WO2016031058A1 - ステアバイワイヤ方式の操舵システム - Google Patents
ステアバイワイヤ方式の操舵システム Download PDFInfo
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- WO2016031058A1 WO2016031058A1 PCT/JP2014/072769 JP2014072769W WO2016031058A1 WO 2016031058 A1 WO2016031058 A1 WO 2016031058A1 JP 2014072769 W JP2014072769 W JP 2014072769W WO 2016031058 A1 WO2016031058 A1 WO 2016031058A1
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- Prior art keywords
- steering
- steering angle
- turning angle
- angle
- signal
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
Definitions
- the present invention relates to a steer-by-wire steering system used for industrial vehicles and the like.
- Steer-by-wire type electric hydraulic power steering is being adopted in which the voltage supplied to the controller is controlled by a control device (see, for example, Patent Document 1).
- This electric hydraulic power steering utilizes an actuator having a cylinder that receives supply of hydraulic pressure from a pump.
- Such control of the electric hydraulic power steering is conventionally performed by the following method. That is, the steering angle or its rotation speed (in other words, the steering rotation angle or its angular speed) is detected, the target turning angle is determined in accordance with the detected steering angle or its rotation speed, and the turning angle is determined. (In other words, the direction of the tire), and based on the deviation between the detected turning angle and the target turning angle, a control signal such as a PWM pulse signal or a frequency modulation signal is sent to the electric motor to reduce this deviation. Is output and feedback control is performed to change the turning angle.
- a control signal such as a PWM pulse signal or a frequency modulation signal
- the correspondence between the steering angle and the control signal is uniquely determined on the assumption that the characteristics of the electric motor, the pump, and the cylinder do not change.
- JP 2007-230460 A (particularly paragraph 0040 and FIG. 13)
- the control of the conventional electric hydraulic power steering is performed after uniquely defining the correspondence between the steering angle and the pulse width of the PWM pulse signal as described above. This is done on the premise that the amount of discharge is uniquely determined.
- the gear pump when the liquid temperature rises, the hydraulic fluid discharge amount per rotation speed decreases. Therefore, when the conventional control is performed, there may be a problem that the operation fluid pressure and the steering angle follow in response to the change in the steering angle are delayed, and the operation feeling is deteriorated.
- the present invention pays attention to the above points, and a steering system capable of suppressing the delay in the change in the steering angle with respect to the change in the steering angle without adding a special member regardless of the pump employed. It aims to be realized.
- a steer-by-wire steering system has the following configuration. That is, a steer-by-wire steering system according to the present invention includes a hydraulic actuator for changing a steering angle of a steering target, a pump for supplying hydraulic pressure to the hydraulic actuator, and the pump in forward and reverse directions. An electric motor that rotates the hydraulic actuator to rotate the steering actuator, a steering angle sensor that detects a steering angle of the steering, a turning angle sensor that detects the turning angle, the steering steering angle sensor, and the steering A steer-by-wire steering system including a control device that operates the electric motor based on a signal from an angle sensor to control the turning angle so as to correspond to the steering angle.
- a steering angle receiving unit for receiving a signal from the steering angle sensor, and a turning angle for receiving a signal from the turning angle sensor
- a deviation specifying unit that sequentially specifies a deviation between the steering angle and the turning angle based on signals received by the steering angle receiving unit and the turning angle receiving unit, and a deviation specified by the deviation specifying unit is A control signal according to the time lag between the fluctuation of the steering angle and the fluctuation of the steering angle derived from the motor driving unit that outputs the control signal to the electric motor in a decreasing direction to control the electric motor, and the deviation And a control correction unit that changes the time lag in a direction in which the time lag decreases.
- the amount of hydraulic fluid discharged can be reduced by changing the control signal due to an increase in liquid temperature or deterioration of the device.
- the time lag can be suppressed by increasing the rotation speed and maintaining the hydraulic fluid pressure.
- the “steering target” is a concept including all members for controlling the traveling direction, such as a member of a vehicle tire, a wheel (wheel), and a rudder of a ship.
- FIG. 1 is a schematic diagram showing a steering system according to an embodiment of the present invention.
- the flowchart which shows the procedure of the process which the control apparatus which concerns on the same embodiment performs.
- the figure which shows an example of the relationship between the steering angle and steering angle which concern on the same embodiment.
- the steer-by-wire steering system is an electric hydraulic power steering system for industrial vehicles represented by a forklift.
- the electric hydraulic power steering system includes a hydraulic actuator 6 for changing the turning angle ⁇ 2 of the tires 7a and 7b, and a hydraulic pressure for supplying the hydraulic actuator 6 with hydraulic pressure.
- the steering angle sensor 2 for detecting a steering angle theta 1 of the steering wheel 1
- a steering angle sensor 10 for detecting the steering angle theta 2
- a control device 3 for operating the electric motor 4 to control the turning angle ⁇ 2 so as to correspond to the steering angle ⁇ 1 .
- the hydraulic actuator 6 includes a cylinder 6a in which the cylinder rod 6b moves forward and backward by receiving supply of hydraulic pressure, and a turning angle ⁇ of tires 7a and 7b provided at both ends of the cylinder rod 6b.
- a knuckle arm 6c for changing 2 has the same configuration as that known for use in this type of power steering system.
- the pump 5 is known as a gear pump capable of forward and reverse rotation in the present embodiment.
- the hydraulic circuit 8 supplies hydraulic pressure from the pump 5 to the hydraulic actuator 6 as described above, and has the same configuration as that known for use in this type of power steering system. .
- the electric motor 4 has an output shaft connected to the pump 5 and receives power from a motor driver (not shown).
- the motor driver receives the PWM pulse signal p from the control device 3 and rotates the electric motor 4 and the pump 5 in forward and reverse directions.
- the control device 3 includes the steering angle signal a indicating the steering angle ⁇ 1 from the steering angle sensor 2 and the speed of change thereof (the angular speed ⁇ of the steering operation) and the turning angle sensor 10.
- a turning angle signal b indicating the turning angle ⁇ 2 is received, respectively, and a deviation between the steering angle ⁇ 1 and the turning angle ⁇ 2 is sequentially specified based on the received steering angle signal a and the turning angle signal b. Then, feedback control is performed on the electric motor 4 to reduce the deviation.
- control device 3 is a microcomputer system having a processor, a memory, an input interface, an output interface, and the like.
- the steering angle signal a and the turning angle signal b are input to the input interface.
- a PWM signal which is a pulse signal using ON / OFF of the DC voltage V hi for the DC motor 4 (more precisely, a motor driver connected to the DC motor 4) and also a control signal.
- the pulse signal p is output.
- the processor of the control device 3 performs various controls by interpreting and executing a program stored in the memory in advance and calculating parameters.
- the predetermined area of the memory includes a steering angle ⁇ 1 corresponding to the steering angle signal a, a target turning angle map in which a target turning angle corresponding to the steering angle ⁇ 1 is associated, and a target turning angle.
- the processor executes, by referring to one of the first and second target voltage maps using the steering angle ⁇ 1 corresponding to the steering angle signal a as a parameter, A target turning angle is determined, the turning angle signal b is received, a deviation between the turning angle ⁇ 2 corresponding to the received turning angle signal b and the target turning angle is sequentially specified, A feedback control program for performing PWM control to reduce the deviation is stored.
- the control performed by executing the feedback control program is performed by the same method as that in the conventional steer-by-wire type steering system, except that the target voltage map to be referred to is not one type. Done. That is, the control device 3 of the present embodiment has functions as a steering angle receiving unit, a turning angle receiving unit, a deviation specifying unit, and a motor driving unit in the claims.
- the processor executes in another predetermined area of the memory, thereby determining which of the first and second target voltage maps should be referred to when executing the feedback control program.
- a target voltage map determination program to be stored is stored.
- the control by the target voltage map determination program is as follows. In other words, the turning angle ⁇ 2 reaches the target turning angle from the time when the change in the steering angle ⁇ 1 disappears, that is, the time when the angular velocity ⁇ of the steering wheel 1 indicated by the steering angle signal a becomes 0, and the turning angle.
- the length of the period until the change speed of the turning angle ⁇ 2 corresponding to the signal b becomes zero is the time lag between the fluctuation of the steering angle ⁇ 1 and the fluctuation of the turning angle ⁇ 2 (hereinafter simply referred to as the time lag T).
- the determination that the change speed of the turning angle ⁇ 2 has become 0 is, for example, a turning angle every predetermined time (for example, 0.1 seconds) after the angular speed ⁇ of the rotation of the steering wheel 1 becomes 0.
- the signal b is received and stored, and the turning is performed when the turning angle ⁇ 2 corresponding to the turning angle signal b becomes the same value three times in succession.
- control is performed to change the target voltage map to be referred to between the first target voltage map and the second target voltage map.
- the duty ratio of the PWM pulse signal p corresponding to the same target turning angle is compared with the case where the first target voltage map is referred to ( (Pulse width) is set to be large.
- the first target turning angle after the ignition switch is turned from OFF to ON is always determined with reference to the first target voltage map. Thereafter, if the volumetric efficiency of the pump 5 is reduced due to an increase in oil temperature or the like, the rotational efficiency of the electric motor 4 and the pump 5 is increased by referring to the second target voltage map. To compensate for the decline. Furthermore, when the volumetric efficiency of the pump 5 is restored due to a decrease in the oil temperature due to a sudden decrease in the outside air temperature, if the second target voltage map is continuously referred to, the rotational speeds of the electric motor 4 and the pump 5 are increased.
- the control device 3 of the present embodiment also has a function as a control correction unit in the claims.
- FIG. 2 is a flowchart.
- step S1 when it is determined that the angular velocity ⁇ of the rotation of the steering wheel 1 indicated by the steering angle signal a, that is, the changing speed of the steering angle ⁇ 1 has changed from a value other than 0 to 0 (step S1), measurement of the time lag T is started. (Step S2). Then, when the turning angle ⁇ 2 reaches the target turning angle and the change speed of the turning angle ⁇ 2 becomes 0 (step S3), the measurement of the time lag T is ended (step S4). Then, (step S5) when the length of the time lag T is determined to be above the threshold T 0, changing the target voltage map to be referred (step S6). On the other hand, when it is determined that the length of the time lag T does not exceed the threshold value (step S5), the target voltage map to be referred to is not changed (step S7).
- the time lag T between the change of the angle ⁇ 1 and the change of the actual turning angle ⁇ 2 corresponding to the turning angle signal b becomes large, in this embodiment, refer to the second target voltage map in such a case. Then, since the duty ratio (pulse width) of the target voltage V a2 and the PWM pulse signal p is determined, the actual change corresponding to the change in the steering angle ⁇ 1 and the turning angle signal b as shown in FIG. The time lag T between the change of the turning angle ⁇ 2 can be kept small.
- the duty ratio (pulse width) of the PWM pulse signal p is set.
- the delay (time lag T) in the change in the turning angle ⁇ 2 with respect to the change in the steering angle ⁇ 1 can be suppressed. That is, it is possible to reduce the manufacturing cost by employing a gear pump instead of the piston pump.
- the following can be considered as another aspect for specifying the time lag between the change in the steering angle and the change in the turning angle. That is, the steering angle ⁇ 1 corresponding to the detected steering angle signal a and the turning angle ⁇ 2 corresponding to the turning angle signal b are stored in a history storage unit secured in a predetermined area of the memory in association with successive times, A mode in which the time associated with the target turning angle having the same value as the current turning angle ⁇ 2 is specified by referring to the history storage unit, and the difference between this time and the current time is specified as the time lag. Is also possible. Even when this aspect is adopted, it is preferable to change the target voltage map to be referred to whenever the time lag exceeds a predetermined threshold.
- two target voltage maps are stored in a predetermined area of the memory, and should be referred to when the time lag between the steering angle fluctuation and the turning angle fluctuation exceeds a predetermined threshold.
- the target voltage map is changed, it is also conceivable to store the three target voltage maps in a predetermined area of the memory and perform the following control. That is, for the same steering angle, the third target voltage map is referred to when the second target voltage map is referred to rather than the first target voltage map, and the third target voltage map is referred to as the third target voltage map.
- the target voltage map to be referred to is the first.
- the target voltage map is changed from the second target voltage map to the second target voltage map, or from the second target voltage map to the third target voltage map. Control for changing the target voltage map from the third target voltage map to the second target voltage map, or from the second target voltage map to the first target voltage map, respectively. It may be Migihitsuji.
- the output voltage to the electric motor is calculated based on a mathematical expression using the steering angle, the deviation between the target turning angle and the actual turning angle, and the time lag between the fluctuation of the steering angle and the fluctuation of the turning angle as parameters. You may employ
- the steering angle signal output from the steering angle sensor also indicates the change speed of the steering angle (the angular speed of the steering operation), but only the steering angle is indicated from the steering angle sensor.
- a signal is output every predetermined time, the steering angle indicated by the output signal is sequentially stored, and the angular speed of the rotation of the steering wheel becomes zero because the stored steering angle has not changed for a predetermined period.
- it may be determined.
- the output of the electric motor is controlled by outputting a PWM control signal to the electric motor.
- a steer-by-wire steering system that controls the output of the electric motor by using frequency control, etc.
- the present invention may be applied to a steer-by-wire steering system that controls the electric motor by means other than PWM control.
- the steering system of the present invention is used not only for vehicle steering (tires, wheels, etc.) but also for the control of other steering objects represented by the rudder of a ship. You may change it.
- a steering system capable of suppressing a delay in a change in a steering angle with respect to a change in a steering angle without adding a special member regardless of what pump is employed. it can.
Abstract
Description
3…制御装置
4…電動モータ
5…ポンプ
6…液圧アクチュエータ
10…転舵角センサ
Claims (1)
- 操舵対象の転舵角を変化させるための液圧アクチュエータと、この液圧アクチュエータに液圧を供給するためのポンプと、このポンプを正逆方向に回転させて前記液圧アクチュエータを作動させる電動モータと、ステアリングの操舵角を検出するステアリング操舵角センサと、前記転舵角を検出する転舵角センサと、前記ステアリング操舵角センサ及び前記転舵角センサからの信号に基づいて前記電動モータを作動させて前記転舵角を前記操舵角に対応するように制御する制御装置とを備えたステアバイワイヤ方式の操舵システムであって、
前記制御装置が、前記ステアリング操舵角センサからの信号を受信する操舵角受信部と、前記転舵角センサからの信号を受信する転舵角受信部と、これら操舵角受信部及び転舵角受信部が受信した信号に基づき操舵角と転舵角との間の偏差を逐次特定する偏差特定部と、この偏差特定部が特定する偏差が減少する方向に前記電動モータに制御信号を出力して該電動モータを制御するモータ駆動部と、偏差に基づき導き出される操舵角の変動と転舵角の変動との間のタイムラグに応じて制御信号を前記タイムラグが小さくなる方向に変化させる制御補正部とを備えているステアバイワイヤ方式の操舵システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP14900558.9A EP3187395B1 (en) | 2014-08-29 | 2014-08-29 | Steer-by-wire steering system |
CN201480081251.5A CN106660580B (zh) | 2014-08-29 | 2014-08-29 | 线控转向方式的操舵系统 |
JP2016545201A JP6365673B2 (ja) | 2014-08-29 | 2014-08-29 | ステアバイワイヤ方式の操舵システム |
PCT/JP2014/072769 WO2016031058A1 (ja) | 2014-08-29 | 2014-08-29 | ステアバイワイヤ方式の操舵システム |
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PCT/JP2014/072769 WO2016031058A1 (ja) | 2014-08-29 | 2014-08-29 | ステアバイワイヤ方式の操舵システム |
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JP (1) | JP6365673B2 (ja) |
CN (1) | CN106660580B (ja) |
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Cited By (2)
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DE102018200094A1 (de) | 2018-01-04 | 2019-07-04 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Lenksystems für ein Kraftfahrzeug, Lenksystem |
CN112389538A (zh) * | 2020-12-08 | 2021-02-23 | 航天科技控股集团股份有限公司 | 一种映射对应方式转向控制系统及方法 |
Families Citing this family (4)
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CN108032903B (zh) * | 2017-11-17 | 2020-02-21 | 南京视莱尔汽车电子有限公司 | 一种自动驾驶汽车转向控制系统 |
JP7091995B2 (ja) * | 2018-10-30 | 2022-06-28 | トヨタ自動車株式会社 | ステアリングシステム |
US11292502B2 (en) | 2020-02-10 | 2022-04-05 | Caterpillar Inc. | Steering assembly |
EP4108624A1 (en) * | 2021-06-24 | 2022-12-28 | Palfinger AG | Drive system |
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- 2014-08-29 WO PCT/JP2014/072769 patent/WO2016031058A1/ja active Application Filing
- 2014-08-29 EP EP14900558.9A patent/EP3187395B1/en active Active
- 2014-08-29 JP JP2016545201A patent/JP6365673B2/ja active Active
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018200094A1 (de) | 2018-01-04 | 2019-07-04 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Lenksystems für ein Kraftfahrzeug, Lenksystem |
WO2019134795A1 (de) | 2018-01-04 | 2019-07-11 | Robert Bosch Gmbh | Verfahren und vorrichtung zum betreiben eines lenksystems für ein kraftfahrzeug, lenksystem |
DE102018200094B4 (de) | 2018-01-04 | 2021-09-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Lenksystems für ein Kraftfahrzeug, Lenksystem |
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CN112389538A (zh) * | 2020-12-08 | 2021-02-23 | 航天科技控股集团股份有限公司 | 一种映射对应方式转向控制系统及方法 |
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JPWO2016031058A1 (ja) | 2017-04-27 |
EP3187395A1 (en) | 2017-07-05 |
CN106660580B (zh) | 2019-01-11 |
CN106660580A (zh) | 2017-05-10 |
EP3187395B1 (en) | 2019-07-17 |
EP3187395A4 (en) | 2018-03-28 |
JP6365673B2 (ja) | 2018-08-01 |
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