WO2014122997A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
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- WO2014122997A1 WO2014122997A1 PCT/JP2014/051323 JP2014051323W WO2014122997A1 WO 2014122997 A1 WO2014122997 A1 WO 2014122997A1 JP 2014051323 W JP2014051323 W JP 2014051323W WO 2014122997 A1 WO2014122997 A1 WO 2014122997A1
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- 230000010354 integration Effects 0.000 claims abstract description 53
- 230000001133 acceleration Effects 0.000 claims description 59
- 230000004044 response Effects 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims 2
- 230000008859 change Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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Classifications
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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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
-
- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
Definitions
- the present invention relates to an electric power steering apparatus having functions of an automatic steering mode (parking support mode) and a manual steering mode, and applying an assist force by a motor to a vehicle steering system, and in particular, manual steering from the automatic steering mode.
- the present invention relates to an electric power steering device with improved mode switching determination performance.
- An electric power steering device that applies a steering assist force (assist force) to a steering mechanism of a vehicle by a rotational force of a motor is provided with a steering shaft by a transmission mechanism such as a gear or a belt via a speed reducer. Alternatively, a steering assist force is applied to the rack shaft.
- EPS electric power steering device
- Such a conventional electric power steering device (EPS) performs feedback control of the motor current in order to accurately generate the torque of the steering assist force.
- the motor applied voltage is adjusted so that the difference between the steering assist command value (current command value) and the motor current detection value is small.
- the adjustment of the motor applied voltage is generally performed by PWM (pulse width). This is done by adjusting the duty of modulation) control.
- a column shaft (steering shaft) 2 of a handle (steering wheel) 1 includes a reduction gear 3, universal joints 4a and 4b, a pinion rack mechanism 5, and a tie rod 6a. , 6b, and further connected to the steering wheels 8L, 8R via hub units 7a, 7b.
- the column shaft 2 is provided with a torque sensor 10 that detects the steering torque of the handle 1, and a motor 20 that assists the steering force of the handle 1 is connected to the column shaft 2 via the reduction gear 3.
- the control unit (ECU) 100 that controls the electric power steering apparatus is supplied with electric power from the battery 13 and also receives an ignition key signal via the ignition key 11.
- the control unit 100 calculates a steering assist command value of an assist (steering assist) command based on the steering torque Th detected by the torque sensor 10 and the vehicle speed Vel detected by the vehicle speed sensor 12, and obtains the steering assist command value.
- the current supplied to the motor 20 is controlled by the current control value E subjected to compensation or the like.
- the vehicle speed Vel can also be received from a CAN (Controller Area Network) or the like.
- control unit 100 is configured as disclosed in, for example, Japanese Patent Application Laid-Open No. 2002-369565.
- the motor 20 that generates the auxiliary steering force of the steering device is driven by a motor drive unit 21, and the motor drive unit 21 is controlled by a control unit 100 indicated by a two-dot chain line.
- the steering torque Th and the vehicle speed Vel from the vehicle speed detection system are input.
- the motor terminal voltage Vm and the motor current value i are measured and output.
- the control unit 100 includes a torque system control unit 110 indicated by a broken line that performs control using the steering torque Th, and a motor system control unit 120 indicated by a one-dot chain line that performs control related to driving of the motor 20.
- the torque system control unit 110 includes an assist amount calculation unit 111, a differential control unit 112, a yaw rate convergence control unit 113, a robust stabilization compensation unit 114, and a self-aligning torque (SAT) estimation feedback unit 115. 116B and a subtracting unit 116C.
- SAT self-aligning torque
- the motor system control unit 120 includes a compensation unit 121, a disturbance estimation unit 122, a motor angular velocity calculation unit 123, a motor angular acceleration calculation unit 124, and a motor characteristic compensation unit 125, and includes addition units 126A and 126B.
- the steering torque Th is input to the assist amount calculation unit 111, the differential control unit 112, the yaw rate convergence control unit 113, and the SAT estimation feedback unit 115, and all use the vehicle speed Vel as a parameter input.
- the assist amount calculation unit 111 calculates the assist torque amount based on the steering torque Th, and the yaw rate convergence control unit 113 receives the steering torque Th and the motor angular velocity ⁇ , and controls the steering wheel in order to improve the yaw convergence of the vehicle.
- the brakes are applied to the movement of the swaying.
- the differential control unit 112 enhances control responsiveness near the neutral point of the steering and realizes smooth and smooth steering.
- the SAT estimation feedback unit 115 includes a steering torque Th and an assist amount calculation unit 111.
- the signal obtained by adding the output of the differentiation control unit 112 to the output of the addition unit 116A, the angular velocity ⁇ calculated by the motor angular velocity calculation unit 123, and the angular acceleration ⁇ from the motor angular acceleration calculation unit 124 are input, and SAT is calculated.
- the estimated SAT is signal-processed using a feedback filter, and appropriate road surface information is given to the steering wheel as a reaction force.
- robust stabilization is achieved by using the signal obtained by adding the output of the differentiation control unit 112 to the output of the assist amount calculation unit 111 by the addition unit 116A and the signal obtained by adding the output of the yaw rate convergence control unit 113 by the addition unit 116B as the assist amount AQ. This is input to the compensation unit 114.
- the robust stabilization compensator 114 is a compensator disclosed in, for example, Japanese Patent Laid-Open No. 8-290778, and removes the peak value at the resonance frequency of the resonance system composed of the inertia element and the spring element included in the detected torque, and performs control. It compensates for the phase shift of the resonance frequency that hinders the responsiveness and stability of the system.
- the motor angular velocity calculation unit 123 calculates the motor angular velocity ⁇ based on the motor terminal voltage Vm and the motor current value i.
- the motor angular velocity ⁇ is calculated by the motor angular acceleration calculation unit 124, the yaw rate convergence control unit 113, and the SAT. Input to the estimation feedback unit 115.
- the motor angular acceleration calculation unit 124 calculates a motor angular acceleration ⁇ based on the input motor angular velocity ⁇ , and the calculated motor angular acceleration ⁇ is input to the motor characteristic compensation unit 125 and the SAT estimation feedback unit 115.
- the assist amount Ia obtained by subtracting the output of the SAT estimation feedback unit 115 from the output of the robust stabilization compensation unit 114 is added to the output Ic of the motor characteristic compensation unit 125 by the addition unit 126A, and the addition signal is differentiated as the current command value Ir.
- the data is input to the compensation unit 121 including a compensation unit.
- a signal obtained by adding the output of the disturbance estimation unit 122 to the current command value Ira compensated by the compensation unit 121 by the addition unit 126B is input to the motor driving unit 21 and the disturbance estimation unit 122.
- the disturbance estimation unit 122 is a device as disclosed in Japanese Patent Application Laid-Open No.
- an actuator In an electric power steering apparatus having functions of a well-known automatic steering mode (parking support mode) and manual steering mode, an actuator (motor) is controlled based on a relationship between a movement distance of a vehicle and a turning angle stored in advance. Thus, back parking and parallel parking are automatically performed.
- the automatic steering control when the driver operates the steering wheel during the automatic steering mode and it is determined that the steering torque exceeds a predetermined value set in advance, the automatic steering control is stopped.
- the judgment is made only by comparing the output of the torque sensor with a predetermined value, the inertia of the steering wheel due to the noise of the torque sensor, when the tire steps on a pebble, or when automatic steering by a motor is performed Due to the torque, the output of the torque sensor may temporarily exceed a predetermined value, and there is a problem that automatic steering control is stopped each time.
- the automatic steering mode and the manual steering mode interfere with each other, which not only gives the driver a sense of incongruity, but also allows the driver to handle the steering wheel during automatic steering control. Even if it is operated, the automatic steering control may not be stopped immediately.
- Patent Document 1 Japanese Patent No. 3845188
- the apparatus disclosed in Patent Document 1 detects a movement trajectory setting means for storing or calculating a movement trajectory of a vehicle to a target position, an actuator (motor) for turning a wheel, and a steering torque applied to a steering wheel by a driver.
- the driving torque of the actuator is controlled based on the movement torque set by the steering torque detection means (torque sensor) and the movement locus setting means, and a steering torque greater than a predetermined value is detected over a predetermined time.
- a vehicle automatic steering apparatus having an actuator control means for stopping the control of the actuator based on the movement trajectory when set, a plurality of predetermined values are set, and the predetermined time is changed corresponding to each predetermined value It has become.
- the present invention has been made under the circumstances as described above, and an object of the present invention is that a driver steers the steering wheel during the automatic steering mode in a vehicle having the functions of the automatic steering mode and the manual steering mode. It is detected by the steering torque from the torque sensor, and when the capacity (integrated value) corresponding to the magnitude of the generated torque exceeds a predetermined value, it is switched to the manual steering mode, especially the steering torque or motor status information (motor An object of the present invention is to provide a high-performance electric power steering apparatus that is switched quickly when angular velocity (rotational speed), motor angular acceleration, or motor centrifugal acceleration) is large so that the driver does not feel uncomfortable.
- the present invention calculates a motor current command value 1 based on the steering torque and the vehicle speed, drives the motor based on the motor current command value 1 to perform assist control of the steering system, and includes an automatic steering mode and a manual steering mode.
- the above-described object of the present invention is to integrate a steering angle control unit that calculates a motor current command value 2 so as to bring the actual steering angle closer to the target steering angle, and to integrate the steering torque.
- a torque integral determination unit that outputs a steering torque determination signal by comparing with a predetermined threshold; a switching unit that inputs the motor current command value 1 and the motor current command value 2 and is switched by the switching signal or the steering torque determination signal; A torque value comparing unit that compares the absolute value of the steering torque with a torque threshold and outputs a predetermined signal; A torque-sensitive gain unit that inputs a predetermined signal and outputs an integral input value corresponding to the steering torque, an integral calculation unit that integrates the integral input value from the torque-sensitive gain unit, and the integral calculation unit And a switching determination unit that outputs the steering torque determination signal by comparing the integral value from the integration threshold value, and the switching unit according to the switching command of the automatic steering mode and the manual steering mode or the steering torque determination signal. This is achieved by switching.
- the present invention calculates a motor current command value 1 based on the steering torque and the vehicle speed, drives the motor based on the motor current command value 1 to assist control of the steering system, and performs automatic steering mode and manual steering.
- the above-described object of the present invention relates to a steering angle control unit that calculates a motor current command value 2 so as to bring an actual steering angle closer to a target steering angle, and to integrate the steering torque.
- the torque integration determination unit that outputs a steering torque determination signal by comparing with a predetermined threshold, and the motor current command value 1 and the motor current command value 2 are input, and switching that is switched by the switching signal or the steering torque determination signal A torque value comparison in which the torque integral determination unit outputs a predetermined signal by comparing the absolute value of the steering torque with a torque threshold value.
- a motor state information sensitive gain unit that inputs the predetermined signal and outputs an integrated input value corresponding to motor state information (motor angular velocity, motor angular acceleration, or motor centrifugal acceleration), and the motor state information sensitive gain unit
- An integration calculation unit that integrates the integral input value from the output, and a switching determination unit that compares the integration value from the integration calculation unit with an integration threshold and outputs the steering torque determination signal, and the automatic steering mode and This is achieved by switching the switching unit in response to a manual steering mode switching command or the steering torque determination signal.
- the motor state information sensitive gain unit is a motor angular velocity sensitive gain unit, a motor angular acceleration sensitive gain unit, or a motor centrifugal acceleration sensitive gain unit.
- the steering torque is integrated when the steering torque exceeds a predetermined torque threshold, and the steering is performed.
- the torque or motor status information motor angular velocity, motor angular acceleration, or motor centrifugal acceleration
- integration is performed with a larger gain, and the mode switching control is performed by comparing the magnitude of the integrated value with a predetermined integration threshold. Therefore, the larger the steering torque and the greater the motor state information, the shorter the time required for switching determination.
- the switching control is determined based on the integral value of the steering torque rather than the passage of time, the driver does not feel uncomfortable even when switching to the manual steering mode during the automatic steering mode.
- an electric power steering apparatus for a vehicle having a function of an automatic steering mode and a manual steering mode it is detected that the driver has steered the steering wheel by the steering torque from the torque sensor during the automatic steering mode.
- the capacity (integral value) corresponding to the magnitude of the torque exceeds a predetermined value, the manual steering mode is switched to prevent the driver from feeling uncomfortable in any situation.
- the mode switching control is determined based on the integral value of the steering torque rather than the passage of time, the driver does not feel uncomfortable in any situation.
- the motor state information motor angular speed, motor angular acceleration, or motor centrifugal acceleration
- the time required for the switching determination can be shortened, so that reliable mode switching control can be performed. Can be implemented.
- FIG. 3 shows a configuration example of the present invention.
- a rotation sensor 151 such as a resolver for detecting a motor rotation angle ⁇ s is connected to the motor 150.
- the motor 150 includes an ECU 130 and an EPS (electric power) on the vehicle side.
- the drive is controlled via the ECU 140 on the steering device side.
- the ECU 130 on the vehicle side based on a button, switch or the like indicating the driver's intention, outputs a switching command unit 131 that outputs a switching command SW for the automatic steering mode or the manual steering mode, and signals from a camera (image) and a distance sensor. And a target steering angle generator 132 that generates a target steering angle ⁇ t based on the above.
- the actual steering angle ⁇ r detected by the steering angle sensor 152 provided on the column shaft and the vehicle speed Vel from the vehicle speed sensor 153 are input to the steering angle control unit 200 in the ECU 140 on the EPS side via the ECU 130.
- the rudder angle sensor 152 may be a rudder angle estimated value based on a column shaft (including intermediate and pinion shafts), rack and pinion rack displacement, wheel speed, and the like.
- the vehicle speed Vel can also be received from CAN or the like.
- the switching command unit 131 is based on a signal for identifying that the vehicle is in the automatic steering mode, for example, a signal indicating a vehicle state by a button or a switch provided on the dashboard or around the steering wheel or a parking mode provided for a shift.
- the switching command SW is output to the switching unit 142, and the switching command SW is input to the switching unit 142 in the ECU 140 on the EPS side.
- the target steering angle generation unit 132 generates a target steering angle ⁇ t by a known method based on data such as a camera (image) and a distance sensor, and the generated target steering angle ⁇ t is steered in the ECU 140 on the EPS side. Input to the angle controller 200.
- the ECU 140 on the EPS side outputs a motor current command value Itref calculated based on the steering torque Th and the motor angular speed ⁇ from the torque sensor 154, the target steering angle ⁇ t, the actual steering angle ⁇ r, and the vehicle speed Vel. ,
- a steering angle control unit 200 that calculates and outputs a motor current command value Imref for steering angle automatic control based on the steering torque Th and the motor angular velocity ⁇ , and a switching command SW or a steering torque determination signal from the switching command unit 131.
- the motor current command values Itref and Imref are switched to output the motor current command value Iref, and the motor 150 is driven and controlled based on the motor current command value Iref (Itref or Imref) from the switch unit 142.
- Motor rotation angle ⁇ s from current control / drive unit 143 and rotation sensor 151
- the motor angular velocity calculation unit 144 that calculates the motor angular velocity ⁇ based on the steering torque Th and the torque integration determination unit 300 that outputs the steering torque determination signal TD based on the steering torque Th are provided.
- the switching unit 142 based on the switching command SW from the switching command unit 131 of the ECU 130 or the steering torque determination signal TD from the torque integration determination unit 300, the torque control mode (manual steering mode) by the torque control unit 141, and the steering angle
- the automatic steering mode is switched by the control unit 200, the motor current command value Itref is output as the motor current command value Iref in the manual steering mode, and the motor current command value Imref is output as the motor current command value Iref in the automatic steering mode.
- the current control / driving unit 143 includes a PI current control unit, a PWM control unit, an inverter, and the like.
- the torque integral determination unit 300 is configured as shown in FIG. 4, and an LPF (low-pass filter) 301 for removing the noise of the steering torque Th and an absolute value for obtaining the absolute value of the steering torque Tha output from the LPF 301.
- the value unit 302, the torque value comparison unit 303 that compares the absolute value of the steering torque Tha with a predetermined torque threshold value Tth and outputs the output signal Ct or the past value initialization signal Pi, and limits the upper and lower limit values of the output signal Ct Then, a limiter 304 that prevents an excessive signal from being input and a limiter output value Cta from the limiter 304 are input, and an integral input value Ctb is output by multiplying the absolute value
- Torque-sensitive gain unit 305 that integrates, integral calculation unit 306 that integrates the integral input value Ctb, and integral output that is integrated by the integral calculation unit 306
- the Iout compared with predetermined integration threshold value Sth is composed of a switching determination unit 307 for outputting a steering torque determination signal TD.
- the torque value comparison unit 303 compares the absolute value
- the torque sensitive gain unit 305 includes a variable gain unit 305-1 that increases the gain K to 1.0 or more as the absolute value
- the variable gain unit 305-1 has, for example, a linear change characteristic as shown in FIG. 5A and a non-linear change characteristic as shown in FIG. By having such characteristics, the effect of integration increases as the steering torque Th (absolute value
- the switching determination unit 307 compares the integral output value Iout with the integral threshold value Sth, and when the integral output value Iout is equal to or greater than the integral threshold value Sth, the switching condition is established, and the automatic steering mode is switched to the manual steering mode. Is smaller than the integral threshold value Sth, the switching condition is not satisfied, and the automatic steering mode is continued. That is, the switching determination unit 307 performs the following operation. (Table 2) When Iout ⁇ Sth, the switching condition is satisfied.
- the switching condition is not satisfied.
- the absolute value portion 302 it is possible to determine only by the magnitude of the value. Therefore, it can be determined by comparing the magnitude with a single torque threshold value Tth. Further, as a configuration, the absolute value unit 302 and the torque value comparison unit 303 may be combined, and the absolute value may be determined by internal processing of the torque value comparison unit 303.
- the torque threshold value Tth is set to a plurality of positive and negative values, the absolute value portion is not necessary, and the absolute value may be obtained after the integration calculation.
- step S1 torque control (manual steering mode) is performed by the torque control unit 141 (step S1), and the motor 150 is driven by the current control / drive unit 143 using the motor current command value Itref ( Step S2). The above operation is repeated until a switching command SW is output from the switching command unit 131 (step S3).
- the target steering angle ⁇ t is input from the target steering angle generation unit 132 to the steering angle control unit 200 (step S4), and the actual steering angle sensor 152 outputs the actual steering angle.
- the steering angle ⁇ r is input (step S5)
- the steering torque Th is input from the torque sensor 154 (step S6)
- the vehicle speed Vel is input from the vehicle speed sensor 153 (step S7)
- the motor angular speed calculation unit 144 determines the motor angular speed ⁇ .
- the motor current command value Imref is generated by the steering angle control unit 200 (step S100). Note that the input order of the target steering angle ⁇ t, the actual steering angle ⁇ r, the steering torque Th, and the motor angular velocity ⁇ is arbitrary.
- the switching unit 142 is switched by the switching command SW from the switching command unit 131 to enter the automatic steering mode (step S10), and the current control / driving unit 143 uses the motor current command value Imref from the steering angle control unit 200.
- the motor 150 is driven (step S11).
- step S200 the steering torque Th is subjected to a torque integration operation by the torque integration determination unit 300 (step S200), and the integrated torque integrated value (integrated output value Iout) becomes a predetermined threshold value or more. It is determined whether or not there is (step S200A).
- step S200A a steering torque determination signal TD is output from the torque integral determination unit 300, the switching unit 142 is switched, and the process returns to step S1 to enter the manual steering mode. If the torque integral value is smaller than the threshold value, the process returns to step S3 and the above operation (automatic steering mode) is repeated.
- step S200 and S200A in FIG. 6 the operation of the torque integral determination unit 300 (steps S200 and S200A in FIG. 6) will be described in detail with reference to the flowchart of FIG.
- the steering torque Th already input (step S6) is read (step S201), noise is removed by the LPF 301 (step S202), and the absolute value
- a torque threshold value Tth is input in advance to the torque value comparison unit 303.
- the torque value comparison unit 303 determines whether or not the absolute value
- the output signal Ct is set to the absolute value
- the maximum value is limited by the limiter 304
- the limiter output value Cta is set to the absolute value of the steering torque Th by the torque sensitive gain unit 305.
- the gain (K) is multiplied according to Tha
- a gain K (1.0 or more) is output as a characteristic. The gain K is multiplied by the limiter output value Cta by the multiplier 305-2, and the multiplied value is output as the integral input value Ctb.
- the integral input value Ctb multiplied by the gain by the torque sensitive gain unit 305 is input to the integral calculation unit 305, and the integral calculation unit 305 performs an integration operation (step S206).
- the output signal Ct is set to 0 so that the integration operation is not performed, and the past value initialization signal Pi is output to initialize the integration calculation unit 306.
- Step S207 Initialization is performed by resetting the past value holding unit (Z ⁇ 1 ) in the integral calculation unit 306 to zero.
- the integral output value Iout from the integral calculation unit 306 is input to the switching determination unit 307, and the switching determination unit 307 determines whether or not the integral output value Iout is equal to or greater than the integration threshold value Sth (step S208).
- the switching condition is satisfied (step S210)
- the switching unit 142 is switched by the steering torque determination signal TD (step S211), and the automatic steering mode is switched to the manual steering mode (Ste S212).
- the integral output value Iout is smaller than the integral threshold value Sth, the switching condition is not satisfied and the switching is not performed (step S213).
- FIG. 8 shows an example (time line characteristic A, broken line characteristic B) of the time change of the steering torque Th (Tha) with respect to the torque threshold Tth in relation to the integration operation.
- the characteristic A will be described. From start to time t 1 is the integration is not performed is smaller than the steering torque Th is torque threshold Tth. Between time t 1 to time t 2 is the steering torque Th is the integration since it is the torque threshold value Tth or higher is performed, switching condition because the integral value is less than the integral threshold value Sth is not to be established. Then, from time t 2 to time t 3 the steering torque Th is integrated is not performed is smaller than the torque threshold value Tth, the time t 3 subsequent integration since the steering torque Th is a torque threshold value Tth or more is performed.
- Integrated value becomes a predetermined value (integration threshold Sth) above at time t 4, it shows how the switching condition is satisfied. That is, although the hatched portion in FIG. 8 is a integral region (area), the integral value at time t 2 is switching condition smaller than the integral threshold value Sth is not satisfied, the integrated value at time t 4 the integral threshold Sth or In this example, the switching condition is satisfied.
- the torque sensitive gain unit 305 having the characteristic that the integral input value Ctb increases as the steering torque Th (absolute value
- FIG. 9 shows the relationship between the steering patterns # 1 to # 3 of the steering torque Th and the determination times D1 to D3, and a torque threshold value Tth is given.
- the timing at which the steering torque Th reaches the torque threshold value Tth is the same, and thereafter, the steering torque Th is greater than the torque threshold value Tth, and when the torque threshold value Tth is reached, the integration calculation is started.
- FIG. 9 shows that the determination time is shortened as the steering torque Th is increased. This is because as the steering torque Th increases, the rate of change of integration increases, and the integration threshold value Sth is reached earlier.
- the steering mode when the steering mode is switched by the switching unit 142, it may be gradually changed using a fade gain.
- of the steering torque Th is input to the torque-sensitive gain unit 305.
- the gain can be varied by inputting the steering torque Th.
- FIG. 10 shows a configuration example (second embodiment) of the present invention corresponding to FIG. 3, and is the same as the first embodiment of FIG. 3 except for the torque integration determination unit 300A.
- the torque integration determination unit 300A outputs a steering torque determination signal TD based on the steering torque Th and the motor angular speed (rotational speed) ⁇ as motor state information.
- the torque integral determination unit 300A has a configuration as shown in FIG. 11 and is substantially the same as the configuration of FIG. 4 described above, but a motor angular velocity sensitive gain unit in which the torque sensitive gain unit 305 is sensitive to the motor angular velocity ⁇ . It is 305A.
- the motor angular velocity sensitive gain unit 305A has a variable gain unit 305-1A that increases the gain K to 1.0 or more as the motor angular velocity ⁇ increases, and multiplies the limiter output value by the gain K from the variable gain unit 305-1A. And a multiplier 305-2A for outputting the integral input value Ctb.
- the variable gain unit 305-1A has, for example, a linear change characteristic as shown in FIG.
- the switching determination unit 307 compares the integrated output value Iout with the integration threshold value Sth, and when the integrated output value Iout is equal to or greater than the integration threshold value Sth, the switching condition is established, and the automatic steering mode is switched to the manual steering mode. When the integral output value Iout is smaller than the integral threshold value Sth, the switching condition is not satisfied and the automatic steering mode is continued.
- the operation of the second embodiment is the same as that of the first embodiment, but only the operation of the motor angular velocity sensitive gain unit 305A in the torque integral determination unit 300A is different. That is, the motor angular velocity sensitive gain unit 305A multiplies the limiter output value Cta by a gain (K) according to the motor angular velocity ⁇ .
- the limiter output value Cta is input to the variable gain unit 305-1A and the multiplication unit 305-2A.
- the variable gain unit 305-1A has a gain K with characteristics as shown in FIGS. 12A and 12B, for example, according to the motor angular velocity ⁇ . (1.0 or more) is output.
- the gain K is multiplied by the limiter output value Cta by the multiplier 305-2A, and the multiplied value is output as the integral input value Ctb.
- FIG. 13 shows a configuration example (third embodiment) of the present invention corresponding to FIG. 3, except for the torque integral determination unit 300B and the motor angular acceleration calculation unit 145, which is exactly the same as the first embodiment of FIG. It is.
- the torque integration determination unit 300B outputs a steering torque determination signal TD based on the steering torque Th and the motor angular acceleration ⁇ as the motor state information.
- the torque integral determination unit 300B has a configuration as shown in FIG. 14 and is substantially the same as the configuration of FIG. 11 described above, but the motor angular velocity sensitive gain unit 305A is sensitive to the motor angular acceleration ⁇ . This is a mold gain unit 305B.
- the motor angular acceleration sensitive gain unit 305B includes a variable gain unit 305-1B that increases the gain K to 1.0 or more as the motor angular acceleration ⁇ from the motor angular acceleration calculation unit 145 increases, and a variable gain for the limiter output value.
- a multiplication unit 305-2B that multiplies the gain K from the unit 305-1B and outputs an integral input value Ctb.
- the variable gain unit 305-1B has, for example, a linear change characteristic as shown in FIG.
- the switching determination unit 307 compares the integral output value Iout with the integral threshold value Sth, and when the integral output value Iout is equal to or greater than the integral threshold value Sth, the switching condition is satisfied and automatic steering is performed. When the integral output value Iout is smaller than the integral threshold value Sth, the switching condition is not satisfied and the automatic steering mode is continued.
- the operation of the third embodiment is the same as that of the first and second embodiments, but the calculation of the motor angular acceleration ⁇ by the motor angular acceleration calculation unit 145 and the torque integration determination unit 300B. Only the operation of the motor angular acceleration sensitive gain unit 305B is different. That is, the motor angular acceleration calculation unit 145 calculates the motor angular acceleration ⁇ based on the motor angular velocity ⁇ and inputs it to the motor angular acceleration sensitive gain unit 305B. Further, the motor angular acceleration sensitive gain unit 305B multiplies the limiter output value Cta by a gain (K) according to the motor angular acceleration ⁇ .
- the limiter output value Cta is input to the variable gain unit 305-1B and the multiplication unit 305-2B, and the variable gain unit 305-1B gains with the characteristics shown in FIGS. 15A and 15B, for example, according to the motor angular acceleration ⁇ . K (1.0 or more) is output. The gain K is multiplied by the limiter output value Cta in the multiplier 305-2B, and the multiplied value is output as the integral input value Ctb. This makes it possible to shorten the determination time when the motor angular acceleration ⁇ is large, that is, when the motor rotates at high speed.
- FIG. 16 shows a configuration example (fourth embodiment) of the present invention corresponding to FIG. 3, except for the torque integral determination unit 300C and the motor centrifugal acceleration calculation unit 146, which is exactly the same as the first embodiment of FIG. It is.
- Torque integration determination unit 300C includes a steering torque Th, and outputs the steering torque determination signal TD based on the motor centrifugal acceleration omega 2 as a motor status information.
- the torque integrator decision unit 300C has a configuration as shown in FIG. 17 is almost the same as that of FIGS. 11 and 14 described above, the motor centrifugal acceleration sensitive gain section 305C that is sensitive to the motor centrifugal acceleration omega 2 It has.
- Motor centrifugal acceleration sensitive gain section 305C includes a variable gain unit 305-1C increasing the gain K to 1.0 or more according to the motor centrifugal acceleration omega 2 from the motor centrifugal acceleration calculator 146 is increased, the variable to the limiter output value A multiplication unit 305-2C that multiplies the gain K from the gain unit 305-1C and outputs an integral input value Ctb.
- the variable gain unit 305-1C has, for example, a linear change characteristic as shown in FIG.
- the switching determination unit 307 compares the integral output value Iout with the integral threshold value Sth, and when the integral output value Iout is equal to or greater than the integral threshold value Sth, the switching condition is satisfied and automatic steering is performed. When the integral output value Iout is smaller than the integral threshold value Sth, the switching condition is not satisfied and the automatic steering mode is continued.
- the operation of the fourth embodiment is the same as that of the first to third embodiments, but the calculation of the motor centrifugal acceleration ⁇ 2 by the motor centrifugal acceleration calculation unit 146 and the torque integral determination unit 300C Only the operation of the motor centrifugal acceleration sensitive gain unit 305C is different. That is, the motor centrifugal acceleration calculation unit 146 calculates the motor centrifugal acceleration ⁇ 2 based on the motor angular velocity ⁇ , and inputs it to the motor centrifugal acceleration sensitive gain unit 305C. The motor centrifugal acceleration sensitive gain section 305C will gain (K) times in accordance with the limiter output value Cta the motor centrifugal acceleration omega 2.
- Limiter output value Cta is inputted to the variable gain unit 305-1C and multiplying unit 305-2C, the variable gain unit 305-1C in accordance motor centrifugal acceleration omega 2, for example, FIG. 18 (A), the in properties such as (B) Outputs gain K (1.0 or more).
- the gain K is multiplied by the limiter output value Cta by the multiplier 305-2C, and the multiplied value is output as the integral input value Ctb. Accordingly, when the motor centrifugal acceleration omega 2 is large, it is possible that is to shorten the determination time during high-speed rotation of the motor.
- the steering mode when switched by the switching unit 142, it may be gradually changed using a fade gain.
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Abstract
Description
(表1)
|Tha|≧Tthのとき、出力信号Ct=|Tha|
|Tha|<Tthのとき、出力信号Ct=0、過去値初期化信号Pi出力
トルク値比較部303から過去値初期化信号Piが出力されると、積分演算部306内の過去値保持部(Z-1)が0に初期化される。また、トルク感応型ゲイン部305は、操舵トルクThの絶対値|Tha|が大きくなるに従ってゲインKを1.0以上に上昇させる可変ゲイン部305-1と、リミッタ出力値に可変ゲイン部305-1からのゲインKを乗算して積分入力値Ctbを出力する乗算部305-2とで構成されている。可変ゲイン部305-1は、例えば図5(A)に示すような線形変化特性、図5(B)のような非線形変化特性を有している。このような特性を有することにより、操舵トルクTh(絶対値|Tha|)が大きくなるほど積分の効果も大きくなる。切換判定部307は、積分出力値Ioutを積分閾値Sthと比較し、積分出力値Ioutが積分閾値Sth以上のときに切換条件が成立し、自動操舵モードから手動操舵モードに切り換え、積分出力値Ioutが積分閾値Sthよりも小さいときに切換条件不成立とし、自動操舵モードを継続する。即ち、切換判定部307は下記のような動作を行う。
(表2)
Iout≧Sthのとき、切換条件成立
Iout<Sthのとき、切換条件不成立
絶対値部302を設けることで、値の大きさのみで判定することができる。そのため、単一のトルク閾値Tthで大小を比較して判定することができる。また、構成として、絶対値部302とトルク値比較部303とを組み合わせ、トルク値比較部303の内部処理で絶対値を判定するようにしても良い。トルク閾値Tthを正負複数設定する場合は絶対値部は不要であり、積分演算後に絶対値を求めるようにしても良い。
2 コラム軸(ステアリングシャフト)
10、154 トルクセンサ
12、153 車速センサ
13 バッテリ
20,150 モータ
21 モータ駆動部
100 コントロールユニット(ECU)
110 トルク系制御部
120 モータ系制御部
151 回転センサ
152 舵角センサ
130 車両側のECU
131 切換指令部
132 目標操舵角生成部
140 EPS側のECU
141 トルク制御部
142 切換部
143 電流制御/駆動部
144 モータ角速度演算部
145 モータ角加速度演算部
146 モータ遠心加速度演算部
300 トルク積分判定部
303 トルク値比較部
305 トルク感応型ゲイン部
306 積分演算部
307 切換判定部
Claims (15)
- 操舵トルク及び車速に基づいてモータ電流指令値1を演算し、前記モータ電流指令値1に基づいてモータを駆動して操舵系をアシスト制御すると共に、自動操舵モードと手動操舵モードとを切り換える機能を有する電動パワーステアリング装置において、
目標操舵角に実操舵角を近づけるようにモータ電流指令値2を算出する舵角制御部と、
前記操舵トルクを積分して所定閾値と比較することにより操舵トルク判定信号を出力するトルク積分判定部と、
前記モータ電流指令値1及びモータ電流指令値2を入力し、切換信号又は前記操舵トルク判定信号により切り換えられる切換部とを具備し、
前記トルク積分判定部が、前記操舵トルクの絶対値をトルク閾値と比較して所定信号を出力するトルク値比較部と、前記所定信号を入力し、前記操舵トルクに応じた積分入力値を出力するトルク感応型ゲイン部と、前記トルク感応型ゲイン部からの前記積分入力値を積分する積分演算部と、前記積分演算部からの積分値を積分閾値と比較して前記操舵トルク判定信号を出力する切換判定部とで構成され、
前記自動操舵モード及び手動操舵モードの切換指令又は前記操舵トルク判定信号に応じて前記切換部が切り換えられることを特徴とする電動パワーステアリング装置。 - 前記トルク積分判定部が、前記複数のトルク値比較部の前段にLPFを具備している請求項1に記載の電動パワーステアリング装置。
- 前記トルク感応型ゲイン部が、前記操舵トルクが大きくなるに従って、線形若しくは非線形に大きくなる前記積分入力値を出力する請求項1又は2に記載の電動パワーステアリング装置。
- 前記トルク値比較部が、前記絶対値が前記トルク閾値以上のときに前記絶対値を出力し、前記絶対値が前記トルク閾値より小さいときに出力を0にすると共に、前記積分演算部を初期化する過去値初期化信号を出力する機能を具備している請求項1乃至3のいずれかに記載の電動パワーステアリング装置。
- 前記切換判定部が、前記積分値が前記積分閾値以上のときに前記操舵トルク判定信号を出力し、前記積分値が前記積分閾値より小さいときに前記操舵トルク判定信号を出力しない機能を具備している請求項1乃至4のいずれかに記載の電動パワーステアリング装置。
- 前記自動操舵モード中に、前記絶対値が前記トルク閾値以上であり、かつ前記積分値が前記積分閾値以上となったときに、前記操舵トルク判定信号により前記切換部を切り換えて前記手動操舵モードとする請求項1乃至5のいずれかに記載の電動パワーステアリング装置。
- 操舵トルク及び車速に基づいてモータ電流指令値1を演算し、前記モータ電流指令値1に基づいてモータを駆動して操舵系をアシスト制御すると共に、自動操舵モードと手動操舵モードとを切り換える機能を有する電動パワーステアリング装置において、
目標操舵角に実操舵角を近づけるようにモータ電流指令値2を算出する舵角制御部と、
前記操舵トルクを積分して所定閾値と比較することにより操舵トルク判定信号を出力するトルク積分判定部と、
前記モータ電流指令値1及びモータ電流指令値2を入力し、切換信号又は前記操舵トルク判定信号により切り換えられる切換部とを具備し、
前記トルク積分判定部が、前記操舵トルクの絶対値をトルク閾値と比較して所定信号を出力するトルク値比較部と、前記所定信号を入力し、モータ状態情報に応じた積分入力値を出力するモータ状態情報感応型ゲイン部と、前記モータ状態情報感応型ゲイン部からの前記積分入力値を積分する積分演算部と、前記積分演算部からの積分値を積分閾値と比較して前記操舵トルク判定信号を出力する切換判定部とで構成され、
前記自動操舵モード及び手動操舵モードの切換指令又は前記操舵トルク判定信号に応じて前記切換部が切り換えられることを特徴とする電動パワーステアリング装置。 - 前記モータ状態情報感応型ゲイン部が、前記モータ状態情報が大きくなるに従って、線形若しくは非線形に大きくなる前記積分入力値を出力する請求項7に記載の電動パワーステアリング装置。
- 前記モータ状態情報がモータ角速度であり、前記モータ状態情報感応型ゲイン部がモータ角速度感応型ゲイン部である請求項7又は8に記載の電動パワーステアリング装置。
- 前記モータ状態情報がモータ角加速度であり、前記モータ状態情報感応型ゲイン部がモータ角加速度感応型ゲイン部である請求項7又は8に記載の電動パワーステアリング装置。
- 前記モータ状態情報がモータ遠心加速度であり、前記モータ状態情報感応型ゲイン部がモータ遠心加速度感応型ゲイン部である請求項7又は8に記載の電動パワーステアリング装置。
- 前記トルク積分判定部が、前記トルク値比較部の前段にLPFを具備している請求項7乃至11のいずれかに記載の電動パワーステアリング装置。
- 前記トルク値比較部が、前記絶対値が前記トルク閾値以上のときに前記絶対値を出力し、前記絶対値が前記トルク閾値より小さいときに出力を0にすると共に、前記積分演算部を初期化する過去値初期化信号を出力する機能を具備している請求項7乃至12のいずれかに記載の電動パワーステアリング装置。
- 前記切換判定部が、前記積分値が前記積分閾値以上のときに前記操舵トルク判定信号を出力し、前記積分値が前記積分閾値より小さいときに前記操舵トルク判定信号を出力しない機能を具備している請求項7乃至13のいずれかに記載の電動パワーステアリング装置。
- 前記自動操舵モード中に、前記絶対値が前記トルク閾値以上であり、かつ前記積分値が前記積分閾値以上となったときに、前記操舵トルク判定信号により前記切換部を切り換えて前記手動操舵モードとする請求項7乃至14のいずれかに記載の電動パワーステアリング装置。
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Also Published As
Publication number | Publication date |
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JPWO2014122997A1 (ja) | 2017-02-02 |
EP2955080B1 (en) | 2018-03-07 |
JP5930078B2 (ja) | 2016-06-08 |
CN104684792B (zh) | 2017-03-15 |
EP2955080A4 (en) | 2016-11-02 |
CN104684792A (zh) | 2015-06-03 |
US20150344066A1 (en) | 2015-12-03 |
US9623899B2 (en) | 2017-04-18 |
EP2955080A1 (en) | 2015-12-16 |
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