KR20170019669A - Closed loop steering control apparatus and method - Google Patents
Closed loop steering control apparatus and method Download PDFInfo
- Publication number
- KR20170019669A KR20170019669A KR1020150113764A KR20150113764A KR20170019669A KR 20170019669 A KR20170019669 A KR 20170019669A KR 1020150113764 A KR1020150113764 A KR 1020150113764A KR 20150113764 A KR20150113764 A KR 20150113764A KR 20170019669 A KR20170019669 A KR 20170019669A
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- Prior art keywords
- torque
- thrust
- rack bar
- calculating
- value
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Classifications
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
- B62D3/126—Steering gears mechanical of rack-and-pinion type characterised by the rack
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a control method of a steering system for providing an assist torque to a rack bar using a motor, the method comprising the steps of: storing a dynamic model of movement of the rack bar; Calculating a thrust of the rack bar by substituting the above value into the dynamic model, calculating a target torque for controlling the motor by using the thrust, calculating a control value for the motor according to a value obtained by subtracting the driver torque sensing value from the target torque And a step in which the motor provides the rack immediate assist torque in accordance with the control value.
Description
The present invention relates to a technique for controlling steering of a vehicle.
A device that adjusts the traveling direction of the vehicle according to the operation of the driver is referred to as a steering system. Such a steering system includes a steering wheel directly operated by the driver and a steering mechanism for transmitting the operating force of the steering wheel to the vehicle wheel. In addition, a recent steering system further includes auxiliary power steering devices that assist the driver in steering wheel operating force, thereby providing convenience of driving operation.
Auxiliary power steering apparatuses generally generate a motor torque proportional to a steering wheel operating force of a driver to assist a force transmitted to a vehicle wheel. The driver can easily manipulate the wheel of the vehicle using the motor torque assistant .
In conventional steering systems, auxiliary power steering devices have generated motor torque in accordance with open loop control. Specifically, the conventional auxiliary power steering apparatus employs an open loop control system that measures the driver's operation force in order to multiply the driver's operation force and generates motor torque proportional to the driver's operation force thus measured. This open-loop control is based on the driver's operation force and is sometimes referred to as driver-torque-based control.
However, such driver-based open loop control has a problem that the steering feeling of the driver is deteriorated, and the amount of change in the driver's torque is not sufficiently recognized.
In view of the above, it is an object of the present invention to provide, in one aspect, a steering control technique based on the thrust of a rack bar.
In another aspect, an object of the present invention is to provide a closed loop steering control technique.
In order to achieve the above object, in one aspect, the present invention provides a control method of a steering system for providing an assist torque to a rack bar using a motor, the method comprising: step; Calculating a thrust of the rack bar by substituting at least one value among sensing values or values obtained by converting the sensed values into the dynamic model; Calculating a target torque for controlling the motor using the thrust; Generating a control value for the motor according to a value obtained by subtracting the driver torque sensing value from the target torque; And controlling the motor in accordance with the control value to provide the assist torque directly at the rack.
According to another aspect of the present invention, there is provided a control apparatus for a steering system that provides an assist torque to a rack bar using a motor, the control apparatus comprising: a storage unit for storing a dynamic model of the movement of the rack bar; Calculating a thrust of the rack bar by substituting at least one value among sensing values or values obtained by converting the sensed values into the dynamic model, calculating a target torque for controlling the motor using the thrust, A control unit for generating a control value for the motor according to a value obtained by subtracting the torque sensing value; And a transmitting and receiving unit for transmitting the control value to the control logic of the motor to cause the motor to provide the assist torque directly to the rack.
As described above, according to the present invention, there is an effect of improving the driver's steering feeling by providing a close-by-loop control technique in which the driver's torque is fed back based on the thrust of the rack bar.
1 is a configuration diagram of a steering system according to an embodiment of the present invention.
Fig. 2 is an internal configuration diagram of the control device of Fig. 1. Fig.
3 is a control flowchart of the steering system of FIG.
Fig. 4 is a diagram showing a dynamic model of a rack bar.
5 is an exemplary configuration diagram of a rack bar thrust based closed control loop.
6 is a diagram showing a main torque mapping graph comparing thrust force.
Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if 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 describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may 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. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."
1 is a configuration diagram of a steering system according to an embodiment of the present invention.
1, the
The
At this time, the
Fig. 2 is an internal configuration diagram of the control device of Fig. 1. Fig.
2, the
The
The
In particular, the
In addition, the
The
In particular, the
The
The transmission /
For example, the control value generated by the
The transmission /
Meanwhile, the
A process in which the steering system is controlled by the configuration of the
3 is a control flowchart of the steering system of FIG.
Referring to FIG. 3, the
The
At this time, the
As a specific example, the
The displacement, velocity and acceleration values of the
As another example, the
When the thrust of the
When the target torque is determined, the
At this time, the
The calculated control value is transmitted to the
An example in which the dynamic model of the
Fig. 4 is a diagram showing a dynamic model of a rack bar.
4, J represents inertia, Jc represents inertia of
The role model of the
In Equation (1), x represents the displacement of the
The dynamic model shown in Fig. 4 is one example model for calculating the thrust of the
Referring to FIG. 4 and Equation (1), the
5 is an exemplary configuration diagram of a rack bar thrust based closed control loop.
Referring to FIG. 5, first, the
Then, when the
In the dynamic model of FIG. 4, the coefficients may be fixed to one value, but may be values that vary by other variables. For example, the friction coefficient Bm of the
The determined values are transmitted to the first calculation block. The first calculation block calculates the thrust of the
The calculated thrust value of the
For example, the second calculation block may calculate the target torque by calculating the main torque using thrust and further adding a correction torque to the main torque.
Specifically, the second calculation block includes a 2-1 calculation block for calculating the main torque, a 2-2 calculation block for calculating the correction torque, and a 2-3 calculation for calculating the target torque using the main torque and the correction torque It can be divided into blocks.
First, the 2-1 calculation block can calculate the main torque using the thrust of the
6 is a diagram showing a main torque mapping graph comparing thrust force.
The mapping information of the thrust versus main torque is information corresponding to the graph shown in FIG. 6, and may be stored in a memory in a form of a table or in a memory in the form of a nonlinear function.
The mapping information of the main torque to the thrust can be stored separately for each speed of the vehicle as shown in FIG. At this time, in order to calculate the main torque in the 2-1 calculation block, not only the thrust value of the
Referring again to FIG. 5, the second-2 calculation block calculates a correction torque (S526).
The correction torque is for adding other elements not reflected in the main torque calculated by the thrust of the
As an example of the correction torque, the second-2 block can calculate the restoration torque as a part of the correction torque. Specifically, the
As another example of the correction torque, the 2-2 block can calculate the damping torque as a part of the correction torque. Specifically, the
As another example of the correction torque, the 2-2 block can calculate the high frequency compensation torque by multiplying the assist torque component corresponding to the specific frequency or higher by the high frequency compensation gain, and use this high frequency compensation torque as a part of the correction torque.
On the other hand, only a part of the above-described restoring torque, damping torque and high-basis plate compensating torque may be reflected in the correction torque, and all may be reflected in the correction torque.
When the correction torque is determined, the second to third blocks combine the main torque and the correction torque to calculate the target torque (S524).
The
The control value generated in the PID control logic is transmitted to the
The step S500 in which the
The first calculation (S510), the second calculation (S520), and the PID control logic (S540) may be performed in the
One embodiment of the present invention has been described above. According to this embodiment, after the steering system is modeled, the rack dynamics can be used to calculate the rack force generated in the wheels of the vehicle (particularly, the front wheels). Further, according to an embodiment, the target torque can be calculated by calculating the main torque based on the rack thrust and adding the correction steering torque related to the driver's steering feeling and the vehicle behavior. According to an embodiment, a control value is generated using the difference between the target torque and the driver torque sensing value, thereby completing a closed control loop based on the rack thrust as a whole.
The use of closed loop control loop based on this rack force not only improves driver's steering feeling by transmitting road surface information more easily but also facilitates conventional open loop contrast tuning and enables robust design for disturbance (especially product dispersion) do.
It is to be understood that the terms "comprises", "comprising", or "having" as used in the foregoing description mean that the constituent element can be implanted unless specifically stated to the contrary, But should be construed as further 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. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.
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 intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.
Claims (11)
Storing a dynamic model of the movement of the rack bar;
Calculating a thrust of the rack bar by substituting at least one value among sensing values or values obtained by converting the sensed values into the dynamic model;
Calculating a target torque for controlling the motor using the thrust;
Generating a control value for the motor according to a value obtained by subtracting the driver torque sensing value from the target torque; And
The step of providing the assist torque directly to the rack according to the control value
And a control system for controlling the steering system.
In the step of calculating the thrust,
And the thrust of the rack bar is calculated by substituting displacement, velocity and acceleration values of the rack bar into the dynamic model.
In the step of calculating the thrust,
Wherein a thrust of the rack bar is calculated by further substituting at least one sensed value among the phase angle of the steering wheel and the phase angle of the motor into the dynamic model.
In the storing step,
The mapping information of the main torque to the thrust force is stored as the first map,
In calculating the target torque,
Wherein the target torque is calculated by calculating the main torque using the first map and further adding a correction torque to the main torque.
In the storing step,
Storing mapping information of the thrust versus main torque for each speed of the vehicle in the first map,
In calculating the target torque,
And the main torque is calculated by substituting the speed of the vehicle and the thrust into the first map.
In the storing step,
The mapping information of the steering torque versus the restoration torque is stored in the second map,
In calculating the target torque,
Calculating a restoring torque by substituting the steering angle of the vehicle into the second map, and using the restoring torque as a part of the correcting torque.
The mapping information of the damping gain with respect to the vehicle speed is stored in the third map,
In calculating the target torque,
Calculating a damping gain by substituting the speed of the vehicle into the third map, calculating a damping torque by multiplying the damping gain by the steering angle speed of the vehicle, and using the damping torque as a part of the correction torque. / RTI >
In calculating the target torque,
Wherein a high frequency compensation torque is calculated by multiplying an assist torque component corresponding to a specific frequency or higher by a high frequency compensation gain and the high frequency compensation torque is used as a part of the correction torque.
A storage unit for storing a dynamic model of the movement of the rack bar;
Calculating a thrust of the rack bar by substituting at least one value among sensing values or values obtained by converting the sensed values into the dynamic model, calculating a target torque for controlling the motor using the thrust, A control unit for generating a control value for the motor according to a value obtained by subtracting the torque sensing value; And
And a controller for transmitting the control value to the control logic of the motor to cause the motor to provide the assist torque directly to the rack,
And a control system for controlling the steering system.
Wherein,
And the thrust of the rack bar is calculated by substituting the displacement, velocity and acceleration values of the rack bar into the dynamic model.
Wherein,
Wherein a thrust of the rack bar is calculated by further substituting at least one of a phase angle of the steering wheel and a phase angle of the motor into the dynamic model.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150113764A KR20170019669A (en) | 2015-08-12 | 2015-08-12 | Closed loop steering control apparatus and method |
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| KR1020150113764A KR20170019669A (en) | 2015-08-12 | 2015-08-12 | Closed loop steering control apparatus and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190003874A (en) * | 2017-06-30 | 2019-01-10 | 현대모비스 주식회사 | Apparatus for compensating torque of motor driven power steering system and method thereof |
| KR20190041618A (en) * | 2017-10-13 | 2019-04-23 | 현대자동차주식회사 | Steering system, Vehicle having the same |
| KR102048185B1 (en) * | 2018-06-22 | 2019-11-25 | 현대모비스 주식회사 | Emergency steering apparatus and method of motor driven power steering system |
| KR20200071607A (en) | 2018-12-11 | 2020-06-19 | 현대자동차주식회사 | Steering cotrol method and apparatus of motor driven power steering system |
| KR20200136275A (en) | 2019-05-27 | 2020-12-07 | 현대자동차주식회사 | Steering cotrol method and system of motor driven power steering system |
| KR20210000019A (en) | 2019-06-24 | 2021-01-04 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering system |
| KR20210003570A (en) | 2019-07-02 | 2021-01-12 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering system |
| KR20210017700A (en) | 2019-08-09 | 2021-02-17 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering system |
| US10962429B2 (en) | 2018-09-17 | 2021-03-30 | Hyundai Motor Company | Method for estimating rack force of steer by wire system |
| KR20210050642A (en) | 2019-10-28 | 2021-05-10 | 현대자동차주식회사 | Motor driven power steering system and control method thereof |
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2015
- 2015-08-12 KR KR1020150113764A patent/KR20170019669A/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20190003874A (en) * | 2017-06-30 | 2019-01-10 | 현대모비스 주식회사 | Apparatus for compensating torque of motor driven power steering system and method thereof |
| KR20190041618A (en) * | 2017-10-13 | 2019-04-23 | 현대자동차주식회사 | Steering system, Vehicle having the same |
| US11338850B2 (en) | 2017-12-13 | 2022-05-24 | Hyundai Motor Company | Method for estimating steering wheel torque of vehicle |
| KR102048185B1 (en) * | 2018-06-22 | 2019-11-25 | 현대모비스 주식회사 | Emergency steering apparatus and method of motor driven power steering system |
| CN110626419A (en) * | 2018-06-22 | 2019-12-31 | 现代摩比斯株式会社 | Emergency steering apparatus and method for motor-driven power steering system |
| US11305813B2 (en) | 2018-06-22 | 2022-04-19 | Hyundai Mobis Co., Ltd. | Emergency steering apparatus and method of motor driven power steering system |
| CN110626419B (en) * | 2018-06-22 | 2022-03-08 | 现代摩比斯株式会社 | Emergency steering apparatus and method for motor-driven power steering system |
| US10962429B2 (en) | 2018-09-17 | 2021-03-30 | Hyundai Motor Company | Method for estimating rack force of steer by wire system |
| KR20200071607A (en) | 2018-12-11 | 2020-06-19 | 현대자동차주식회사 | Steering cotrol method and apparatus of motor driven power steering system |
| US10974761B2 (en) | 2018-12-11 | 2021-04-13 | Hyundai Motor Company | Steering control method and apparatus of motor-driven power steering system |
| KR20200136275A (en) | 2019-05-27 | 2020-12-07 | 현대자동차주식회사 | Steering cotrol method and system of motor driven power steering system |
| KR20210000019A (en) | 2019-06-24 | 2021-01-04 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering system |
| US11518433B2 (en) | 2019-06-24 | 2022-12-06 | Hyundai Motor Company | Motor driven power steering control method and motor driven power steering control system |
| KR20210003570A (en) | 2019-07-02 | 2021-01-12 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering system |
| KR20210017700A (en) | 2019-08-09 | 2021-02-17 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering system |
| US11518436B2 (en) | 2019-08-09 | 2022-12-06 | Hyundai Motor Gompany | Motor driven power steering control method and system |
| KR20210050642A (en) | 2019-10-28 | 2021-05-10 | 현대자동차주식회사 | Motor driven power steering system and control method thereof |
| US11608107B2 (en) | 2019-10-28 | 2023-03-21 | Hyundai Motor Company | Motor driven power steering system and control method thereof |
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