KR20170030899A - Control method for load sensing driving unit of steering apparatus - Google Patents

Control method for load sensing driving unit of steering apparatus Download PDF

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Publication number
KR20170030899A
KR20170030899A KR1020150128395A KR20150128395A KR20170030899A KR 20170030899 A KR20170030899 A KR 20170030899A KR 1020150128395 A KR1020150128395 A KR 1020150128395A KR 20150128395 A KR20150128395 A KR 20150128395A KR 20170030899 A KR20170030899 A KR 20170030899A
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Prior art keywords
motor
speed
electric motor
threshold value
driving
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KR1020150128395A
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Korean (ko)
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KR101749333B1 (en
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박성하
강남식
윤영호
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훌루테크 주식회사
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Priority to KR1020150128395A priority Critical patent/KR101749333B1/en
Priority to PCT/KR2016/008009 priority patent/WO2017043758A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/06—Steering by rudders
    • B63H25/08—Steering gear
    • B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
    • B63H25/26—Steering engines

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

Abstract

The present invention relates to a control method for a driving unit of a steering apparatus, more specifically, which selects a motor having smaller capacity than motor capacity based on the maximum load of an electric motor, operates the electric motor at a rated speed when a load applied to the electric motor is more than a predetermined range, and operates the electric motor at a faster speed than the rated speed when the load applied to the electric motor is less than the predetermined range. According to the present invention, required steering is performed with a motor having smaller capacity than that of a conventional motor to improve efficiency in use and reduce production costs.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control method for a load-

The present invention relates to a method for controlling a driving unit of a steering apparatus, and more particularly, to a motor control apparatus for selecting a motor having a capacity smaller than a motor capacity based on a maximum load of an electric motor, And operates the electric motor at a speed higher than the rated speed when the load applied to the electric motor is less than the set range.

According to the present invention, it is possible to perform necessary steering even with a motor of a smaller capacity than the conventional one, thereby improving the efficiency of use and reducing the cost.

In general, the steering apparatus 10 used for a ship or the like includes a rudder (not shown) and a rudder stock (RS) to which the rudder is attached as shown in Fig.

At this time, the rudder stock RS is inserted and fixed in the tiller T. When the steering angle is changed, the tiller T is operated to rotate the rudder stock RS, thereby changing the angle of the rudder, .

1, the gear unit 200 includes a gear unit 200 disposed on one side of the tiller T, as shown in FIG. 1, for driving the tiller T. The gear unit 200 is driven by a driving unit 100 .

That is, the driving unit 100 operates the gear unit 200 and the tiller T interlocked with the gear unit 200 is rotated thereby to finally rotate the rudder stock RS.

The torque generated by the electric motor 110 is amplified by the deceleration unit 120 and transmitted through the shaft 130 and the output pinion 140 to the gear (200).

Steering gears with this configuration should be turned off within 30 seconds of the steering angle of -35 to 28 seconds.

When designing the steering system for this purpose, the motor is selected based on the maximum load applied to the rudder, the steering angle, and the steering time, and then the motor is operated at a constant speed.

However, the above-described prior art has the following problems.

In other words, the torque applied to the rudder generally increases or decreases depending on the angle of the rudder. In other words, the torque for driving the rudder is not constant, and the torque may be reduced depending on the angle, and the negative torque may be applied.

However, in the prior art, since the motor is selected on the basis of the maximum load applied to the rudder, there is a problem that the selected motor capacity is excessive, the efficiency of use is lowered, and the motor cost is also increased.

On the other hand, the above-described steering apparatus itself is well-known technology and is described in detail in the following prior art documents, so that redundant description and illustration are omitted.

Japanese Patent Application Laid-Open No. 2002-211490 Japanese Patent Laid-Open No. 2001-018893 Japanese Patent Laid-Open No. 2001-055196 Japanese Patent Laid-Open No. 1996-034396 Japanese Patent Laid-Open No. 1996-207894 Korean Patent No. 10-1433835 Korean Patent No. 10-1431931 Korean Patent No. 10-1422499 Korean Patent No. 10-1313162 Korean Patent No. 10-0700057 Korean Patent No. 10-0429067

According to the present invention, there is provided a solenoid valve for a motor, comprising: a motor having a capacity smaller than a motor capacity based on a maximum load, wherein the motor is a motor having a rated speed When the load applied to the electric motor is less than the set range, the electric motor is operated at a speed higher than the rated speed.

According to the present invention, there is provided a control method for a load-responsive driving unit of a steering apparatus capable of performing necessary steering even with a motor having a smaller capacity than the conventional one, thereby improving efficiency in use and reducing cost.

In order to accomplish the above object, the present invention provides a driving apparatus including a driving unit 100 having an electric motor 110, a gear unit 200 driven by the driving unit 100, a rudder unit 200 driven by the gear unit 200, A method for controlling the driving unit (100) in a steering apparatus including a tiller (T) on which a stock (RS) is mounted, the electric motor (110) When the load applied to the electric motor 110 is in a predetermined range or more, the electric motor 110 is operated at the rated speed, and when the load applied to the electric motor 110 is less than the set range The control method of the present invention is a method of controlling a load-responsive driving part of a steering system that operates the electric motor 110 at a speed higher than a rated speed.

At this time, the load applied to the electric motor 110 may be calculated by measuring a current applied to the electric motor 110. [

The present invention is also directed to a motorcycle including a pair of drive units 100 having an electric motor 110, a gear unit 200 driven by the drive unit 100, (S100) for controlling the pair of the driving units (100) in a steering apparatus including a tiller (T) to which the driving unit (RS) is installed at a predetermined time interval, the pair of the driving units A first step S110 of driving the electric motor 110 of the driving unit 100 at a rated speed, a second step S120 of confirming whether the target steering angle has been reached by the first step S110, A third step S130 of terminating the control when the target steering angle has been reached by the second step S120; and a third step S130 when the target steering angle has not been reached by the second step S120. (I1, i2) for each of the electric motors 110 of the electric motor 100, A fourth step S140 of confirming whether the motor current value imx is greater than the motor current value imx of the motor current value and a fifth step of comparing the motor current value imax of the motor current value among the motor current values confirmed by the fourth step S140 with the first threshold value ithr1, (Step S150). If the motor current value imax is smaller than the first threshold value ithr1 by the fifth step S150, the motor speed of the driver 100, which is heavily loaded, is increased If it is determined that the motor current value imax is greater than or equal to the first threshold value ithr1 by the sixth step S160 and the fifth step S150, After the seventh step (S170), the sixth step (S160), or the seventh step (S170) of decelerating the motor speed by setting the specific speed as the lower limit, the motor current value imax and the second threshold value when the motor current value imax is greater than the second threshold value ithr2, the motor current value imax is compared with the second threshold value ithr2, And the eighth step (S180) of performing the second step (S120) again if the calculated value is smaller than or equal to the sum value (ithr2).

The present invention also relates to a driving apparatus for a vehicle having a driving unit 100 having an electric motor 110, a gear unit 200 driven by the driving unit 100, a rudder stock (RS) driven by the gear unit 200, A method (S200) for controlling the one driver (100) at a specific time interval in a steering apparatus including a tiller (T) in which a driver (100) is installed, A first step S210 of driving the electric motor 110 of the electric motor 100 at a rated speed, a second step S220 of confirming whether the target steering angle has been reached by the first step S210, A third step S230 of terminating the control when the target steering angle has been reached by the step S220; and a step S230 of terminating the control when the target steering angle has been reached by the step S220. When the target steering angle is not reached by the second step S220, A fifth step (S250) of comparing the value (i) with the first threshold value ithr1, and the fifth step A sixth step S260 of increasing the motor speed of the electric motor 110 and setting the first specific speed as an upper limit when the motor current value i is smaller than the first threshold value ithr1, (S270) of decelerating the motor speed by setting the second specified speed as a lower limit when the determined motor current value (i) is greater than or equal to the first threshold value (ithr1) The motor current value i is compared with the second threshold value ithr1 after performing the sixth step S260 or the seventh step S270, (S220) when the motor current value (i) is less than or equal to the second threshold value (ithr2), and repeats the second step (S220) when the motor current value The control method of the load-responsive driving unit of the steering apparatus has another feature.

The first threshold value ithr1 may be 1.8 times the motor rated current ir and the second threshold ithr2 may be twice the motor rated current ir.

In the sixth step S160 and S260, the motor speed is increased to 5% of the current motor speed, and in the seventh step S170 and 270, the motor speed is reduced to 5% of the current motor speed .

The first specific speed may be twice the rated speed, and the second specific speed may be the rated speed.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to that, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may properly define the concept of the term in order to best explain its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

According to the present invention described above, it is possible to use a motor having a capacity smaller than that of the prior art, thereby improving the efficiency of use and reducing the cost.

1 is a conceptual diagram for explaining a conventional steering apparatus,
2 is a flowchart showing a control method according to an embodiment of the present invention;
3 is a flowchart showing a control method according to another embodiment of the present invention.

Hereinafter, preferred embodiments 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.

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.

In addition, the following embodiments are not intended to limit the scope of the present invention, but merely as exemplifications of the constituent elements set forth in the claims of the present invention, and are included in technical ideas throughout the specification of the present invention, Embodiments that include components replaceable as equivalents in the elements may be included within the scope of the present invention.

FIG. 2 is a flowchart showing a control method according to an embodiment of the present invention, and FIG. 3 is a flowchart showing a control method according to another embodiment of the present invention.

Example

The steering apparatus 10 to which the driving portion control method of the present invention is applied includes the driving portion 100 having the electric motor 110 as described above, the gear portion 200 driven by the driving portion 100, And may include a tiller T that is driven by the gear portion 200 and on which a rudder stock RS is installed (see Fig. 1)

It is to be noted that the steering apparatus 10 is merely an example for applying the method of the present invention and that the range of the steering apparatus is not limited as long as the method of the present invention as described below can be applied.

The driving part control method of the present invention is a so-called load-sensitive driving part control method of selecting a motor having a motor capacity smaller than the motor capacity based on the maximum load applied to the rudder, and controlling the speed according to the load.

If the steering angle is within the range of -35 ° to 30 ° and the steering must be completed within 28 seconds, the electric motor is selected based on the maximum load and the electric motor with smaller capacity is selected .

However, in the case of the present invention, when the load applied to the electric motor 110 is in the set range or more, the electric motor 110 is operated at the rated speed. When the load applied to the electric motor 110 is less than the set range, The electric motor 110 is operated at a speed higher than the rated speed.

According to the method of the present invention, it is possible to observe a specific steering angle and a steering completion time even with a smaller capacity electric motor.

This is because when the load is less than the set range, the motor is driven at a speed higher than the rated speed of the electric motor for a short period of time in which a small load acts, The steering angle and steering completion time determined by the electric motor of small capacity as described above can be obeyed.

As described above, the case where the steering angle is from -35 degrees to 30 degrees and the rated speed is 1800 rpm according to the classification regulations will be described.

If the load applied to the rudder, that is, the rudder torque, is 1/2 of the rated torque from the reverse load, the electric motor is driven at 3600 rpm, twice the rated speed.

If the rudder torque reaches the rated torque by lowering the motor rotational speed from the point where the rudder torque exceeds 1/2 of the rated torque, the rotational speed of the motor is set to the rated speed.

In other words, conventionally, there is a problem that the cost is also increased because the efficiency of the electric motor is reduced by using a relatively large capacity motor by driving the electric motor at a constant speed. However, according to the present invention, It is possible to solve the above-described problem while adjusting the speed to observe the required steering angle and steering completion time.

Meanwhile, as described above, the speed of the electric motor 110 is controlled according to the load applied to the electric motor 110, and the load can be calculated by measuring the electric current applied to the electric motor 110.

2 and 3, and it is not shown in FIG. 2 and FIG. 3, but it is repeatedly performed by the method shown in FIG. 2 and FIG. 3 at specific time intervals.

The driving method S100 shown in FIG. 2 is similar to the above-described steering apparatus, but the case of two driving units 100 is performed, and the method S100 is repeated at specific time intervals.

A first step S110 of driving a pair of the driving units 100, that is, two driving units 100, to drive the electric motor 110 of the driving unit 100 at a rated speed, ).

At this time, driving the electric motor 110 at the rated speed can not know the size of the load at the time of driving the initial driving part 100, and is driven at a rated speed for stable steering.

Thereafter, a second step (S120) of confirming whether the target steering angle has been reached by the first step (S110) is performed.

At this time, whether or not the rudder has reached the target steering angle can be determined by using a sensor for checking the current angle of the rudder, etc. This is a well-known technology, and therefore, detailed description and illustration are omitted.

If the rudder reaches the target steering angle by the second step S120, it is not necessary to drive and control the driving unit 100. Therefore, the third step S130 of terminating the control of the driving unit 100, .

If the target steering angle is not reached by the second step S120, the motor current values (i1, i2) for the respective electric motors 110 of the pair of drivers 100 are checked, (Step S140) to determine whether the load is heavily loaded.

Even if the two driving units 100 are operating, current values are not equal to each other and a difference may occur. At this time, an electric motor in which a load largely operates and a current value is largely detected is used as a reference. That is, as described later, the current value is used to compare with the first threshold value ithr1 or the second threshold value ithr2. In this case, it is safe to set the electric motor with a large current value as a comparison reference Because.

Thereafter, a fifth step S150 of comparing the motor current value imax having a large value among the motor current values confirmed in the fourth step S140 with the first threshold value ithr1 is performed.

At this time, if the motor current value imax is smaller than the first threshold value ithr1 by the fifth step S150, the motor speed of the driving unit 100 in which the load is heavily actuated is increased, A sixth step S160 of setting the specific speed as the upper limit is performed.

The fact that the motor current value imax is smaller than the first threshold value ithr1 means that there is still room to further increase the motor speed. For example, when the first threshold value (ithr1) is 1.8 times the rated current of the motor and the motor current value (imax) is smaller than this, it can be determined that the load acts on the rudder little. (Step S160).

However, since the speed is increased by the sixth step S160 but the limit is required, it is also possible to set the first specific speed, for example, twice the rated speed of the electric motor 110 as the upper limit .

However, if the motor current value imax is greater than or equal to the first threshold value ithr1 in the fifth step S150, the motor speed is decreased by setting the second specific speed as the lower limit, Step S170 is performed.

That is, when the motor current value imax is greater than or equal to 1.8 times the rated current as described above by the first threshold value ithr1 in the fifth step S150, The motor speed is decelerated as described above. However, since the steering must be completed within a predetermined time, the deceleration of the motor speed may be set to the second specific speed as the lower limit value.

At this time, the second specific speed may be the rated speed.

Meanwhile, it is also possible to perform an eighth step (S180) of comparing the confirmed motor current value imax with the second threshold value ithr1 after performing the seventh step S170 or the sixth step S160 Do.

This is because the current value of the motor is changed when the motor speed is increased by the sixth step S160 and the fluctuated current value should not exceed the specific threshold value. Therefore, in the above-described eighth step S180, lt; RTI ID = 0.0 > ithr2. < / RTI >

After the seventh step S170, the eighth step S180 is performed. If the motor current value imax is greater than or equal to the first threshold value ithr1 in the fifth step S150, The motor current value imax may be excessive because the seventh step S170 is performed.

Therefore, after the seventh step S170, the motor current value imax is compared with the second threshold value ithr1 in the eighth step S180.

At this time, if the motor current value imax is larger than the second threshold value ithr2, it is desirable that the operator should take action to overload alarm because the load is heavy. If necessary, it is also possible to stop the control after issuing the overload alarm.

If the motor current value imax is less than or equal to the second threshold value ithr2, the second step S120 is performed again. This is because the load acting on the motor current value imax is smaller than the second threshold value ithr2.

Meanwhile, the first threshold value ithr1 may be appropriately adjusted according to the situation, and the first threshold value ithr1 may be 1.8 times the motor rated current ir.

Also, the second threshold value ithr2 may be adjusted to the situation similar to the first threshold value ithr1, and may be set to twice the motor rated current ir in the present embodiment.

In the sixth step S160, the motor speed is increased by 5% of the original speed and the motor speed is reduced by 5% of the original speed in the seventh step S170. At this time, The motor speed can be set to a low speed change rate if the current value change of the motor is large and conversely if the current value change of the motor is small, the speed change rate can be increased.

Meanwhile, as described above, the motor speed is increased or decreased according to the variation of the current value of the motor. At this time, the lower limit of the motor speed may be set to the rated speed, and the upper limit may be set to twice the rated speed.

As described above, in the present invention, the speed of the electric motor 110 of the driving unit 100 is changed according to the load as described above. When the load applied to the electric motor 110 is in the set range or more, And operates the electric motor 110 at a speed higher than the rated speed when the load applied to the electric motor 110 is less than the set range.

In this embodiment, as described above, the motor current associated with the load is increased or decreased in accordance with a certain range, that is, a range according to the magnitude of the first threshold value and the second threshold value, It is possible to use a motor with a capacity smaller than that of the conventional motor as described above, thereby improving the efficiency of use and reducing the cost.

3, a description will be made of a case having one drive unit 100. In addition to having the one drive unit 100, the gear unit 200 driven by the drive unit 100 and the gear unit 200 200 are driven by a tiller T equipped with a rudder stock RS to control the one driving unit 100 and repeat at predetermined time intervals.

First, in the case of the method (S200), a first step S210 of operating one driving part 100 and driving the electric motor 110 of the driving part 100 at a rated speed is performed. Thereafter, a second step S220 of confirming whether or not the target steering angle has been reached by the first step S210, a second step S220 of terminating the control when the target steering angle has been reached by the second step S220, Step 3 (S230) is the same as that shown in Fig.

However, in the case of the present method (S200), when the target steering angle is not reached by the second step S220, the motor current value (i) of the electric motor 110 is compared with the first threshold value ithr1 And the fifth step S250 is performed.

Since the case shown in FIG. 2 includes two driving units 100, it is necessary to determine which one of the driving units 100 is a reference. In contrast, in the case shown in FIG. 3, the driving unit 100 includes one driving unit 100, No step is necessary.

If the motor current value i is smaller than the first threshold value ithr1 by the fifth step S250, the load is reduced. Thus, the motor speed of the driving unit 100 may be reduced A sixth step S260 of increasing the specific speed to the upper limit is performed.

However, since the speed is increased by the sixth step (S260) as in the case of FIG. 2 but the limit is required, the first specific speed, for example, twice the rated speed of the electric motor 110 It is also possible to set the upper limit.

If the determined motor current value i is greater than or equal to the first threshold value ithr1 by the fifth step S250, the motor speed is decreased by setting the second specified speed as the lower limit, Step S270 is performed.

At this time, as in the case of FIG. 2, the second specific speed may be set to the rated speed so that the rated speed may be the lower limit.

After the sixth step S260 or the seventh step S270, an eighth step S280 of comparing the determined motor current value i with the second threshold value ithr1 is performed.

In the eighth step S280, an overload alarm is issued when the motor current value i is larger than the second threshold value ithr2, and the motor current value i 2 threshold value (ithr2), the second step S220 is performed again.

3, the first threshold value ithr1 may be 1.8 times the motor rated current ir and the second threshold value ithr2 may be twice the motor rated current ir .

As described above, in the sixth step S260, the motor speed is increased by a rate of change of 5% with respect to the existing speed, and in the seventh step S270, the motor speed may be decreased by a rate of change of 5% At this time, the speed of the motor may be lowered if the current value of the motor is large, and may be increased if the current value of the motor is small.

As described above, the motor speed is increased or decreased according to the change of the current value of the motor. At this time, the lower limit of the motor speed may be set to the rated speed, and the upper limit may be set to twice the rated speed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification or improvement is possible.

It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

100: driving part 110: electric motor
120: Decelerator 130: Output shaft
200:

Claims (8)

A gear unit 200 driven by the driving unit 100 and a tilter 200 driven by the gear unit 200 and provided with a rudder stock RS, T), the method comprising the steps of:
The electric motor 110 is selected as a motor having a motor capacity smaller than the motor capacity based on the maximum load applied to the rudder,
When the load applied to the electric motor 110 is in a predetermined range or more, the electric motor 110 is operated at a rated speed,
Wherein the electric motor (110) is operated at a speed higher than a rated speed when a load applied to the electric motor (110) is less than a set range. The method according to claim 1,
Wherein the load acting on the electric motor (110) measures and calculates a current applied to the electric motor (110). A pair of driving parts 100 having an electric motor 110 and a gear part 200 driven by the driving part 100 and a rudder stock (RS) driven by the gear part 200 are installed A method (S100) for controlling the pair of drivers (100) in a steering apparatus including a tiller (T)
A first step S110 of driving the pair of driving parts 100 and driving the electric motor 110 of the driving part 100 at a rated speed,
A second step S120 of confirming whether the target steering angle has been reached by the first step S110,
A third step (S130) of terminating the control when the target steering angle is reached by the second step (S120)
When the target steering angle is not reached by the second step S120, the motor current values (i1, i2) for the respective electric motors 110 of the pair of drivers 100 are checked, A fourth step (S140) of confirming whether a load is largely applied,
A fifth step S150 of comparing a motor current value imax of a large value among the motor current values confirmed by the fourth step S140 with a first threshold value ithr1,
If the motor current value imax is smaller than the first threshold value ithr1 by the fifth step S150, the motor speed of the driving unit 100 to which the load is heavily driven is increased, (S160), the sixth step
If the motor current value imax is greater than or equal to the first threshold value ithr1 by the fifth step S150, the motor speed is decreased by setting the second specified speed as a lower limit S170)
After comparing the motor current value imax with the second threshold value ithr1 after the sixth step S160 or the seventh step S170, the motor current value imax is compared with a second threshold value (S120) when the motor current value (imax) is less than or equal to the second threshold value (ithr2), and repeats the second step (S120) when the motor current value (imax) Wherein the control unit is operable to control the driving of the load-sensitive driving unit. A drive unit 100 having an electric motor 110 and a gear unit 200 driven by the drive unit 100 and a rudder stock RS driven by the gear unit 200 A method (S200) for controlling the one driving unit (100) in a steering apparatus including a tiller (T)
A first step (S210) of driving one driving part (100) and driving the electric motor (110) of the driving part (100) at a rated speed,
A second step S220 of confirming whether the target steering angle has been reached by the first step S210,
A third step (S230) of terminating the control when the target steering angle is reached by the second step (S220)
A fifth step S250 of comparing the motor current value i of the electric motor 110 with the first threshold value ithr1 when the target steering angle is not reached by the second step S220,
If the motor current value i is less than the first threshold value ithr1 in the fifth step S250, the motor speed of the electric motor 110 is increased and the first specified speed is set to the upper limit (Step S260),
A seventh step of decelerating the motor speed by setting the second specified speed as a lower limit when the determined motor current value i is greater than or equal to the first threshold value ithr1 by the fifth step S250 S270),
The motor current value i is compared with the second threshold value ithr1 after performing the sixth step S260 or the seventh step S270, (S220) when the motor current value (i) is less than or equal to the second threshold value (ithr2), and repeats the second step (S220) when the motor current value Wherein the control unit is operable to control the driving of the load-sensitive driving unit. The method according to claim 3 or 4,
Wherein the first threshold value (ithr1) is 1.8 times the motor rated current (ir). The method according to claim 3 or 4,
Wherein the second threshold value (ithr2) is twice the motor rated current (ir). The method according to claim 3 or 4,
In the sixth step (S160, 260), the motor speed increases 5% of the current motor speed,
Wherein the motor speed is reduced by 5% of the current motor speed in the seventh step (S170, 270). The method according to claim 3 or 4,
The first specific speed is twice the rated speed,
And the second specific speed is a rated speed.
KR1020150128395A 2015-09-10 2015-09-10 Control method for load sensing driving unit of steering apparatus KR101749333B1 (en)

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KR1020150128395A KR101749333B1 (en) 2015-09-10 2015-09-10 Control method for load sensing driving unit of steering apparatus
PCT/KR2016/008009 WO2017043758A1 (en) 2015-09-10 2016-07-22 Method for controlling load-sensitive drive part of steering apparatus

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Citations (11)

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