WO2015185626A1 - Mesure d'un couple de braquage au moyen d'un résolveur - Google Patents

Mesure d'un couple de braquage au moyen d'un résolveur Download PDF

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Publication number
WO2015185626A1
WO2015185626A1 PCT/EP2015/062378 EP2015062378W WO2015185626A1 WO 2015185626 A1 WO2015185626 A1 WO 2015185626A1 EP 2015062378 W EP2015062378 W EP 2015062378W WO 2015185626 A1 WO2015185626 A1 WO 2015185626A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric motor
steering
angular position
angle
resolver
Prior art date
Application number
PCT/EP2015/062378
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Original Assignee
Continental Teves Ag & Co. Ohg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2015185626A1 publication Critical patent/WO2015185626A1/fr

Links

Classifications

    • 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
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • 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
    • B62D15/021—Determination of steering angle
    • B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor

Definitions

  • the invention relates to a sensor for detecting a
  • a steering torque sensor which measures a caused by the measured steering torque angle difference in a vehicle for detecting a steering torque necessary for controlling a power steering.
  • a method of driving an electric motor to assist a steering of a vehicle based on a steering torque applied to a torsion bar between a steering wheel of the steering and the electric motor comprising:
  • the specified method is the idea, one of the two necessary angular positions not with a dedicated angle sensor, but with the resolver of the electric motor in the electric motor, for example, for the purpose of its commutation can be installed.
  • the resolver usually detects the angular displacement between rotor and stator in the electric motor. This angular displacement is directly dependent on the angular position, for the detection of which the resolver is to be used as a replacement for the second dedicated angle sensor.
  • the other of the two angular positions is further detected in a conventional manner by a dedicated angle sensor and the steering torque is still obtained in a conventional manner from the difference between the two angles.
  • a second dedicated angle sensor is eliminated for detecting the steering torque, whereby the Kom ⁇ complexity of the sensor decreases, the required space is smaller and costs can be saved.
  • the electric motor can be controlled based on any comparison of the two detected angular positions, for example in the context of a comparison of the two angular positions ⁇ .
  • the comparison of the steering-wheel side and the electric motor-side angular position comprises the aforementioned angle difference between the two angular positions ⁇ . If this angular difference is known, this can be controlled based on any comparison of the two detected angular positions.
  • the electric motor-side angular position is detected via the resolver of the electric motor starting from an index angle by integrating an angle signal from the resolver.
  • the resolver of the electric motor does not output the electric motor-side angular position due to the principle. But every rotation of the steering shaft leads inherently to a control of the
  • the index angle can be specified by the angle encoder. Since the angle encoder as
  • True power-on sensor can be set up, thus immediately after a system restart, for example, after a Batte ⁇ rie grill a suitable index angle and thus the Integra ⁇ tion constant can be specified without the Integrati ⁇ onskonstante would initially be complicated to determine.
  • the electric motor-side angular position is output redundantly to the steering wheel-side angular position.
  • high safety standards can be met, as defined, for example, in the context of the ASI1-D level.
  • a control ⁇ device is set up to perform one of the specified methods.
  • the specified device has a memory and a processor.
  • the specified method is stored in the form of a Compu ⁇ terprogramms in the memory and the processor is provided for performing the method when the computer program from the memory is loaded into the processor.
  • Compu ⁇ terprogramm program code means to carry out all the steps of the methods indicated, when the computer program on a computer or one of the specified devices is executed.
  • a Compu ⁇ program product comprises a program code which is stored on a data carrier and the compu ⁇ terlesbaren, when executed on a data processing device, one of the performs specified method.
  • a vehicle includes a specified controller.
  • Fig. 1 is a schematic diagram of a vehicle
  • Fig. 2 is a schematic diagram of a steering system for the vehicle of Fig. 1 show.
  • Fig. 1 shows a schematic view of a vehicle 2 with a known vehicle dynamics ⁇ control. Details of this driving dynamics control can be found for example in DE 10 2011 080 789 AI.
  • the vehicle 2 comprises a chassis 4 and four wheels 6. Each wheel 6 can be slowed down relative to the chassis 4 via a brake 8 fastened fixedly to the chassis 4 in order to slow down a movement of the vehicle 2 on a road (not shown).
  • the vehicle 2 for speed sensors 10 on the wheels 6, which detect a rotational speed 12 of the wheels 6. Furthermore, the vehicle 2 has a
  • the below mentioned driving dynamics data 16 inertial data of the vehicle 2 detects the ⁇ example, a pitch rate, a roll rate, a yaw rate, a lateral acceleration, a longitudinal acceleration and / or vertical acceleration of the vehicle 2 may include.
  • the vehicle has a steering angle sensor 18 which detects a steering angle 20 predetermined by the driver.
  • a controller 22 can determine in a manner known to those skilled in the art whether the vehicle 2 slips on the road or even deviates from the aforementioned predetermined trajectory and corresponds with one Known controller output signal 24 respond to it.
  • Controller output signal 24 may then be used by an actuator 26 to control by means of actuating signals 28 actuators, such as the brakes 8, which respond to the slippage and the deviation from the predetermined trajectory in a conventional manner.
  • the controller 22 may, for example, in a known per se
  • controller 22 and the actuator 26 may be formed as a common control device and optionally integrated in the aforementioned engine control.
  • FIG. 2 a steering system 30 for the vehicle 2 of FIG. 1 is shown.
  • the steering system 30 includes a steering wheel 32 which is mounted on a shaft 34 which in turn is rotatably disposed about a rotation axis 36.
  • the steering wheel 32 is thus set up, based on an angular position about the axis of rotation 36, the abovementioned steering angle 20 for setting a steering gear 38 pretend the vehicle 2. For this, the steering wheel is turned by a driver of the vehicle 2 at ⁇ play as the 32nd
  • the adjustment of the steering gear 38 can be assisted by an electric motor 40 which, in the context of the present embodiment, is controlled by a control signal 42 which is dependent on a steering torque exerted on the steering shaft 34.
  • a torsion bar 44 is installed axially between the steering wheel 32 and the electric motor 40.
  • the electric motor 40 itself can be constructed, for example, as a commutated DC motor and comprise a resolver 46 which outputs an angle signal 48. Based on the angle signal 48 then the commutation of the electric motor 40 can be performed.
  • the aforementioned steering torque-dependent control signal 42 is formed in a manner known per se in a control device 50 based on a differential angle 52.
  • the Diffe ⁇ rence angle 52 is thereby ge ⁇ forms, in a subtractor 56 that an electric motor-side angular ⁇ position of the shaft 58 is withdrawn from the steering angle as a steering wheel-side 20 Win ⁇ kel too the shaft 34 34th
  • an integrator 60 is provided which integrates the angle signal 48 from the resolver 46.
  • the integration constant necessary for the integration in the integrator 60 is provided from the steering angle sensor 18 as part of an indexing angle in the form of the steering angle 20. This can be dispensed with a separate angle sensor for detecting the electric motor side angular position 58 of the shaft 34. In the manner shown in Fig. 1, the electric motor side
  • Angle position 58 are also output to the controller 22, so that the latter evaluate the steering angle 20 with a higher safety level ⁇ for example, according to ASIl-D and in the frame the vehicle dynamics control can use to determine the desired trajectory.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un procédé pour commander (42) un moteur électrique (40) pour assister un braquage (30) d'un véhicule (2) sur la base d'un couple de braquage appliqué à une barre de torsion (44) entre un volant (32) de la direction et le moteur électrique (40), qui comprend : - détecter une position angulaire côté volant (20) par un capteur angulaire (18) ; - détecter une position angulaire (58) côté moteur électrique par un résolveur (46) du moteur électrique (40) ; et - commander (42) le moteur électrique sur la base d'une comparaison (56) des positions angulaires (20, 58) côté volant et côté moteur électrique.
PCT/EP2015/062378 2014-06-03 2015-06-03 Mesure d'un couple de braquage au moyen d'un résolveur WO2015185626A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014210524.2A DE102014210524A1 (de) 2014-06-03 2014-06-03 Lenkmomentmessung mittels Resolver
DE102014210524.2 2014-06-03

Publications (1)

Publication Number Publication Date
WO2015185626A1 true WO2015185626A1 (fr) 2015-12-10

Family

ID=53276887

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/062378 WO2015185626A1 (fr) 2014-06-03 2015-06-03 Mesure d'un couple de braquage au moyen d'un résolveur

Country Status (2)

Country Link
DE (1) DE102014210524A1 (fr)
WO (1) WO2015185626A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017112183B4 (de) * 2017-06-02 2021-03-25 ME Mobil-Elektronik GmbH Steueranordnung zur Lenkung einer Hinterradachse eines Fahrzeugs

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10244068A1 (de) * 2002-09-06 2004-03-11 Volkswagen Ag Vorrichtung und Verfahren zur Drehmomentmessung für eine elektromechanische Lenkung

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10041095B4 (de) 1999-12-06 2015-11-12 Robert Bosch Gmbh Vorrichtung zur Messung eines Winkels und/oder eines Drehmomentes eines drehbaren Körpers
DE10051864A1 (de) * 2000-10-19 2002-04-25 Zahnradfabrik Friedrichshafen Lenksystem
JP3789791B2 (ja) * 2001-09-05 2006-06-28 株式会社ジェイテクト 絶対位置検出装置及び絶対位置検出方法
EP2603408B1 (fr) 2010-08-10 2017-06-21 Continental Teves AG & Co. oHG Procédé et système pour réguler la stabilité routière d'un véhicule

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10244068A1 (de) * 2002-09-06 2004-03-11 Volkswagen Ag Vorrichtung und Verfahren zur Drehmomentmessung für eine elektromechanische Lenkung

Also Published As

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DE102014210524A1 (de) 2015-12-03

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