wheel rotational speed with the setting angle and the setting speed, and if the steering angle and the steering wheel rotational speed are equal to or greater than the setting angle and the setting speed, the current applied to the MDPS motor 60. If the steering angle and the steering wheel rotational speed is less than the set angle and the set speed, the output is normal without limiting the current applied to the MDPS motor 60.

조향각 및 조향휠 회전속도가 설정각 및 설정속도 이상으로 판단되어 MDPS 모터(60)의 전류를 제한하는 경우에는, 모터에 인가되는 전류를 70% 내지 80%로 제한한다.When the steering angle and the steering wheel rotational speed are determined to be greater than or equal to the set angle and the set speed and limit the current of the MDPS motor 60, the current applied to the motor is limited to 70% to 80%.

또는, 조향휠 회전속도에 대해 반비례하게 감소되도록 MDPS 모터(60)에 인가되는 전류를 제한할 수도 있다.Alternatively, the current applied to the MDPS motor 60 may be limited so as to decrease in inverse proportion to the steering wheel rotation speed.

즉, 조향휠 회전속도에 따라 점차적으로 MDPS 모터(60)에 인가되는 전류 제한비율을 조절하여 제어할 수도 있다. That is, it may be controlled by gradually adjusting the current limiting ratio applied to the MDPS motor 60 in accordance with the steering wheel rotation speed.

따라서, 차량이 저온에서 장시간 방치되어 배터리(40) 특성이 저하된 경우, MDPS 모터(60)의 전류를 제한함으로써 배터리(40)의 특성 저하에 따른 MDPS 오동작을 방지하여 시스템 신뢰도를 향상시킬 수 있다.Therefore, when the vehicle is left at a low temperature for a long time and the characteristics of the battery 40 are deteriorated, by limiting the current of the MDPS motor 60, it is possible to prevent MDPS malfunction due to deterioration of the characteristics of the battery 40, thereby improving system reliability. .

또한, 배터리(40)의 공급전원이 MDPS의 부하를 견딜 수 있고, 운전자가 조향 이질감을 느낄 수 없을 정도로만 MDPS 모터(60)의 전류를 제한하여 MDPS의 정상동작이 가능함과 동시에 운전자의 만족감을 향상시킬 수 있다.
In addition, the power supply of the battery 40 can withstand the load of the MDPS, limit the current of the MDPS motor 60 only to the extent that the driver can not feel the steering heterogeneity to enable normal operation of the MDPS and at the same time improve the driver satisfaction You can.

도 2는 본 발명의 일 실시예에 따른 MDPS 모터의 전류 제어 방법의 동작 흐름을 도시한 순서도로써, 이를 참조하여 본 발명의 구체적인 동작을 설명한다.2 is a flowchart illustrating an operation flow of a current control method of an MDPS motor according to an exemplary embodiment of the present invention, with reference to this description of the specific operation of the present invention.

먼저, MDPS ECU(50)가 차량의 주변온도를 입력받는다(S10).First, the MDPS ECU 50 receives the ambient temperature of the vehicle (S10).

그 다음, 입력된 주변온도가 설정온도 이하인지 판단한다(S20).Next, it is determined whether the input ambient temperature is lower than or equal to the set temperature (S20).

입력된 주변온도가 설정온도 이하이면, MDPS ECU(50)가 조향각 및 조향휠 회전속도를 각각 입력받는다(S30).If the input ambient temperature is less than the set temperature, the MDPS ECU 50 receives the steering angle and the steering wheel rotation speed, respectively (S30).

이때, 설정온도는 영하 15도 이내로 설정되며, 이와 같이 온도를 설정하는 이유는 극저온일 경우 배터리(40)의 특성이 악화되어 MDPS를 정상구동시키기 어려우므로 배터리(40)의 특성이 악화되는 조건을 충족시켜주기 위함이다. At this time, the set temperature is set to within 15 degrees below zero, and the reason for setting the temperature is a condition that the characteristics of the battery 40 is deteriorated because it is difficult to drive the MDPS normally due to the deterioration of the characteristics of the battery 40 at cryogenic temperatures. To satisfy.

배터리(40)의 특성이 악화되는 조건을 충족한 경우, 조향각센서(20) 및 토크센서(30)로부터 각각 조향각 및 조향휠 회전속도를 입력받는다.When the condition of deterioration of the characteristics of the battery 40 is satisfied, the steering angle and the steering wheel rotational speed are received from the steering angle sensor 20 and the torque sensor 30, respectively.

그 다음, 입력받은 조향각 및 조향휠 회전속도와 설정각 및 설정속도를 비교한다(S40, S50).Then, the input steering angle and the steering wheel rotational speed and the set angle and the set speed are compared (S40, S50).

비교결과, 조향각이 설정각보다 크고, 조향휠 회전속도가 설정속도 이상이면 MDPS 모터(60)의 전류가 70% 내지 80% 인가되도록 제한하거나, 조향휠 회전속도에 대해 반비례하게 감소되도록 제한한다(S60).As a result of the comparison, when the steering angle is larger than the set angle and the steering wheel rotation speed is higher than the set speed, the current of the MDPS motor 60 is limited to 70% to 80% or limited inversely with respect to the steering wheel rotation speed ( S60).

즉, 조향휠 회전속도에 따라 점차적으로 MDPS 모터(60)에 인가되는 전류 제한비율을 조절하여 제어할 수도 있다. That is, it may be controlled by gradually adjusting the current limiting ratio applied to the MDPS motor 60 in accordance with the steering wheel rotation speed.

이때, 설정각은 회전방향에 관계없이 조향휠이 회전되었을 때 어느정도 끝단이 되어 기구적으로 락킹이 되기 이전의 값으로 설정되며 조향각센서(20)를 통해 설정각 이상의 조향각이 입력되었을 경우, 즉 조향휠이 기구적으로 락킹이 된 경우 조건을 충족하게 된다.At this time, the setting angle is set to a value before the locking is mechanically locked to some extent when the steering wheel is rotated irrespective of the rotation direction, and when a steering angle of more than the setting angle is input through the steering angle sensor 20, that is, steering The condition is met if the wheel is mechanically locked.

이와 같은 조건에서 MDPS 모터(60)의 전류를 제한하는 이유는, 조향휠을 설정각 이상으로 돌리면 전류를 일정시간 동안 계속 소비하게 되므로, 배터리(40)의 특성이 악화된 상황에서는 배터리(40)의 공급전류가 MDPS ECU(50) 내부 레귤레이터의 입력전압 한계치보다 낮아져서 MDPS ECU(50)의 오동작 및 리셋을 유발하게 된다.The reason for limiting the current of the MDPS motor 60 under such a condition is that if the steering wheel is turned over the set angle, the current is continuously consumed for a predetermined time, so that the battery 40 is deteriorated in the situation where the characteristics of the battery 40 are deteriorated. The supply current of is lower than the input voltage limit of the internal regulator of the MDPS ECU 50, causing malfunction and reset of the MDPS ECU 50.

또한, 조향휠을 끝단에서 빠른 속도로 동작시킬 때, 회전속도가 빠르다는 것은 그만큼의 MDPS 모터(60)의 출력을 더 많이 요구한다는 뜻이므로, 설정속도는 MDPS 모터(60)의 출력과 배터리(40)의 특성을 고려하여 설정될 수 있다.In addition, when operating the steering wheel at a high speed at the end, a high rotational speed means that the output of the MDPS motor 60 requires more, so the set speed is the output of the MDPS motor 60 and the battery ( It may be set in consideration of the characteristics of 40).

또한, 조향각이 설정각보다 크지 않거나, 조향휠 회전속도가 설정속도 이상이 아니면 MDPS 모터(60)의 전류를 제한하지 않고 정상 출력한다(S70).In addition, if the steering angle is not greater than the set angle, or the steering wheel rotation speed is not greater than the set speed, and outputs the normal without limiting the current of the MDPS motor 60 (S70).

따라서, 본 발명에 의한 MDPS 모터의 전류 제어 방법에 따르면 차량이 저온에서 장시간 방치되어 배터리(40) 특성이 저하된 경우, MDPS 모터(60)의 전류를 제한함으로써 배터리(40)의 특성 저하에 따른 MDPS 오동작을 방지하여 시스템 신뢰도를 향상시킬 수 있다.Therefore, according to the current control method of the MDPS motor according to the present invention, when the vehicle is left at a low temperature for a long time and the characteristics of the battery 40 are deteriorated, the current of the MDPS motor 60 is limited by the deterioration of the characteristics of the battery 40. The system reliability can be improved by preventing MDPS malfunction.

또한, 배터리(40)의 공급전원이 MDPS의 부하를 견딜 수 있고, 운전자가 조향 이질감을 느낄 수 없을 정도로만 MDPS 모터(60)의 전류를 제한하여 출력함으로써 MDPS의 정상동작이 가능함과 동시에 운전자의 만족감을 향상시킬 수 있다.
In addition, the power supply of the battery 40 can withstand the load of the MDPS, and by limiting and outputting the current of the MDPS motor 60 only to the extent that the driver cannot feel the steering heterogeneity, the normal operation of the MDPS is possible and the driver's satisfaction Can improve.

본 발명은 도면에 도시된 실시예를 참고로 하여 설명되었으나, 이는 예시적인 것에 불과하며, 당해 기술이 속하는 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다. 따라서본 발명의 기술적 보호범위는 아래의 특허청구범위에 의해서 정하여져야 할 것이다.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

10 : 온도센서 20 : 조향각 센서
30 : 토크센서 40 : 배터리
50 : MDPS ECU 60 : MDPS 모터10: temperature sensor 20: steering angle sensor
30: torque sensor 40: battery
50: MDPS ECU 60: MDPS Motor

Claims (3)

MDPS ECU가 차량의 주변온도를 입력받는 단계;
상기 입력된 주변온도가 설정온도 이하인지 판단하고 조건을 만족하면, 상기 MDPS ECU가 조향각 및 조향휠 회전속도를 각각 입력받는 단계; 및
상기 입력된 조향각 및 조향휠 회전속도에 따라 MDPS 모터의 전류를 제한하는 단계; 를 포함하는 MDPS 모터의 전류 제어 방법.
Receiving, by the MDPS ECU, an ambient temperature of the vehicle;
Determining whether the input ambient temperature is lower than or equal to a set temperature and if the condition is satisfied, receiving, by the MDPS ECU, a steering angle and a steering wheel rotation speed, respectively; And
Limiting the current of the MDPS motor according to the input steering angle and steering wheel rotation speed; Current control method of the MDPS motor comprising a.
제 1항에 있어서, 상기 MDPS 모터의 전류를 제한하는 단계는
상기 조향각 및 조향휠 회전속도가 설정각 및 설정속도 이상이면, 상기 MDPS 모터의 전류를 70% 내지 80%로 제한하는 것을 특징으로 하는 MDPS 모터의 전류 제어 방법.
The method of claim 1, wherein the step of limiting the current of the MDPS motor
If the steering angle and the steering wheel rotational speed is greater than the set angle and the set speed, the current control method of the MDPS motor, characterized in that to limit the current of the MDPS motor to 70% to 80%.
제 1항에 있어서, 상기 MDPS 모터의 전류를 제한하는 단계는
상기 조향각 및 조향휠 회전속도는 설정각 및 설정속도 이상이면, 상기 조향휠 회전속도에 대해 반비례하게 감소되도록 상기 MDPS 모터의 전류를 제한하는 것을 특징으로 하는 MDPS 모터의 전류 제어 방법.
The method of claim 1, wherein limiting the current of the MDPS motor
If the steering angle and the steering wheel rotational speed is greater than the set angle and the set speed, the current control method of the MDPS motor, characterized in that to limit the current of the MDPS motor to be reduced in inverse proportion to the steering wheel rotational speed.
KR1020120097894A 2012-09-04 2012-09-04 Method for controlling current of motor driven power steering KR20140031021A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020120097894A KR20140031021A (en) 2012-09-04 2012-09-04 Method for controlling current of motor driven power steering

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020120097894A KR20140031021A (en) 2012-09-04 2012-09-04 Method for controlling current of motor driven power steering

Publications (1)

Publication Number Publication Date
KR20140031021A true KR20140031021A (en) 2014-03-12

Family

ID=50643340

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020120097894A KR20140031021A (en) 2012-09-04 2012-09-04 Method for controlling current of motor driven power steering

Country Status (1)

Country Link
KR (1) KR20140031021A (en)

Similar Documents

Publication Publication Date Title
US20080004773A1 (en) Control device for electric power steering apparatus
JP5082846B2 (en) Control device for electric power steering device
US20130079992A1 (en) Power steering system
US20130030653A1 (en) Method for controlling a steering apparatus
JP5843220B2 (en) Engine restart control device
CN109774783B (en) Control method and control system for electric power steering
US9567001B2 (en) Electric power steering apparatus
US20130161113A1 (en) Hydraulic power steering system
JP5212637B2 (en) Electric power steering device
KR102376065B1 (en) Motor driven power steering system control method
JP2014172470A (en) Controller of hydraulic pressure power steering device
US7322438B2 (en) Control apparatus for an electrically driven power steering
US9796408B2 (en) Electric steering device
JP4060051B2 (en) Power steering device
US11214303B2 (en) Control device for vehicle
KR20140031021A (en) Method for controlling current of motor driven power steering
JP4600713B2 (en) Power steering device
KR101767877B1 (en) Method for controlling output of motor driven power steering system
JP2007062499A (en) Electric power steering device
KR20100064229A (en) Motor control method for mdps system
KR101765625B1 (en) Apparatus and method for controlling torque of mdps system
KR20160036756A (en) Fault diagnostic apparatus and control method of motor driven power steering
JP5181540B2 (en) Electric power steering device
KR20180027753A (en) Torque steer compensation method of Motor Driven Power Steering
KR102673010B1 (en) System and method for controlling motor driven power steering

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application