WO2015005222A1 - 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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- WO2015005222A1 WO2015005222A1 PCT/JP2014/067807 JP2014067807W WO2015005222A1 WO 2015005222 A1 WO2015005222 A1 WO 2015005222A1 JP 2014067807 W JP2014067807 W JP 2014067807W WO 2015005222 A1 WO2015005222 A1 WO 2015005222A1
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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 PI-controls a current command value calculated based on at least a steering torque and applies an assist force by a motor to a steering system of a vehicle, in particular, a steering wheel, a current command value
- the present invention relates to an electric power steering control device that suppresses vibration when a vibration to be suppressed such as a motor speed continues for a predetermined time or more within a predetermined frequency range and improves steering feeling.
- 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, a steering shaft or a rack shaft by a transmission mechanism such as a gear or a belt via a speed reducer.
- a steering assist force is applied to the vehicle.
- 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, handle shaft) 2 of a handle 1 is a reduction gear 3, universal joints 4a and 4b, a pinion rack mechanism 5, a tie rod 6a, 6b is further connected to the steering wheels 8L and 8R via hub units 7a and 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) 30 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 30 calculates a current command value of an assist (steering assistance) 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 compensates the current command value.
- the current supplied to the motor 20 is controlled by the current control value E subjected to.
- the vehicle speed Vel can also be received from CAN (Controller Area Network) or the like.
- the control unit 30 is mainly composed of a CPU (including an MPU, MCU, etc.).
- FIG. 2 shows general functions executed by a program inside the CPU.
- the steering torque Th detected by the torque sensor 10 and the vehicle speed Vel detected by the vehicle speed sensor 12 are calculated as a current command value that calculates a current command value Iref1.
- the current command value calculation unit 31 calculates a current command value Iref1, which is a control target value of the current supplied to the motor 20, using an assist map or the like based on the input steering torque Th and vehicle speed Vel.
- the current command value Iref1 is input to the current limiting unit 33 through the adding unit 32A, and the current command value Iref3 with the maximum current limited is input to the subtracting unit 32B, and the deviation I (Iref3) from the fed back motor current value Im.
- the voltage control command value Vref whose characteristics are improved by the PI control unit 35 is input to the PWM control unit 36, and the motor 20 is PWM driven via an inverter circuit 37 as a drive unit.
- the current value Im of the motor 20 is detected by the motor current detector 38 and fed back to the subtraction unit 32B.
- the compensation signal CM from the compensation signal generation unit 34 is added to the addition unit 32A, and the compensation of the steering system system is performed by the addition of the compensation signal CM, thereby improving the convergence and inertia characteristics.
- the compensation signal generation unit 34 adds the self-aligning torque (SAT) 343 and the inertia 342 by the addition unit 344, and further adds the convergence 341 to the addition result by the addition unit 345, and compensates the addition result of the addition unit 345.
- the signal CM is used.
- the PI control unit 35 includes a proportional unit 351 that proportionally controls the current command value Iref4 with the proportional gain Gp, an integration unit 352 that integrates the current command value Iref4 with the integral gain Gi, and a proportional unit.
- the CPU microcomputer or the like of such an electric power steering apparatus generates a voltage control command value for controlling the motor by PI control as described above.
- the gain of PI control is adjusted to an appropriate value for each type of vehicle.
- Patent Document 1 an electric power steering apparatus disclosed in Japanese Patent Laid-Open No. 2006-188183 (Patent Document 1) has been proposed. That is, the electric power steering apparatus of Patent Document 1 includes vibration detection means for detecting vibration of the operation member, and when the vibration of the operation member is detected by the vibration detection means, of the proportional gain and integral gain of PI control. Gain changing means for reducing at least one of the above is provided.
- vibration components there are vibrations such as a current command value and a motor speed in addition to the torque of the handle, but Patent Document 1 does not take any countermeasures against such vibrations.
- the present invention has been made under the circumstances as described above, and an object of the present invention is to detect a vibration component of a vibration suppression target such as a handle or a current command value based on a Fourier series expression having a small calculation capacity, An object of the present invention is to provide an electric power steering control device that improves the steering feeling by changing the gain of the PI control unit only when vibration at a predetermined frequency continues for a predetermined time or longer, thereby suppressing the vibration.
- the present invention relates to an electric power steering control device that performs PI control on a current command value calculated based on at least a steering torque, and drives and assists steering by a PI-controlled control command value.
- the purpose is based on a vibration detection unit that detects a vibration to be suppressed and outputs a vibration signal, a duration determination unit that outputs a continuation signal when the vibration signal continues for a predetermined time or more, and the continuation signal And a gain setting unit that changes the gain of the PI control, and is achieved by performing vibration suppression of the vibration suppression target while the vibration signal continues for a predetermined frequency and for a predetermined time or longer.
- the object of the present invention is that the vibration detection unit extracts a predetermined frequency of the vibration suppression target, a BPF that generates a sine wave, a cosine wave generation unit that generates a cosine wave, and the BPF.
- a first multiplication unit that multiplies the vibration suppression target signal processed in step S by the sine wave, a second multiplication unit that multiplies the vibration suppression target signal by the cosine wave, and a first multiplication signal from the first multiplication unit.
- a first integration unit that integrates the second multiplication signal from the second multiplication unit, and a first square unit that squares the first integration signal from the first integration unit.
- a second squaring unit that squares the second integration signal from the second integration unit, a first multiplication signal from the first squaring unit, and a second from the second squaring unit. Or an adder that adds the multiplication signal and outputs the vibration signal, or the first integration And the second integration unit is initialized at a predetermined period, or the BPF extracts a vibration frequency of 5 to 20 Hz, or the vibration suppression target is the steering torque,
- the gain of the PI control that is changed by the current command value, the motor speed of the motor, or changed is more effectively achieved by a proportional gain or an integral gain, or a proportional gain and an integral gain.
- the BPF band pass filter
- the BPF band pass filter
- a minimum value and a maximum value are determined from a predetermined number of past value and current value sampling data, a first condition is set such that a plurality of output values fall within a certain range, and then a predetermined time continues. Since the second condition for comparing whether or not to be compared with the threshold value is determined, the calculation can be simplified.
- the vibration suppression target can be efficiently and economically suppressed with a small calculation capacity. Can be achieved.
- handle vibration is described as a vibration suppression target.
- vibrations such as current command values and motor speeds can be similarly applied as vibration suppression targets.
- a frequency component for which steering wheel vibration is desired to be extracted is extracted from the steering torque, and is based on the Fourier series shown in the following formula 1.
- the angular frequency ⁇ [rad / s] is set as an angular frequency to be extracted, and a predetermined period is set as T.
- Equation 2 Equation 2
- Equation 3 is obtained, and An 2 can be used as an amplitude component.
- FIG. 4 shows an example of the configuration of the present invention corresponding to FIG. 2.
- a vibration detection unit 200 that detects the vibration of the steering wheel in a predetermined frequency range based on the steering torque Th to be suppressed
- a gain setting unit 230 that outputs a gain setting signal GS for changing the gain (Gp, Gi) of the PI control unit 35 is newly added.
- the gain change of the PI control unit 35 may be either the proportional gain Gp or the integral Gi, or both the proportional gain Gp and the integral gain Gi may be changed.
- compensation by the compensation signal CM by the compensation signal generator 34 is not essential.
- the steering torque Th includes a continuous vibration of 10 Hz.
- the vibration detection unit 200 has a configuration as shown in FIG. 5, for example, and the calculation cycle is, for example, 1 ms.
- the steering torque Th is input to the bandpass filter (BPF) 201, and the vibration steering torque Tha as a vibration suppression target signal such as a low frequency and high frequency noise component of the offset component is input to the multipliers 204s and 204c.
- the frequency signal FS is input to a sine wave (sin) generation unit 203 s and a cosine wave (cos) generation unit 203 c, which are respectively sine waves.
- sin ( ⁇ t) and cosine wave cos ( ⁇ t) are generated.
- f is a predetermined frequency of 10 Hz.
- the sine wave sin ( ⁇ t) is input to the multiplication unit 204s
- the cosine wave cos ( ⁇ t) is input to the multiplication unit 204c.
- the vibration signal VS from the vibration detection unit 200 is input to the duration determination unit 220, and the duration determination unit 220 outputs a continuation signal CT when the vibration signal VS continues for a predetermined time (for example, 1.5 seconds).
- the continuation signal CT is input to the gain setting unit 230, and the gain setting unit 230 outputs a gain setting signal GS for changing the proportional gain Gp and the integral gain Gi of the PI control unit 35.
- the PI control unit 35 performs PI control with the changed new proportional gain Gp and integral gain Gi.
- the vibration detection unit 200 inputs the steering torque Th (step S1), and the BPF 201 in the vibration detection unit 200 extracts a vibration component having a predetermined frequency (for example, 5 to 20 Hz) (step S2).
- the cosine wave generator 203c generates a cosine wave cos ( ⁇ t) (step S4).
- the sine wave sin ( ⁇ t) is input to the multiplication unit 204s, and the cosine wave cos ( ⁇ t) is input to the multiplication unit 204c.
- the generation order of the sine wave sin ( ⁇ t) and the cosine wave cos ( ⁇ t) is arbitrary, and the cosine wave may be generated first.
- the multiplication unit 204s multiplies the vibration steering torque Tha subjected to the BPF processing and the sine wave sin ( ⁇ t) (step S10), and the integration unit 205s integrates the multiplication signal Ths (step S11).
- the integration signal ITs integrated by the integration unit 205s is input to the squaring unit 206s and squared by the squaring unit 206s (step S12).
- the multiplication unit 204c multiplies the BPF-processed vibration steering torque Tha and the cosine wave cos ( ⁇ t) (step S20), and the integration unit 205c integrates the multiplication signal Thc (step S21).
- the integration signal ITc integrated by the integration unit 205c is input to the square unit 206c and squared by the square unit 206c (step S22).
- the order of integration is arbitrary for sine waves and cosine waves, and the cosine wave processing may be performed first.
- FIG. 9 shows an example of the waveform of the multiplication signal THs of the sine wave sin ( ⁇ t), and the thick line is the cosine wave cos ( ⁇ t).
- 2 shows an example of the waveform of the multiplication signal THc.
- FIG. 10 shows an example of a waveform of an integration signal ITs that is an integration result of the multiplication signal THs of the sine wave sin ( ⁇ t) and the multiplication signal THs.
- the initialization time is 500 ms, and is initialized to 0 every 500 ms. The same applies to the cosine wave cos ( ⁇ t).
- the square value Ms squared by the square unit 206c and the square value mc squared by the square unit 206c are input to the addition unit 207 and added (step S23), and the integration unit 205c is initialized at the initialization time. It is determined whether or not there is (step S24), and if it is an initialization time, initialization is performed (step S25). Thereafter, if it is not the initialization time, the vibration that is an added value is not initialized.
- the signal VS is input to the duration determination unit 220, and it is determined whether or not the vibration is continuous (step S30).
- the continuation signal CT is output, and the gain setting unit 230 outputs the gain setting signal GS based on the continuation signal to change the proportional gain Gp and the integral gain Gi of the PI control unit 35 ( Step S40).
- Both the change of the proportional gain Gp and the integral gain Gi are changed in the direction of decreasing the gain, and the change may be linear or non-linear, or may be changed gradually.
- step S30 determines whether the vibration has no continuity and is temporary. If it is determined in step S30 that the vibration has no continuity and is temporary, the process returns to step S1 to repeat the above operation.
- step S30 is performed according to the flow shown in FIG. 11 in detail.
- the vibration signal VS which is an added value, is input as the first sampling (y [k]) (step S31) and stored in a memory (not shown) (step S32). Thereafter, the vibration signal VS is input until y [k-2] at the third sampling (step S33), and the three sampling data y [k], y [k-1], y [k-2] are input.
- the maximum value ymax and the minimum value ymin are determined from the two past values and the current value (step S34), the setting coefficient is set to “a”, and “ymin ⁇ a ⁇ ymax” is determined. Determination is made (step S35).
- the determination of the first condition is determination of whether or not the three output values are relatively within a certain range.
- each output value y [k], y [k ⁇ 1], y [k ⁇ 2] is set to a predetermined threshold value yth.
- a second condition for determining whether the output value is greater than the threshold value yth is determined (step S36), and when each output value y [k], y [k-1], y [k-2] is greater than the threshold value yth, It outputs (step S37) and is complete
- step S35 if the first condition is not satisfied and “ymin ⁇ a ⁇ ymax”, a return is made.
- FIG. 12 shows an example of the operation of the integration unit, which is also initialized every 500 ms in this example.
- the value immediately before the update of the output value y is y [k]
- the setting coefficient “a” 0.8.
- the first condition is satisfied.
- the second condition is also satisfied. For this reason, the 1st condition and the 2nd condition as judgment conditions of continuous vibration are satisfied. Therefore, after 1.5 sec, processing for suppressing vibration is performed, and the vibration of the steering torque converges.
- the vibration suppression target is described as the steering torque Th.
- the current command value Iref1 or Iref2 is input to the vibration detection unit 200 and the same control is performed.
- a similar control may be performed by inputting a motor speed signal based on a rotation sensor (for example, a resolver) connected to the motor 20 to the vibration detection unit 200. It is also possible to simultaneously control the steering torque Th, the current command value Iref1 or Iref2, and the motor speed as vibration suppression targets.
- the update cycle may be three cycles or more of a certain extraction frequency.
- a plurality of vibration detection units set to different values may be provided, and when any one of them detects continuous vibration, a continuous vibration detection state may be set.
- the latest output value may be compared with a value calculated from a past output value by the least square method or the like, and if it is larger than a certain ratio, a continuous vibration detection state may be set. .
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Abstract
Description
図4は本発明の構成例を図2に対応させて示しており、本発明では、振動抑制対象の操舵トルクThに基づいて、ハンドルの振動を所定周波数範囲で検出する振動検出部200と、振動検出部200で検出された振動信号VSに基づいて、振動が所定時間以上継続しているか否かを判定する継続時間判定部220と、継続時間判定部220からの継続信号CTに基づいて、PI制御部35のゲイン(Gp,Gi)を変更するゲイン設定信号GSを出力するゲイン設定部230とが新たに付加されている。PI制御部35のゲイン変更は比例ゲインGp又は積分Giのいずれか一方でも良く、或いは比例ゲインGp及び積分ゲインGiの両方を変更するようにしても良い。
2 コラム軸(ステアリングシャフト、ハンドル軸)
10 トルクセンサ
12 車速センサ
20 モータ
30 コントロールユニット(ECU)
31 電流指令値演算部
33 電流制限部
35 PI制御部
36 PWM制御部
37 インバータ回路
200 振動検出部
201 バンドパスフィルタ(BPF)
202 発振部
203s 正弦波生成部
203c 余弦波生成部
204s、204c 乗算部
205s、205c 積分部
206s、206c 2乗部
220 継続時間判定部
230 ゲイン設定部
Claims (7)
- 少なくとも操舵トルクに基づいて演算された電流指令値をPI制御し、PI制御された制御指令値によりモータを駆動して操舵をアシスト制御する電動パワーステアリング制御装置において、
振動抑制対象の振動を検出して振動信号を出力する振動検出部と、
前記振動信号が所定時間以上継続したときに継続信号を出力する継続時間判定部と、
前記継続信号に基づいて前記PI制御のゲインを変更するゲイン設定部と、
を具備し、
前記振動信号の所定周波数及び所定時間以上の継続において、前記振動抑制対象の振動抑制を行うことを特徴とする電動パワーステアリング制御装置。 - 前記振動検出部が、
前記振動抑制対象の所定周波数を抽出するBPFと、
正弦波を生成する正弦波生成部と、
余弦波を生成する余弦波生成部と、
前記BPFで処理された振動抑制対象信号に前記正弦波を乗算する第1乗算部と、
前記振動抑制対象信号に前記余弦波を乗算する第2乗算部と、
前記第1乗算部からの第1乗算信号を積分する第1積分部と、
前記第2乗算部からの第2乗算信号を積分する第2積分部と、
前記第1積分部からの第1積分信号を2乗する第1の2乗部と、
前記第2積分部からの第2積分信号を2乗する第2の2乗部と、
前記第1の2乗部からの第1乗算信号と前記第2の2乗部からの第2乗算信号を加算して前記振動信号を出力する加算部と、
で構成されている請求項1に記載の電動パワーステアリング制御装置。 - 前記第1積分部及び前記第2積分部が所定周期で初期化されるようになっている請求項1又は2に記載の電動パワーステアリング制御装置。
- 前記BPFが、5~20Hzの振動周波数を抽出する請求項2又は3に記載の電動パワーステアリング制御装置。
- 前記振動抑制対象が、前記操舵トルク、前記電流指令値、前記モータのモータ速度である請求項1乃至4のいずれかに記載の電動パワーステアリング制御装置。
- 変更される前記PI制御のゲインが、比例ゲイン又は積分ゲインである請求項1乃至5のいずれかに記載の電動パワーステアリング制御装置。
- 変更される前記PI制御のゲインが、比例ゲイン及び積分ゲインである請求項1乃至5のいずれかに記載の電動パワーステアリング制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/651,537 US20160107680A1 (en) | 2013-07-08 | 2014-07-03 | Electric power steering control unit |
JP2015526301A JP6079884B2 (ja) | 2013-07-08 | 2014-07-03 | 電動パワーステアリング制御装置 |
CN201480038369.XA CN105408190B (zh) | 2013-07-08 | 2014-07-03 | 电动助力转向控制装置 |
EP14823294.5A EP3020617B1 (en) | 2013-07-08 | 2014-07-03 | Electric power steering control device |
Applications Claiming Priority (2)
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JP2013-142583 | 2013-07-08 | ||
JP2013142583 | 2013-07-08 |
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WO2015005222A1 true WO2015005222A1 (ja) | 2015-01-15 |
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PCT/JP2014/067807 WO2015005222A1 (ja) | 2013-07-08 | 2014-07-03 | 電動パワーステアリング制御装置 |
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US (1) | US20160107680A1 (ja) |
EP (1) | EP3020617B1 (ja) |
JP (1) | JP6079884B2 (ja) |
CN (1) | CN105408190B (ja) |
WO (1) | WO2015005222A1 (ja) |
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SE541786C2 (en) * | 2017-08-28 | 2019-12-17 | Scania Cv Ab | A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium. |
DE102018205537B4 (de) * | 2018-04-12 | 2022-04-21 | Audi Ag | Dämpfen eines Schwingens eines Überlagerungslenksystems |
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JP2009208589A (ja) * | 2008-03-04 | 2009-09-17 | Honda Motor Co Ltd | 電動ダンパ装置 |
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JP5163052B2 (ja) * | 2007-10-24 | 2013-03-13 | 株式会社ジェイテクト | 伝達比可変装置 |
EP2221236B1 (en) * | 2007-12-14 | 2014-08-06 | Mitsubishi Electric Corporation | Electric power-steering controller |
US8744682B2 (en) * | 2008-05-30 | 2014-06-03 | GM Global Technology Operations LLC | Reducing the effects of vibrations in an electric power steering (EPS) system |
JP5447393B2 (ja) * | 2009-09-28 | 2014-03-19 | 日本精工株式会社 | 電動パワーステアリング装置 |
US8626394B2 (en) * | 2009-10-30 | 2014-01-07 | Mitsubishi Electric Corporation | Electric power steering control device |
JP5573126B2 (ja) * | 2009-11-27 | 2014-08-20 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
US9266558B2 (en) * | 2010-09-15 | 2016-02-23 | GM Global Technology Operations LLC | Methods, systems and apparatus for steering wheel vibration reduction in electric power steering systems |
-
2014
- 2014-07-03 US US14/651,537 patent/US20160107680A1/en not_active Abandoned
- 2014-07-03 CN CN201480038369.XA patent/CN105408190B/zh not_active Expired - Fee Related
- 2014-07-03 EP EP14823294.5A patent/EP3020617B1/en active Active
- 2014-07-03 JP JP2015526301A patent/JP6079884B2/ja not_active Expired - Fee Related
- 2014-07-03 WO PCT/JP2014/067807 patent/WO2015005222A1/ja active Application Filing
Patent Citations (4)
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JP2004161073A (ja) * | 2002-11-11 | 2004-06-10 | Koyo Seiko Co Ltd | 電動パワーステアリング装置 |
JP2006188183A (ja) * | 2005-01-07 | 2006-07-20 | Favess Co Ltd | 電動パワーステアリング装置 |
JP2008254729A (ja) * | 2007-03-30 | 2008-10-23 | Ford Global Technologies Llc | 自動車のステアリング装置における周期的外乱の検出方法、及びその周期的外乱の補償方法 |
JP2009208589A (ja) * | 2008-03-04 | 2009-09-17 | Honda Motor Co Ltd | 電動ダンパ装置 |
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JP6079884B2 (ja) | 2017-02-15 |
JPWO2015005222A1 (ja) | 2017-03-02 |
CN105408190B (zh) | 2017-09-22 |
US20160107680A1 (en) | 2016-04-21 |
CN105408190A (zh) | 2016-03-16 |
EP3020617B1 (en) | 2020-06-03 |
EP3020617A4 (en) | 2017-05-03 |
EP3020617A1 (en) | 2016-05-18 |
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