WO2003097428A1 - Verfahren zum betrieb eines lenksystems für ein kraftfahrzeug und lenksystem - Google Patents
Verfahren zum betrieb eines lenksystems für ein kraftfahrzeug und lenksystem Download PDFInfo
- Publication number
- WO2003097428A1 WO2003097428A1 PCT/EP2003/004632 EP0304632W WO03097428A1 WO 2003097428 A1 WO2003097428 A1 WO 2003097428A1 EP 0304632 W EP0304632 W EP 0304632W WO 03097428 A1 WO03097428 A1 WO 03097428A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- steering
- hysteresis
- compensated
- servomotor
- Prior art date
Links
Classifications
-
- 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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Definitions
- the invention relates to a method for operating a steering system for a motor vehicle and to a steering system according to the preamble of claims 1 and 6, respectively.
- a steering system for a motor vehicle in which the steering movement of the driver is transmitted via the steering wheel and a steering shaft to a steering gear via which the steering movement is converted into an actuating movement of the steered front wheels, taking into account a gear ratio ,
- a servo motor is provided in which, depending on the manual steering torque generated by the driver, an engine actuating torque is generated which is transmitted to the steered vehicle wheels.
- the problem with such steering systems is that an increased steering resistance, which is due to system friction in the steering system, has to be overcome by the driver, in particular to trigger a steering movement.
- the system friction arises from the interaction of moving mechanical parts in the steering system.
- the friction can in principle be compensated for by applying the motor actuating torque, there is the problem when initiating a steering movement that the friction compensation only becomes fully effective with increasing motor speed of the servomotor.
- the driver With small steering movements, the driver must therefore apply an increased steering torque, which leads to leads to a subjectively uncomfortable steering feeling.
- the invention is based on the problem of creating a steering system or a method for operating a steering system in which the steering torque to be applied by the driver is reduced even with slight steering movements. This should also apply in particular to steering systems with a continuous mechanical connection between the steering wheel and the steered wheels.
- a hysteresis torque that at least approximately compensates for the friction in the steering system and is added to the target torque is taken into account in the target torque specification that is fed to the servomotor for generating the actual engine actuating torque.
- This desired engine torque, which compensates for the friction in the steering system is determined before the setpoint torque is transmitted to the servomotor, expediently in an upstream regulating and control unit in the steering system.
- the system friction in the steering system can be at least approximately compensated for, and in particular in the area of small steering movements, the steering torque to be applied by the driver can be reduced by taking the hysteresis torque into account in the target torque specification. The reduced steering forces with small steering movements also improve the subjective driving experience for the driver.
- the hysteresis torque is advantageously determined from a hysteresis characteristic curve as a function of the non-compensated setpoint torque, for example by the non-compensated setpoint torque in the
- the hysteresis characteristic is included as an input variable and a theoretical actual torque is determined as the output variable, which results from the non-compensated setpoint torque taking into account the hysteresis.
- the hysteresis torque can then be determined by subtracting the theoretical actual torque from the non-compensated target torque.
- the hysteresis torque denotes the torque difference between the ideal course of the actual torque and the theoretical actual torque resulting from the hysteresis. This torque difference amount is added to the non-compensated setpoint torque in order to achieve the compensated motor setpoint torque.
- the non-compensated setpoint torque is preferably determined as a function of a non-compensated motor setpoint torque, which in turn is to be determined as a function of the manual steering torque specified by the driver to reinforce the steering movement.
- the manual steering torque specified by the driver can be taken into account in the non-compensated target torque, but expediently only after a steering ratio in a transmission gear of the steering system.
- the steering system according to the invention which is advantageously suitable for carrying out the method, comprises a transmission gear via a transmission path between the steering wheel and the steered vehicle wheels and a servomotor for increasing the manual steering torque and a regulating and control unit in which a hysteresis function characterizing the friction in the steering system is stored and a hysteresis torque is to be determined, which is added to compensate the friction on the setpoint torque to be supplied to a servomotor.
- a manual steering torque M is initially by the driver transmitted hand on the steering wheel of the vehicle which undergoes the successive block 2 in a transmission gear of the steering system, a steering gear according to and nd to a value M Ha, UE reduced.
- a non-compensated target engine torque Mjtot, soi ⁇ is generated in a block 3, which is to be supplied to the servo motor M of the steering system to increase the steering force as a target specification - together with the manual steering torque.
- the non-compensated target engine torque M Mot , soi ⁇ can be calculated, for example, as a non-linear function as a function of the manual steering torque M Han d.
- the non-compensated target engine torque M Mo t, soi ⁇ and the translated manual steering torque M a nd, 0 are combined in an adder 4 and added to a non-compensated target torque M so n.
- This non-compensated setpoint torque M so ⁇ is fed as an input variable to a hysteresis characteristic curve 5, via which the system friction in the steering system can be taken into account.
- a theoretical actual torque M is determined, in which the hysteresis is taken into account and which is available at the output of the hysteresis characteristic 5 for further processing.
- the hysteresis torque M H y ⁇ is added to the non-compensated engine setpoint M Mot , s o i ⁇ , whereby a compensated setpoint torque M so ⁇ , ⁇ - omp is achieved, which includes compensation of the system friction .
- This compensated setpoint torque M sol ⁇ , komp is supplied to the servo motor M as a setpoint torque in the further course, whereupon the servo motor M generates an actual motor actuating torque M servo , which is transmitted to the steered vehicle wheels for setting the desired steering angle.
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
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004504782A JP4361480B2 (ja) | 2002-05-16 | 2003-05-02 | 自動車のステアリングシステムの運転方法およびステアリングシステム |
DE50306313T DE50306313D1 (de) | 2002-05-16 | 2003-05-02 | Verfahren zum betrieb eines lenksystems für ein kraftfahrzeug und lenksystem |
EP03720548A EP1503928B1 (de) | 2002-05-16 | 2003-05-02 | Verfahren zum betrieb eines lenksystems für ein kraftfahrzeug und lenksystem |
US10/985,418 US7035722B2 (en) | 2002-05-16 | 2004-11-10 | Method for operating a steering system for a motor vehicle and steering system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10221678.9 | 2002-05-16 | ||
DE10221678A DE10221678A1 (de) | 2002-05-16 | 2002-05-16 | Verfahren zum Betrieb eines Lenksystems für ein Kraftfahrzeug und Lenksystem |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/985,418 Continuation US7035722B2 (en) | 2002-05-16 | 2004-11-10 | Method for operating a steering system for a motor vehicle and steering system |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003097428A1 true WO2003097428A1 (de) | 2003-11-27 |
Family
ID=29413862
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2003/004632 WO2003097428A1 (de) | 2002-05-16 | 2003-05-02 | Verfahren zum betrieb eines lenksystems für ein kraftfahrzeug und lenksystem |
Country Status (7)
Country | Link |
---|---|
US (1) | US7035722B2 (de) |
EP (1) | EP1503928B1 (de) |
JP (1) | JP4361480B2 (de) |
CN (1) | CN100344489C (de) |
DE (2) | DE10221678A1 (de) |
ES (1) | ES2280743T3 (de) |
WO (1) | WO2003097428A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013060897A1 (en) * | 2011-10-27 | 2013-05-02 | Jaguar Cars Ltd | Improvements in closed loop epas systems |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004048107B4 (de) | 2004-10-02 | 2007-09-20 | Zf Lenksysteme Gmbh | Positionsabhängige Reibungskompensation für Lenksysteme |
DE102006057880B4 (de) * | 2006-12-08 | 2014-07-10 | Zf Lenksysteme Gmbh | Verfahren zum Betrieb eines Lenksystems in einem Kraftfahrzeug |
DE102007006232A1 (de) | 2007-02-08 | 2008-08-14 | Zf Lenksysteme Gmbh | Verfahren zum Betrieb eines Lenksystems in einem Kraftfahrzeug |
GB0807935D0 (en) * | 2008-05-01 | 2008-06-11 | Trw Ltd | Improvements relating to steering systems |
PL2239180T3 (pl) * | 2009-04-07 | 2012-04-30 | Gm Global Tech Operations Llc | Oszacowanie i wykrywanie tarcia dla elektrycznego systemu wspomagania układu kierowniczego |
DE102009003147A1 (de) | 2009-05-15 | 2010-11-18 | Zf Lenksysteme Gmbh | Verfahren zum Betrieb eines Lenksystems in einem Fahrzeug |
DE102010015425A1 (de) * | 2010-04-19 | 2011-10-20 | Audi Ag | Vorrichtung zum Betreiben einer Antriebseinheit eines Kraftfahrzeugs |
JP6308379B2 (ja) * | 2012-11-26 | 2018-04-11 | 株式会社ジェイテクト | 制御システム |
US9487230B2 (en) * | 2013-03-29 | 2016-11-08 | Hitachi Automotive Systems Steering, Ltd. | Power steering device, and control device used for same |
KR102200098B1 (ko) * | 2015-02-26 | 2021-01-07 | 현대자동차주식회사 | 전동식 파워 스티어링 시스템의 조향토크 보상 제어 방법 |
JP6409821B2 (ja) * | 2016-05-02 | 2018-10-24 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
JP6409820B2 (ja) * | 2016-05-02 | 2018-10-24 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
CN108068880B (zh) * | 2016-11-14 | 2021-01-19 | 比亚迪股份有限公司 | 车辆转向控制方法、装置和车辆 |
CN108674482B (zh) * | 2018-05-18 | 2020-09-15 | 北京汽车股份有限公司 | 电动助力转向系统、控制方法、及车辆 |
DE102018215555A1 (de) * | 2018-09-12 | 2020-03-12 | Volkswagen Aktiengesellschaft | Verfahren zum Ermitteln einer Zahnstangenkraft eines steer-by-wire-Lenksystems, steer-by-wire-Lenksystem und Fahrzeug |
DE102018217502B3 (de) | 2018-10-12 | 2019-10-10 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Hilfskraftlenksystems eines Kraftfahrzeugs, Steuergerät, Hilfskraftlenksystem |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3842334A1 (de) * | 1988-12-16 | 1990-06-21 | Bosch Gmbh Robert | Verfahren zur unterstuetzung der bei einem fahrzeug aufzubringenden lenkkraefte |
WO2001060682A1 (en) * | 2000-02-18 | 2001-08-23 | Delphi Technologies, Inc. | Automatic compensation for electric power steering hysteresis |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5236056A (en) * | 1988-12-16 | 1993-08-17 | Robert Bosch Gmbh | Method for assisting the steering forces to be produced in a vehicle |
US5513720A (en) * | 1991-01-23 | 1996-05-07 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Power steering apparatus for vehicle |
JP2937314B2 (ja) * | 1994-06-27 | 1999-08-23 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
JPH08282519A (ja) * | 1995-04-10 | 1996-10-29 | Mitsubishi Electric Corp | 電動パワーステアリング装置の制御装置 |
US5709281A (en) * | 1995-09-14 | 1998-01-20 | Trw Inc. | Method and apparatus for adjusting steering feel |
JP3218950B2 (ja) * | 1995-12-11 | 2001-10-15 | トヨタ自動車株式会社 | 車両用操舵制御装置 |
DE19713576A1 (de) | 1997-04-02 | 1998-10-08 | Bosch Gmbh Robert | Verfahren und Vorrichtung zum Betrieb eines Lenksystems für ein Kraftfahrzeug |
JP3625662B2 (ja) * | 1998-10-05 | 2005-03-02 | 三菱電機株式会社 | 電動パワーステアリング装置 |
JP3481468B2 (ja) * | 1998-09-30 | 2003-12-22 | 三菱電機株式会社 | 電動パワーステアリング装置 |
JP3412579B2 (ja) * | 1999-10-19 | 2003-06-03 | トヨタ自動車株式会社 | 車両の電動パワーステアリング装置 |
DE10025481A1 (de) * | 2000-05-23 | 2001-11-29 | Zahnradfabrik Friedrichshafen | Lenksystem |
CN1276313A (zh) * | 2000-07-27 | 2000-12-13 | 田文杰 | 多功能电动转向机 |
JP2002046632A (ja) * | 2000-08-07 | 2002-02-12 | Nsk Ltd | 電動パワーステアリング装置の制御装置 |
-
2002
- 2002-05-16 DE DE10221678A patent/DE10221678A1/de not_active Withdrawn
-
2003
- 2003-05-02 JP JP2004504782A patent/JP4361480B2/ja not_active Expired - Fee Related
- 2003-05-02 EP EP03720548A patent/EP1503928B1/de not_active Expired - Lifetime
- 2003-05-02 DE DE50306313T patent/DE50306313D1/de not_active Expired - Lifetime
- 2003-05-02 CN CNB038111705A patent/CN100344489C/zh not_active Expired - Fee Related
- 2003-05-02 ES ES03720548T patent/ES2280743T3/es not_active Expired - Lifetime
- 2003-05-02 WO PCT/EP2003/004632 patent/WO2003097428A1/de active IP Right Grant
-
2004
- 2004-11-10 US US10/985,418 patent/US7035722B2/en not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3842334A1 (de) * | 1988-12-16 | 1990-06-21 | Bosch Gmbh Robert | Verfahren zur unterstuetzung der bei einem fahrzeug aufzubringenden lenkkraefte |
WO2001060682A1 (en) * | 2000-02-18 | 2001-08-23 | Delphi Technologies, Inc. | Automatic compensation for electric power steering hysteresis |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013060897A1 (en) * | 2011-10-27 | 2013-05-02 | Jaguar Cars Ltd | Improvements in closed loop epas systems |
US9731757B2 (en) | 2011-10-27 | 2017-08-15 | Jaguar Land Rover Limited | Closed loop EPAS systems |
Also Published As
Publication number | Publication date |
---|---|
US7035722B2 (en) | 2006-04-25 |
JP4361480B2 (ja) | 2009-11-11 |
CN100344489C (zh) | 2007-10-24 |
JP2005529017A (ja) | 2005-09-29 |
EP1503928B1 (de) | 2007-01-17 |
US20050096814A1 (en) | 2005-05-05 |
DE50306313D1 (de) | 2007-03-08 |
CN1652960A (zh) | 2005-08-10 |
EP1503928A1 (de) | 2005-02-09 |
ES2280743T3 (es) | 2007-09-16 |
DE10221678A1 (de) | 2003-12-04 |
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