WO2015159762A1 - 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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- WO2015159762A1 WO2015159762A1 PCT/JP2015/060871 JP2015060871W WO2015159762A1 WO 2015159762 A1 WO2015159762 A1 WO 2015159762A1 JP 2015060871 W JP2015060871 W JP 2015060871W WO 2015159762 A1 WO2015159762 A1 WO 2015159762A1
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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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
Definitions
- the present invention relates to an electric power steering apparatus in which an assist force by a motor is applied to a steering system of a vehicle, and in particular, an analog system is used for determination of increase / return control in order to suppress a driver's uncomfortable feeling.
- the present invention relates to a high-performance electric power steering apparatus capable of realizing a more comfortable steering feeling by improving the convergence control.
- 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) 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 the current command value of the assist (steering assistance) command based on the steering torque T detected by the torque sensor 10 and the vehicle speed V detected by the vehicle speed sensor 12, and the calculated current command value
- the current supplied to the motor 20 is controlled by the current control value E that has been compensated for.
- the vehicle speed V can also be received from CAN (Controller Area Network) or the like.
- control unit 100 is mainly composed of a CPU (including an MPU and MCU), and general functions executed by a program inside the CPU are shown in FIG.
- the structure is
- the function and operation of the control unit 100 will be described with reference to FIG. 2.
- the steering torque T from the torque sensor 10 is input to the current command value calculation unit 101 and also to the steering state determination unit 120, and the vehicle speed sensor
- the vehicle speed V from 12 is input to the current command value calculation unit 101 and also input to the vehicle speed sensitive gain unit 123.
- the current command value Iref calculated by the current command value calculation unit 101 based on the steering torque T and the vehicle speed V is added to the subtraction unit 102 and input.
- the self-aligning torque SAT 1 detected or estimated by the self-aligning torque (SAT) unit 140 is input to the multiplication unit 124.
- a vehicle speed sensitive gain 123, the vehicle speed sensitive gain G 1 based on the vehicle speed V is set.
- a vehicle speed sensitive gain G 1 from the vehicle speed sensitive gain unit 123 is also input to the multiplying unit 124.
- Output SAT1 ⁇ G 1 of the multiplier 124 is input to the multiplier 125.
- the measured or estimated motor angular velocity ⁇ is input to the steering state determination unit 120.
- the steering state determination unit 120 determines a steering state (any of steering turning-up steering, steering return steering, or steering holding) based on the steering torque T and the motor angular velocity ⁇ , and determines the determination signal as a result of the determination. Input to the steering state sensitive gain unit 121.
- the determination of the steering state is performed, for example, according to the flowchart shown in FIG. First, it is determined whether or not the motor angular velocity ⁇ has been maintained at the same value (or a certain range of values) for a certain time (step S100). If it is determined that the motor angular velocity ⁇ has continued, it is determined that the steering is maintained (step S105). On the other hand, if it is determined that the operation is not continued, it is determined that the vehicle is steered (step S101), and further, it is determined whether or not the sign of the steering torque T matches the sign of the motor angular velocity ⁇ (step S102).
- step S104 When it is determined that the sign of the steering torque T and the sign of the motor angular velocity ⁇ coincide with each other, it is determined that the steering is increased and steered (step S104). On the other hand, when it is determined that the sign of the steering torque T and the sign of the motor angular velocity ⁇ do not match, it is determined that the steering is turned back (step S103).
- the steering state sensitive gain unit 121 switches the steering state sensitive gain G ⁇ b > 2 based on the determination signal from the steering state determination unit 120. That is, the steering state sensitive gain G 2 output from the steering state sensitive gain unit 121 to the multiplication unit 125 is switched according to the determination signal from the steering state determination unit 120.
- the combination of several patterns, such as the emission G 2 and the positive "Hokajiji only to function steering state sensitive gain G 2" pattern (C) are possible.
- the outputs SAT 1 , G 1, and G 2 of the multiplier 125 are input to the multiplier 131.
- the ⁇ -sensitive gain G 3 ( ⁇ ) set by the ⁇ -sensitive gain unit 130 is also input to the multiplication unit 131.
- the output SAT 1 ⁇ G 1 ⁇ G 2 ⁇ G 3 ( ⁇ ) of the multiplier 131 is input to the multiplier 133.
- the steering torque sensitive gain G 4 (T) set by the steering torque sensitive gain unit 132 is also input to the multiplier 133.
- the outputs SAT 1 , G 1 , G 2 , G 3 ( ⁇ ), G 4 (T) of the multiplier 133 are input to the multiplier 135.
- the steering angle sensitive gain G 5 ( ⁇ ) set by the steering angle sensitive gain unit 134 is also input to the multiplier 135.
- the SAT compensation value SATc which is the output SAT 1 ⁇ G 1 ⁇ G 2 ⁇ G 3 ( ⁇ ) ⁇ G 4 (T) ⁇ G 5 ( ⁇ ) of the multiplier 135 is input to the subtractor 102.
- the subtraction result (Iref ⁇ SATc) in the subtraction unit 102 is input to the addition unit 103 as the current command value Iref1, and the compensation signal CM from the compensation unit 110 for improving characteristics is also input to the addition unit 103.
- the compensation unit 110 adds the inertia compensation value 111 and the convergence control value 112 by the addition unit 113 and inputs the addition result to the addition unit 103 as a compensation signal CM.
- the addition result (Iref1 + CM) in the adder 103 is input to the subtractor 104 as a current command value Iref2, and the motor 20 is controlled via the PI controller 105, the PWM controller 106, and the inverter 107.
- Convergence control is to brake the operation of the steering wheel to improve the yaw convergence of the vehicle. For example, as disclosed in Japanese Patent Laid-Open No. 2000-95132, the change rate of the yaw rate of the vehicle is detected, and the yaw rate is damped based on the change rate.
- the driver changes the direction of the vehicle by turning the steering wheel back and forth.
- the binary may cause various chattering and give the driver a sense of incongruity (torque ripple, vibration, abnormal noise, catching, etc.). There is.
- Patent Document 3 As a prior art for realizing a good steering feeling, there is one disclosed in the above-mentioned Japanese Patent No. 4715446 (Patent Document 3).
- SAT self-aligning torque
- the SAT compensation value SATc to be set is appropriately set.
- the SAT compensation value design at the time of steering is enabled by determining the steering state (additional steering, return steering, and steering).
- the determination of the steering state in the apparatus of Patent Document 3 is only a state flag, and is a ternary flag of increment / return / maintenance, in which case the ternary causes various chattering, The driver may feel uncomfortable.
- the same steering state determination is also used in the convergence control. In the convergence control, a sufficient control amount may be required to control the handle return amount. In the convergence control in which the gain is switched according to the steering state (increase / return), the chattering of the steering state determination causes a sudden change in the convergence control output, which gives the driver a sense of incongruity.
- the present invention has been made under the circumstances described above, and an object of the present invention is to improve the determination of the increase / return of the steering state and the fineness of the steering state to improve the convergence control function. It is an object of the present invention to provide a high-performance electric power steering apparatus that reduces a driver's uncomfortable feeling through simple control.
- the present invention has a convergence control function that calculates a current command value based on a steering torque and a vehicle speed, drives and controls a motor that assists the steering system based on the current command value, and corrects the current command value.
- the above object of the present invention is to provide an increase / return state index calculation unit that calculates an analog increase / return state index based on the steering torque and the motor angular velocity, Based on the increased / returned state index, an increased / returned state ratio calculation unit for calculating an analog increased / returned state ratio based on a variable nominal value, the steering torque, the vehicle speed And a sensitive gain unit for calculating the increase gain and the return gain based on the motor angular velocity, the increase gain and the return return A gain correction unit that corrects the gain with respect to the increase / return state ratio, and a convergence control by outputting the gain signal from the gain correction unit based on the absolute value of the yaw rate estimation value and the sign inversion signal.
- the object of the present invention is to provide an angular velocity index in which the increase / return state index calculating unit calculates an LPF that inputs the steering torque and an angular velocity index in a range of ⁇ 1.0 based on the motor angular velocity.
- the calculation unit includes a first multiplication unit that multiplies the output of the LPF and the angular velocity index to output the increment / return state index, or the angular velocity index calculation unit includes the motor.
- the absolute value of the angular velocity is a constant value greater than or equal to a predetermined value and changes linearly or nonlinearly when the absolute value is smaller than the predetermined value, or the characteristic of the increase / return state ratio calculation unit is the nominal If the value is variable from 0.0 to 1.0, and the above-mentioned increment / decrement state index is a positive region, The increase / switchback state ratio is set to be smaller than the nominal value, the region where the increase / switchback state index is negative is set to the switchback state, and the increase / switchback state ratio is set to the nominal value. The gain is increased and the gain / switchback state ratio is continuously changed, or the gain correction unit multiplies the switchback gain and the increase / switchback state ratio.
- a multiplying unit a subtracting unit that subtracts the increment / decay back state ratio from a fixed value; a third multiplying unit that multiplies a subtraction result from the subtracting unit and the incrementing gain; the second multiplying unit; An absolute value unit for obtaining an absolute value of the yaw rate estimated value; and an yaw rate estimated value.
- a sign inversion unit that inverts the sign of the fourth multiplication unit that multiplies the absolute value and the addition result of the addition unit, and a fifth multiplication that multiplies the output of the sign inversion unit and the multiplication result of the fourth multiplication unit. And the fifth multiplier outputs the convergence control value, which is more effectively achieved.
- the determination of the steering state is output as an analog map, and the increase / return state ratio is output. Therefore, the increase / return state ratio corresponding to the steering state is set. Can be set. The increase / return state ratio can be changed as appropriate by freely changing the nominal value, and a steering feeling with a high degree of freedom can be realized.
- the increase / return state ratio is input to the convergence control unit to override the output of the sensitive gain unit, and the convergence control value is output in combination with the processing of the yaw rate estimation value (or yaw rate detection value). Since the steering state determination flag is an analog value, finer convergence control according to the steering state (addition / returning state) can be performed. Thereby, it is possible to realize a better steering feeling by reducing the driver's uncomfortable feeling (torque ripple, vibration, abnormal noise, catching, etc.).
- the present invention aims to improve the determination of the steering state and the control system, and outputs the increase / return state ratio as an analog map instead of the flag state for the determination of the steering state.
- the steering state is determined from the steering torque (or steering angle) and the motor angular velocity, and the increase / return state ratio according to the steering state is set.
- the increase / return state ratio can be varied around the nominal value in the unsteered state (steering state). For example, when the nominal value is 0.5, the ratio is increased around the nominal value 0.5. / Outputs the failback status ratio.
- the nominal value can be shifted. For example, when the nominal value is set to 0.3, it is possible to quickly shift to the increased state (the closer to 0, the higher the value becomes). Is set to 0.7, it is possible to quickly shift to the switchback state (the closer to 1, the closer to the switchback side), and the steering performance with a high degree of freedom can be easily realized.
- the ratio of the increase / return state is input to the convergence control unit, overriding the output of the conventional sensitive gain unit, and the absolute value, sign, etc. of the conventional yaw rate estimated value (yaw rate detection value) Output processing is performed and output as a convergence control value.
- the steering state determination flag is an analog value, so that finer control according to the steering state can be performed, so that the driver feels uncomfortable (torque ripple, vibration, abnormal noise, catching) ) Can be reduced, and a better steering feeling can be realized.
- FIG. 5 shows an example of the configuration of the present invention corresponding to FIG. 2, in which a steering torque T and a motor angular velocity ⁇ are input, and an increase / return state index calculation unit that calculates the increase / return state index TR. 150, an increase / failback state ratio calculating unit 160 that calculates and outputs the increase / failback state ratio RT from the increase / failback state index TR, an increase / failback state ratio RT, and a steering torque T.
- a convergence control unit 170 that inputs the vehicle speed V, the motor angular speed ⁇ , and the yaw rate estimation value YE and outputs the convergence control value CV is newly provided.
- the increase / cutback state index calculation unit 150 includes a low-pass filter (LPF) 151 that suppresses high-frequency vibration near zero of the steering torque T, and an angular velocity index calculation unit 152 that suppresses high-frequency vibration near zero of the motor angular velocity ⁇ . , A multiplication unit 153 that multiplies the steering torque Th from the LPF 151 and the code signal SN from the angular velocity index calculation unit 152.
- the input / output characteristics of the angular velocity index calculation unit 152 are as shown in FIG. 6, and the sign signal SN increases linearly up to the angular velocity ⁇ 1 with respect to the positive input of the angular velocity ⁇ , and is constant at 1.0 above the angular velocity ⁇ 1. The value linearly decreases to an angular velocity of - ⁇ 1 with respect to the negative input of the angular velocity ⁇ , and is a constant value of -1.0 below the angular velocity of - ⁇ 1.
- the increase / switchback state index TR which is the output of the multiplication unit 153 of the increase / switchback state index calculation unit 150, is input to the increase / switchback state ratio calculation unit 160, and is added to the increase / switchback state ratio.
- the increase / switchback state ratio RT calculated by the calculation unit 160 is input to the convergence control unit 170.
- the increased / returned state ratio calculation unit 160 has characteristics as shown in FIG. 7, and is in a state of not being steered, that is, the increased / returned state when the increased / returned state index TR is 0.
- the ratio RT (nominal value) is set to 0.5 (50%), the positive side of the increment / failback state index TR is determined as the increment state, and the negative side of the increment / return state index TR is disconnected.
- the return state is determined.
- the increase / cutback state ratio RT gradually decreases from the saturated state (approximately 1.0) as the negative side of the increase / cutback state index TR approaches 0, and also increases in the increase state.
- the / switchback state ratio RT gradually decreases as the increase / switchback state index TR increases from 0 and becomes saturated (almost 0).
- the convergence control unit 170 has the configuration shown in FIG. 8, and the vehicle speed V, the motor angular speed ⁇ , and the steering torque T are input to the sensitive gain unit 180, and the increase gain TS calculated by the sensitive gain unit 180 is input to the multiplication unit 171.
- the switchback gain RS is input to the multiplier 173.
- the sensitive gain unit 180 calculates the increase gain TS at the time of increase and the return gain RS at the time of return by a method as disclosed in Japanese Patent No. 3137847, for example. Further, the increment / return state ratio RT calculated as described above is input to the multiplication unit 173 in the gain correction unit and is also subtracted to the subtraction unit 182 to obtain a fixed value (1.0) 181. Deviation DV is input to multiplier 171.
- the addition result AR of the addition unit 172 is Input to the multiplier 175.
- the yaw rate estimated value YE is converted to an absolute value by the absolute value unit 174 in the output processing unit, the absolute value
- of the yaw rate estimated value YE is input to the multiplier 175, and the multiplication result ( AR ⁇
- the yaw rate estimated value YE is input to the sign inverting unit 176, and the positive / negative sign SR of the yaw rate estimated value YE is inverted ( ⁇ ⁇ 1) and input to the multiplying unit 177.
- the multiplication result of the multiplication unit 177 is input to the addition unit 113 in the compensation unit 110 of the control system as a convergence control value CV.
- the multiplication units 171 and 173, the subtraction unit 182 and the addition unit 172 constitute a gain correction unit, and the absolute value unit 174, the sign inversion unit 176, and the multiplication units 175 and 177 constitute an output processing unit.
- the steering torque T detected by the torque sensor 10 is input (step S1), and the LPF 151 performs LPF processing (step S2).
- the calculated motor angular velocity ⁇ is input (step S3), and the angular velocity code calculation unit 152 calculates the angular velocity code (step S4).
- the order of the input of the steering torque T and the LPF processing, the input of the motor angular velocity ⁇ , and the calculation of the angular velocity code are arbitrary.
- the steering torque Th subjected to the LPF process and the code signal SN calculated by the angular velocity code calculation unit 152 are input to the multiplication unit 153 and multiplied (step S5), and the increase / return state is added as the increase / return state index TR. It is input to the ratio calculation unit 160, and the increment / return state ratio RT is calculated with the characteristics shown in FIG. 7 (step S6).
- the calculated increment / return state ratio RT is input to the sensitive gain unit 180 in the convergence control unit 170 (step S7).
- the vehicle speed V is also input to the sensitive gain unit 180 (step S8).
- the sensitive gain unit 180 calculates the increase gain TS and the return gain RS (step S10), and the multiplying unit 173 multiplies the increase / failback state ratio RT by the multiplication unit 173 (step S20).
- a deviation DV between the switchback state ratio RT and the fixed value (1.0) is calculated (step S21), and the deviation DV is input to the multiplication unit 171 and multiplied by the increased gain TS (step S22).
- the multiplication result of the multiplication unit 171 and the multiplication result of the multiplication unit 173 are added by the addition unit 172, and the addition result AR is input to the multiplication unit 175 (step S23).
- the yaw rate estimated value (or detected value) YE is input (step S30), the yaw rate estimated value YE is converted into an absolute value by the absolute value unit 174 and input to the multiplier 175 (step S31), and multiplied by the addition result AR. And input to the multiplication unit 177 (step S32). Further, the yaw rate estimated value YE is input to the sign inverting unit 176, the sign is inverted (positive or negative sign ⁇ ( ⁇ 1)) (step S33), and the multiplication unit 177 multiplies the multiplication result from the multiplication unit 175. (Step S34), the convergence control value CV is input to the control system (Step S35).
- the steering state is generated using the steering torque and the motor angular velocity, and the increase / return state ratio (analog value) for reflecting the steering state to the control value. ) Is set. For this reason, it becomes possible to set arbitrary characteristics with respect to the steering state, and adaptation for each vehicle becomes possible.
- the increase / return state ratio calculation unit 160 sets the nominal value, which is the increase / return state ratio RT in the unsteered state, to 0.5 (50%) as shown in FIG.
- the nominal value is set to 0.3 (30%) and set to the increasing side as shown in FIG. 11 (B). It is also possible to set to the failback side.
- FIG. 12 is a waveform diagram for explaining the effect of the present invention.
- FIG. 12 (A) shows the state before improvement
- FIG. 12 (B) shows the present invention.
- the stage indicates the increase / return determination (digital)
- the third stage indicates the motor angular velocity
- the fourth stage indicates the convergent output
- the lowest stage indicates the current command value.
- 12A and 12B according to the present invention, the chattering of the increase / return determination is eliminated, the sudden change in the convergent output is eliminated, the driver feels comfortable, and the comfortable steering fee is eliminated. It turns out to give a ring.
- CTR in FIGS. 12A and 12B means a steering wheel position when the vehicle is traveling straight.
- the code signal SN of the angular velocity code calculation unit 152 changes linearly between the angular velocities ⁇ ⁇ 1 with respect to the input of the angular velocity ⁇ , but may change non-linearly or asymmetrically. There may be.
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Abstract
Description
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
13 バッテリ
20 モータ
100 コントロールユニット(ECU)
101 電流指令値演算部
105 PI制御部
106 PWM制御部
107 インバータ
110 補償部
120 操舵状態判定部
121 操舵状態感応ゲイン部
140 セルフアライニングトルク(SAT)部
150 切増し/切戻し状態インデックス演算部
151 ローパスフィルタ(LPF)
152 角速度インデックス演算部
160 切増し/切戻し状態レシオ演算部
170 収れん性制御部
180 感応ゲイン部
Claims (6)
- 操舵トルク及び車速に基づいて電流指令値を演算し、前記電流指令値に基づいて操舵系をアシスト制御するモータを駆動制御すると共に、前記電流指令値を補正する収れん性制御機能を有している電動パワーステアリング装置において、
前記操舵トルク及びモータ角速度に基づいてアナログ系の切増し/切戻し状態インデックスを演算する切増し/切戻し状態インデックス演算部と、
前記切増し/切戻し状態インデックスに基づいて、可変なノミナル値を基準にしてアナログ系の切増し/切戻し状態レシオを演算する切増し/切戻し状態レシオ演算部と、
前記操舵トルク、前記車速及び前記モータ角速度に基づいて切増しゲイン及び切戻しゲインを演算する感応ゲイン部と、前記切増しゲイン及び前記切戻しゲインに対して前記切増し/切戻し状態レシオでゲイン補正するゲイン補正部と、ヨーレート推定値の絶対値及び符号反転信号に基づいて前記ゲイン補正部からのゲイン信号を出力処理して収れん性制御値を出力する出力処理部とで構成される収れん性制御部と、
を具備したことを特徴とする電動パワーステアリング装置。 - 前記切増し/切戻し状態インデックス演算部が、
前記操舵トルクを入力するLPFと、前記モータ角速度に基づいて±1.0の範囲の角速度インデックスを演算する角速度インデックス演算部と、前記LPFの出力及び前記角速度インデックスを乗算して前記切増し/切戻し状態インデックスを出力する第1乗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装置。 - 前記角速度インデックス演算部が、前記モータ角速度の絶対値が所定値以上で一定値であり、前記所定値より小さいときに線形若しくは非線形に変化する特性である請求項2に記載の電動パワーステアリング装置。
- 前記切増し/切戻し状態レシオ演算部の特性が、
前記ノミナル値が0.0~1.0で可変であり、前記切増し/切戻し状態インデックスが正の領域を切増し状態とすると共に、前記切増し/切戻し状態レシオを前記ノミナル値より小さくし、前記切増し/切戻し状態インデックスが負の領域を切戻し状態とすると共に、前記切増し/切戻し状態レシオを前記ノミナル値より大きくし、前記切増し/切戻し状態レシオが連続的に変化するようになっている請求項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。 - 前記ゲイン補正部が、
前記切戻しゲイン及び前記切増し/切戻し状態レシオを乗算する第2乗算部と、固定値から前記切増し/切戻し状態レシオを減算する減算部と、前記減算部からの減算結果及び前記切増しゲインを乗算する第3乗算部と、前記第2乗算部及び前記第3乗算部の乗算結果を加算する加算部とで構成されている請求項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。 - 前記出力処理部が、
前記ヨーレート推定値の絶対値を求める絶対値部と、前記ヨーレート推定値の符号を反転する符号反転部と、前記絶対値及び前記加算部の加算結果を乗算する第4乗算部と、前記符号反転部の出力及び前記第4乗算部の乗算結果を乗算する第5乗算部とで構成され、
前記第5乗算部が前記収れん性制御値を出力する請求項5に記載の電動パワーステアリング装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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US15/038,770 US9796411B2 (en) | 2014-04-16 | 2015-04-07 | Electric power steering apparatus |
JP2016513729A JP5967336B2 (ja) | 2014-04-16 | 2015-04-07 | 電動パワーステアリング装置 |
EP15779864.6A EP3132996B1 (en) | 2014-04-16 | 2015-04-07 | Electric power steering device |
CN201580014708.5A CN106170431B (zh) | 2014-04-16 | 2015-04-07 | 电动助力转向装置 |
Applications Claiming Priority (2)
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WO2019167661A1 (ja) * | 2018-02-27 | 2019-09-06 | 日本精工株式会社 | 車両用操向装置 |
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KR101610634B1 (ko) * | 2014-09-15 | 2016-04-11 | 현대모비스 주식회사 | Mdps 구동용 모터의 속도 측정 장치 및 방법 |
JP6138881B2 (ja) * | 2015-09-25 | 2017-05-31 | 株式会社Subaru | 操舵支援制御装置 |
CN110199468B (zh) * | 2017-02-13 | 2020-08-18 | 日本精工株式会社 | 电动助力转向装置 |
JP6690794B2 (ja) * | 2017-12-12 | 2020-04-28 | 日産自動車株式会社 | 車両のステアリング制御方法および車両のステアリング制御装置 |
EP4052993B1 (en) * | 2020-10-21 | 2023-09-13 | NSK Ltd. | Control device and electric power steering device |
DE102021202482B4 (de) * | 2021-03-15 | 2023-06-29 | Continental Automotive Technologies GmbH | Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs |
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JPWO2019167661A1 (ja) * | 2018-02-27 | 2021-03-25 | 日本精工株式会社 | 車両用操向装置 |
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JP5967336B2 (ja) | 2016-08-10 |
CN106170431A (zh) | 2016-11-30 |
US9796411B2 (en) | 2017-10-24 |
JPWO2015159762A1 (ja) | 2017-04-13 |
EP3132996B1 (en) | 2019-02-20 |
US20170080969A1 (en) | 2017-03-23 |
EP3132996A4 (en) | 2018-01-24 |
EP3132996A1 (en) | 2017-02-22 |
CN106170431B (zh) | 2018-04-27 |
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