WO2002032743A1 - Systeme de direction - Google Patents

Systeme de direction Download PDF

Info

Publication number
WO2002032743A1
WO2002032743A1 PCT/EP2001/012003 EP0112003W WO0232743A1 WO 2002032743 A1 WO2002032743 A1 WO 2002032743A1 EP 0112003 W EP0112003 W EP 0112003W WO 0232743 A1 WO0232743 A1 WO 0232743A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
steering system
torque
handwheel
actuator
Prior art date
Application number
PCT/EP2001/012003
Other languages
German (de)
English (en)
Inventor
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 WO2002032743A1 publication Critical patent/WO2002032743A1/fr

Links

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
    • 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
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0466—Controlling the motor for returning the steering wheel to neutral position

Definitions

  • the invention relates to a steering system for motor vehicles according to the kind defined in the preamble of claim 1.
  • Steering systems that work without mechanical coupling between the steering handwheel and the steered vehicle wheels are known as steer-by-wire steering systems.
  • These steering systems have a steering wheel actuator coupled to the steering handwheel, which is composed, for example, of an electric motor, steering angle sensor and / or torque sensor.
  • This steering wheel actuator is connected via electronic control to a steering actuator that can work electrically, hydraulically or pneumatically.
  • the difference between a predetermined target value and a measured actual value of the steering lock is detected by a detection unit and transmitted to a control unit.
  • An electronic unit calculates from this signal and depending on other factors such.
  • B. vehicle speed, lateral acceleration, road surface and loading condition a required auxiliary torque that is transmitted via the steering actuator to the wheels of the motor vehicle to be steered.
  • a corresponding signal is transmitted to the steering handwheel via the steering wheel actuator, so that the driver perceives the same steering feeling as he is used to from conventional, mechanically coupled power steering systems.
  • the driver uses the steering wheel to transmit a steering wheel angle (target value) to the steering system.
  • a rack and pinion steering as a steering actuator a rack force.
  • This rack and pinion force causes a steering angle or a rack and pinion travel, which is set as a controlled variable on the steering gear (actual value).
  • a steering torque is formed in the steering system, which provides the driver with a reference to the predetermined steering wheel angle or to the behavior of the vehicle from this steering angle. It is also possible from the
  • Strain gauges determined tie rod force on the steering actuator to determine the target value for the steering torque on the steering handwheel.
  • DE 199 21 307 AI describes a control concept for a steering system which has a steering actuator and a steering handwheel actuator and in which the steering angle is first detected. This is multiplied by a steering ratio, which creates a target angle for a lower one
  • a displacement path of a rack can also be expected, since there is a linear relationship between the steering column angle and the displacement path of the rack via the translation of the drive pinion.
  • An angle of rotation of the rotor of the electric motor is measured on the steering actuator and from this the actual actual angle or the displacement of the rack can be determined.
  • the control deviation is the difference between the target angle and the actual angle.
  • a position controller sets the target position on the rack. If you use a position controller without an I component, a stationary control deviation is always retained. On the one hand, this control deviation serves for Position control of the rack and on the other hand as a basis for determining the steering handwheel setpoint torque.
  • the control deviation can also be viewed as a virtual rotation of a torsion bar. If the control deviation is multiplied by a value that reflects the stiffness of the torsion bar, the steering handwheel setpoint torque is obtained. When using a non-linear characteristic or function it can be achieved that the steering handwheel setpoint torque increases only slightly with large control deviations.
  • the steering handwheel setpoint torque is controlled or regulated via the steering handwheel actuator. In the case of a control, only the motor current of the steering handwheel actuator is regulated, while in the case of one regulation an additional regulation is superimposed on the whole.
  • the actual steering handwheel torque is measured by a sensor, compared with the steering handwheel setpoint torque and adjusted as a manipulated variable via the steering handwheel actuator setpoint torque. In the case of pure control, however, the manipulated variable corresponds directly to the setpoint.
  • the present invention has for its object to present a steering system with improved reset.
  • 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.
  • the problem is solved, in particular, by calculating a second, manipulated control deviation for determining the steering handwheel setpoint torque with the position control unchanged.
  • the actual angle is multiplied by a manipulation factor that has a value less than 1.
  • the manipulated control deviation i. H. the manipulated angle difference between the target angle and the actual angle. This means that the steering handwheel setpoint torque is always increased in the direction of straight-ahead driving. This results in a good reset behavior of the steering system.
  • the manipulation factor should always be kept as close as possible to 1 in order to achieve a good driving experience in addition to good reset behavior.
  • the single figure shows a basic illustration of the control or regulation of a steering system according to the invention.
  • Steering handwheel actuator 1 which has an electric motor on an upper part of a steering column, introduced steering wheel angle 2 is detected and with the aid of a steering ratio 3 converted into a target steering angle 4 for a lower steering column.
  • a displacement path of a rack can also be expected since there is a linear relationship between the steering angle on a lower steering column and the displacement path of the rack due to the translation of a drive pinion.
  • a motor rotor angle is measured on a steering actuator 5, which here is to consist, for example, of an electric motor with a recirculating ball mechanism, from which the actual steering angle 6 for a lower steering column or an actual rack travel can be determined.
  • a control deviation 7 results from the difference between the desired steering angle 4 and the actual steering angle 6.
  • a position controller 8 uses this to determine a desired steering actuator torque 14, which uses a field-oriented control 15 on the steering actuator 5 to set the desired steering angle 4 position on the rack , If a position controller 8 without an I component is used, a stationary control deviation is always retained.
  • the control deviation 7 can also be used to determine a target steering wheel torque 9.
  • the control deviation 7 thus also represents a rotation of a virtual torsion bar.
  • a second manipulated control deviation 10 is calculated in order to determine the steering handwheel setpoint torque 9.
  • the actual steering angle 6 is first multiplied by a manipulation factor 11, the amount of which is less than 1, which results in a manipulated actual steering angle 16.
  • a manipulated control deviation 10 results from the desired steering angle 4 and the manipulated actual steering angle 16.
  • the manipulated control deviation 10 is used to calculate a steering feel torque 12, which means that the steering feel torque 12 is always increased in the direction of straight travel. This in turn leads to a good reset behavior of the steering system.
  • the steering feel torque 12 can correspond to the Subjective requirements 17 of the driver can be customized.
  • a torsion bar stop torque 13 is added to the steering feel torque 12, which is determined from the control deviation 7 and how a torsion bar stop of a conventional steering system functions.
  • a steering support 18 is stored in the form of a characteristic curve 18 in such a way that the steering feel torque 12 only increases moderately with a large manipulated control deviation 10.
  • the steering feel torque 12 is controlled or regulated with the aid of a control module 19 of the steering wheel actuator 1.

Landscapes

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

Abstract

L'invention concerne un système de direction produisant une grandeur de régulation au moyen d'un actionneur de direction (5) à l'aide d'une valeur seuil prédéterminée par le conducteur par l'intermédiaire du volant. Ladite grandeur de régulation, associée à un écart de régulation (7) de la valeur seuil et de la grandeur de régulation, sert à la détermination du moment de direction appliqué au volant. Ledit système de direction est caractérisé en ce qu'un deuxième écart de régulation (10) modifié par un facteur de manipulation (11) est calculé, ledit deuxième écart de régulation modifiant le moment de direction dans le sens de déplacement rectiligne, permettant ainsi un retour du volant en position droite.
PCT/EP2001/012003 2000-10-19 2001-10-17 Systeme de direction WO2002032743A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10051864.8 2000-10-19
DE2000151864 DE10051864A1 (de) 2000-10-19 2000-10-19 Lenksystem

Publications (1)

Publication Number Publication Date
WO2002032743A1 true WO2002032743A1 (fr) 2002-04-25

Family

ID=7660347

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2001/012003 WO2002032743A1 (fr) 2000-10-19 2001-10-17 Systeme de direction

Country Status (2)

Country Link
DE (1) DE10051864A1 (fr)
WO (1) WO2002032743A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010081592A3 (fr) * 2009-01-13 2011-05-19 Zf Lenksysteme Gmbh Procédé de fonctionnement d'une direction assistée

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6889209B1 (en) 2000-11-03 2005-05-03 Shieldip, Inc. Method and apparatus for protecting information and privacy
DE10230309B4 (de) * 2002-07-05 2007-04-05 Man Nutzfahrzeuge Ag Vorrichtung für Kraftfahrzeuge für Lenkkraftüberwachung
US7454986B2 (en) 2002-09-06 2008-11-25 Volkswagen Aktiengesellschaft Device and method for measuring torque in an electromechanical steering system
DE10244068A1 (de) * 2002-09-06 2004-03-11 Volkswagen Ag Vorrichtung und Verfahren zur Drehmomentmessung für eine elektromechanische Lenkung
DE102004048107B4 (de) * 2004-10-02 2007-09-20 Zf Lenksysteme Gmbh Positionsabhängige Reibungskompensation für Lenksysteme
DE102014210524A1 (de) * 2014-06-03 2015-12-03 Continental Teves Ag & Co. Ohg Lenkmomentmessung mittels Resolver
EP3696053B1 (fr) 2019-02-15 2021-08-25 Volkswagen Ag Système de direction par câbles pour un véhicule et procédé de fonctionnement d'un système de direction par câbles

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0858942A1 (fr) * 1997-02-12 1998-08-19 Koyo Seiko Co., Ltd. Dispositif de direction pour véhicule
DE19755044C1 (de) * 1997-12-11 1999-03-04 Daimler Benz Ag Fahrzeuglenkung
DE19921307A1 (de) 1999-05-07 2000-11-09 Zf Lenksysteme Gmbh Hilfskraft-Lenksystem

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3517863B2 (ja) * 1997-02-07 2004-04-12 トヨタ自動車株式会社 操舵制御装置
DE19833189A1 (de) * 1998-07-23 2000-01-27 Bayerische Motoren Werke Ag Lenksystem für ein Fahrzeug
DE19859806B4 (de) * 1998-12-23 2005-03-31 Daimlerchrysler Ag Lenksystem für Kraftfahrzeuge
DE19907792C2 (de) * 1999-02-24 2001-03-08 Daimler Chrysler Ag Regelungssystem
DE19908832A1 (de) * 1999-03-01 2000-09-07 Volkswagen Ag Lenkvorrichtung für Fahrzeuge

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0858942A1 (fr) * 1997-02-12 1998-08-19 Koyo Seiko Co., Ltd. Dispositif de direction pour véhicule
DE19755044C1 (de) * 1997-12-11 1999-03-04 Daimler Benz Ag Fahrzeuglenkung
DE19921307A1 (de) 1999-05-07 2000-11-09 Zf Lenksysteme Gmbh Hilfskraft-Lenksystem

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010081592A3 (fr) * 2009-01-13 2011-05-19 Zf Lenksysteme Gmbh Procédé de fonctionnement d'une direction assistée
CN102264592B (zh) * 2009-01-13 2015-01-07 Zf操作系统有限公司 用于操作辅助动力转向器的方法

Also Published As

Publication number Publication date
DE10051864A1 (de) 2002-04-25

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