WO2011052470A1 - 電動パワーステアリング制御装置 - Google Patents
電動パワーステアリング制御装置 Download PDFInfo
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- WO2011052470A1 WO2011052470A1 PCT/JP2010/068574 JP2010068574W WO2011052470A1 WO 2011052470 A1 WO2011052470 A1 WO 2011052470A1 JP 2010068574 W JP2010068574 W JP 2010068574W WO 2011052470 A1 WO2011052470 A1 WO 2011052470A1
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- variable gain
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- rotation speed
- steering
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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
- B62D5/04—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
- B62D5/0472—Controlling the motor for damping vibrations
Definitions
- the present invention relates to an electric power steering control device that assists the steering force of an automobile driver, and more particularly, to an electric power steering control device for suppressing vibrations caused by disturbances.
- an assist torque that is substantially proportional to the steering torque is determined, and a large torque proportional gain that indicates this proportional relationship is taken to reduce the steering torque of the vehicle driver, Giving steering feeling is done.
- the electric power steering control device improves the driver's feeling (vibration feeling) by suppressing vibrations such as cogging torque generated by the motor, pulsation generated in synchronization with the gear teeth, and disturbance transmitted from the road surface. It is requested to do.
- a conventional electric power steering control device for achieving such an object, there is one provided with a low-pass filter (LPF) and a high-pass filter (HPF) (for example, see Patent Document 1). Then, the steering component is extracted by the LPF, the assist torque control is performed, the high frequency vibration component is extracted by the HPF, and a controller (different gain) different from the low frequency is used for this component. Control.
- LPF low-pass filter
- HPF high-pass filter
- Patent Document 2 As another conventional electric power steering control device, there is a control related to suppression of disturbance such as brake vibration input from a tie rod connected to a wheel from being transmitted to the steering wheel (see, for example, Patent Document 2). ).
- Patent Document 2 the following configuration is adopted in order to reduce the influence on the steering control. That is, with respect to the steering torque signal, the steering component is attenuated by using a second-order or higher HPF, and further, the control amount is calculated by a control amount map having a large dead zone using the signal as an input to reduce the steering component. ing.
- the control amount is set to zero, so that the steering component Is further reduced.
- a high-pass filter (HPF) is used when extracting a vibration component such as a disturbance.
- HPF high-pass filter
- the vibration component and the steering component cannot be sufficiently separated and the vibration is not sufficiently reduced, or the steering feeling is lowered due to the influence on the steering.
- the electric power steering control device as in Patent Document 2 does not have a gain map configuration that takes into account transmission characteristics when disturbances such as cogging torque and pulsations synchronized with gear teeth are transmitted to the steering wheel. For this reason, it is necessary to reduce the steering component by a complicated configuration with a large amount of calculation such as providing a dead zone in the control amount map or using three gain maps.
- the present invention has been made to solve the above-described problems, and reduces vibration components such as cogging torque generated by the motor without lowering the steering feeling without affecting the steering. It is an object of the present invention to obtain an electric power steering control device that can handle the above.
- An electric power steering control device filters an assist map that outputs an assist torque current based on a steering torque applied to a steering wheel by a driver, and a rotation speed of a motor that generates the steering torque or the assist torque.
- the vibration extraction filter that reduces the gain on the low frequency side and outputs the vibration component signal, and the current variable that detects the current flowing through the motor as the first state quantity and calculates the current variable gain based on the current
- a gain map, a rotation speed variable gain map for detecting a rotation speed of the motor or the steering wheel as the second state quantity, and calculating a rotation speed variable gain based on the rotation speed, a vibration component signal, a current variable gain, and a rotation speed Correction means for calculating the vibration suppression current based on the variable gain, and auxiliary torque
- the electric power steering control device includes an assist map that outputs an assist torque current based on a steering torque applied to a steering wheel by a driver, and a rotation speed of a motor that generates the steering torque or the assist torque.
- the vibration extraction filter that reduces the low frequency side gain and outputs the vibration component signal, and detects the gradient of the auxiliary torque current with respect to the steering torque in the assist map as the third state quantity, and based on the gradient
- a gradient variable gain map for outputting the variable gradient gain, a rotation speed variable gain map for detecting the rotation speed of the motor or the steering wheel as the second state quantity, and outputting a rotation speed variable gain based on the rotation speed, and vibration Based on component signal, gradient variable gain and rotation speed variable gain
- a correction means for calculating a vibration suppression current, an auxiliary torque current, the corrected signals using the vibration suppression current calculated as the target current, in which a current control means for controlling the current flowing through the motor.
- the vibration suppression current is corrected by correcting the temporary vibration suppression current calculated via the vibration extraction filter with the variable gain calculated according to the steering torque or the state quantity of the motor.
- Embodiment 1 of this invention it is the figure which showed the Lissajous curve of the steering angle and steering torque which are the curves showing the basic characteristic of a steering feeling, and the time waveform corresponding to it.
- Embodiment 1 of this invention it is the figure which showed the Lissajous curve of the steering angle and steering torque which are the curves showing the basic characteristic of a steering feeling, and the time waveform corresponding to it.
- Embodiment 1 of this invention it is the figure which showed the Lissajous curve of the steering angle and steering torque which are the curves showing the basic characteristic of a steering feeling, and the time waveform corresponding to it.
- FIG. 1 is a block diagram showing a configuration of an electric power steering control apparatus according to Embodiment 1 of the present invention.
- the detailed description of the electric power steering device itself is omitted here, but it may be of a well-known configuration.
- those described in Patent Document 1 and Patent Document 2 can be referred to.
- the torque sensor 1 detects a steering torque ⁇ 0 when the driver steers using a known torsion bar or the like.
- the phase compensator 2 advances the phase in the vicinity of the oscillation frequency based on the output of the torque sensor 1 in order to gain a stability margin against oscillation vibration that is likely to occur when the feedback gain is increased by the assist map 11 in the subsequent stage.
- FIG. 2 is an input / output characteristic diagram showing an assist map and its gradient in the first embodiment of the present invention.
- FIG. 2A shows an input / output characteristic of an input steering torque and an output auxiliary torque current as an assist map.
- FIG. 2B shows the relationship of the assist map gradient with respect to the assist torque current.
- FIG. 2C shows the relationship of the assist map gradient with respect to the steering torque.
- the assist map 11 has input / output characteristics as shown in FIG. 2A.
- the assist map 11 receives the phase-compensated steering torque ⁇ 0 output from the phase compensator 2 as an input, and is supplied to the motor 5. Torque current Ia is output.
- the assist map 11 also receives a vehicle speed Vx, which is a signal that detects the speed of the vehicle. Thereby, the input / output characteristic of the assist map used for the output of the auxiliary torque current Ia is changed according to the vehicle speed.
- FIG. 2A illustrates two cases where the vehicle speed is high and low. Therefore, the assist map 11 receives the steering torque signal ⁇ 0 after phase compensation by the phase compensator 2 and inputs the assist torque current Ia that is an output signal based on the characteristics shown in FIG. 2 that change according to the vehicle speed Vx. Will be calculated.
- the rotation speed detection means 7 detects the rotation speed of the motor 5. Further, the current detection means 6 detects a current Id flowing through the motor 5.
- the vibration extraction filter 21 filters the steering torque signal ⁇ 0 from the torque sensor 1, thereby reducing the steering component from the steering torque signal and extracting the vibration component signal Sb.
- FIG. 3 shows frequency characteristics of the vibration extraction filter according to Embodiment 1 of the present invention.
- the vibration suppression control means 22 calculates a temporary vibration suppression current Ist based on the vibration component signal Sb extracted by the vibration extraction filter 21. The configuration method of the vibration extraction filter 21 and the function of the vibration suppression control means 22 will be described in detail later.
- FIG. 4 is an input / output characteristic diagram showing a rotation speed variable gain map according to the first embodiment of the present invention.
- the rotational speed variable gain map 31 includes input / output characteristic data as shown in FIG. 4 and outputs a rotational speed variable gain K ⁇ based on the rotational speed signal Sn.
- FIG. 5 is an input / output characteristic diagram showing a variable current gain map according to the first embodiment of the present invention.
- the current variable gain map 32 includes input / output characteristic data as shown in FIG. 5, and outputs a current variable gain Ki based on the current Id.
- the specific contents of the rotation speed variable gain map 31 and the current variable gain map 32 will be described in detail later.
- the multiplier 41 (corresponding to the correcting means) multiplies the provisional vibration suppression current Ist by the rotation speed variable gain K ⁇ and the current variable gain Ki to calculate the vibration suppression current Is.
- the adder 51 adds the auxiliary torque current Ia that is the output of the assist map 11 and the vibration suppression current Is that is the output of the multiplier 41, thereby obtaining a target current It that is to be realized in the motor 5. obtain.
- the current control unit 3 performs current control such that the current Id detected by the current detection unit 6 matches the target current It calculated by the adder 51.
- the current control means 3 outputs a voltage command signal Sv such as a PWM signal to the drive circuit 4 composed of, for example, an H bridge circuit or an inverter circuit, and thereby a drive current corresponding to the PWM signal is sent to the motor 5.
- the motor 5 generates assist torque that assists the steering force of the steering shaft by the driver.
- the blocks constituting the control device shown in FIG. 1 are not all hardware.
- a configuration from the output torque signal ⁇ 0 of the torque sensor 1 and the signal Sn detected by the rotation speed detection means 7 until the target current It is calculated by the adder 51, or a voltage command signal The configuration up to Sv is configured by software using a microcomputer.
- the microcomputer is composed of a known central processing unit (CPU), read-only memory (ROM), random access memory (RAM), interface (IF), and the like. Then, a program stored in the ROM is sequentially extracted and a desired calculation is performed by the CPU, and the software is executed by temporarily storing the calculation result in the RAM, and a predetermined control operation is performed.
- CPU central processing unit
- ROM read-only memory
- RAM random access memory
- IF interface
- the vibration extraction filter 21 has the properties of a high pass filter (HPF) or a band pass filter (BPF). That is, the gain is small on the low frequency side and the magnitude of the output signal is reduced.
- HPF high pass filter
- BPF band pass filter
- HPF high frequency side
- the input signal is allowed to pass through without substantially reducing the gain.
- Such pass characteristics of HPF are shown in HPF1 and HPF2 in FIG.
- BPF unnecessary noise components are removed by allowing the input signal to pass through in the vicinity of the filter frequency fc without substantially reducing the gain, and lowering the gain at higher frequencies.
- Such pass characteristics of BPF are shown in BPF1 and BPF2 of FIG.
- HPF1 is a primary HPF
- HPF2 is a secondary HPF
- BPF1 is a BPF composed of primary HPF and LPF
- BPF2 is a BPF composed of secondary HPF and LPF.
- the filter frequency fc of the filter shown in FIG. 3 is all 10 Hz. Near 1 Hz on the lower frequency side, the gain decreases slightly, but the phase tends to advance. Therefore, by using this filter, the effect of suppressing disturbance vibration of about 1 to 20 Hz can be obtained. This suppression effect will be described later with reference to FIG.
- a second or higher order filter may be used.
- the HPF has a property that the phase advances near the filter frequency fc, but when the BPF is used, the phase does not advance near the filter frequency fc.
- the phase advances near the filter frequency fc, but when the BPF is used, the phase does not advance near the filter frequency fc.
- it is not necessary to advance the phase. In such a case, the larger the gain, the more effective the disturbance is.
- a primary HPF shown in HPF 1 in FIG. 3 is used.
- FIG. 6 is an input / output characteristic diagram showing the vibration suppression control means in Embodiment 1 of the present invention.
- the vibration suppression control means 22 is basically composed of a proportional gain, and calculates a temporary vibration suppression current Ist corresponding to the vibration component signal Sb extracted by the vibration extraction filter 21.
- the vibration component signal Sb that is an input signal may include a characteristic that saturates to a constant value.
- the saturation may be performed with the amplitude Isat corresponding to the target vibration.
- the signal larger than the target vibration amplitude is limited, and the influence on the steering feeling can be reduced.
- the vibration suppression control means 22 in the first embodiment does not have a dead zone in which the output value is zero near the origin. This is because when there is a dead zone with an output value of zero, the output signal becomes zero for the vibration amplitude in this range, and vibration cannot be suppressed within the width of this dead zone. From the viewpoint of reducing the influence on steering, it is advantageous to have a dead zone.
- the influence on the steering can be removed by other configurations such as a variable gain map, and therefore there is no dead zone in the vibration suppression control means 22.
- the rotation speed variable gain map 31 will be described. As shown in FIG. 4, the output is 1 in the region where the absolute value of the rotation speed signal is small (corresponding to ⁇ 1 or less in FIG. 4). On the other hand, in the region where the absolute value of the rotational speed signal is large, the rotational speed variable gain K ⁇ is gradually decreased to zero at a certain motor rotational speed (corresponding to ⁇ 1 ′ in FIG. 4).
- FIG. 7 is an illustration of disturbance transfer characteristics in the first embodiment of the present invention, and shows the effect of suppressing disturbance vibration in the first embodiment.
- the disturbance transmission characteristic of FIG. 7 is an amplification factor of transmission from disturbance torque applied to a steering shaft (not shown) on which a motor is mounted to torque on the steering wheel gripped by the driver (that is, torque felt by the driver). It is the frequency characteristic shown. Although this characteristic varies depending on the mechanism and motor of the electric power steering apparatus, it generally has a tendency as shown in FIG.
- the rotation speed of the motor corresponds to a range that is larger than about 50 to 100 rpm.
- the disturbance transmission characteristic is smaller than the line ⁇ (corresponding to the gain of ⁇ 5 dB) shown in FIG. 7, and the driver hardly feels the cogging torque. Therefore, in order to match the cogging torque, ⁇ 1 in FIG. 4 may be set to about 50 to 100 rpm.
- the value ⁇ 1 ′ of the motor rotational speed when the rotational speed variable gain K ⁇ becomes 0 may be set close to ⁇ 1 within a range where the driver does not feel a sudden change in the variable gain. For example, it may be about 1.5 times ⁇ 1.
- the current variable gain Ki is set to 1 in a region where the absolute value of the current Id is small (corresponding to a region A or less in FIG. 5).
- the current variable gain Ki is gradually decreased to zero at a certain current Id (corresponding to A 'in FIG. 5).
- the characteristics when the current indicated by the one-dot broken line in FIG. 7 is large indicate that the gain is small and the torque vibration in the steering wheel is sufficiently small even when there is no vibration suppression control.
- the characteristic when the current is large in FIG. 7 schematically represents the characteristic in a region where the current value is not less than the line A of the assist map in FIG.
- Disturbance transfer characteristics vary according to the gradient value of the assist map, and as a general assist map trend, the region where the gradient value of the assist map starts to increase beyond a certain value is the current value regardless of the vehicle speed. There is a tendency to be decided according to.
- the gradient value is approximately 10 A / Nm or less below the line A, and approximately 10 A / Nm above the line A.
- the characteristic when the current is small in FIG. 7 schematically represents the characteristic in a region where the current value is not more than the line A of the assist map in FIG.
- the output is attenuated to zero in the range where the absolute value of the current is A or more.
- the value A ′ at which the variable gain becomes zero may be set close to A within a range in which the driver does not feel a sudden change in the variable gain. For example, it may be about 1.5 times A.
- the steering torque signal has a gradient of 10 A / Nm or less and 10 A / Nm or more in the region between the lines B to C. These areas are both included depending on the vehicle speed and cannot be separated efficiently. For example, when a threshold value is provided on the line C, when the vehicle speed is low, vibration suppression current is generated in an extra region (B to C) where the gradient of the assist map is large. For this reason, the steering component increases as a whole, and an influence on steering occurs.
- the line A in FIG. 2 is a boundary line with a gradient of about 10 A / Nm.
- the boundary of the gradient is substantially the same regardless of the vehicle speed.
- the current Id includes components other than the auxiliary torque current Ia. However, since the auxiliary torque current Ia is generally dominant, the current variable gain Ki described above is treated as almost equal. Therefore, the auxiliary torque current Ia may be used as the input current to the current variable gain map 32.
- the band in which the transmission of disturbance is reduced by the vibration suppression control is from 1 Hz to around 20 Hz, and includes a part similar to the driver's steering frequency (approximately 5 Hz or less).
- the characteristic when there is vibration suppression control is when the vibration extraction filter is a primary HPF.
- FIGS. 8 to 10 show a Lissajous curve of a steering angle and a steering torque, which are curves representing basic characteristics of the steering feeling, and a time waveform corresponding thereto in the first embodiment of the present invention. It is a figure. Specifically, FIG. 8 shows a comparison between a case where there is vibration suppression control according to the present invention and a case where there is no variable gain map and the variable gain is fixed at 1.
- (A) is a corresponding Lissajous curve
- (b) and (c) are corresponding time waveforms, respectively, showing a response of 1 Hz steering.
- FIG. 9 and 10 show a comparison between the case where there is vibration suppression control according to the present invention and the case where there is no vibration suppression control.
- (A) is a corresponding Lissajous curve
- (b) is a corresponding time waveform, and shows a response of 0.2 Hz steering.
- 9 shows a case where the steering angle range is large
- FIG. 10 shows a case where the steering angle range is small.
- the Lissajous curve shown here is a test result when a typical steering method of steering the steering wheel angle in a sine wave shape is performed, and using this to evaluate the steering feeling is generally This is a frequently used method.
- the waveforms with vibration suppression control shown in FIGS. 8 to 10 are for the case where the vibration extraction filter is a primary HPF.
- the motor rotation speed decreases as a whole.
- the steering angle range is large (in this example, about 100 degrees)
- the current tends to increase in the vicinity of the turnover of the steering where the rotation speed decreases (around 3 seconds in FIG. 9B). Therefore, the vibration suppression current becomes substantially zero by the rotation speed variable gain K ⁇ and the current variable gain Ki, and the influence on the steering is removed.
- the variable gain is always 1.
- the vibration suppression current is sufficiently reduced only by the vibration extraction filter composed of the primary HPF.
- FIG. 10B it can be seen that the vibration suppression current is only about 0.3 to 0.4 A and is sufficiently small. Therefore, the influence on steering is removed. In this way, this vibration suppression control does not affect any steering.
- variable gain map that is, when the variable gain is always fixed to 1 and the provisional vibration suppression current is used as it is as the vibration suppression current in the configuration of the first embodiment
- (a) and (c) of FIG. ) As an example.
- the Lissajous curve in FIG. 8A has a narrower waveform near the origin than in the normal case where there is no vibration suppression control, and an influence on steering is observed.
- a vibration suppression current is generated by about 5 A, which has an influence on steering. Even if some variable gain is provided, if it is not appropriately provided as in the first embodiment, the vibration suppression current cannot be reduced sufficiently, and this may affect steering.
- the waveform is almost the same as that without vibration suppression control.
- the effect on steering is hardly seen. That is, the steering feeling does not decrease.
- the control amount calculated by extracting the vibration component from the steering torque is corrected by the variable gain corresponding to the current and the rotational speed. Furthermore, when setting the variable gain, the transmission characteristic from the disturbance to the steering wheel is taken into consideration, and the variable gain is reduced in the region where it is difficult to transmit to the steering wheel. As a result, the processing of reducing the vibration suppression current in a region where the transmission of the disturbance is small in consideration of the disturbance transmission characteristics can be performed without providing a dead zone in the vibration suppression control means.
- a rotational speed detecting means for directly detecting the rotational speed of the motor is used.
- the rotation speed signal may be obtained by using the rotation angle detection means for detecting the rotation angle of the motor and the rotation speed calculation means for calculating the rotation speed from the detected rotation angle signal.
- This rotational speed calculation means is basically a differential, but a filter obtained by applying high-frequency noise by applying LPF to the differential, or a filter obtained by multiplying the HPF by a gain may be used as an equivalent process. . Even in this case, the same effect as the above configuration can be obtained.
- the rotational speed of the motor is detected and used as a rotational speed signal.
- the configuration may be such that the rotation speed signal is detected by detecting the rotation speed of the steering wheel. Even in this case, the same effect as the above configuration can be obtained.
- the assist map shown in FIG. 2 is a general one, and it is a general tendency that there is a gradient boundary line that does not depend on the vehicle speed, such as the line A.
- a variable gain depending on the vehicle speed as shown in the second embodiment may be further introduced.
- the amount of calculation increases by the amount corresponding to the variable gain depending on the vehicle speed, which complicates.
- FIG. 11 is an input / output characteristic diagram showing a gradient variable gain map in a modification of the first embodiment of the present invention.
- the variable gain map may have a characteristic that gradually decreases to 1 at ka (approximately 10 A / Nm) or less and to 0 at more than that.
- the value ka ′ at which the variable gain becomes 0 may be set close to ka as long as the sudden change of the variable gain is not felt. For example, it may be about 1.5 times ka. With such a configuration, as in the above configuration, it is possible to eliminate the influence on steering and avoid a decrease in steering feeling, and at the same time, the driver does not feel that the disturbance is transmitted to the steering wheel. It becomes possible to suppress sufficiently.
- Such a method using the variable gradient gain has an advantage that the vibration suppression current can be applied strictly within the minimum necessary range in the disturbance transfer characteristic because the gradient value is calculated.
- the amount of calculation increases by the amount of calculation of the gradient and becomes complicated as compared with the above configuration.
- the calculation of the gradient in this method may be a well-known one, and can be calculated, for example, by dividing the change amount of the steering torque signal by the change amount of the auxiliary torque current.
- FIG. FIG. 12 is a block diagram showing the configuration of the electric power steering control device according to Embodiment 2 of the present invention.
- the configuration of FIG. 12 in the second embodiment is different in that a variable filter frequency map 23 and a vehicle speed variable gain map 33 are added. Yes. Except for these additional portions, the configuration is the same as that of the first embodiment, and the following description will be focused on the different configurations.
- FIG. 13 is an input / output characteristic diagram showing the variable filter frequency map 23 according to the second embodiment of the present invention.
- the variable filter frequency map 23 calculates the variable filter frequency fc based on the rotation speed signal of the motor 5 according to the input / output characteristics shown in FIG.
- the calculated variable filter frequency fc is given to the vibration extraction filter 21 and used as the filter frequency of the vibration extraction filter 21.
- variable filter frequency map 23 is set so that the variable filter frequency fc increases as the rotational speed increases.
- the variable filter frequency fc1 is set to about 5 Hz, for example.
- variable filter frequency fc2 may be set to about 10 Hz, for example.
- the filter characteristics can be set according to the frequency of the disturbance, and the disturbance transmission characteristic can be optimized so that the disturbance component at that time can be most suppressed. As a result, the transmission of disturbance to the steering hole can be further reduced.
- the variable gain map in the second embodiment has a vehicle speed variable gain map 33 in addition to the rotation speed variable gain map 31 and the current variable gain map 32.
- the vehicle speed variable gain map 33 has an input / output characteristic having a characteristic that the vehicle speed variable gain Kvx is increased when the vehicle speed is high.
- FIG. 14 is an input / output characteristic diagram showing a vehicle speed variable gain map according to the second embodiment of the present invention.
- the vehicle speed variable gain map 33 outputs the vehicle speed variable gain according to the vehicle speed Vx (corresponding to the fourth state quantity) using the input / output characteristics shown in FIG. Then, the multiplier 41 according to the second embodiment multiplies the provisional vibration suppression current Ist by three variable gains, that is, the rotation speed variable gain K ⁇ , the current variable gain Ki, and the vehicle speed variable gain Kvx, to obtain the vibration suppression current. Is is calculated.
- Kvx1 is set to 1.0.
- Kvx2 is set to about 1.2.
- the filter frequency by changing the filter frequency according to the motor rotation speed, it is possible to set the filter characteristics according to the disturbance frequency,
- the disturbance transmission characteristic can be optimized so that the disturbance component at that time can be most suppressed.
- the effect of reducing the disturbance can be compensated, and the disturbance can be reduced sufficiently. Can be obtained.
- variable filter frequency map 23 the case where both the variable filter frequency map 23 and the vehicle speed variable gain map 33 are provided has been described.
- variable current gain corresponds to the assist gradient that does not depend on the vehicle speed than the use of the variable steering torque as in the prior art. Therefore, it efficiently copes with changes in disturbance transfer characteristics.
- vehicle speed variable gain is provided as in the second embodiment, the difference in disturbance transfer characteristics can be absorbed by complicating the vehicle speed variable gain. Therefore, in the configuration of the second embodiment, a steering torque variable gain can be used instead of the current variable gain.
- the calculation is complicated by adding the vehicle speed variable gain and complication of the gain map.
- the current variable gain it is possible to obtain the vibration suppression effect of the disturbance and the effect of removing the influence on the steering.
- Embodiment 3 In the first embodiment, the case where the vibration extraction filter 21 is applied to the steering torque signal and the vibration suppression control is performed has been described. On the other hand, in this Embodiment 3, the case where the vibration extraction filter 21 is applied with respect to the rotational speed signal detected by the rotational speed detection means, and vibration suppression control is implemented is demonstrated.
- FIG. 15 is a block diagram showing a configuration of an electric power steering control device according to Embodiment 3 of the present invention.
- the third embodiment has the same configuration as that of the first embodiment except that a signal input to the vibration extraction filter 21 is a rotation speed signal and that the adder 51 is replaced with a subtractor 52. Therefore, the operation is the same as that of the first embodiment except for the operation of subtracting the vibration suppression current from the auxiliary torque current. However, it is assumed that the magnitude of the proportional gain of the vibration suppression control means 22 is changed by the change in the signal level due to the change of the steering torque signal to the rotation speed signal.
- the vibration extraction filter that reduces the gain on the low frequency side and outputs the vibration component signal by filtering the rotation speed of the motor instead of the steering torque is provided. Yes. Even with such a configuration, the same effect as in the first embodiment can be obtained. That is, the control amount calculated by extracting the vibration component from the rotation speed instead of the steering torque is corrected by the variable gain corresponding to the current and the rotation speed. Furthermore, when setting the variable gain, the transmission characteristic from the disturbance to the steering wheel is taken into consideration, and the variable gain is reduced in the region where it is difficult to transmit to the steering wheel. As a result, the processing of reducing the vibration suppression current in a region where the transmission of the disturbance is small in consideration of the disturbance transmission characteristics can be performed without providing a dead zone in the vibration suppression control means.
- a rotational speed detecting means for directly detecting the rotational speed of the motor is used.
- the rotation speed signal may be obtained by using the rotation angle detection means for detecting the rotation angle of the motor and the rotation speed calculation means for calculating the rotation speed from the detected rotation angle signal.
- This rotational speed calculation means is basically a differential, but a filter obtained by applying high-frequency noise by applying LPF to the differential, or a filter obtained by multiplying the HPF by a gain may be used as an equivalent process. . Even in this case, the same effect as the above configuration can be obtained.
- the rotational speed of the motor is detected and used as a rotational speed signal.
- the configuration may be such that the rotation speed signal is detected by detecting the rotation speed of the steering wheel. Even in this case, the same effect as the above configuration can be obtained.
- the vibration extraction filter and the vibration suppression control are applied to the rotation speed signal calculated from the rotation speed detection signal and the rotation angle.
- the vibration extraction filter and the vibration suppression control can be applied to the rotational speed estimation signal estimated by a known observer or the like.
- FIG. FIG. 16 is a block diagram showing a configuration of an electric power steering control device according to Embodiment 4 of the present invention.
- the configuration of FIG. 16 in the fourth embodiment is different in that a variable filter frequency map 23 and a vehicle speed variable gain map 33 are added. Yes. Except for these additional portions, the configuration is the same as that of the first embodiment, and the following description will be focused on the different configurations.
- the fourth embodiment has the same configuration as that of the second embodiment except that the signal input to the vibration extraction filter 21 is a rotation speed signal and the adder 51 is replaced with a subtractor 52. is there. Therefore, the operation is the same as that of the second embodiment except for the operation of subtracting the vibration suppression current from the auxiliary torque current. However, it is assumed that the magnitude of the proportional gain of the vibration suppression control means 22 is changed by the change in the signal level due to the change of the steering torque signal to the rotation speed signal.
- the vibration extraction filter that reduces the gain on the low frequency side and outputs the vibration component signal by filtering the rotation speed of the motor instead of the steering torque is provided. Yes. Even with such a configuration, the same effect as in the second embodiment can be obtained. That is, by varying the filter frequency according to the motor rotation speed, it is possible to set the filter characteristic according to the disturbance frequency, and to optimize the disturbance transmission characteristic so that the disturbance component at that time can be most suppressed. Furthermore, by setting an appropriate gain according to the vehicle speed, even when the vehicle speed increases and the gradient of the assist map decreases, the effect of reducing the disturbance can be compensated, and the disturbance can be reduced sufficiently. Can be obtained.
- variable filter frequency map 23 the case where both the variable filter frequency map 23 and the vehicle speed variable gain map 33 are provided has been described.
- variable current gain corresponds to the assist gradient that does not depend on the vehicle speed than the use of the variable steering torque as in the prior art. Therefore, it efficiently copes with changes in disturbance transfer characteristics.
- vehicle speed variable gain is provided as in the second embodiment, the difference in disturbance transfer characteristics can be absorbed by complicating the vehicle speed variable gain. Therefore, in the configuration of the second embodiment, a steering torque variable gain can be used instead of the current variable gain.
- the calculation is complicated by adding the vehicle speed variable gain and complication of the gain map.
- the current variable gain it is possible to obtain the vibration suppression effect of the disturbance and the effect of removing the influence on the steering.
- the vibration extraction filter and the vibration suppression control are applied to the rotation speed signal calculated from the rotation speed detection signal and the rotation angle.
- the vibration extraction filter and the vibration suppression control can be applied to the rotational speed estimation signal estimated by a known observer or the like.
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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Electric Motors In General (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
特許文献1のような電動パワーステアリング制御装置においては、外乱などの振動成分を抽出する際に、ハイパスフィルタ(HPF)を用いている。ここで、例えば、モータが発生するコギングトルクの周波数帯域が低く、運転者が操舵する周波数であるおよそ5Hz以下に近い場合を考える。この場合には、振動成分と操舵成分が十分に分離できず、振動が十分に低減されない点、あるいは、操舵への影響が生じ操舵フィーリングが低下する点に課題があった。
図1は、本発明の実施の形態1における電動パワーステアリング制御装置の構成を示すブロック線図である。なお、電動パワーステアリング装置そのものの詳細説明は、ここでは割愛するが、既に周知の構成のものでよく、例えば、上記特許文献1および特許文献2において説明されているものを参照することができる。
図12は、本発明の実施の形態2における電動パワーステアリング制御装置の構成を示すブロック線図である。先の実施の形態1における図1の構成と比較すると、本実施の形態2における図12の構成は、可変フィルタ周波数マップ23と車速可変ゲインマップ33を追加した構成となっている点が異なっている。これらの追加部分以外は、先の実施の形態1と同じ構成であり、異なる構成を中心に、以下に説明する。
先の実施の形態1では、操舵トルク信号に対して振動抽出フィルタ21を適用し、振動抑制制御を実施する場合について説明した。これに対して、本実施の形態3では、回転速度検出手段で検出した回転速度信号に対して振動抽出フィルタ21を適用し、振動抑制制御を実施する場合について説明する。
図16は、本発明の実施の形態4における電動パワーステアリング制御装置の構成を示すブロック線図である。先の実施の形態3における図15の構成と比較すると、本実施の形態4における図16の構成は、可変フィルタ周波数マップ23と車速可変ゲインマップ33を追加した構成となっている点が異なっている。これらの追加部分以外は、先の実施の形態1と同じ構成であり、異なる構成を中心に、以下に説明する。
Claims (7)
- 運転者によりステアリングホイールに加えられる操舵トルクに基づいて補助トルク電流を出力するアシストマップと、
前記操舵トルク、あるいは、アシストトルクを生成するモータの回転速度をフィルタ処理することで、低周波側のゲインを低減し振動成分信号を出力する振動抽出フィルタと、
前記モータに流れる電流を第1の状態量として検出し、前記電流に基づいた電流可変ゲインを算出する電流可変ゲインマップと、
前記モータあるいは前記ステアリングホイールの回転速度を第2の状態量として検出し、前記回転速度に基づいた回転速度可変ゲインを算出する回転速度可変ゲインマップと、
前記振動成分信号と前記電流可変ゲインと前記回転速度可変ゲインに基づいて、振動抑制電流を算出する補正手段と、
前記補助トルク電流を、前記振動抑制電流を用いて補正した信号を目標電流として算出し、前記モータに流れる電流を制御する電流制御手段と
を備えたことを特徴とする電動パワーステアリング制御装置。 - 請求項1に記載の電動パワーステアリング制御装置において、
前記電流可変ゲインマップは、前記モータに流れる電流の小さい範囲で前記電流可変ゲインを大きい値とし、前記電流の大きい範囲で前記電流可変ゲインを小さい値あるいは零にし、
前記回転速度可変ゲインマップは、前記モータあるいは前記ステアリングホイールの回転速度の小さい範囲で前記回転速度可変ゲインを大きい値とし、前記回転速度の大きい範囲で前記回転速度可変ゲインを小さい値あるいは零にする
ことを特徴とする電動パワーステアリング制御装置。 - 請求項2に記載の電動パワーステアリング制御装置において、
前記電流可変ゲインマップは、外乱から前記ステアリングホイールまでの伝達の増幅率を示す外乱伝達特性が小さい値となる前記電流の所定範囲では、前記電流可変ゲインを小さい値あるいは零とし、
前記回転速度可変ゲインマップは、前記外乱伝達特性が小さい値となる前記回転速度の所定範囲では、前記回転速度可変ゲインを小さい値あるいは零とする
ことを特徴とする電動パワーステアリング制御装置。 - 運転者によりステアリングホイールに加えられる操舵トルクに基づいて補助トルク電流を出力するアシストマップと、
前記操舵トルク、あるいは、アシストトルクを生成するモータの回転速度をフィルタ処理することで、低周波側のゲインを低減し振動成分信号を出力する振動抽出フィルタと、
前記アシストマップにおける前記操舵トルクに対する前記補助トルク電流の勾配を第3の状態量として検出し、前記勾配に基づいた勾配可変ゲインを出力する勾配可変ゲインマップと、
前記モータあるいは前記ステアリングホイールの回転速度を第2の状態量として検出し、前記回転速度に基づいた回転速度可変ゲインを出力する回転速度可変ゲインマップと、
前記振動成分信号と前記勾配可変ゲインと前記回転速度可変ゲインに基づいて、振動抑制電流を算出する補正手段と、
前記補助トルク電流を、前記振動抑制電流を用いて補正した信号を目標電流として算出し、前記モータに流れる電流を制御する電流制御手段と
を備えたことを特徴とする電動パワーステアリング制御装置。 - 請求項4に記載の電動パワーステアリング制御装置において、
前記勾配可変ゲインマップは、外乱から前記ステアリングホイールまでの伝達の増幅率を示す外乱伝達特性が小さい値となる前記勾配の所定範囲では、前記勾配可変ゲインを小さい値あるいは零とし、
前記回転速度可変ゲインマップは、前記外乱伝達特性が小さい値となる前記回転速度の所定範囲では、前記回転速度可変ゲインを小さい値あるいは零とする
ことを特徴とする電動パワーステアリング制御装置。 - 請求項1または4に記載の電動パワーステアリング制御装置において、
前記可変ゲインマップは、車両の走行速度である車速を第4の状態量として検出し、前記車速が速いときは、車速可変ゲインを増大させて出力する車速可変ゲインマップをさらに有し、すでに算出した前記可変ゲインに対して前記車速可変ゲインをさらに乗算して得られた値を可変ゲインとして出力する
ことを特徴とする電動パワーステアリング制御装置。 - 請求項1ないし6のいずれか1項に記載の電動パワーステアリング制御装置において、
前記回転速度に応じて可変フィルタ周波数を算出する可変フィルタ周波数マップをさらに備え、
前記振動抽出フィルタは、可変フィルタ周波数マップで算出された前記可変フィルタ周波数に応じてフィルタ周波数を変化させる
ことを特徴とする電動パワーステアリング制御装置。
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US9809246B2 (en) | 2013-04-23 | 2017-11-07 | Nsk Ltd. | Electric power steering apparatus |
JP6065016B2 (ja) * | 2013-04-23 | 2017-01-25 | 日本精工株式会社 | 電動パワーステアリング装置 |
US9663143B2 (en) | 2013-08-22 | 2017-05-30 | Nsk Ltd. | Control unit for electric power steering apparatus |
CN105517877A (zh) * | 2013-08-22 | 2016-04-20 | 日本精工株式会社 | 电动助力转向装置的控制装置 |
WO2015025942A1 (ja) * | 2013-08-22 | 2015-02-26 | 日本精工株式会社 | 電動パワーステアリング装置の制御装置 |
WO2015119148A1 (ja) * | 2014-02-04 | 2015-08-13 | カヤバ工業株式会社 | 電動パワーステアリング装置 |
JP2015145215A (ja) * | 2014-02-04 | 2015-08-13 | カヤバ工業株式会社 | 電動パワーステアリング装置 |
JP2017013699A (ja) * | 2015-07-03 | 2017-01-19 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
JP2017013700A (ja) * | 2015-07-03 | 2017-01-19 | マツダ株式会社 | 電動パワーステアリングの制御装置 |
WO2019181224A1 (ja) * | 2018-03-20 | 2019-09-26 | 日立オートモティブシステムズ株式会社 | パワーステアリング装置の制御装置 |
JP2019162945A (ja) * | 2018-03-20 | 2019-09-26 | 日立オートモティブシステムズ株式会社 | パワーステアリング装置の制御装置 |
JP7005402B2 (ja) | 2018-03-20 | 2022-02-04 | 日立Astemo株式会社 | パワーステアリング装置の制御装置 |
JP7060182B1 (ja) * | 2020-12-23 | 2022-04-26 | 日本精工株式会社 | 電動パワーステアリング装置の制御装置、および制御方法 |
WO2022137808A1 (ja) * | 2020-12-23 | 2022-06-30 | 日本精工株式会社 | 電動パワーステアリング装置の制御装置、および制御方法 |
US12012165B2 (en) | 2020-12-23 | 2024-06-18 | Nsk Ltd. | Control device for electric power steering device and control method for the same |
Also Published As
Publication number | Publication date |
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CN102666257A (zh) | 2012-09-12 |
JP5383818B2 (ja) | 2014-01-08 |
DE112010004195B4 (de) | 2018-03-08 |
CN102666257B (zh) | 2014-08-06 |
JPWO2011052470A1 (ja) | 2013-03-21 |
US20120185132A1 (en) | 2012-07-19 |
US8626394B2 (en) | 2014-01-07 |
DE112010004195T5 (de) | 2012-11-29 |
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