KR20150018047A - Apparatus for driving of motor drive power steering and method thereof - Google Patents

Apparatus for driving of motor drive power steering and method thereof Download PDF

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KR20150018047A
KR20150018047A KR1020130094451A KR20130094451A KR20150018047A KR 20150018047 A KR20150018047 A KR 20150018047A KR 1020130094451 A KR1020130094451 A KR 1020130094451A KR 20130094451 A KR20130094451 A KR 20130094451A KR 20150018047 A KR20150018047 A KR 20150018047A
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South Korea
Prior art keywords
damping force
gain
calculating
calculated
steering angle
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KR1020130094451A
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Korean (ko)
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KR102049922B1 (en
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안상민
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현대모비스 주식회사
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Priority to KR1020130094451A priority Critical patent/KR102049922B1/en
Priority to CN201410045545.4A priority patent/CN104340262B/en
Priority to EP14156404.7A priority patent/EP2835304B1/en
Priority to US14/199,963 priority patent/US9216762B2/en
Publication of KR20150018047A publication Critical patent/KR20150018047A/en
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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
    • 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
    • B60Y2300/045—Improving turning performance, e.g. agility of a vehicle in a curve
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/40—Actuators for moving a controlled member
    • B60Y2400/418—Power assistance, e.g. servo-motors
    • B60Y2400/4187—Servo-motors, e.g. electric or fluidic with feedback control

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

Abstract

Disclosed in the present invention are an apparatus for operating an electric power steering system which can reduce delay of an existing damping force calculation value as an existing damping output value is fed back and reflected in a MDPS output current value when a damping force is calculated, and a method therefor. The apparatus for operating an electric power steering system of the present invention comprises: a first calculation unit calculating a damping force gain by using the MDPS output current value and a previous final fed-back damping force; a second calculation unit calculating the damping force by using a damping force gain in accordance with a steering angle speed and a vehicle speed; and a damping force calculation unit calculating a final damping force by using the damping force gain calculated by the first calculation unit and a limit value in accordance with the damping force calculated by the second calculation unit.

Description

전동식 조향장치의 구동 장치 및 방법{APPARATUS FOR DRIVING OF MOTOR DRIVE POWER STEERING AND METHOD THEREOF}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electric power steering apparatus,

본 발명은 전동식 조향장치의 구동 장치 및 방법에 관한 것으로서, 보다 상세하게는 MDPS 출력전류값의 딜레이를 저감하여 응답성을 향상시키고, 차속 및 조향각속도에 의해 산출된 결과값에 제한을 둠으로써 급조타 시 출력과다를 억제하여 조타 중 이질감을 최소화 하는 전동식 조향장치의 구동 장치 및 방법에 관한 것이다.
The present invention relates to an apparatus and method for driving an electric steering system, and more particularly, to a steering apparatus and a method for driving an electric steering system by improving the responsiveness by reducing the delay of the MDPS output current value and limiting the resultant value calculated by the vehicle speed and the steering angle speed, The present invention relates to an apparatus and a method for driving an electric steering system that suppresses overshoot at the time of a vehicle and minimizes a sense of disturbance during steering.

전동식 조향장치(MOTOR DRIVE POWER STEERING SYSTEM, 이하 'MDPS')는 운전자가 스티어링 휠을 돌리면서 발생한 토크를 실제 출력으로 발생시켜 차량의 조향을 가능하게 하는 장치이다.An electric power steering system (hereinafter, referred to as 'MDPS') is a device that enables a driver to steer a vehicle by generating a torque generated when a driver turns the steering wheel as an actual output.

이러한 MDPS는 어떤 방식으로 조향을 제어하느냐에 따라 C-MDPS, P-MDPS, R-MDPS등으로 구분되는데, 이중 C-MDPS는 컬럼 축에 모터가 장착되는 방식으로 C-MDPS에 사용되는 댐핑 로직은 모터 전류를 사용하여 차량의 요(yaw) 안전성을 향상시켜 주는 기능이다.The MDPS is divided into C-MDPS, P-MDPS, and R-MDPS depending on how the steering is controlled. In the case of C-MDPS, the damping logic used in C-MDPS It is a function that improves yaw safety of the vehicle by using motor current.

그러나, 종래 기술에 의한 댐핑 로직은 저마찰 노면에서 댐핑력이 과도하게 인가되어 차량의 안정적인 주행에 부정적인 영향을 주는 문제점이 있다.
However, the conventional damping logic has a problem that the damping force is excessively applied on the low friction road surface, which adversely affects the stable running of the vehicle.

본 발명의 배경기술은 대한민국 공개특허공보 제 10-2013-0064914호(2013. 06. 19. 공개, 발명의 명칭 : 전동식 조향장치 및 이의 제어방법)에 개시되어 있다.
BACKGROUND ART [0002] The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2013-0064914 (published on Mar. 19, 201, entitled "Electric Steering System and Control Method Thereof").

본 발명은 상기와 같은 문제점을 개선하기 위해 창출된 것으로, 본 발명의 목적은 댐핑력 산출시, MDPS 출력전류값에 이전 댐핑 출력값이 피드백되어 반영됨으로써 이전 댐핑력 계산값의 딜레이를 저감할 수 있고, 차속 및 조향각속도에 의해 산출된 결과값에 제한을 둠으로써, 급조타 시 출력과다를 억제할 수 있는 전동식 조향장치의 구동 장치 및 방법을 제공하는 것이다.SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to reduce the delay of the calculation value of the previous damping force by reflecting the previous damping output value to the MDPS output current value at the time of calculating the damping force The present invention also provides an apparatus and method for driving an electric steering system capable of suppressing excessive output during rapid steering by limiting the resultant values calculated by the vehicle speed and steering angle speed.

본 발명의 다른 목적은, MDPS의 출력전류를 이용하여 댐핑력을 산출함으로써 저마찰 노면(눈길, 빙판길, 젖은노면)에서 주행시 이질감을 저감시킬 수 있을 뿐만 아니라, 과도한 댐핑력에 의한 차량 불안정을 방지할 수 있도록 하는 전동식 조향장치의 구동 장치 및 방법을 제공하는 것이다.
It is a further object of the present invention to provide a vehicle control system capable of reducing the heterogeneity in running on low friction roads (snowy road, ice road, wet road surface) by calculating the damping force using the output current of the MDPS, And to provide an apparatus and a method for driving an electric steering system that can prevent an electric shock.

본 발명에 따른 전동식 조향장치의 구동 장치는 MDPS 출력 전류값과 피드백된 이전 최종 댐핑력을 이용하여 댐핑력 게인을 산출하는 제1산출부; 조향각속도와 차량속도에 따른 댐핑력 게인을 이용하여 댐핑력을 산출하는 제2산출부; 및 상기 제1산출부를 통해 산출된 댐핑력 게인과 상기 제2산출부를 통해 산출된 댐핑력에 따른 제한 값을 이용하여 최종 댐핑력을 산출하는 댐핑력연산부; 를 포함하는 것을 특징으로 한다.A driving apparatus for an electric steering system according to the present invention includes a first calculating unit for calculating a damping force gain using an MDPS output current value and a previous feedback final damping force; A second calculating unit for calculating a damping force using the damping force gain depending on the steering angle speed and the vehicle speed; And a damping force operation unit for calculating a final damping force using the damping force gain calculated through the first calculation unit and the limit value based on the damping force calculated through the second calculation unit; And a control unit.

본 발명에서 상기 제1산출부는, 상기 MDPS 출력 전류값과, 피드백된 이전 최종 댐핑력에 게인을 곱한 값의 차에 따른 댐핑력 게인을 산출하고, 상기 산출된 댐핑력 게인을 저주파필터로 통과시켜 고주파 성분을 감소시킨 댐핑력 게인을 산출하는 것을 특징으로 한다.In the present invention, the first calculating unit may calculate a damping force gain corresponding to a difference between the MDPS output current value and a value obtained by multiplying a gain obtained by multiplying a fed back final damping force by a gain, and pass the calculated damping force gain through a low- And a damping force gain in which a high frequency component is reduced is calculated.

본 발명에 따른 전동식 조향장치의 구동 방법은, MDPS 출력 전류값과 피드백된 이전 최종 댐핑력을 이용하여 댐핑력 게인을 산출하는 단계; 차량속도와 조향각속도를 이용하여 댐핑력을 산출하는 단계; 상기 차량속도와 조향각속도를 이용하여 산출된 댐핑력에 따른 제한 값을 산출하는 단계; 및 상기 산출된 댐핑력 게인과 상기 산출된 댐핑력에 따른 제한 값을 이용하여 최종 댐핑력을 산출하는 단계; 를 포함하는 것을 특징으로 한다.A method of driving an electric steering system according to the present invention includes: calculating a damping force gain using an MDPS output current value and a previous feedback final damping force; Calculating a damping force using the vehicle speed and the steering angle velocity; Calculating a limit value according to the damping force calculated using the vehicle speed and the steering angle speed; Calculating a final damping force using the calculated damping force gain and a limit value according to the calculated damping force; And a control unit.

본 발명에서 상기 댐핑력 게인을 산출하는 단계는, 상기 MDPS 출력 전류값과, 피드백된 이전 최종 댐핑력에 게인을 곱한 값의 차를 산출하는 단계; 및 상기 산출된 차에 따른 댐핑력 게인을 산출하고, 상기 산출된 댐핑력 게인을 저주파필터로 통과시켜 고주파 성분을 감소시킨 상기 댐핑력 게인을 산출하는 단계; 를 포함하는 것을 특징으로 한다.The step of calculating the damping force gain may further include calculating a difference between the MDPS output current value and a value obtained by multiplying a feedback gain by a previous final damping force; Calculating a damping force gain according to the calculated difference, and calculating the damping force gain in which the calculated high frequency component is reduced by passing the calculated damping force gain through a low frequency filter; And a control unit.

본 발명에서 상기 댐핑력을 산출하는 단계는, 상기 차량속도에 따른 댐핑력 게인을 산출하는 단계; 및 상기 조향각속도와 상기 차량속도에 따른 댐핑력 게인을 곱하여 상기 댐핑력을 산출하는 단계; 를 포함하는 것을 특징으로 한다.In the present invention, the step of calculating the damping force may include: calculating a damping force gain corresponding to the vehicle speed; And calculating the damping force by multiplying the steering angle velocity by a damping force gain corresponding to the vehicle speed; And a control unit.

본 발명에서 상기 최종 댐핑력을 산출하는 단계는, 상기 산출된 댐핑력 게인에 상기 차량속도와 조향각속도를 이용하여 산출된 댐핑력에 따른 제한 값을 곱하여 상기 최종 댐핑력을 산출하는 것을 특징으로 한다.
The calculating of the final damping force in the present invention is characterized in that the final damping force is calculated by multiplying the calculated damping force gain by a limit value according to the damping force calculated using the vehicle speed and the steering angle velocity .

본 발명에 따른 전동식 조향장치의 구동 장치 및 방법은 댐핑력 산출시, MDPS 출력전류값에 이전 댐핑 출력값이 피드백되어 반영됨으로써 이전 댐핑력 계산값의 딜레이를 저감할 수 있으므로 응답성을 향상시킬 수 있다.The driving apparatus and method of the electric power steering apparatus according to the present invention can improve the responsiveness since the previous damping output value is fed back to the MDPS output current value during the calculation of the damping force so that the delay of the previous damping force calculation value can be reduced .

또한, 본 발명은 댐핑력 산출시, 차속 및 조향각속도에 의해 산출된 결과값을 제한함으로써, 급조타 시 출력과다를 억제할 수 있어 조타 중 이질감을 최소화시킬 수 있다.In addition, the present invention limits the resultant value calculated by the vehicle speed and the steering angle speed during the calculation of the damping force, so that it is possible to suppress an excessive output at the time of steeping, thereby minimizing the heterogeneity during steering.

또한, 본 발명은 MDPS의 출력전류를 이용하여 댐핑력을 산출함으로써 저마찰 노면(눈길, 빙판길, 젖은노면)에서 주행시 이질감을 저감시킬 수 있을 뿐만 아니라, 과도한 댐핑력에 의한 차량 불안정을 방지할 수 있다.
Further, the present invention can reduce the unevenness in running on low friction roads (snowy road, ice road, wet road surface) by calculating the damping force using the output current of the MDPS, and prevent the vehicle instability due to excessive damping force .

도 1은 본 발명의 일실시예에 따른 전동식 조향장치의 구동 장치를 설명하기 위한 도면이다.
도 2는 본 발명의 일실시예에 따른 전동식 조향장치의 구동 방법의 동작 흐름을 도시한 순서도이다.1 is a view for explaining a driving apparatus for an electric power steering system according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating an operational flow of a method of driving an electric steering system according to an embodiment of the present invention.

이하 첨부된 도면을 참조하여 본 발명의 일실시예에 따른 전동식 조향장치의 구동 장치 및 방법을 설명한다. 이 과정에서 도면에 도시된 선들의 두께나 구성요소의 크기 등은 설명의 명료성과 편의상 과장되게 도시되어 있을 수 있다. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for driving an electric steering system according to an embodiment of the present invention will be described with reference to the accompanying drawings. 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.

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.Further, 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 일실시예에 따른 전동식 조향장치의 구동 장치를 설명하기 위한 도면이다.1 is a view for explaining a driving apparatus for an electric power steering system according to an embodiment of the present invention.

도 1을 참조하면, 본 발명의 일시예에 따른 전동식 조향장치의 구동 장치는 제1산출부(10), 제2산출부(20) 및 댐핑력연산부(30)를 포함한다.Referring to FIG. 1, a driving apparatus for an electric power steering apparatus according to an exemplary embodiment of the present invention includes a first calculating unit 10, a second calculating unit 20, and a damping force calculating unit 30.

제1산출부(10)는 MDPS 출력 전류값과 피드백된 이전 최종 댐핑력을 이용하여 댐핑력 게인(C3_C4_Gain)을 산출한다.The first calculation unit 10 calculates the damping force gain (C3_C4_Gain) by using the MDPS output current value and the previous feedback final damping force.

자세히는, 제1산출부(10)는 MDPS 출력 전류값과, 피드백된 이전 최종 댐핑력에 게인(Gain)을 곱한 값의 차를 비율조정 블록에 입력하여 댐핑력 게인을 산출하고(C3, C4에 의해 비율이 조정된 값), 산출된 댐핑력 게인을 저주파필터(LPF)로 통과시켜 고주파 성분을 감소시킨 댐핑력 게인(C3_C4_Gain)을 산출한다.More specifically, the first calculation unit 10 calculates the damping force gain by inputting the difference between the MDPS output current value and the value obtained by multiplying the fed back final damping force by the gain (Gain) to calculate the damping force gain (C3, C4 And the calculated damping force gain is passed through a low-pass filter (LPF) to calculate a damping force gain (C3_C4_Gain) in which the high-frequency component is reduced.

따라서, MDPS 출력전류값에 이전 댐핑 출력값이 피드백되어 반영됨으로써 이전 댐핑력 계산값의 딜레이를 저감할 수 있으므로 응답성을 향상시킬 수 있다.Accordingly, since the previous damping output value is fed back to the MDPS output current value, the delay of the previous damping force calculation value can be reduced, thereby improving the response.

제2산출부(20)는 조향각속도와 차량속도에 따른 댐핑력 게인(C1_Gain)을 이용하여 댐핑력(C1_Out)을 산출한다.The second calculation unit 20 calculates the damping force C1_Out using the damping force gain C1_Gain according to the steering angle speed and the vehicle speed.

자세히는, 제2산출부(20)는 차속센서(미도시)로부터 센싱된 차량속도에 따른 댐핑력 게인(C1_Gain)과 조향각센서(미도시)로부터 센싱된 조향각속도를 곱하여 댐핑력(C1_Out)을 산출한다.More specifically, the second calculation unit 20 multiplies the damping force gain C1_Gain corresponding to the sensed vehicle speed from the vehicle speed sensor (not shown) by the steering angle velocity sensed from the steering angle sensor (not shown) to calculate the damping force C1_Out .

댐핑력연산부(30)는 제1산출부(10)를 통해 산출된 댐핑력 게인(C3_C4_Gain)과 제2산출부(20)를 통해 산출된 댐핑력(C1_Out)에 따른 제한 값(Limited_C1_Out)을 이용하여 최종 댐핑력을 산출한다.The damping force operation unit 30 uses the damping force gain C3_C4_Gain calculated through the first calculation unit 10 and the limit value Limited_C1_Out according to the damping force C1_Out calculated through the second calculation unit 20 And the final damping force is calculated.

자세히는, 제1산출부(10)를 통해 산출된 댐핑력 게인(C3_C4_Gain)과 제2산출부(20)를 통해 산출된 댐핑력(C1_Out)에 따른 제한 값(Limited_C1_Out)을 곱하여 최종 댐핑력을 산출한다.More specifically, the final damping force is calculated by multiplying the damping force gain (C3_C4_Gain) calculated through the first calculation section 10 by the limit value Limited_C1_Out according to the damping force C1_Out calculated through the second calculation section 20 .

이때, 제2산출부(20)를 통해 산출된 댐핑력(C1_Out)에 따른 제한 값(Limited_C1_Out)은, 제2산출부(20)를 통해 산출된 댐핑력(C1_Out)을 포화도(Saturation)블록에 입력하여 제한된 값(Limited_C1_Out)을 산출한다.At this time, the limit value Limited_C1_Out according to the damping force C1_Out calculated through the second calculation unit 20 is obtained by adding the damping force C1_Out calculated through the second calculation unit 20 to the saturation block To calculate a limited value (Limited_C1_Out).

제2산출부(20)를 통해 산출된 댐핑력(C1_Out)은 도 1에 도시된 바와 같이, 포화도(Saturation)블록에 입력하여 조향각센서로부터 센싱된 조향휠(미도시)의 방향에 따라 댐핑력(C1_Out)의 제한 값(Limited_C1_Out)이 계산된다.The damping force C1_Out calculated through the second calculation unit 20 is input to a saturation block as shown in FIG. 1, and the damping force C1_Out is calculated based on the direction of the steering wheel (not shown) sensed by the steering angle sensor (Limited_C1_Out) of the output signal C1_Out is calculated.

따라서, 댐핑력 산출시 차속 및 조향각속도에 의해 산출된 결과값을 제한함으로써, 급조타 시 출력과다를 억제할 수 있어 조타 중 이질감을 최소화시킬 수 있다.Accordingly, by limiting the resultant value calculated by the vehicle speed and the steering angle speed during the calculation of the damping force, it is possible to suppress the output overshoot, thereby minimizing the heterogeneity during steering.

이렇게 계산된 댐핑력(C1_Out)에 따른 제한 값(Limited_C1_Out)과 댐핑력 게인(C3_C4_Gain)과의 곱을 통해 최종 댐핑력이 산출된다.The final damping force is calculated by multiplying the limiting value Limited_C1_Out according to the calculated damping force C1_Out by the damping force gain C3_C4_Gain.

또한, 최종 댐핑력은 게인(Gain)이 곱해져 제1산출부(10)로 피드백 됨으로써, 다음 댐핑력 게인(C3_C4_Gain) 산출시 이용되어, 이전 댐핑력 계산값의 딜레이를 저감할 수 있으므로 응답성을 향상시킬 수 있다.Since the final damping force is used to calculate the next damping force gain (C3_C4_Gain) by being multiplied by the gain and fed back to the first calculation section 10, the delay of the previous damping force calculation value can be reduced, Can be improved.

상술한 바와 같이, 본 발명은 MDPS의 출력전류를 이용하여 댐핑력을 산출함으로써 저마찰 노면(눈길, 빙판길, 젖은노면)에서 주행시 이질감을 저감시킬 수 있을 뿐만 아니라, 과도한 댐핑력에 의한 차량 불안정을 방지할 수 있다.
As described above, according to the present invention, by calculating the damping force using the output current of the MDPS, it is possible not only to reduce the sense of heterogeneity at the time of running on low friction roads (snowy road, ice road, wet road surface) Can be prevented.

도 2는 본 발명의 일 실시예에 따른 전동식 조향장치의 구동 방법의 동작 흐름을 도시한 순서도로써, 이를 참조하여 본 발명의 구체적인 동작을 설명한다.FIG. 2 is a flowchart illustrating an operational flow of a method of driving an electric power steering apparatus according to an embodiment of the present invention. Referring to FIG. 2, a specific operation of the present invention will be described.

먼저, MDPS 출력 전류값과 피드백된 이전 최종 댐핑력을 이용하여 댐핑력 게인(C3_C4_Gain)을 산출한다(S10).First, the damping force gain (C3_C4_Gain) is calculated using the MDPS output current value and the previous final damping force fed back (S10).

자세히는, MDPS 출력 전류값과, 피드백된 이전 최종 댐핑력에 게인(Gain)을 곱한 값의 차를 비율조정 블록에 입력하여 댐핑력 게인을 산출하고(C3, C4에 의해 비율이 조정된 값), 산출된 댐핑력 게인을 저주파필터(LPF)로 통과시켜 고주파 성분을 감소시킨 댐핑력 게인(C3_C4_Gain)을 산출한다.More specifically, the difference between the MDPS output current value and the value obtained by multiplying the feedback gain by the gain of the previous final damping force is inputted to the ratio adjustment block to calculate the damping force gain (the value adjusted by C3 and C4) , And the calculated damping force gain is passed through a low-pass filter (LPF) to calculate a damping force gain (C3_C4_Gain) in which a high-frequency component is reduced.

따라서, MDPS 출력전류값에 이전 댐핑 출력값이 피드백되어 반영됨으로써 이전 댐핑력 계산값의 딜레이를 저감할 수 있으므로 응답성을 향상시킬 수 있다.Accordingly, since the previous damping output value is fed back to the MDPS output current value, the delay of the previous damping force calculation value can be reduced, thereby improving the response.

그리고, 차량속도와 조향각속도를 이용하여 댐핑력(C1_Out)을 산출한다(S20).Then, the damping force C1_Out is calculated using the vehicle speed and the steering angle speed (S20).

자세히는, 제2산출부(20)는 차속센서(미도시)로부터 센싱된 차량속도에 따른 댐핑력 게인(C1_Gain)과 조향각센서(미도시)로부터 센싱된 조향각속도를 곱하여 댐핑력(C1_Out)을 산출한다.More specifically, the second calculation unit 20 multiplies the damping force gain C1_Gain corresponding to the sensed vehicle speed from the vehicle speed sensor (not shown) by the steering angle velocity sensed from the steering angle sensor (not shown) to calculate the damping force C1_Out .

차량속도와 조향각속도를 이용하여 산출된 댐핑력(C1_Out)에 따른 제한 값을 산출한다(S30).A limit value according to the damping force C1_Out calculated using the vehicle speed and the steering angle speed is calculated (S30).

이때, 댐핑력(C1_Out)에 따른 제한 값은, 도 1에서와 같이 차량속도와 조향각속도를 이용하여 산출된 댐핑력(C1_Out)을 포화도(Saturation)블록에 입력하여 제한된 값(Limited_C1_Out)을 산출한다.At this time, the limiting value according to the damping force C1_Out is calculated as a limited value (Limited_C1_Out) by inputting the damping force C1_Out calculated using the vehicle speed and the steering angle velocity into the saturation block as shown in FIG. 1 .

따라서, 댐핑력 산출시 차속 및 조향각속도에 의해 산출된 결과값을 제한함으로써, 급조타 시 출력과다를 억제할 수 있어 조타 중 이질감을 최소화시킬 수 있다.Accordingly, by limiting the resultant value calculated by the vehicle speed and the steering angle speed during the calculation of the damping force, it is possible to suppress the output overshoot, thereby minimizing the heterogeneity during steering.

S10단계에서 산출된 댐핑력 게인(C3_C4_Gain)과 S30단계에서 산출된 댐핑력(C1_Out)에 따른 제한 값(Limited_C1_Out)을 곱하여 최종 댐핑력을 산출한다(S40, S50).The final damping force is calculated by multiplying the damping force gain (C3_C4_Gain) calculated in the step S10 and the limiting value Limited_C1_Out according to the damping force C1_Out calculated in the step S30 (S40, S50).

또한, 최종 댐핑력은 게인(Gain)이 곱해져 제1산출부(10)로 피드백 됨으로써, 다음 댐핑력 게인(C3_C4_Gain) 산출시 이용되어, 이전 댐핑력 계산값의 딜레이를 저감할 수 있으므로 응답성을 향상시킬 수 있다.Since the final damping force is used to calculate the next damping force gain (C3_C4_Gain) by being multiplied by the gain and fed back to the first calculation section 10, the delay of the previous damping force calculation value can be reduced, Can be improved.

상술한 바와 같이, 본 발명은 MDPS의 출력전류를 이용하여 댐핑력을 산출함으로써 저마찰 노면(눈길, 빙판길, 젖은노면)에서 주행시 이질감을 저감시킬 수 있을 뿐만 아니라, 과도한 댐핑력에 의한 차량 불안정을 방지할 수 있다.As described above, according to the present invention, by calculating the damping force using the output current of the MDPS, it is possible not only to reduce the sense of heterogeneity at the time of running on low friction roads (snowy road, ice road, wet road surface) Can be prevented.

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. 따라서 본 발명의 진정한 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 skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined by the appended claims. will be. Accordingly, the true scope of the present invention should be determined by the following claims.

10 : 제1산출부 20 : 제2산출부
30 : 댐핑력연산부10: first calculation section 20: second calculation section
30: Damping force calculating section

Claims (6)

MDPS 출력 전류값과 피드백된 이전 최종 댐핑력을 이용하여 댐핑력 게인을 산출하는 제1산출부;
조향각속도와 차량속도에 따른 댐핑력 게인을 이용하여 댐핑력을 산출하는 제2산출부; 및
상기 제1산출부를 통해 산출된 댐핑력 게인과 상기 제2산출부를 통해 산출된 댐핑력에 따른 제한 값을 이용하여 최종 댐핑력을 산출하는 댐핑력연산부; 를 포함하는 전동식 조향장치의 구동 장치.
A first calculation unit for calculating a damping force gain using an MDPS output current value and a previous feedback final damping force;
A second calculating unit for calculating a damping force using the damping force gain depending on the steering angle speed and the vehicle speed; And
A damping force operation unit for calculating a final damping force using the damping force gain calculated through the first calculation unit and the limit value based on the damping force calculated through the second calculation unit; And a control unit for controlling the operation of the electric motor.
제 1항에 있어서, 상기 제1산출부는
상기 MDPS 출력 전류값과, 피드백된 이전 최종 댐핑력에 게인을 곱한 값의 차에 따른 댐핑력 게인을 산출하고, 상기 산출된 댐핑력 게인을 저주파필터로 통과시켜 고주파 성분을 감소시킨 댐핑력 게인을 산출하는 것을 특징으로 하는 전동식 조향장치의 구동 장치.
The apparatus of claim 1, wherein the first calculation unit
Calculating a damping force gain according to a difference between the MDPS output current value and a value obtained by multiplying a gain obtained by multiplying the fed back final damping force by a gain and passing the calculated damping force gain through a low frequency filter to reduce a high frequency component; Based on the steering angle of the steering wheel.
MDPS 출력 전류값과 피드백된 이전 최종 댐핑력을 이용하여 댐핑력 게인을 산출하는 단계;
차량속도와 조향각속도를 이용하여 댐핑력을 산출하는 단계;
상기 차량속도와 조향각속도를 이용하여 산출된 댐핑력에 따른 제한 값을 산출하는 단계; 및
상기 산출된 댐핑력 게인과 상기 산출된 댐핑력에 따른 제한 값을 이용하여 최종 댐핑력을 산출하는 단계; 를 포함하는 전동식 조향장치의 구동 방법.
Calculating a damping force gain using an MDPS output current value and a previous feedback final damping force;
Calculating a damping force using the vehicle speed and the steering angle velocity;
Calculating a limit value according to the damping force calculated using the vehicle speed and the steering angle speed; And
Calculating a final damping force using the calculated damping force gain and a limit value according to the calculated damping force; And a steering angle sensor for detecting steering angle of the steering wheel.
제 3항에 있어서, 상기 댐핑력 게인을 산출하는 단계는
상기 MDPS 출력 전류값과, 피드백된 이전 최종 댐핑력에 게인을 곱한 값의 차를 산출하는 단계; 및
상기 산출된 차에 따른 댐핑력 게인을 산출하고, 상기 산출된 댐핑력 게인을 저주파필터로 통과시켜 고주파 성분을 감소시킨 상기 댐핑력 게인을 산출하는 단계; 를 포함하는 것을 특징으로 하는 전동식 조향장치의 구동 방법.
4. The method of claim 3, wherein the step of calculating the damping force gain
Calculating a difference between the MDPS output current value and a value obtained by multiplying the fed back final damping force by a gain; And
Calculating a damping force gain according to the calculated difference and calculating the damping force gain in which the calculated high frequency component is reduced by passing the calculated damping force gain through a low frequency filter; And the steering angle of the steering wheel is changed.
제 3항에 있어서, 상기 댐핑력을 산출하는 단계는
상기 차량속도에 따른 댐핑력 게인을 산출하는 단계; 및
상기 조향각속도와 상기 차량속도에 따른 댐핑력 게인을 곱하여 상기 댐핑력을 산출하는 단계; 를 포함하는 것을 특징으로 하는 전동식 조향장치의 구동 방법.
4. The method of claim 3, wherein the step of calculating the damping force comprises:
Calculating a damping force gain according to the vehicle speed; And
Calculating the damping force by multiplying the steering angle velocity by a damping force gain according to the vehicle speed; And the steering angle of the steering wheel is changed.
제 3항에 있어서, 상기 최종 댐핑력을 산출하는 단계는
상기 산출된 댐핑력 게인에 상기 차량속도와 조향각속도를 이용하여 산출된 댐핑력에 따른 제한 값을 곱하여 상기 최종 댐핑력을 산출하는 것을 특징으로 하는 전동식 조향장치의 구동 방법.4. The method of claim 3, wherein calculating the final damping force comprises:
Wherein the final damping force is calculated by multiplying the calculated damping force gain by a limit value according to the damping force calculated using the vehicle speed and the steering angle velocity.
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