KR20230091623A - Experimental apparatus for controllability evaluation of the fail-safe electric power steering device - Google Patents

Abstract

The present invention relates to a dual steering motor control experiment device, and more particularly, detects data for real-time steering control using sensors that can identify the characteristics of each steering motor, and can identify the characteristics of a failsafe steering device, Using the detected values, it is possible to experiment with various control modes such as position/position, position/torque, torque/position, and torque/torque. In addition, fault diagnosis and steering torque redistribution for steering motor failure during autonomous driving It is about a dual steering motor control experimental device that can evaluate the performance of coping skills.
A dual steering motor according to an embodiment of the present invention includes a motor angle sensor for detecting a rotation angle of the dual steering motor, a torque sensor for measuring torque applied to a steering shaft, a first motor mounted on a rack, and a steering wheel. A second motor mounted on the column, a cascade controller that controls the rotation angle and angular velocity of the first and second motors according to the control signal, a disturbance observer that determines whether each steering motor is out of order, and the motor angle sensor It may include a synchronization unit that generates a control signal for synchronizing the first motor and the second motor based on the rotation angle detected through and the control signal.
According to the present invention, in order to evaluate the completeness of the failsafe steering device, the synchronization error generated according to the structure of the steering device such as C type and R type and the disturbance applied to the steering wheel can be controlled through the controller. there is. In addition, there is also an advantage that it is possible to control in various control modes by identifying the characteristics of each steering motor and failsafe steering device.

Description

Experimental apparatus for controllability evaluation of the fail-safe electric power steering device}

The present invention relates to an experimental device capable of evaluating the characteristics of a dual steering motor control device and the performance of a controller. More specifically, data for real-time steering control is measured using sensors that can identify the characteristics of each steering motor, a load device installed on the lower tie rod, and a sensor that can detect this load. It enables to understand the characteristics of the safety steering system.

In addition, when a different type of steering motor is used through this experimental device, the synchronization error can be corrected at the controller level, fault diagnosis and steering torque redistribution in preparation for steering motor failure during autonomous driving. It is about a dual steering motor control experimental device capable of evaluating the performance of fault handling technology through

Power steering of a vehicle refers to a steering device that assists a driver's steering wheel operation through power. In the past, the hydraulic power steering (HPS) system using hydraulic pressure generated from the engine was mainly used for power steering, but now the electric power steering (EPS) system using a motor is mainly used. It is being used.

Compared to conventional hydraulic power steering (HPS) systems, electric power steering (EPS) systems take up less space, are lighter in weight, do not require oil changes, put less load on the engine, and have higher fuel efficiency. .

Recently, with the development of autonomous driving technology, a steering-by-wire system (SBW, Steering By Wire) that enables vehicle steering to be performed without a mechanical steering axis between the steering wheel and the wheels through electronic control of the electric power steering system (EPS). and AI-based automatic steering technology, technologies are being developed to maximize user convenience.

However, this electric power steering system currently consists of one steering motor. In this case, if a steering motor malfunctions during autonomous driving, it is difficult to respond to the malfunction immediately and the malfunction diagnosis is not performed, so the stability of the steering system cannot be trusted. There is a limit to no

In order to overcome this problem, a steering system with dual steering motors and peripheral devices, a dual-designed controller to control it, and a steering motor failure diagnosis and fail-safe controller to prevent traffic accidents due to steering motor failures are actively being developed. It is becoming. However, since these technologies are unverified technologies, an experimental device for verifying them is also required.

KR 10-2021-0076456A

In order to solve the above-mentioned problems, the present invention can minimize the synchronization error between the steering motors generated according to the structure in order to evaluate the completeness of the failsafe steering device, and the disturbance to the steering shaft through the load device installed on the lower tie rod Disturbance can be applied, and the disturbance can be controlled through a control method such as a disturbance observer.

In addition, the present invention installs sensors such as a torque sensor and a motor angle sensor in each steering motor to measure the data for real-time steering control so that the characteristics of a steering device in which dual steering motors are built can be grasped, and the measured values are used to It enables the steering motor to operate in various combinations of control modes such as position/position, torque/position, position/torque, and torque/torque.

Finally, an object of the present invention is to provide a dual steering motor control experiment apparatus capable of diagnosing a failure of a steering motor and evaluating the performance of a fail-safe controller.

As an embodiment of the present invention, a dual steering motor control experiment apparatus is provided.

A dual steering motor according to an embodiment of the present invention includes a motor angle sensor for detecting a rotation angle of the dual steering motor; a torque sensor that measures torque applied to the steering shaft; A first motor mounted on a pinion gear; a second motor mounted on a steering shaft of a steering wheel; a cascade control unit controlling rotation angles and angular velocities of the first motor and the second motor, respectively; a disturbance observation unit for determining whether the steering motor is out of order and controlling external disturbance; and a synchronization unit generating a synchronization signal for synchronizing the first motor and the second motor based on the rotation angle detected through the motor angle sensor, the torque value detected through the torque sensor, and the control signal.

In the dual steering motor according to an embodiment of the present invention, the first motor and the second motor may be EPS motors for vehicle steering.

According to the present invention, in order to evaluate the completeness of the failsafe steering device, it is possible to control the synchronization error generated according to the structure of the steering device such as C-type and R-type and the disturbance applied to the steering wheel, and the characteristics of the steering device has the advantage of being able to understand

In addition, according to the present invention, there is an advantage in that the failure diagnosis of the steering motor and the performance of the fail safe controller can be evaluated.

Effects obtainable in the present disclosure are not limited to the effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description below. will be.

1 is a block diagram of a dual steering motor control experiment apparatus according to an embodiment of the present invention.
2 is an implementation example of a dual steering motor control experiment apparatus according to an embodiment of the present invention.
3 is an embodiment of the control unit of the dual steering motor control experiment apparatus according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice with reference to the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

The terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected from general terms that are currently widely used as much as possible while considering the functions in the present invention, but these may vary depending on the intention of a person skilled in the art or precedent, the emergence of new technologies, and the like. In addition, in a specific case, there is also a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, not simply the name of the term.

When it is said that a certain part "includes" a certain component throughout the specification, it means that it may further include other components without excluding other components unless otherwise stated. In addition, terms such as “~unit” and “module” described in the specification refer to a unit that processes at least one function or operation, and may be implemented as hardware or software or a combination of hardware and software. In addition, when a part is said to be "connected" to another part throughout the specification, this includes not only the case of being "directly connected" but also the case of being connected "through another element therebetween".

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a dual steering motor control experiment apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the dual steering motor control experiment apparatus according to an embodiment of the present invention includes a motor angle sensor 3, a torque sensor 4, a first motor 1, a second motor 2, and a cascade control unit. (5), a disturbance observer 6 and a synchronization unit 7 may be included.

2 is an implementation example of a dual steering motor control experiment apparatus according to an embodiment of the present invention.

Referring to FIG. 2, the relationship between the first motor 1, the second motor 2, the motor angle sensor 3, and the torque sensor 4 of the dual steering motor control experimental device according to the present invention can be seen in detail. .

3 is an implementation example of a dual steering motor controller according to the present invention.

Referring to FIG. 3 , the connection relationship between the cascade controller 5, the disturbance observer 6, and the synchronization unit 7 according to the present invention can be seen in detail.

Hereinafter, each configuration of the dual steering motor control experiment apparatus according to an embodiment of the present invention will be described in detail.

The motor angle sensor 3 can detect the rotation angle of each steering motor.

The torque sensor 4 can measure the torque applied to each steering shaft.

The first motor 1 may be mounted on a rack. At this time, the rack means a gear that meshes with the pinion gear, and means a long gear when two long and small gears mesh.

The second motor 2 may be mounted on a steering wheel column. Here, the steering axis means an axis that transmits the operating force of the steering wheel to the steering gear, and the steering wheel is coupled to the upper part of the steering shaft and the steering gear to the lower part.

According to an embodiment, the first motor 1 and the second motor 2 may be characterized in that they are EPS motors. Here, the EPS motor means a steering motor used in electric power steering (EPS), and operates in a manner in which the ECU controls the motor according to steering control input from the cascade control unit 5.

The cascade control unit 5 may generate control signals for controlling rotation angles and steering torques of the first motor 1 and the second motor 2 . Depending on the embodiment, the cascade control unit 5 may be composed of two feedback control loops, and the output of the first controller may be set to a set value of the second controller.

At this time, it is preferable that the two feedback control loops have different response time constants to avoid control instability due to mutual interference.

The disturbance observer 6 controls the disturbance generated during driving so that it can be operated within a safe range even when a large and rapid disturbance is applied, and can effectively control a change in supply pressure or other disturbances on the supply side. In addition, based on the rotation angle detected through the motor angle sensor 3 through the disturbance observer 6, it is possible to determine whether the first motor 1 or the second motor 2 is out of order.

The synchronizing unit 7 operates the first motor 1 and the second motor 2 based on the rotation angle detected through the motor angle sensor 3, the torque detected through the torque sensor 4, and the control signal. can be synchronized.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention. do.

1: first motor
2: second motor
3: motor angle sensor
4: Torque sensor
5: cascade control unit
6: disturbance observation unit
7: synchronization unit

Claims (2)

In the dual steering motor control experiment device,
a motor angle sensor for detecting a rotation angle of the dual steering motors;
a torque sensor that measures torque applied to the steering shaft;
A first motor mounted on a rack;
a second motor mounted on a steering wheel column;
a cascade control unit generating control signals for controlling rotational angles and angular velocities of the first and second motors, respectively;
a disturbance observer controlling a disturbance applied to the steering motor and determining whether the steering motor is out of order;
Dual steering motor control including a synchronization unit generating a synchronization signal for synchronizing the first motor and the second motor based on the rotation angle detected through the motor angle sensor and the torque value detected through the torque sensor and the control signal experimental device.
According to claim 1,
The first motor and the second motor are dual steering motor control experiment apparatus, characterized in that the EPS motor for steering of the vehicle.

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