KR20190066995A - Method for generating steering reaction force of steer-by-wire system - Google Patents

Method for generating steering reaction force of steer-by-wire system Download PDF

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KR20190066995A
KR20190066995A KR1020170166946A KR20170166946A KR20190066995A KR 20190066995 A KR20190066995 A KR 20190066995A KR 1020170166946 A KR1020170166946 A KR 1020170166946A KR 20170166946 A KR20170166946 A KR 20170166946A KR 20190066995 A KR20190066995 A KR 20190066995A
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South Korea
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reaction force
steering
force torque
steering angle
motor
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KR1020170166946A
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Korean (ko)
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KR102399623B1 (en
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황상우
조현석
이병림
박영대
김민준
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현대자동차주식회사
기아자동차주식회사
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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
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
    • 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
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W10/00—Technologies for wastewater treatment
    • Y02W10/10—Biological treatment of water, waste water, or sewage

Abstract

The present invention relates to a method for generating a steering reaction force for a steer-by-wire (SBW) system, which is able to realize a steering reaction force having a hysteresis when a steering wheel rotates and returns, and to improve steering feel and hands-free stability. According to the present invention, the method for generating a steering reaction force for an SBW system comprises: a step of receiving an input of steering information and vehicle speed information; a step of setting a target motor reaction force torque outputted by a reaction force motor based on the entered steering and vehicle speed information, in which the target motor reaction force torque is set for a case when the steering wheel is steered and rotated and the target motor reaction force torque for a case when the steering wheel is returned and rotated to be the same; a step of setting a target friction reaction force torque outputted by an MR brake based on the entered steering and vehicle speed information; and a step of controlling the reaction force motor and an MR brake to follow the target reaction force torque and the target friction reaction force torque so as to provide the steering reaction force torque to the steering wheel.

Description

ＳＢＷ시스템용 조향반력 생성방법{METHOD FOR GENERATING STEERING REACTION FORCE OF STEER-BY-WIRE SYSTEM}METHOD FOR GENERATING STEERING REACTION FORCE OF STEER-BY-WIRE SYSTEM BACKGROUND OF THE INVENTION [0001]

본 발명은 반력모터와 MR브레이크에 의해 선회 및 복원 회전시에 히스테리시스를 갖는 조향반력을 구현하여 조타감을 향상시키는 한편, 수방 안정성을 확보하는 SBW시스템용 조향반력 생성방법에 관한 것이다.The present invention relates to a steering reaction force generating method for an SBW system that improves steering feeling by implementing a steering reaction force having hysteresis at the time of turning and restoring rotation by a reaction force motor and an MR brake,

스티어 바이 와이어 시스템(STEER BY WIRE SYSTEM)은 스티어링휠과 차량의 구동바퀴의 기계적 연결을 분리한 조향시스템으로, 스티어링휠의 회전 신호를 전자제어유니트(ECU)를 통해 입력받고, 입력된 회전 신호를 바탕으로 구동바퀴에 연결된 조향모터를 작동시켜 차량을 조향할 수 있다.STEER BY WIRE SYSTEM is a steering system that separates the mechanical connection between the steering wheel and the driving wheels of the vehicle. The steering wheel receives the rotation signal of the steering wheel through an electronic control unit (ECU) The vehicle can be steered by operating the steering motor connected to the driving wheels.

이러한 스티어 바이 와이어 시스템은 기존의 조향시스템이 갖는 기계적 연결구조가 제거됨으로써, 조향계 구성에 따른 레이아웃 자유도를 증가시키고, 연비를 개선하며, 차륜에서 역입력되는 외란을 제거할 수 있는 등의 장점을 갖고 있다.Such a steer-by-wire system eliminates the mechanical connection structure of the existing steering system, thereby increasing the degree of freedom of layout according to the configuration of the steering system, improving fuel economy, and eliminating disturbance input from the wheel I have.

반면, 이 같은 기계적 연결구조의 단절로 인해 운전자가 필요로 하는 조향정보를 제대로 피드백 받을 수 없는 단점도 있다.On the other hand, the disconnection of the mechanical connection structure has a disadvantage that the driver can not properly receive the steering information required by the driver.

예컨대, 기존의 조향시스템의 경우 유니버셜조인트 등을 통한 기계적 연결구조로 인해 조향반력을 별도 생성할 필요가 없지만, 스티어 바이 와이어 시스템의 경우에는 기계적 연결구조가 없기 때문에 스프링 또는 모터 등을 이용하여 조향반력 또는 복원반력을 생성하게 된다.For example, in the case of a conventional steering system, it is not necessary to separately generate a steering reaction force due to a mechanical connection structure through a universal joint or the like. However, in the case of a steer-by-wire system, there is no mechanical connection structure, Or a restoring reaction force.

이 외에도, MR장치 혹은 모터와 MR댐퍼를 이용하여 SBW의 조향 반력을 구현하는 기술이 제안된바 있으나, MR장치 하나만 이용한 경우 스티어링 휠의 움직임을 생성할 수 없는 단점이 있고, MR댐퍼와 모터를 이용한 경우 댐퍼의 특성상 스티어링휠의 회전속도 별로 다른 제어전략이 요구되는 문제가 있다. In addition, a technique of implementing steering reaction force of the SBW using an MR device or a motor and an MR damper has been proposed. However, there is a disadvantage in that it is not possible to generate a steering wheel motion when only one MR device is used. There is a problem that a different control strategy is required depending on the rotation speed of the steering wheel because of the characteristics of the damper.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

US 6535806 B2US 6535806 B2 US 6761243 B2US 6761243 B2 US 6678595 B2US 6678595 B2

본 발명은 반력모터와 MR브레이크에 의해 선회 및 복원 회전시에 히스테리시스를 갖는 조향반력을 구현하여 조타감을 향상시키는 한편, 수방 안정성을 확보하는 SBW시스템용 조향반력 생성방법을 제공하는 데 있다.An object of the present invention is to provide a method of generating a steering reaction force for an SBW system that realizes a steerable feeling by implementing a steering reaction force having hysteresis at the time of turning and restoring by a reaction force motor and an MR brake.

상기와 같은 목적을 달성하기 위한 본 발명의 구성은, 스티어링휠에 반력모터와 MR브레이크가 연결된 SBW시스템으로서, 컨트롤러가 조향정보 및 차속정보를 입력받는 단계; 컨트롤러가 상기 입력된 조향 및 차속정보를 바탕으로 반력모터에 의해 출력하는 목표 모터반력토크를 설정하되, 스티어링휠을 조향 회전하는 경우의 목표 모터반력토크와 복원 회전하는 경우의 목표 모터반력토크를 동일하게 설정하는 단계; 컨트롤러가 상기 입력된 조향 및 차속정보를 바탕으로 MR브레이크에 의해 출력하는 목표 프릭션반력토크를 설정하는 단계; 및 컨트롤러가 상기 목표 모터반력토크와 목표 프릭션반력토크를 추종하도록 반력모터와 MR브레이크를 제어하여 스티어링휠에 조향반력토크를 제공하는 단계;를 포함하는 것을 특징으로 할 수 있다.According to an aspect of the present invention, there is provided an SBW system including a reaction wheel and an MR brake connected to a steering wheel, the system comprising: a controller receiving steering information and vehicle speed information; The controller sets the target motor reaction force torque output by the reaction force motor on the basis of the input steering and vehicle speed information so that the target motor reaction force torque when the steering wheel is steered and rotated is equal to the target motor reaction torque ; Setting a target friction reaction force torque output by the MR brake based on the inputted steering and vehicle speed information; And controlling the reaction force motor and the MR brake so that the controller follows the target motor reaction force torque and the target friction reaction force torque to provide the steering reaction force torque to the steering wheel.

상기 목표 모터반력토크는 차속에 비례할 수 있다.The target motor reaction force torque may be proportional to the vehicle speed.

상기 목표 모터반력토크는 조향각 중립에서 0으로 설정하고, 상기 조향각 중립을 기준으로 조향각이 커짐에 따라 증가하도록 설정할 수 있다.The target motor reaction force torque may be set to zero in the steering angle neutral and set to increase as the steering angle increases with reference to the steering angle neutral.

상기 목표 모터반력토크는, 조향각 중립에서 소정의 기준조향각까지 제1기울기를 갖고, 상기 기준조향각에서 최대조향각까지 상기 제1기울기보다 완만한 제2기울기를 갖도록 설정할 수 있다.The target motor reaction force torque may be set to have a first slope from a steering angle neutral to a predetermined reference steering angle and have a second slope that is gentler than the first slope from the reference steering angle to the maximum steering angle.

상기 목표 프릭션반력토크는 조향각 중립에서 O보다 큰 소정의 토크로 설정하고, 상기 조향각 중립을 기준으로 조향각이 커짐에 따라 감소하도록 설정할 수 있다.The target friction reaction force torque may be set to a predetermined torque greater than 0 in the steering angle neutral and to decrease as the steering angle increases with reference to the steering angle neutral.

상기 목표 프릭션반력토크는, 조향각 중립에서 소정의 기준조향각까지 제3기울기를 갖고, 상기 기준조향각에서 최대조향각까지 상기 제3기울기보다 완만한 제4기울기를 갖도록 설정할 수 있다.The target friction reaction force torque may be set to have a third slope from the steering angle neutral to a predetermined reference steering angle and have a fourth slope that is gentler than the third slope from the reference steering angle to the maximum steering angle.

상기한 과제 해결수단을 통해 본 발명은, 스티어링휠의 선회 회전시의 조향반력토크와, 복원 회전시의 조향반력토크 사이에 히스테리시스가 형성됨으로써, 운전자가 느끼는 조타감이 크게 향상되고, 스티어링휠의 수방 안정성을 향상시키는 효과가 있다.According to the present invention, the hysteresis is formed between the steering reaction force torque at the time of turning of the steering wheel and the steering reaction force torque at the time of the restoring rotation, so that the sense of steering felt by the driver is greatly improved, It has an effect of improving the water stability.

도 1은 본 발명에 따른 SBW시스템에서 스티어링휠에 반력모터와 MR브레이크가 연결된 구성을 예시하여 나타낸 도면.
도 2는 본 발명에 따라 모터반력토크와 프릭션반력토크에 의해 최종조향반력토크를 생성하는 방법을 설명하기 위한 도면.
도 3은 본 발명에서 차속별로 설정된 모터반력토크를 예시하여 나타낸 도면.
도 4는 본 발명에서 조향각에 따라 설정된 모터반력토크 및 프릭션반력토크와 함께 스티어링휠에 제공되는 최종조향반력토크를 예시하여 나타낸 도면.
도 5는 본 발명에서 조향 회전시의 조향반력토크와 복원 회전시의 조향반력토크 사이에 히스테리시스가 구현되는 작동 원리를 설명하기 위한 도면.
도 6은 본 발명에서 조향각속도에 따라 설정된 프릭션반력토크를 예시하여 나타낸 도면.BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram illustrating a configuration in which a reaction force motor and an MR brake are connected to a steering wheel in an SBW system according to the present invention. Fig.
Fig. 2 is a diagram for explaining a method of generating a final steering reaction force torque by a motor reaction force torque and a friction reaction force torque according to the present invention; Fig.
3 is a diagram illustrating the motor reaction force torque set for each vehicle speed in the present invention.
4 is a diagram illustrating the final steering reaction force torque provided to the steering wheel together with the motor reaction force torque and the friction reaction force torque set according to the steering angle in the present invention.
5 is a view for explaining an operating principle in which hysteresis is realized between a steering reaction force torque at steering rotation and a steering reaction force torque at restoration rotation in the present invention.
FIG. 6 is a diagram exemplifying the friction reaction force torque set according to the steering angle velocity in the present invention; FIG.

본 발명의 바람직한 실시예를 첨부된 도면에 의하여 상세히 설명하면 다음과 같다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명은 스티어링휠(1)에 반력모터(5)와 MR브레이크(7)가 연결된 SBW시스템에 적용이 가능한 것으로, 도 1을 참조하여 상기 구성요소들의 연결관계를 살펴보면, 스티어링휠(1)의 하단에 조향센서(3)가 설치되고, 상기 조향센서(3)의 하단에 반력모터(5)와 MR브레이크(7)가 직렬 또는 병렬 형태로 설치될 수 있다. 그리고, 상기 MR브레이크(7)의 하단에는 스티어링휠(1)의 최대 조향각 이상의 회전을 기구적으로 제한하는 스토퍼기구(11)가 설치될 수 있다.The present invention is applicable to an SBW system in which a reaction motor 5 and an MR brake 7 are connected to a steering wheel 1. Referring to FIG. 1, the connection of the steering wheel 1, And a reaction force motor 5 and an MR brake 7 may be installed at the lower end of the steering sensor 3 in series or in parallel. A stopper mechanism 11 for mechanically restricting the rotation of the steering wheel 1 beyond the maximum steering angle may be provided at the lower end of the MR brake 7.

아울러, 상기 조향센서(3)는 조향각(θ)과 조향토크의 검출이 가능한 TAS센서일 수 있다. 그리고, 상기 MR브레이크(7)는 MR유체(Magneto-rheological Fluid)에 전기적 신호가 인가되면 마찰력을 발생시킬 수 있는 장치로서, 이는 공지의 기술이므로 구체적인 설명은 생략하기로 한다.In addition, the steering sensor 3 may be a TAS sensor capable of detecting the steering angle [theta] and the steering torque. The MR brake 7 is a device capable of generating a frictional force when an electrical signal is applied to a MR fluid (Magneto-rheological Fluid), which is a known technology, and thus a detailed description thereof will be omitted.

그리고, 차량에 설치된 여러 센서들을 통해 차속정보 및 조향정보가 컨트롤러(9)에 입력될 수 있고, 컨트롤러(9)는 상기 입력된 정보들을 바탕으로 목표 모터반력토크와 목표 프릭션반력토크를 결정할 수 있다. 이를 위해, 상기 컨트롤러(9)에는 모터반력토크맵과 프릭션반력토크맵이 저장될 수 있고, 상기 맵에 의해 반력모터(5)와 MR브레이크(7)의 작동을 제어할 수 있다.Vehicle speed information and steering information can be input to the controller 9 through various sensors installed in the vehicle, and the controller 9 can determine the target motor reaction torque and the target friction reaction torque based on the input information have. To this end, the controller 9 may store a motor reaction force torque map and a friction reaction force torque map, and the operation of the reaction force motor 5 and the MR brake 7 may be controlled by the map.

한편, 도 1 및 도 2를 참조하여, 본 발명에 따른 SBW시스템에서 조향반력을 생성하기 위한 방법에 대해 설명하면, 먼저 컨트롤러(9)가 조향정보 및 차속정보를 입력받는다.Referring to FIGS. 1 and 2, a method for generating a steering reaction force in the SBW system according to the present invention will be described. First, the controller 9 receives steering information and vehicle speed information.

상기 조향정보는 조향각(θ) 및 조향각속도(ω)일 수 있는 것으로, TAS센서를 통해 입력받아 연산될 수 있고, 상기 차속정보는 차속센서를 통해 입력받을 수 있다.The steering information may be a steering angle θ and a steering angle velocity ω. The steering information may be input through a TAS sensor, and the vehicle speed information may be input through a vehicle speed sensor.

그리고, 컨트롤러(9)가 상기 입력된 조향 및 차속정보를 바탕으로 반력모터(5)에 의해 출력하는 목표 모터반력토크를 설정할 수 있다. 특히, 상기 목표 모터반력토크는 스티어링휠(1)을 조향 회전하는 경우의 목표 모터반력토크와 스티어링휠(1)을 복원 회전하는 경우의 목표 모터반력토크를 동일하게 설정할 수 있다.Then, the controller 9 can set the target motor reaction force torque output by the reaction force motor 5 based on the input steering and vehicle speed information. In particular, the target motor reaction force torque can be set equal to the target motor reaction force torque when the steering wheel 1 is steered and rotated and the target motor reaction force torque when the steering wheel 1 is restored and rotated.

예컨대, 조향각(θ) 또는 랙포스(Frack)에 따라 모터반력토크맵에 의해 목표 모터반력토크가 결정될 수 있고, 상기 목표 모터반력토크는 스티어링휠(1)의 선회 방향 회전시와 복원 방향 회전시의 토크 변화가 동일하게 결정될 수 있다.For example, the target motor reaction force torque can be determined by the motor reaction force torque map in accordance with the steering angle [theta] or the rack force F rack , and the target motor reaction force torque is determined by the turning direction of the steering wheel 1, The torque change of the hour can be determined equally.

또한, 컨트롤러(9)가 상기 입력된 조향 및 차속정보를 바탕으로 MR브레이크(7)에 의해 출력하는 목표 프릭션반력토크를 설정할 수 있다.Further, the controller 9 can set the target friction reaction force torque output by the MR brake 7 based on the inputted steering and vehicle speed information.

예컨대, 조향각(θ) 또는 랙포스(Frack)에 따라 프릭션반력토크맵에 의해 목표 프릭션반력토크가 결정될 수 있다.For example, the target friction reaction force torque can be determined by the friction reaction force torque map according to the steering angle [theta] or the rack force (F rack ).

다음으로, 컨트롤러(9)가 상기 목표 모터반력토크와 목표 프릭션반력토크를 추종하도록 반력모터(5)와 MR브레이크(7)를 제어하여 스티어링휠(1)에 조향반력토크를 제공할 수 있다.Next, the controller 9 may control the reaction force motor 5 and the MR brake 7 so as to follow the target motor reaction force torque and the target friction reaction force torque to provide the steering reaction force torque to the steering wheel 1 .

즉, 반력모터(5)를 의한 모터반력토크(Tmotor)와 MR브레이크(7)에 의한 프릭션반력토크(Tbrake)가 합산되어 총 조향반력토크(Ttotal)가 출력되는바, 최종적으로 운전자가 느끼는 조향반력토크를 스티어링휠(1)에 제공할 수 있게 된다.That is, the motor reaction force torque T motor by the reaction force motor 5 and the friction reaction force torque T brake by the MR brake 7 are added together to output the total steering reaction force torque T total , The steering reaction force torque felt by the driver can be provided to the steering wheel 1.

아울러, 도 3과 같이 본 발명은 상기 목표 모터반력토크가 차속(v)에 비례하여 설정될 수 있다.In addition, as shown in Fig. 3, the target motor reaction force torque may be set in proportion to the vehicle speed v.

즉, 차속이 빠른 경우 상대적으로 차속이 느린 경우보다 조향각(θ) 또는 랙포스(Frack)에 대한 목표 모터반력토크가 더 증대됨으로써, 조향반력토크가 더 커지게 되고, 이에 스티어링휠(1)의 조향감이 무겁게 느껴질 수 있게 된다.That is, when the vehicle speed is high, the target motor reaction force torque with respect to the steering angle [theta] or the rack force F rack is further increased than in the case where the vehicle speed is relatively slow, The steering feeling of the vehicle can be felt to be heavy.

그리고, 도 4와 같이, 본 발명의 상기 목표 모터반력토크는 조향각(θ) 중립에서 0으로 설정하고, 상기 조향각(θ) 중립을 기준으로 조향각(θ)이 커짐에 따라 증가하도록 설정할 수 있다.As shown in Fig. 4, the target motor reaction force torque of the present invention can be set to zero at the steering angle? Neutral and to increase as the steering angle? Increases based on the steering angle? Neutral.

구체적으로, 상기 목표 모터반력토크는, 조향각(θ) 중립에서 소정의 기준조향각까지 제1기울기(G1)를 갖고, 상기 기준조향각에서 최대조향각까지 상기 제1기울기보다 완만한 제2기울기(G2)를 갖도록 설정할 수 있다.Specifically, the target motor reaction torque has a first gradient G1 from a neutral to a predetermined reference steering angle, and a second gradient G2 that is gentler than the first gradient from the reference steering angle to a maximum steering angle. As shown in FIG.

예컨대, 상기 조향각(θ) 중립에서 우선회 방향으로 스티어링휠(1)을 회전하는 경우, 조향각(θ)이 커질수록 목표 모터반력토크도 함께 증가하게 된다.For example, when the steering wheel 1 is rotated in the direction of priority in the neutral direction of the steering angle?, As the steering angle? Increases, the target motor reaction force torque also increases.

또한, 본 발명의 상기 목표 프릭션반력토크는 조향각(θ) 중립에서 O보다 큰 소정의 토크로 설정하고, 상기 조향각(θ) 중립을 기준으로 조향각(θ)이 커짐에 따라 감소하도록 설정할 수 있다.Further, the target friction reaction force torque of the present invention can be set to a predetermined torque greater than 0 at the steering angle [theta], and to decrease as the steering angle [theta] increases based on the steering angle [theta] .

구체적으로, 상기 목표 프릭션반력토크는, 조향각(θ) 중립에서 소정의 기준조향각(θ)까지 제3기울기(G3)를 갖고, 상기 기준조향각에서 최대조향각까지 상기 제3기울기보다 완만한 제4기울기(G4)를 갖도록 설정할 수 있다.Specifically, the target friction reaction force torque has a third slope G3 from a neutral to a predetermined reference steering angle [theta], and a fourth slope G3 from the reference steering angle to the maximum steering angle, It can be set to have a slope G4.

예컨대, 상기 조향각(θ) 중립에서 우선회 방향으로 스티어링휠(1)을 회전하는 경우, 조향각(θ)이 커질수록 목표 프릭션반력토크는 감소하게 된다.For example, when the steering wheel 1 is rotated in the direction of priority in the neutral direction of the steering angle?, The target friction reaction force torque decreases as the steering angle? Increases.

이러한, 상기 목표 프릭션반력토크는 스티어링휠(1)의 선회방향이 전환됨에 따라 물리적으로 작용하는 토크의 방향이 같이 바뀌기 때문에, 상기 목표 프릭션반력토크의 크기에 따라 후술하는 선회 회전시와 복원 회전시 사이의 히스테리시스 폭이 달라질 수 있다. 상기 히스테리시스의 생성 매커니즘에 대해서는 아래에서 다시 설명하기로 한다.Since the direction of the torque physically acting as the turning direction of the steering wheel 1 is changed, the target friction reaction force torque is changed in accordance with the magnitude of the target friction reaction force torque, The hysteresis width between the rotation can be varied. The generation mechanism of the hysteresis will be described below again.

참고로, 상기 목표 프릭션반력토크는 도 6에 도시한 바와 같이, 소정의 조향각속도(ω)까지 급격하게 상승하고, 그 이후의 조향각속도(ω) 구간에서는 일정하게 유지되도록 설정할 수 있다.For reference, the target friction reaction force torque can be set so as to rise sharply up to a predetermined steering angle velocity [omega] as shown in Fig. 6, and to remain constant at the following steering angle velocity [omega].

한편, 도 5를 참조하여, 본 발명에서 조향 회전시의 조향반력토크와 복원 회전시의 조향반력토크 사이에 히스테리시스가 구현되는 작동 원리를 설명하면, 스티어링휠(1)을 조향각(θ) 중립에서 우선회하는 방향으로 회전하는 경우, 반력모터(5)에 의해 좌선회 방향에 대한 모터반력토크(Tmotor)가 생성이 되는데, 이때에 MR브레이크(7) 역시 프릭션으로 작용하게 됨으로써, 좌선회 방향에 대한 프릭션반력토크(Tbrake)가 생성된다.Referring to FIG. 5, the operation principle in which hysteresis is realized between the steering reaction force torque during steering rotation and the steering reaction force torque during restoration rotation will be described with reference to FIG. 5. In the steering wheel 1, The motor reaction force motor 5 generates the motor reaction force torque T motor for the left rotation direction. At this time, the MR brake 7 also acts as a friction, And a friction reaction force torque T brake for the direction is generated.

따라서, 우선회 방향으로 회전하는 경우, 좌선회 방향에 대한 모터반력토크(Tmotor)와 좌선회 방향에 대한 프릭션반력토크(Tbrake)가 합산됨으로써, 스티어링휠(1)에 모터반력토크(Tmotor)보다 큰 최종 조향반력토크(Ttotal)를 제공하게 된다.Therefore, when the steering wheel 1 is rotated in the turning direction, the motor reaction force torque T motor for the left turning direction and the friction reaction force torque T brake for the left steering direction are added to the steering wheel 1, T motor , which is greater than the final steering reaction force torque T total .

그런데, 이 상태에서 조향각(θ) 중립을 향해 복원하는 좌선회 방향으로 스티어링휠(1)을 회전하게 되면, MR브레이크(7)는 운동방향이 전환됨에 따라 물리적으로 토크 방향만이 바뀌기 때문에 우선회 방향에 대한 프릭션반력토크(Tbrake)가 생성된다.In this state, when the steering wheel 1 is rotated in the left-turn direction in which the steering angle? Is restored to neutral, only the torque direction is physically changed as the direction of motion of the MR brake 7 is changed. And a friction reaction force torque T brake for the direction is generated.

하지만, 반력모터(5)는 단지 토크가 줄어들 뿐 토크의 방향은 바뀌지 않기 때문에 여전히 좌선회 방향에 대한 모터반력토크(Tmotor)를 생성하게 된다.However, the reaction force motor 5 still generates the motor reaction force torque (T motor ) for the left-turn direction because the torque is reduced and the direction of the torque is not changed.

따라서, 조향각(θ) 중립을 향해 좌선회 방향으로 복원 회전하는 경우, 좌선회 방향에 대한 모터반력토크(Tmotor)와 우선회방향에 대한 프릭션반력토크(Tbrake)가 합산됨으로써, 스티어링휠(1)에 모터반력토크(Tmotor)보다 작은 최종 조향반력토크(Ttotal)를 제공하게 된다.Therefore, when restoring rotation in the left-hand turning direction toward the steering angle?, The motor reaction force torque T motor for the left-turn turning direction and the friction reaction force torque T brake for the priority turning direction are added together, (T total ) which is smaller than the motor reaction force torque (T motor ).

이에, 스티어링휠(1)의 선회 회전시의 조향반력토크(Ttotal)와, 복원 회전시의 조향반력토크(Ttotal) 사이에 히스테리시스가 형성됨으로써, 운전자가 느끼는 조타감이 크게 향상되고, 또한 스티어링휠(1)의 수방 안정성(스티어링휠에서 손을 놓았을 때의 거동 안정성)을 향상시키게 된다.Thus, by being steered is formed hysteresis between the wheel 1 and steering reaction force torque at the time of turning the rotation of the (T total), and a steering reaction force torque at the time of restored rotation (T total), the steering sense of the operator feels is greatly improved, and also The stability of the steering of the steering wheel 1 (the stability of the steering wheel when the steering wheel is released) is improved.

한편, 본 발명은 상기한 구체적인 예에 대해서만 상세히 설명되었지만 본 발명의 기술사상 범위 내에서 다양한 변형 및 수정이 가능함은 당업자에게 있어서 명백한 것이며, 이러한 변형 및 수정이 첨부된 특허청구범위에 속함은 당연한 것이다.While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the specific embodiments set forth herein; rather, .

1 : 스티어링휠
3 : 조향센서
5 : 반력모터
7 : MR브레이크
9 : 컨트롤러1: Steering wheel
3: Steering sensor
5: Reaction motor
7: MR brake
9: Controller

Claims (6)

스티어링휠에 반력모터와 MR브레이크가 연결된 SBW시스템으로서,
컨트롤러가 조향정보 및 차속정보를 입력받는 단계;
컨트롤러가 상기 입력된 조향 및 차속정보를 바탕으로 반력모터에 의해 출력하는 목표 모터반력토크를 설정하되, 스티어링휠을 조향 회전하는 경우의 목표 모터반력토크와 복원 회전하는 경우의 목표 모터반력토크를 동일하게 설정하는 단계;
컨트롤러가 상기 입력된 조향 및 차속정보를 바탕으로 MR브레이크에 의해 출력하는 목표 프릭션반력토크를 설정하는 단계; 및
컨트롤러가 상기 목표 모터반력토크와 목표 프릭션반력토크를 추종하도록 반력모터와 MR브레이크를 제어하여 스티어링휠에 조향반력토크를 제공하는 단계;를 포함하는 SBW시스템용 조향반력 생성방법.An SBW system in which a reaction force motor and an MR brake are connected to a steering wheel,
The controller receiving steering information and vehicle speed information;
The controller sets the target motor reaction force torque output by the reaction force motor on the basis of the input steering and vehicle speed information so that the target motor reaction force torque when the steering wheel is steered and rotated is equal to the target motor reaction torque ;
Setting a target friction reaction force torque output by the MR brake based on the inputted steering and vehicle speed information; And
And controlling the reaction force motor and the MR brake so that the controller follows the target motor reaction force torque and the target friction reaction force torque to provide the steering reaction force torque to the steering wheel. 청구항 1에 있어서,
상기 목표 모터반력토크는 차속에 비례하는 것을 특징으로 하는 SBW시스템용 조향 반력 생성방법.The method according to claim 1,
And the target motor reaction force torque is proportional to the vehicle speed. 청구항 1에 있어서,
상기 목표 모터반력토크는 조향각 중립에서 0으로 설정하고, 상기 조향각 중립을 기준으로 조향각이 커짐에 따라 증가하도록 설정한 것을 특징으로 하는 SBW시스템용 조향반력 생성방법.The method according to claim 1,
Wherein the target motor reaction force torque is set to zero in the steering angle neutral and is set to increase as the steering angle increases with reference to the steering angle neutral. 청구항 3에 있어서,
상기 목표 모터반력토크는, 조향각 중립에서 소정의 기준조향각까지 제1기울기를 갖고, 상기 기준조향각에서 최대조향각까지 상기 제1기울기보다 완만한 제2기울기를 갖도록 설정한 것을 특징으로 하는 SBW시스템용 조향 반력 생성방법.The method of claim 3,
Wherein the target motor reaction force torque is set so as to have a first slope from a steering angle neutral to a predetermined reference steering angle and to have a second slope that is gentler than the first slope from the reference steering angle to the maximum steering angle. Reaction force generation method. 청구항 1에 있어서,
상기 목표 프릭션반력토크는 조향각 중립에서 O보다 큰 소정의 토크로 설정하고, 상기 조향각 중립을 기준으로 조향각이 커짐에 따라 감소하도록 설정한 것을 특징으로 하는 SBW시스템용 조향반력 생성방법.The method according to claim 1,
Wherein the target friction reaction force torque is set to a predetermined torque greater than 0 in the steering angle neutral and is set to decrease as the steering angle increases with reference to the steering angle neutral. 청구항 5에 있어서,
상기 목표 프릭션반력토크는, 조향각 중립에서 소정의 기준조향각까지 제3기울기를 갖고, 상기 기준조향각에서 최대조향각까지 상기 제3기울기보다 완만한 제4기울기를 갖도록 설정한 것을 특징으로 하는 SBW시스템용 조향 반력 생성방법.The method of claim 5,
Wherein the target friction reaction force torque is set so as to have a third slope from a steering angle neutral to a predetermined reference steering angle and to have a fourth slope that is gentler than the third slope from the reference steering angle to a maximum steering angle A method of generating a steering reaction force.
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