WO2002002392A1 - Steering system - Google Patents

Steering system Download PDF

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Publication number
WO2002002392A1
WO2002002392A1 PCT/EP2001/007146 EP0107146W WO0202392A1 WO 2002002392 A1 WO2002002392 A1 WO 2002002392A1 EP 0107146 W EP0107146 W EP 0107146W WO 0202392 A1 WO0202392 A1 WO 0202392A1
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WO
WIPO (PCT)
Prior art keywords
steering
actuator
steering wheel
control
torsion
Prior art date
Application number
PCT/EP2001/007146
Other languages
German (de)
French (fr)
Inventor
Christoph Pelchen
Hartmut Werries
Ünal GAZYAKAN
Johannes Kaltenbach
Original Assignee
Zf Friedrichshafen Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2002002392A1 publication Critical patent/WO2002002392A1/en

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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
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Definitions

  • the invention relates to a steering system according to the type defined in more detail in the preamble of claim 1.
  • Steering systems that work on the steer-by-wire principle differ from conventional steering systems in that there is no mechanical connection between the steering handwheel and the steered wheel.
  • the torque delivered by the conventional steering systems via the steering column to the steering handwheel is eliminated.
  • the steering feeling previously determined by the road surface, the tires, the chassis and the transmission behavior of the steering system is alternatively generated by a steering wheel actuator.
  • the forces or torques in the steering linkage of the steered wheels detected by one or more force / torque sensors are forwarded to a central control unit.
  • the driver is passed on a reaction depending on the respective operating state of a steering wheel actuator that is' similar to the forces occurring in a conventional steering system, and torques.
  • force / torque sensors in the steering linkage of the steered wheels deliver force signals which are proportional to the steering forces occurring on the steered wheels.
  • the forces / torques that occur are recorded, evaluated by a control unit and forwarded to the steering wheel actuator for generating torque on the steering handwheel.
  • the steering wheel actuator is controlled in such a way that the rotational resistance or torque curve perceived by the driver corresponds to that which is experienced by a conventional would have been caused in the steering linkage with the same force / torque effect.
  • the steer-by-wire steering systems known from the prior art have a steering wheel actuator and a steering actuator, which are connected to one another via a control loop.
  • the steering wheel actuator consists of the components steering wheel, upper steering column and electric motor.
  • the steering actuator consists of a lower steering column and an actuator. This can be, for example, a push rod that interacts with an electric motor or a working piston that is coupled to a proportional valve.
  • Both the steering wheel and the steering actuator are each controlled by a control loop.
  • the control circuit of the steering wheel actuator has the task of generating a reaction on the steering handwheel based on the driving state, which gives the driver the same steering feel as he is used to from conventional, mechanically coupled steering systems.
  • the steering wheel torque is generated by a rotation of the torsion bar spring, which corresponds to a relative rotation of the upper steering column to the steering handwheel.
  • the task of the control loop of the steering wheel actuator is to set the relative rotation between the upper steering column and the steering handwheel in accordance with the specified target value.
  • the setpoint of the steering torque felt by the driver as a reaction on the steering handwheel is the reference variable in the control loop. Friction and inertia moments of the components occur as disturbance variables in the control loop.
  • the present invention has for its object to present a steering system that gives the driver a steering feeling that corresponds to the actual driving condition, regardless of interference.
  • a precontrol is implemented in the control loop, which can use the measured or calculated steering wheel acceleration to achieve a sufficiently quick response of the steering handwheel torque to changes in the driving state.
  • the pilot control is characterized by the quantities of inertia, acceleration of the ink on the steering wheel and gear ratio.
  • the single figure shows a control loop of a steering wheel actuator in a steering system according to the invention.
  • a steering wheel target torque 1 specified via a steering handwheel (not shown) is converted into a target torsion bar rotation angle 3 via the rigidity of the torsion bar 2.
  • a controller 4 is used to control tion 5 a target torque passed to an electric motor ⁇ .
  • a torsion bar actual torsion angle 11 is generated via a steering column 10, which is compared with the torsion bar target torsion angle 3.

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

Abstract

The invention relates to a steering system comprising a control circuit for at least one steering actuator, and a control circuit for at least one steering wheel actuator, said steering wheel actuator being connected to the steering actuator by means of a control circuit. The control circuit of the steering wheel actuator comprises a pilot control (5) for improving the control quality of the torque on the steering handwheel during rapid steering movements. (47) A pre-determined steering wheel nominal moment (1) is converted into a torsion-bar nominal twisting angle (3) due to the rigidity of the torsion bar (2). A nominal moment is transmitted to an electric motor (6) via a control system (4) by means of a pilot control (5). A torsion-bar actual twisting angle (11) is produced by means of a steering column (10) via a gearbox (7) and in view of friction (8) and inertia (9), the actual twisting angle of said torsion bar being aligned with the torsion-bar nominal twisting angle (3).

Description

Lenksystem steering system
Die Erfindung betrifft ein Lenksystem nach der im 0- berbegriff von Anspruch 1 näher definierten Art.The invention relates to a steering system according to the type defined in more detail in the preamble of claim 1.
Lenksysteme, die nach dem steer-by-wire-Prinzip arbeiten, unterscheiden sich von konventionellen Lenksystemen dadurch, daß keine mechanische Verbindung zwischen dem Lenkhandrad und dem gelenkten Rad besteht. Durch die Auftrennung des Lenksystems fällt das von den konventionellen Lenksystemen über die Lenksäule an das Lenkhandrad gelieferte Drehmoment weg. Das bisher von der Fahrbahn, den Reifen, dem Fahrwerk und dem Übertragungsverhalten des Lenk- Systems bestimmte Lenkgefühl wird ersatzweise durch einen Lenkradaktuator erzeugt. Die durch einen oder mehrere Kraft-/Drehmomentsensoren erfaßten Kräfte oder Drehmomente im Lenkgestänge der gelenkten Räder werden an eine zentrale Steuereinheit weitergeleitet. Über einen Lenkradaktuator wird dem Fahrer in Abhängigkeit des jeweiligen Betriebszustandes eine Rückwirkung weitergegeben, die' ähnlich den bei einem konventionellen Lenksystem auftretenden Kräften und Drehmomenten ist. Im Fahrbetrieb liefern Kraft-/Drehmomentsensoren im Lenkge- stänge der gelenkten Räder Kraftsignale, die proportional zu den an den gelenkten Rädern auftretenden Lenkkräften sind. Die auftretenden Kräfte/Drehmomente werden erfaßt, von einer Steuereinheit ausgewertet und an den Lenkradaktuator zur Drehmomenterzeugung am Lenkhandrad weitergeleitet. Die Ansteueruήg des Lenkradaktuators erfolgt derart, daß der vom Fahrer wahrgenommene Drehwiderstand bzw. Drehmomentverlauf demjenigen entspricht, der von einem konventio- nellen Lenksystem bei gleicher Kraft-/Drehmoment-einwirkung im Lenkgestänge hervorgerufen worden wäre. Die aus dem Stand der Technik bekannten steer-by-wire- Lenksysteme weisen einen Lenkradaktuator und einen Lenkak- tuator auf, die über einen Regelkreis miteinander verbunden sind. Der Lenkradaktuator besteht aus den Bauteilen Lenkhandrad, obere Lenksäule und Elektromotor. Verbunden sind diese drei Bauteile durch eine Drehstabfeder und ein Getriebe. Der Lenkaktuator setzt sich aus unterer Lenksäule und einem Stellglied zusammen. Dabei kann es sich beispielsweise um eine mit einem Elektromotor zusammenwirkende Schubstange oder einen mit einem Proportionalventil gekoppelten Arbeitskolben handeln.Steering systems that work on the steer-by-wire principle differ from conventional steering systems in that there is no mechanical connection between the steering handwheel and the steered wheel. By separating the steering system, the torque delivered by the conventional steering systems via the steering column to the steering handwheel is eliminated. The steering feeling previously determined by the road surface, the tires, the chassis and the transmission behavior of the steering system is alternatively generated by a steering wheel actuator. The forces or torques in the steering linkage of the steered wheels detected by one or more force / torque sensors are forwarded to a central control unit. The driver is passed on a reaction depending on the respective operating state of a steering wheel actuator that is' similar to the forces occurring in a conventional steering system, and torques. When driving, force / torque sensors in the steering linkage of the steered wheels deliver force signals which are proportional to the steering forces occurring on the steered wheels. The forces / torques that occur are recorded, evaluated by a control unit and forwarded to the steering wheel actuator for generating torque on the steering handwheel. The steering wheel actuator is controlled in such a way that the rotational resistance or torque curve perceived by the driver corresponds to that which is experienced by a conventional would have been caused in the steering linkage with the same force / torque effect. The steer-by-wire steering systems known from the prior art have a steering wheel actuator and a steering actuator, which are connected to one another via a control loop. The steering wheel actuator consists of the components steering wheel, upper steering column and electric motor. These three components are connected by a torsion bar spring and a gear. The steering actuator consists of a lower steering column and an actuator. This can be, for example, a push rod that interacts with an electric motor or a working piston that is coupled to a proportional valve.
Sowohl der Lenkrad- als auch der Lenkaktuator werden jeweils durch einen Regelkreis gesteuert. Der Regelkreis des Lenkradaktuators hat die Aufgabe entsprechend dem Fahrzustand über ein Drehmoment eine Rückwirkung am Lenkhandrad zu erzeugen, die dem Fahrer dasselbe Lenkgefühl vermittelt, wie er es aus herkömmlichen, mechanisch gekoppelten Lenksystemen gewohnt ist. Das Lenkradmoment wird durch eine Verdrehung der Drehstabfeder erzeugt, die einer Relativverdrehung der oberen Lenksäule zum Lenkhandrad entspricht. Aufgabe des Regelkreises des Lenkradaktuators ist es die relative Verdrehung zwischen oberer Lenksäule und Lenkhandrad entsprechend dem vorgegebenen Sollwert einzustellen. Der Sollwert des für den Fahrer als Rückwirkung am Lenkhandrad spürbaren Lenkmoments ist die Führungsgröße im Regelkreis. Als Störgrößen im Regelkreis treten Reib- und Trägheitsmomente der Bauteile auf.Both the steering wheel and the steering actuator are each controlled by a control loop. The control circuit of the steering wheel actuator has the task of generating a reaction on the steering handwheel based on the driving state, which gives the driver the same steering feel as he is used to from conventional, mechanically coupled steering systems. The steering wheel torque is generated by a rotation of the torsion bar spring, which corresponds to a relative rotation of the upper steering column to the steering handwheel. The task of the control loop of the steering wheel actuator is to set the relative rotation between the upper steering column and the steering handwheel in accordance with the specified target value. The setpoint of the steering torque felt by the driver as a reaction on the steering handwheel is the reference variable in the control loop. Friction and inertia moments of the components occur as disturbance variables in the control loop.
Diese Störgrößen können zu einem zeitverzögerten Ansprechen des Lenksystems auf den Lenkwunsch des Fahrers führen, sowie die Rückwirkung am Lenkhandrad negativ beeinflussen. Infolgedessen stellt sich beim Fahrer ein Unsicherheitsgefühl ein.These disturbance variables can lead to a delayed response of the steering system to the driver's wish to steer, and can negatively influence the reaction on the steering handwheel. As a result, the driver experiences a feeling of insecurity.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde ein Lenksystem darzustellen, das unabhängig von Störungseinflüssen dem Fahrer ein Lenkgefühl vermittelt, das dem tatsächlichen Fahrzustand entspricht.The present invention has for its object to present a steering system that gives the driver a steering feeling that corresponds to the actual driving condition, regardless of interference.
Die der Erfindung zugrundeliegende Aufgabe wird durch ein, auch die kennzeichnenden Merkmale des Hauptanspruchs aufweisendes, gattungsgemäßes Lenksystem gelöst.The object on which the invention is based is achieved by a generic steering system which also has the characterizing features of the main claim.
Um die Regelqualität des Regelkreises des Lenkradaktuators zu verbessern, wird in dem Regelkreis eine Vorsteue- rung implementiert, die mit Hilfe der gemessenen oder berechneten Lenkradbeschleunigung ein ausreichend schnelles Ansprechen des Lenkhandradmomentes auf Änderungen des Fahrzustands realisieren kann. Die Vorsteuerung ist durch die Größen Trägheit, inkelbe- schleunigung am Lenkhandrad und Übersetzung des Getriebes gekennzeichnet .In order to improve the control quality of the control loop of the steering wheel actuator, a precontrol is implemented in the control loop, which can use the measured or calculated steering wheel acceleration to achieve a sufficiently quick response of the steering handwheel torque to changes in the driving state. The pilot control is characterized by the quantities of inertia, acceleration of the ink on the steering wheel and gear ratio.
Nachfolgend ist anhand der Figur ein Ausführungsbeispiel eines erfindungsgemäßen Lenksystems näher beschrie- ben.An exemplary embodiment of a steering system according to the invention is described in more detail below with reference to the figure.
Die einzige Figur zeigt einen Regelkreis eines Lenkradaktuators in einem erfindungsgemäßen Lenksystem.The single figure shows a control loop of a steering wheel actuator in a steering system according to the invention.
Ein über ein nicht dargestelltes Lenkhandrad vorgegebenes Lenkrad-Sollmoment 1 wird über die Steifigkeit des Drehstabes 2 in einen Drehstab-Sollverdrehwinkel 3 umgewandelt. Über einen Regler 4 wird mit Hilfe einer Vorsteue- rung 5 ein Sollmoment an einen Elektromotor β weitergegeben. Über ein Getriebe 7 und unter Berücksichtigung von Reibung 8 und Trägheit 9 wird über eine Lenksäule 10 ein Drehstab-Istverdrehwinkel 11 erzeugt, der mit dem Drehstab- Sollverdrehwinkel 3 abgeglichen wird. A steering wheel target torque 1 specified via a steering handwheel (not shown) is converted into a target torsion bar rotation angle 3 via the rigidity of the torsion bar 2. A controller 4 is used to control tion 5 a target torque passed to an electric motor β. Via a gear 7 and taking into account friction 8 and inertia 9, a torsion bar actual torsion angle 11 is generated via a steering column 10, which is compared with the torsion bar target torsion angle 3.
Bezugszeichenreference numeral
I Lenkrad-Sollmoment 2 DrehstabI Target steering wheel torque 2 torsion bar
3 Drehstab-Sollverdrehwinkel3 torsion bar set torsion angle
4 Regler4 controllers
5 Vorsteuerung5 feedforward control
6 Elektromotor 7 Getriebe6 electric motor 7 gearbox
8 Reibung8 friction
9 Trägheit9 laziness
10 Lenksäule10 steering column
II Drehstab-Istverdrehwinkel II Actual torsion bar torsion angle

Claims

P a t e n t a n s p r ü c h e Patent claims
1. Lenksystem mit einem Regelkreis für mindestens ei- nen Lenkaktuator und einem Regelkreis für mindestens einen1. Steering system with a control loop for at least one steering actuator and a control loop for at least one
Lenkradaktuator, wobei der Lenkradaktuator mit dem Lenkaktuator über einen Regelkreis verbunden ist, dadurch g e k e n n z e i c h n e t , daß der Regelkreis des Lenkradaktuators eine Vorsteuerung aufweist, um die Regelqualität des Drehmomentes am Lenkhandrad zu verbessern.Steering wheel actuator, wherein the steering wheel actuator is connected to the steering actuator via a control loop, in that the control loop of the steering wheel actuator has a pilot control in order to improve the control quality of the torque on the steering handwheel.
2. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß die Vorsteuerung durch die Kenngrößen Trägheit, Winkelbeschleunigung am Lenkhandrad und Über- setzung eines Getriebes bestimmt wird.2. Steering system according to claim 1, characterized in that the pilot control is determined by the parameters inertia, angular acceleration on the steering handwheel and gear ratio.
3. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkaktuator einen Elektromotor aufweist, der über einen Kugelumlaufmechanismus auf eine Schubstange wirkt.3. Steering system according to claim 1, characterized in that the steering actuator has an electric motor which acts on a push rod via a recirculating ball mechanism.
4. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkaktuator mindestens einen Elektromotor ausweist, der über ein Antriebsritzel aus eine Zahnstange wirkt.4. Steering system according to claim 1, characterized in that the steering actuator has at least one electric motor which acts via a drive pinion from a rack.
5. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkradaktuator einen Elektromotor enthält, der dem Fahrer über das Lenkhandrad ein Drehmoment zurückliefert. 5. Steering system according to claim 1, characterized in that the steering wheel actuator contains an electric motor which delivers a torque back to the driver via the steering handwheel.
6. Lenksystem nach Anspruch 5, dadurch g e k e n n z e i c h n e t , daß der Elektromotor des Lenkradaktuators ein Asynchronmotor ist.6. Steering system according to claim 5, characterized in that the electric motor of the steering wheel actuator is an asynchronous motor.
7. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkaktuator ein Proportionalventil aufweist, das einen Arbeitskolben steuert. 7. Steering system according to claim 1, characterized in that the steering actuator has a proportional valve which controls a working piston.
PCT/EP2001/007146 2000-07-01 2001-06-23 Steering system WO2002002392A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10032113.5A DE10032113B4 (en) 2000-07-01 2000-07-01 steering system
DE10032113.5 2000-07-01

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WO (1) WO2002002392A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013139490A1 (en) * 2012-03-19 2013-09-26 Zf Lenksysteme Gmbh Method for operating a steering system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010036655A1 (en) 2010-07-27 2012-02-02 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for operating a steering system

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US5251135A (en) * 1990-09-25 1993-10-05 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system
DE19801974A1 (en) * 1997-01-22 1998-07-23 Toyota Motor Co Ltd Vehicle steering control device
EP0860347A1 (en) * 1997-02-19 1998-08-26 Koyo Seiko Co., Ltd. Vehicle steering apparatus
EP0974507A2 (en) * 1998-07-23 2000-01-26 Bayerische Motoren Werke Aktiengesellschaft Vehicular steering system

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Publication number Priority date Publication date Assignee Title
JPH05105100A (en) * 1991-09-27 1993-04-27 Honda Motor Co Ltd Vehicle steering system
JP3517863B2 (en) * 1997-02-07 2004-04-12 トヨタ自動車株式会社 Steering control device
DE29720631U1 (en) * 1997-11-20 1998-12-24 Siemens AG, 80333 München Power steering device for a motor vehicle
DE19755044C1 (en) * 1997-12-11 1999-03-04 Daimler Benz Ag Motor vehicle steering arrangement
US6389342B1 (en) * 1999-04-14 2002-05-14 Koyo Seiko Co., Ltd. Steering apparatus for vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5251135A (en) * 1990-09-25 1993-10-05 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system
DE19801974A1 (en) * 1997-01-22 1998-07-23 Toyota Motor Co Ltd Vehicle steering control device
EP0860347A1 (en) * 1997-02-19 1998-08-26 Koyo Seiko Co., Ltd. Vehicle steering apparatus
EP0974507A2 (en) * 1998-07-23 2000-01-26 Bayerische Motoren Werke Aktiengesellschaft Vehicular steering system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013139490A1 (en) * 2012-03-19 2013-09-26 Zf Lenksysteme Gmbh Method for operating a steering system

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Publication number Publication date
DE10032113A1 (en) 2002-01-10
DE10032113B4 (en) 2015-07-16

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