WO2016104568A1 - 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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- WO2016104568A1 WO2016104568A1 PCT/JP2015/085951 JP2015085951W WO2016104568A1 WO 2016104568 A1 WO2016104568 A1 WO 2016104568A1 JP 2015085951 W JP2015085951 W JP 2015085951W WO 2016104568 A1 WO2016104568 A1 WO 2016104568A1
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- axial force
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- control
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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
- B62D5/0469—End-of-stroke control
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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
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- 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
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/166—Means changing the transfer ratio between steering wheel and steering gear
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
Definitions
- the present invention relates to an electric power steering apparatus that calculates a current command value based on at least a steering torque, drives a motor based on the current command value, and applies assist torque to a steering system of a vehicle.
- the assist torque is reduced by reducing the current command value in the vicinity of the rack end, the momentum at the end is reduced, the impact energy is lowered, and the driver's unpleasant sound (abnormal noise) is suppressed.
- the present invention also relates to an electric power steering apparatus with improved steering feeling.
- the present invention relates to a high-performance electric power steering device that can cope with any road surface condition.
- An electric power steering device that applies an assist force to a vehicle steering system by a rotational force of a motor assists a steering shaft or a rack shaft by a transmission mechanism such as a gear or a belt via a reduction gear. It is designed to give power.
- EPS electric power steering device
- Such a conventional electric power steering apparatus performs feedback control of motor current in order to accurately generate assist torque.
- the motor applied voltage is adjusted so that the difference between the current command value and the motor current detection value becomes small.
- the adjustment of the motor applied voltage is performed by the duty of PWM (pulse width modulation) control. It is done by adjustment.
- 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 the current command value of the assist command using the assist map, and calculates the calculated current.
- the current supplied to the motor 20 is controlled by a voltage control value Vref obtained by compensating the command value.
- the control unit 30 is connected to a CAN (Controller Area Network) 40 that transmits and receives various types of vehicle information, and the vehicle speed Vel can also be received from the CAN 40.
- the control unit 30 can be connected to a non-CAN 41 that exchanges communications, analog / digital signals, radio waves, and the like other than the CAN 40.
- control unit 30 is mainly composed of a CPU (including an MPU and MCU). General functions executed by a program inside the CPU are shown in FIG. The structure is
- the steering torque Th from the torque sensor 10 and the vehicle speed Vel from the vehicle speed sensor 12 are input to and calculated by the torque control unit 31 that calculates the current command value.
- the current command value Iref1 is input to the subtraction unit 32B and is subtracted from the motor current detection value Im.
- the motor 20 is PWM driven via the inverter 37 with the PWM signal.
- the motor current value Im of the motor 20 is detected by the motor current detector 38, and is input to the subtraction unit 32B and fed back.
- a rotation angle sensor 21 such as a resolver is connected to the motor 20, and the rotation angle ⁇ is detected and output.
- Patent Document 1 Japanese Patent Publication No. 6-4417 (Patent Document 1) is provided with a steering angle determining means for determining that the steering angle of the steering system is a predetermined value before the maximum steering angle, and the steering angle is the maximum steering angle.
- an electric power steering apparatus provided with a correction means for reducing the assist torque by reducing the electric power supplied to the motor when the angle is a predetermined value before the angle.
- Patent Document 2 determines whether or not the adjusting mechanism is approaching the end position, and if it is found that the adjusting mechanism is approaching the end position, the steering assist is reduced.
- An electric power steering device is shown in which the adjustment speed determined by the position sensor is evaluated in order to control the drive means and determine the speed at which the adjustment mechanism approaches the end position.
- Patent Document 2 shows only changing the characteristics to be reduced according to the speed, and is not based on a physical model. In addition, since feedback control is not performed, characteristics or results may change depending on road surface conditions (load conditions).
- the present invention has been made under the circumstances described above, and an object of the present invention is to configure a control system based on a physical model so that the output of the control target (distance to the rack end) follows the reference model. It is an object of the present invention to provide an electric power steering device that constitutes a simple model following control, suppresses the generation of noise at the end of contact without causing the driver to feel uncomfortable steering, and attenuates the impact force. In addition, high-performance electric power with variable model parameters and control parameters of the feedback (FB) control unit based on rack axial force, rack displacement, and steering state (addition / returning), and suppressing impact force by limiting input It is also an object to provide a steering device.
- FB feedback
- the present invention relates to an electric power steering apparatus that calculates a current command value based on at least a steering torque and drives a motor based on the current command value to assist control the steering system. Achieved by adopting a model following control configuration using a viscoelastic model as a reference model within a specified angle range in front of the rack end, and suppressing the rack end end contact (including damping of the impact force at the rack end end contact) Is done.
- the present invention relates to an electric power steering device that assists a steering system by calculating a current command value 1 based on at least a steering torque and driving a motor based on the current command value.
- the rack position conversion unit that converts the rotation angle of the motor into the determination rack position, and the determination rack position
- a viscoelasticity model is determined based on a rack end approach determination unit that determines that the rack end is approached and outputs a rack displacement and a switching signal, and the rack axial force or column shaft torque 1, the rack displacement and the switching signal.
- a viscoelastic model follow-up control unit that generates rack axial force or column axial torque 2 as a reference model;
- a second conversion unit for converting the motor shaft torque 2 into the current command value 2, and performing the assist control by adding the current command value 2 to the current command value 1 to This is achieved by dampening the impact force.
- the rack end before the viscoelastic model within a predetermined angle x 0 was the norm model, a configuration model following control made by the feedback controller, the feedback controller input A feedback element that calculates the target rack displacement based on the side rack axial force f, and a control element unit that outputs the output side rack axial force ff based on the target rack displacement and the positional deviation of the rack displacement x, A correction unit that variably sets at least one parameter of the feedback element and the control element unit, an axial force calculation unit that calculates a rack axial force f4 based on the steering torque and the current command value, and the rack axial force A limiter that limits the maximum value of f4 with a limit value and outputs the input side rack axial force f, and a steering state determination that determines the steering state This is achieved by varying or switching the parameter according to the determination result of the steering state determination unit.
- the control system based on the physical model is configured, it is easy to make a constant design perspective, and the output of the control target (distance to the rack end) follows the reference model. Therefore, there is an advantage that robust control is possible with respect to the load state (disturbance) and the fluctuation of the control target.
- control parameter is variable within a predetermined angle range
- the driver does not feel uncomfortable reaction force due to the change in assist force, and the impact force when reaching the rack end can be attenuated, and the motor Since it has a braking effect against the motor, and the impact force of the motor inertia can be suppressed, it is possible to protect the relays and gears.
- the model parameter of the reference model and the parameter of the control element are variable based on the rack axial force, the rack displacement, and the steering state (addition / return), so that controllability is achieved. Further, since the input of the rack axial force is restricted, the impact can be suppressed, and there is an advantage that it is possible to cope with any road surface condition.
- FIG. 4 It is a block diagram which shows the detailed structural example (Example 4) of a viscoelastic model follow-up control part. It is a figure which shows the example which changes the parameter of a reference
- the present invention constitutes a control system based on a physical model in the vicinity of the rack end, uses a viscoelastic model (spring constant, viscous friction coefficient) as a reference model, and outputs the control target (distance to the rack end) to the reference model.
- the model following control is configured so that the driver follows, suppresses the generation of noise during end contact without giving the driver a sense of incongruity, and suppresses rack end end contact (impact force during rack end end contact). This is an electric power steering device that achieves attenuation.
- Model following control is composed of a viscoelastic model following control unit, and the viscoelastic model following control unit is composed of a feedforward control unit and / or a feedback control unit, and normal assist control is performed outside a predetermined angle before the rack end.
- the model following control is performed within a predetermined angle before the rack end to suppress the impact force when hitting the rack end.
- control parameter of the feedback control unit is made variable based on rack displacement or target rack displacement (target steering angle) within a predetermined angle range.
- a control parameter is set such that the control gain of the feedback control unit decreases near the start steering angle (the steering angle at which model following control is started), and the control gain increases as it approaches the rack end. Set.
- the control amount in the vicinity of the start steering angle is reduced, and the amount of change in the assist force within and outside the predetermined angle range is reduced, so that it is possible to suppress the driver from feeling uncomfortable with the reaction force due to the change in the assist force.
- the control amount can be increased in the region close to the rack end, the impact force when reaching the rack end can be suppressed.
- the model parameter of the model following control viscoelastic model and the control parameter for the control element are varied within a predetermined angle, and the maximum input of the rack axial force is limited.
- the spring term of the viscoelastic model is decreased, the control gain is decreased, and is increased as the rack end is approached.
- the spring term is increased and the control gain is set larger as the rack axial force when entering the predetermined angle range is smaller.
- the control amount in the vicinity of the start steering angle is small, and the change amount of the assist amount within and outside the predetermined range is small. This prevents the driver from feeling uncomfortable reaction force due to the change in the assist amount.
- the control gain can be set large and the control amount can be increased in the region close to the rack end, the impact force when reaching the rack end can be attenuated.
- the rack axial force within a predetermined angle range changes depending on the road surface condition (asphalt, wet road surface, on ice, on snow, etc.).
- the road surface friction coefficient is small (on ice or snow)
- the rack axial force is small, and asphalt has a large road surface friction coefficient and a large rack axial force.
- model parameters and control parameters (gains) are set appropriately on asphalt, they may not be appropriate on ice or snow.
- the friction coefficient is small, there is a large margin for generating a large assist force toward the rack end, the steering angle advances greatly, and the possibility of reaching the rack end increases.
- the present invention it is possible to change the change in the steering torque felt by the driver by changing the model parameter and the control parameter according to the steering state of the additional steering and the return steering. For example, if the steering torque suddenly decreases at the time of switching back, the driver feels that the vehicle is returned, so that comfort is impaired. This can be avoided by designing the parameters so that the viscosity increases at the time of switching back.
- FIG. 3 shows an example of an embodiment of the present invention corresponding to FIG. 2.
- the current command value Iref1 is converted into the rack axial force f by the conversion unit 101, and the rack axial force f is converted into the viscoelastic model following control unit 120. Is input.
- the rack axial force f is equivalent to the column axial torque, but in the following description, it will be described as a rack axial force for convenience.
- the rotation angle ⁇ from the rotation angle sensor 21 is input to the rack position conversion unit 100 and converted to the determination rack position Rx. Determination rack position Rx is input to the rack end approach determination unit 110, the rack end approach determination unit 110 as shown in FIG.
- the determination rack position Rx is determined that there is within a predetermined position x 0 of the front rack end
- the end contact suppression control function is activated to output the rack displacement x and the switching signal SWS.
- the switching signal SWS and the rack displacement x are input to the viscoelastic model follow-up control unit 120 together with the rack axial force f, and the rack axial force ff controlled and calculated by the viscoelastic model follow-up control unit 120 is converted into a current command value Iref2 by the conversion unit 102.
- the current command value Iref2 is added to the current command value Iref1 by the adding unit 103 to become the current command value Iref3.
- the assist control described above is performed based on the current command value Iref3.
- the predetermined position x 0 to set the rack end proximal region shown in FIG. 4 can be set at an appropriate position.
- Predetermined position x 0 is the rack ratio stroke - click, vehicle type, unambiguously not determined by field or the like, is set to approximately normal rack end before 1 ⁇ 50 mm.
- the rack axial force f is input to the feedforward control unit 130 and the feedback control unit 140, and the rack displacement x is input to the feedback control unit 140.
- the rack axial force FF from the feedforward control unit 130 is input to the switching unit 121, and the rack axial force FB from the feedback control unit 140 is input to the switching unit 122.
- the switching units 121 and 122 are turned on / off by the switching signal SWS, and when the switching units 121 and 122 are turned off by the switching signal SWS, the outputs u 1 and u 2 are zero.
- the rack shaft force FF from the switching unit 121 is output as the rack shaft force u 1
- the rack shaft force FB from the switching unit 122 as a rack axial force u 2 Is output.
- the rack axial forces u 1 and u 2 from the switching units 121 and 122 are added by the adding unit 123, and the added rack axial force ff is output from the viscoelastic model following control unit 120.
- the rack axial force ff is converted into a current command value Iref2 by the converter 102.
- the rack displacement x is input to the feedforward control unit 130 and the feedback control unit 140
- the rack axial force f is input to the feedback control unit 140.
- the rack axial force FF from the feedforward control unit 130 is input to the switching unit 121
- the rack axial force FB from the feedback control unit 140 is input to the switching unit 122 as in the first embodiment of FIG.
- the switching units 121 and 122 are turned on / off by the switching signal SWS, and when the switching units 121 and 122 are turned off by the switching signal SWS, the outputs u 1 and u 2 are zero.
- the rack shaft force FF from the switching unit 121 is output as the rack shaft force u 1
- the rack shaft force FB from the switching unit 122 as a rack axial force u 2 Is output.
- the rack axial forces u 1 and u 2 from the switching units 121 and 122 are added by the adding unit 123, and the added rack axial force ff is output from the viscoelastic model following control unit 120.
- the rack axial force ff is converted into a current command value Iref2 by the converter 102.
- the switching units 121 and 122 are turned off by the switching signal SWS.
- the torque control unit 31 calculates the current command value Iref1 based on the steering torque Th and the vehicle speed Vel (step S10), and the rack position conversion unit 100 calculates the rotation angle ⁇ from the rotation angle sensor 21. Conversion to the determination rack position Rx (step S11).
- the rack end approach determination unit 110 determines whether the rack end is approaching based on the determination rack position Rx (step S12). If the rack end approach is not approaching, the rack axial force ff is obtained from the viscoelastic model following control unit 120.
- the normal steering control based on the current command value Iref1 is executed without being output (step S13), and is continued until the end (step S14).
- the viscoelastic model tracking control by the viscoelastic model tracking control unit 120 is executed (step S20). That is, as shown in FIG. 8, the switching signal SWS is output from the rack end approach determination unit 110 (step S201), and the rack displacement x is output (step S202). Further, the conversion unit 101 converts the current command value Iref1 into the rack axial force f according to the equation 1 (step S203). In Embodiment 1 of FIG. 5, the feedforward control unit 130 performs feedforward control based on the rack axial force f (step S204), and the feedback control unit 140 performs feedback control based on the rack displacement x and the rack axial force f.
- step S205 This is performed (step S205).
- the feedforward control unit 130 performs feedforward control based on the rack displacement x (step S204), and the feedback control unit 140 performs feedback control based on the rack displacement x and the rack axial force f. Is performed (step S205). In any case, the order of the feedforward control and the feedback control may be reversed.
- the switching signal SWS from the rack end approach determination unit 110 is input to the switching units 121 and 122, and the switching units 121 and 122 are turned on (step S206).
- the switching unit 121 and 122 is turned ON, the output rack shaft force FF from the feedforward controller 130 is a rack axial force u 1, the output rack shaft force from the feedback control unit 140 FB is a rack axial force u 2 Is done.
- the rack axial forces u 1 and u 2 are added by the adding unit 123 (step S207), and the rack axial force ff as an addition result is converted by the converting unit 102 into the current command value Iref2 according to the equation 2 (step S208). .
- the viscoelastic model follow-up control unit 120 of the present invention is a control system based on a physical model in the vicinity of the rack end, and the viscoelastic model (spring constant k 0 [N / m], viscous friction coefficient ⁇ [N / (m / s)]) as a model model (input: force, output: physical model described by displacement), and a model following control is configured.
- the impact force is attenuated.
- Figure 9 shows a schematic view of the vicinity rack end, the mass m and the force Fo, the relationship of F 1 is the number 3.
- the calculation of the viscoelastic model equation is described in, for example, Journal of Science and Engineering of Kansai University “Science and Technology” Vol. 17 (2010), “Basics of Elastic Films and Viscoelastic Mechanics” (Kenkichi Ohba).
- Equation 7 is obtained by substituting Equation 4 to Equation 6 into Equation 3.
- Equation 11 Equation 11 below.
- Equation 14 is a third-order physical model (transfer function) indicating the characteristics from the input force f to the output displacement x.
- Equation 15 the quadratic function expressed by Equation 15 will be described as the reference model Gm. That is, Equation 16 is used as the reference model Gm.
- ⁇ 1 ⁇ .
- N and D are expressed by the following equation (18).
- the numerator of N is the numerator of P and the numerator of D is the denominator of P.
- Equation 19 is derived from Equations 16 and 18.
- the block N / F of the feedback control unit is the following equation (20).
- the block D / F of the feedforward control unit is the following equation (21).
- the equation 24 is derived.
- FIG. 11 when the feedforward control system is considered by the route of block 144 ⁇ actual plant P, FIG. 11 is obtained.
- P N / D
- FIG. 11A becomes FIG. 11B
- FIG. From FIG. 11C, f (m ⁇ s 2 + ⁇ ⁇ s + k0) x. Therefore, when this is inverse Laplace transformed, the following equation 29 is obtained.
- the number 30 When the number 30 is arranged, the following 31 is obtained.
- the number 31 When the number 31 is arranged for the input f, the number 32 is obtained.
- Example 1 in FIG. 14 corresponds to Embodiment 1 in FIG. 5, and the rack axial force f is input to the feedforward element 144 (D / F expressed by Formula 21) in the feedforward control unit 130 and the feedback control unit 140. Then, the rack displacement x is input to the feedback control unit 140. 15 corresponds to the second embodiment of FIG. 6, and the rack displacement x is input to the spring constant term 131 and the viscous friction coefficient term 132 in the feedforward control unit 130, and the rack axial force f is fed back. Input to the control unit 140.
- Example 14 in Example 1, the rack axial force FF from the feedforward element 144 is input to the b1 contact of the switching unit 121. Further, in the second embodiment of FIG. 15, the outputs of the spring constant term 131 and the viscous friction coefficient term 132 in the feedforward control unit 130 are subtracted by the subtraction unit 133, and the rack axial force FF that is the subtraction result of the subtraction unit 133 is obtained. The signal is input to the b1 contact of the switching unit 121. A fixed value “0” is input from the fixing unit 125 to the a1 contact of the switching unit 121.
- the feedback control unit 140 includes a feedback element (N / F) 141, a subtraction unit 142, and a control element unit 143.
- the rack axial force FB that is, the output of the control element unit 143 is input to the b2 contact of the switching unit 122.
- a fixed value “0” is input from the fixing unit 126 to the a2 contact of the switching unit 122.
- Example 1 of FIG. 14 the rack axial force f is input to the feedforward element 144 in the feedforward control unit 130 and also to the feedback element (N / F) 141 of the feedback control unit 140.
- the rack displacement x is subtracted and input to the subtraction unit 142 of the feedback control unit 140 and is also input to the parameter setting unit 124.
- the parameter setting unit 124 outputs a spring constant k 0 and a viscous friction coefficient ⁇ having characteristics as shown in FIG. 16A, for example, with respect to the rack displacement x, and the spring constant k 0 and the viscous friction coefficient ⁇ are fed forward.
- the feed forward element 144 in the control unit 130 and the feedback element (N / F) 141 in the feedback control unit 140 are input.
- FIG. 16B shows an image of the current I [A] (or rack axial force f [N]) in the vicinity of the end pad when actually controlled. If there is no control, the rack end or Constant or increased to the target value, no viscoelastic effect.
- the present invention can suppress the impact force more than the step shape, and has a feel (brake effect) at the time of end contact with the handle feeling of the handle rather than the gradual change.
- the rack displacement x is input to the spring constant term 131 and the viscous friction coefficient term 132 in the feedforward control unit 130, and is also input to the subtraction unit 142 of the feedback control unit 140 for further parameter setting.
- the rack axial force f is input to the feedback element (N / F) 141 of the feedback control unit 140.
- the parameter setting unit 124 outputs a spring constant k 0 and a viscous friction coefficient ⁇ similar to those described above for the rack displacement x, and the spring constant k 0 is input to the spring constant term 131 and the feedback element (N / F) 141.
- the viscous friction coefficient ⁇ is input to the viscous friction coefficient term 132 and the feedback element (N / F) 141.
- the switching signal SWS is input to the switching units 121 and 122 in the first and second embodiments, and the contacts of the switching units 121 and 122 are normally connected to the contacts a1 and a2, respectively. Each of the contacts b1 and b2 is switched.
- a switching signal SWS is output from the rack end approach determination unit 110 (step S21), and a rack displacement x is output (step S22).
- the rack displacement x is input to the spring constant term 131, the viscous friction coefficient term 132, the parameter setting unit 124, and the subtraction unit 142.
- the parameter setting unit 124 calculates the spring constant k 0 and the viscous friction coefficient ⁇ determined according to the characteristics of FIG. 16A according to the rack displacement x, the spring constant term 131, the viscous friction coefficient term 132, and the feedback element (N / F) Set to 141 (step S23).
- the converter 101 converts the current command value Iref1 into the rack axial force f (step S23A), and the rack axial force f is input to the feedback element (N / F) 141 and is subjected to N / F calculation (step S24). .
- the N / F calculation value is added to the subtraction unit 142, the rack displacement x is subtracted (step S24A), and the subtraction value is Cd calculated by the control element unit 143 (step S24B).
- the calculated rack axial force FB is output from the control element unit 143 and input to the contact point b2 of the switching unit 122.
- Viscous friction coefficient term 132 in the feed-forward control unit 130 based on the viscous friction coefficient ⁇ "( ⁇ - ⁇ ) ⁇ s" performs the operation of (step S25), and setting the spring constant k 0 to the spring constant term 131 (Step S25A), the subtraction unit subtracts the spring constant k 0 and “( ⁇ ) ⁇ s” (Step S25B), and outputs the rack axial force FF as the calculation result.
- the rack axial force FF is input to the contact b1 of the switching unit 121. Note that the calculation order of the feedforward control unit 130 and the feedback control unit 140 may be reversed.
- the switching signal SWS from the rack end approach determination unit 110 is input to the switching units 121 and 122, and the contacts of the switching units 121 and 122 are switched from a1 to b1 and from a2 to b2, and the racks from the switching units 121 and 122 are switched.
- the axial forces u 1 and u 2 are added by the adding unit 123 (step S26), and the rack axial force ff as the addition result is converted into the current command value Iref2 by the converting unit 102 (step S26A).
- the current command value Iref2 is input to the adding unit 103, added to the current command value Iref1 (step S27), steering control is executed, and the process returns to step S14.
- Example 1 of FIG. 14 and Example 2 of FIG. 15 control calculations of both the feedforward control unit 130 and the feedback control unit 140 are executed in the first and second embodiments, but as shown in FIG. A configuration with only the feedback control unit 140 (third embodiment) may be used, or a configuration with only the feedforward control unit 130 (fourth embodiment) may be used as shown in FIG.
- FIG. 20 shows a detailed configuration example of the viscoelastic model following control unit according to the third embodiment of the present invention in correspondence with FIG. 15, and a control parameter setting unit 127 is added to the second embodiment.
- the output from the control parameter setting unit 127 is input to the control element unit 153 of the feedback control unit 150. Since other configurations are the same as those of the fourth embodiment, description thereof is omitted.
- the control element unit 153 has a configuration of PD (proportional differentiation) control, and the transfer function is expressed by the following equation (33).
- kp is a proportional gain
- kd is a differential gain
- the control parameter setting unit 127 outputs, for example, a proportional gain kp and a differential gain kd having characteristics as shown in FIG. 21 with respect to the rack displacement x, and the proportional gain kp and the differential gain kd are input to the control element unit 153. .
- the proportional gain kp and the differential gain kd are input to the control element unit 153.
- step S23a is different.
- a switching signal SWS is output from the rack end approach determination unit 110 (step S21), and a rack displacement x is output (step S22).
- the rack displacement x is input to the spring constant term 131, the viscous friction coefficient term 132, the parameter setting unit 124, the subtraction unit 142, and the control parameter setting unit 127.
- the parameter setting unit 124 calculates the spring constant k 0 and the viscous friction coefficient ⁇ determined according to the characteristics of FIG. 16A according to the rack displacement x, the spring constant term 131, the viscous friction coefficient term 132, and the feedback element (N / F) Set to 141 (step S23).
- the control parameter setting unit 127 sets the proportional gain kp and the differential gain kd obtained according to the characteristics of FIG.
- step S23a the conversion unit 101 converts the current command value Iref1 into the rack axial force f according to Equation 1 (step S23A), and the rack axial force f is input to the feedback element (N / F) 141 and is subjected to N / F calculation ( Step S24).
- the N / F calculation value is added to the subtraction unit 142, the rack displacement x is subtracted (step S24A), and the subtraction value is Cd-calculated by the control element unit 153 (step S24B).
- the calculated rack axial force FB is output from the control element unit 153 and input to the contact b2 of the switching unit 122.
- the feedforward control unit 130 outputs the rack axial force FF by the same operation as steps S25 to S25B in the second embodiment, and the rack axial force FF is input to the contact b1 of the switching unit 121. Note that the calculation order of the feedforward control unit 130 and the feedback control unit 150 may be reversed.
- control parameter of the feedback control unit is variable based on the rack displacement, but in the fourth embodiment, the control parameter is variable based on the target rack displacement (target steering angle).
- FIG. 23 shows a detailed configuration example of the viscoelastic model follow-up control unit in the second embodiment.
- the N / F calculation value from the feedback element (N / F) 141 that is the target rack displacement is input to the unit 128.
- the control parameter setting unit 128 outputs a proportional gain kp and a differential gain kd having characteristics similar to those shown in FIG. 21, for example, with respect to the target rack displacement. Except for the control parameter setting unit 128, the same operation as that of the viscoelastic model following control unit in the first embodiment is performed.
- control element unit 143 (or 153) has a PD control configuration, but may have a PID (proportional-integral-derivative) control or a PI control configuration.
- PID proportional-integral-derivative
- the transfer function is expressed by the following equation 34, and the proportional gain kp, the differential gain kd, and the integral gain ki are control parameters, and the integral gain ki is a characteristic approximated to the proportional gain kp and the differential gain kd.
- the proportional gain kp and the derivative time Td are control parameters.
- the integration time Ti may be used instead of the integration gain ki.
- control parameter setting unit 127 added in the third embodiment or the control parameter setting unit 128 added in the fourth embodiment can be added to the first embodiment in FIG. 14 in the same manner. Further, as in the case of the first embodiment and the second embodiment, the configuration including only the feedback control unit 150 may be used instead of the configuration including the feedforward control unit 130 and the feedback control unit 150.
- the feedback control unit 140 calculates a target rack displacement (target steering angle) based on the rack axial force f using the spring constant k 0 and the viscous friction coefficient ⁇ as parameters. / F) 141, a subtracting unit 142 for obtaining the positional deviation of the target rack displacement and the rack displacement x, and a control element unit 143 composed of PID, PI and the like for controlling the rack axial force FB based on the positional deviation.
- the rack axial force FB from the feedback control unit 140 that is, the output of the control element unit 143 is input to the b2 contact of the switching unit 122.
- a fixed value “0” is input from the fixing unit 126 to the a2 contact of the switching unit 122.
- the rack axial force f is input to the feedback element 141, and the rack displacement x is input to the parameter setting unit 124 while being subtracted from the subtraction unit 142 in the feedback control unit 140.
- the parameter setting unit 124 outputs the spring constant k 0 and the viscous friction coefficient ⁇ with the characteristics shown by the solid line in FIG. 24 with respect to the rack displacement x, and the spring constant k 0 and the viscous friction coefficient ⁇ are input to the feedback element 141. Is done.
- the contact of the switching unit 122 can be switched between the contact a ⁇ b> 2 and the contact b ⁇ b> 2 by a switching signal SWS from the rack end approach determination unit 120.
- the model parameter (feedback element 141) of the reference model, the control parameter of the control element unit, or both parameters are changed to rack axial force (SAT) f, rack displacement x, and steering state (increase / decrease).
- SAT rack axial force
- rack displacement x rack displacement x
- steering state increase / decrease
- the input of the input side rack axial force f to the feedback element 141 is limited by setting a limit value (variable).
- the model following control is configured using the viscoelastic model as a reference model, and the model parameters and control parameters (control gain) of the viscoelastic model are variable within the predetermined angle.
- the model parameter and the control parameter are made variable according to the rack axial force when entering the predetermined angle range. For example, in the vicinity of the start steering angle, the spring term of the viscoelastic model is decreased, the control gain is decreased, and is increased as the rack end is approached. Further, the smaller the rack axial force when entering the predetermined angle range, the larger the spring term is set and the control gain is set larger.
- the control amount in the vicinity of the start steering angle is small, and the change amount of the assist amount within and outside the predetermined range is small.
- the driver can be prevented from feeling uncomfortable reaction force due to the change in the assist amount.
- the control gain can be set large and the control amount can be increased in the region close to the rack end, the impact force when reaching the rack end can be attenuated.
- the rack axial force in a predetermined angle range changes depending on the road surface condition (asphalt, wet road surface, on ice, on snow).
- the road surface friction coefficient is small (on ice or snow)
- the rack axial force is small, and asphalt has a large road surface friction coefficient and a large rack axial force.
- the load characteristics vary depending on the degree of tire twist. It is desirable to control the rudder angle at a substantially constant value regardless of the road surface condition or the traveling condition.
- the fifth embodiment limits the positive and negative maximum values of the rack axial force input to the reference model. .
- the reference model output (target rudder angle) becomes constant, and variations in control effects can be suppressed. Further, by making it possible to adjust the limit value according to the rack axial force, it is possible to adjust the reference model output (target rudder angle) and further reduce the variation in effect.
- the reference model and the control parameter are made variable according to the steering state (addition / return).
- the model parameter and the control parameter are changed in accordance with the steering state of the additional steering and the reverse steering, it is possible to change the change in the steering torque felt by the driver. For example, if the steering torque suddenly decreases at the time of switching back, the driver feels that the vehicle is returned, so that comfort is impaired. This can be avoided by designing the parameters so that the viscosity increases at the time of switching back.
- FIG. 26 shows the fifth embodiment corresponding to FIGS. 3 and 14, in which the conversion unit 200 that converts the steering torque Th into the rack axial force f 1, the rack axial force f 1, and the rack axial force from the conversion unit 101 are shown.
- An addition unit 202 that adds f2
- the rack displacement x (or determination rack position Rx) is inputted, the rack displacement speed is calculated, the steering state (addition / return) is determined by the rack displacement x and the direction (positive / negative) of the rack displacement speed, A steering state determination unit 205 that outputs the determination result Sb is provided.
- the steering state determination result Sb is input to the control parameter setting unit 211 and the model parameter setting unit 221.
- the initial rack axial force Fz is a rack axial force when the rack displacement x falls within a predetermined angle range
- the axial force calculation unit 201 determines that the rack axis according to the following formula 37 after the rack displacement x falls within the predetermined angle range.
- the force f4 is calculated.
- control parameter setting unit 211 of the control system inputs the rack displacement x, and the control parameters kd, kp have a non-linear relationship in which the increase rate increases as the rack displacement x increases, for example, as indicated by the solid line in FIG. Is output.
- the control parameters kd and kp are set in the control element unit 143 in the feedback control unit 140 as shown in the following equation (38).
- Cd kp + kd ⁇ s
- the model parameter setting unit 221 of the model system inputs the rack displacement x, and outputs model parameters ⁇ (viscous friction coefficient) and k 0 (spring constant) with characteristics as shown by a solid line in FIG. 24, for example.
- the model parameters ⁇ and k 0 are set in the feedback element (N / F) 141 in the feedback control unit 140.
- the steering state determination unit 205 determines whether to increase or decrease the steering, and the determination result Sb is input to the control parameter setting unit 211 and the model parameter setting unit 221.
- the model parameter setting unit 221 changes the model parameters ⁇ and k 0 between the solid line and the broken line in FIG. 24 according to the increase or decrease of the steering state.
- the control parameter setting unit 211 changes the control parameters kd and kp between the solid line and the broken line in FIG. 28 in accordance with the increase or decrease of the steering state.
- the control parameter setting unit 211 and the model parameter setting unit 221 gradually change from the increasing parameter to the switching back parameter when changing from the increasing state amount 1 to the switching back state amount 0 as shown in FIG. To switch within a predetermined period.
- a predetermined area may be set for the rack displacement speed, the state quantity gain ⁇ may be assigned, and the following parameter 39 may be calculated to obtain the final parameter.
- Final parameter additional parameter x ⁇ + switchback parameter ⁇ (1- ⁇ )
- the switching signal SWS is output from the rack end approach determination unit 110, the contact of the switching unit 122 is switched from a2 to the contact b2 (step S201), and the steering torque Th is converted into the rack axial force f1 by the conversion unit 200 ( Step S202).
- the current command value Iref1 is calculated by the torque control unit 31, and the current command value Iref1 is converted into the rack axial force f2 by the conversion unit 101 (step S203).
- the rack shaft at that time The force f3 is set in the setting storage unit 201-1 as the initial rack axial force Fz (step S204), and thereafter, the stored initial rack axial force Fz is subtracted from the rack axial force f3 by the subtracting unit 201-2.
- the axial force f4 is calculated (step S205), the limiter 204 performs a limiting process (step S206), and the limited rack axial force is input to the feedback element 141 in the feedback control unit 140 as the input-side rack axial force f. .
- the rack displacement x is output from the rack end approach determination unit 110 (step S210), the rack displacement x is input to the steering state determination unit 205, the steering state is determined (step S211), and the determination result Sb is set as the control parameter setting.
- the rack displacement x is subtracted and input to the subtraction unit 142 in the feedback control unit 140 and is also input to the control parameter setting unit 211 and the model parameter setting unit 221.
- the control parameter setting unit 211 calculates control parameters kp and kd based on the rack displacement x and the determination result Sb (step S212), and the control parameters kp and kd are set in the control element unit 143 in the feedback control unit 140.
- the model parameter setting unit 221 calculates model parameters ⁇ and k 0 based on the rack displacement x and the determination result Sb (step S213), and the model parameters ⁇ and k 0 are supplied to the feedback element 141 in the feedback control unit 140. Is set.
- Feedback control unit 140 performs processing of the feedback control by k 0 (step S220), outputs an output-side rack shaft force ff (Step S230).
- the rack axial force ff is converted into a current command value Iref2 by the converter 102 (step S231), and the above operation is repeated until the end (step S232).
- step S232 the contact of the switching unit 122 is switched from the contact b2 to the contact a2 by the output of the switching signal SWS (step S233), and then the process proceeds to step S14 in FIG.
- the feedback control process in the feedback control unit 140 is performed as shown in FIG.
- the model parameters ⁇ and k 0 calculated by the model parameter setting unit 221 are set in the feedback element 141 (step S221), N / F processing is performed in the feedback element 141, and the target rack displacement (target steering angle) is calculated. (Step S222).
- the target rack displacement is added and input to the subtractor 142, the position deviation from the subtracted rack displacement x is calculated (step S223), and the obtained position deviation is input to the control element unit 143.
- the control parameters kp and kd calculated by the control parameter setting unit 211 are set in the control element unit 143 (step S224), the control calculation is performed (step S225), and the rack axial force FB obtained by the control calculation. Is output (step S226).
- the order of setting the control parameters kp and kd can be changed as appropriate.
- the reference model output is saturated as shown by the solid line in FIG. If it is not limited, it continues to change without saturation as shown by the broken line.
- the steering state is determined based on the rack displacement x and the rack displacement speed.
- the steering state may be determined based on the column shaft angle ( ⁇ ) and the column shaft angular velocity ( ⁇ ). 6).
- Example 5 and Example 6 described above the third embodiment in which the feedforward control unit is not included in the configuration of the model following control has been described.
- the configuration of the model following control is a feedback control unit and a feedforward control unit.
- the present invention can be similarly applied to the first embodiment and the second embodiment, and the parameter of the feedforward control unit may be changed or switched according to the rack displacement x and the determination result Sb of the steering state.
- the rack displacement x is input to the spring constant term 131 and the viscous friction coefficient term 132 in the feedforward control unit 130 and also input to the subtraction unit 142 of the feedback control unit 140, and further, the parameter setting unit 124 and the steering state determination unit 205. Is input.
- the rack axial force f is input to the feedback element (N / F) 141 of the feedback control unit 140.
- the parameter setting unit 124 outputs the spring constant k 0 and the viscous friction coefficient ⁇ according to the rack displacement x and the determination result Sb of the steering state determination unit 205, and the spring constant k 0 includes the spring constant term 131 and the feedback element (N / F ) 141, and the viscous friction coefficient ⁇ is input to the viscous friction coefficient term 132 and the feedback element (N / F) 141.
- the switching signal SWS is input to the switching units 121 and 122, and the contacts of the switching units 121 and 122 are normally connected to the contacts a1 and a2, respectively, and are switched to the contacts b1 and b2 by the switching signal SWS, respectively. It has become.
- the control element unit 143 may have any configuration of PID (proportional integral derivative) control, PI control, and PD control.
- PID proportional integral derivative
- PI control PI control
- PD control PD control.
- the rotation angle ⁇ is obtained from the rotation angle sensor connected to the motor.
- the rotation angle ⁇ may be obtained from the steering angle sensor, or may be obtained from CAN or the like.
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Abstract
Description
(数1)
f=G1×Iref1
ここで、Ktをトルク定数[Nm/A]、Grを減速比、Cfを比スト
ローク[m/rev.]として、G1=Kt×Gr×(2π/Cf)で
ある。
回転角センサ21からの回転角θはラック位置変換部100に入力され、判定用ラック位置Rxに変換される。判定用ラック位置Rxはラックエンド接近判定部110に入力され、ラックエンド接近判定部110は図4に示すように、判定用ラック位置Rxがラックエンド手前の所定位置x0以内にあると判定したときに端当て抑制制御機能を働かせ、ラック変位xを出力すると共に切替信号SWSを出力する。切替信号SWS及びラック変位xは、ラック軸力fと共に粘弾性モデル追従制御部120へ入力され、粘弾性モデル追従制御部120で制御演算されたラック軸力ffは変換部102で電流指令値Iref2に変換され、電流指令値Iref2は加算部103で電流指令値Iref1と加算されて電流指令値Iref3となる。電流指令値Iref3に基づいて、上述したアシスト制御が行われる。
変換部102でのラック軸力ffから電流指令値Iref2への変換は、下記数2に従って行われる。
(数2)
Iref2=ff/G1
粘弾性モデル追従制御部120の詳細は、図5又は図6に示される。
次に、電動パワーステアリング装置の実プラント146を下記数17で表わされるPとし、本発明の規範モデル追従型制御を2自由度制御系で設計すると、Pn及びPdを実際のモデルとして図10の構成となる。ブロック143(Cd)は制御要素部を示している。(例えば朝倉書店発行の前田肇、杉江俊治著「アドバンスト制御のためのシステム制御理論」参照)
図10において、フィードフォワード制御系をブロック144→実プラントPの経路で考えると、図11となる。ここで、P=N/Dとすると、図11(A)は図11(B)となり、数20より図11(C)が得られる。図11(C)より、f=(m・s2+μ・s+k0)xとなるので、これを逆ラプラス変換すると、下記数29が得られる。
制御パラメータ設定部127はラック変位xに対して、例えば図21に示すような特性を有する比例ゲインkp及び微分ゲインkdを出力し、比例ゲインkp及び微分ゲインkdは制御要素部153に入力される。比例ゲインkp及び微分ゲインkdを図21に示すような特性にすることにより、ラック変位xが小さい範囲(即ち開始舵角付近)では制御要素部153の制御ゲインは小さくなり、ラック変位が大きくなるにつれて(即ちラックエンドに近付くにつれて)制御ゲインが大きくなる。
(数37)
f4=(f1+f2)-Fz
リミッタ204は、例えば図27に示すような特性で正負最大値を制限し、最大値を制限された入力側ラック軸力fがフィードバック制御部140内のフィードバック要素141に入力される。なお、図27において、xOR及びxOLは、所定角度範囲を設定する角度である。
(数38)
Cd=kp+kd・s
モデル系のモデルパラメータ設定部221はラック変位xを入力し、例えば図24の実線に示すような特性でモデルパラメータμ(粘性摩擦係数)、k0(バネ定数)を出力する。モデルパラメータμ、k0は、フィードバック制御部140内のフィードバック要素(N/F)141に設定される。
(数39)
最終パラメータ=切増しパラメータ×α+切戻しパラメータ×(1-α)
このような構成において、図26の実施例5の動作例を図31及び図32のフローチャートを参照して説明する。
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
14 舵角センサ
20 モータ
23 モータ駆動部
30 コントロールユニット(ECU)
31 トルク制御部
35 電流制御部
36 PWM制御部
100 ラック位置変換部
110 ラックエンド接近判定部
120 粘弾性モデル追従制御部
121、122 切替部
130 フィードフォワード制御部
140 フィードバック制御部
Claims (21)
- 少なくとも操舵トルク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モータを駆動することにより、操舵系をアシスト制御する電動パワーステアリング装置において、
ラックエンド手前の所定角度の範囲内で粘弾性モデルを規範モデルとしたモデルフォローイング制御の構成とし、ラックエンド端当てを抑制するようにしたことを特徴とする電動パワーステアリング装置。 - 前記モデルフォローイング制御の構成がフィードバック制御部である請求項1に記載の電動パワーステアリング装置。
- 前記フィードバック制御部の制御パラメータをラック変位又は目標ラック変位に基づいて可変としている請求項2に記載の電動パワーステアリング装置。
- 前記規範モデルのパラメータをラック変位に基づいて可変する請求項3に記載の電動パワーステアリング装置。
- 前記モデルフォローイング制御の構成がフィードフォワード制御部である請求項1に記載の電動パワーステアリング装置。
- 前記モデルフォローイング制御の構成がフィードバック制御部及びフィードフォワード制御部である請求項1に記載の電動パワーステアリング装置。
- 前記規範モデルのパラメータをラック変位に基づいて可変する請求項1に記載の電動パワーステアリング装置。
- 少なくとも操舵トルクに基づいて電流指令値1を演算し、前記電流指令値に基づいてモータを駆動することにより、操舵系をアシスト制御する電動パワーステアリング装置において、
前記電流指令値1をラック軸力若しくはコラム軸トルク1に変換する第1の変換部と、
前記モータの回転角から判定用ラック位置に変換するラック位置変換部と、
前記判定用ラック位置に基づいてラックエンドに接近したことを判定し、ラック変位及び切替信号を出力するラックエンド接近判定部と、
前記ラック軸力若しくはコラム軸トルク1、前記ラック変位及び前記切替信号に基づいて、粘弾性モデルを規範モデルとしたラック軸力若しくはコラム軸トルク2を生成する粘弾性モデル追従制御部と、
前記ラック軸力若しくはコラム軸トルク2を電流指令値2に変換する第2の変換部と、
を具備し、前記電流指令値2を前記電流指令値1に加算して前記アシスト制御を行い、ラックエンド端当てを抑制するようにしたことを特徴とする電動パワーステアリング装置。 - 前記粘弾性モデル追従制御部が、
前記ラック軸力若しくはコラム軸トルク1に基づいてフィードフォワード制御してラック軸力若しくはコラム軸トルク3を出力するフィードフォワード制御部と、
前記ラック変位及び前記ラック軸力若しくはコラム軸トルク1に基づいてフィードバック制御してラック軸力若しくはコラム軸トルク4を出力するフィードバック制御部と、
前記切替信号により前記ラック軸力若しくはコラム軸トルク3の出力をON/OFFする第1の切替部と、
前記切替信号により前記ラック軸力若しくはコラム軸トルク4の出力をON/OFFする第2の切替部と、
前記第1及び第2の切替部の出力を加算して前記ラック軸力若しくはコラム軸トルク2を出力する加算部と、
で構成されている請求項8に記載の電動パワーステアリング装置。 - 前記粘弾性モデル追従制御部が、
前記ラック変位に基づいてフィードフォワード制御してラック軸力若しくはコラム軸トルク3を出力するフィードフォワード制御部と、
前記ラック変位及び前記ラック軸力若しくはコラム軸トルク1に基づいてフィードバック制御してラック軸力若しくはコラム軸トルク4を出力するフィードバック制御部と、
前記切替信号により前記ラック軸力若しくはコラム軸トルク3の出力をON/OFFする第1の切替部と、
前記切替信号により前記ラック軸力若しくはコラム軸トルク4の出力をON/OFFする第2の切替部と、
前記第1及び第2の切替部の出力を加算して前記ラック軸力若しくはコラム軸トルク2を出力する加算部と、
で構成されている請求項8に記載の電動パワーステアリング装置。 - 前記ラック変位によって、前記フィードバック制御部及びフィードフォワード制御部のパラメータを変更する請求項9又は10に記載の電動パワーステアリング装置。
- 前記粘弾性モデル追従制御部が、
前記ラック変位及び前記ラック軸力若しくはコラム軸トルク1に基づいてフィードバック制御してラック軸力若しくはコラム軸トルク2を出力するフィードバック制御部と、
前記切替信号により前記ラック軸力若しくはコラム軸トルク2の出力をON/OFFする切替部とを具備しており、
前記ラック変位又は目標ラック変位によって、前記フィードバック制御部の制御パラメータを変更ようになっている請求項8に記載の電動パワーステアリング装置。 - 前記ラック変位又は前記目標ラック変位が小さいところでは制御ゲインを小さく、前記ラック変位又は前記目標ラック変位が大きくなるにつれて前記制御ゲインを大きくするように、前記制御パラメータを変更する請求項12に記載の電動パワーステアリング装置。
- 前記ラック変位によって、前記規範モデルのパラメータを変更する請求項12又は13に記載の電動パワーステアリング装置。
- 少なくとも操舵トルク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モータを駆動することにより、操舵系をアシスト制御する電動パワーステアリング装置において、
ラックエンド手前の所定角度x0の範囲内で粘弾性モデルを規範モデルとした、フィードバック制御部で成るモデルフォローイング制御の構成であり、
前記フィードバック制御部が入力側ラック軸力fに基づいて目標ラック変位を演算するフィードバック要素と、前記目標ラック変位及びラック変位xの位置偏差に基づいて出力側ラック軸力ffを出力する制御要素部とで構成され、
前記フィードバック要素及び前記制御要素部の少なくとも一方のパラメータを可変して設定する補正部と、
前記操舵トルク及び前記電流指令値に基づいてラック軸力f4を演算する軸力演算部と、
前記ラック軸力f4の最大値を制限値により制限して前記入力側ラック軸力fを出力するリミッタと、
操舵状態を判定する操舵状態判定部と、
を具備し、前記操舵状態判定部の判定結果に応じて前記パラメータを可変若しくは切替えることを特徴とする電動パワーステアリング装置。 - 前記モデルフォローイング制御の構成に更にフィードフォワード制御部が設けられ、前記ラック変位x及び前記操舵状態判定部の判定結果に応じて前記フィードフォワード制御部のパラメータを可変若しくは切替えるようになっている請求項15に記載の電動パワーステアリング装置。
- 前記操舵状態判定部が、前記ラック変位x及びラック変位速度に基づいて切増し/切戻しを判定するようになっている請求項15又は16に記載の電動パワーステアリング装置。
- 前記操舵状態判定部が、コラム軸角及びコラム軸角速度に基づいて切増し/切戻しを判定するようになっている請求項15又は16に記載の電動パワーステアリング装置。
- 前記切増し/切戻しの判定結果により、前記パラメータの可変若しくは切替を徐々に行うようになっている請求項17又は18に記載の電動パワーステアリング装置。
- 前記切増し/切戻しの状態を状態量ゲイン0~1として演算し、前記切増し/切戻しのパラメータに対して前記状態量ゲインに重み付けを行って最終パラメータを演算する請求項19に記載の電動パワーステアリング装置。
- 前記状態量ゲインをαとし、前記切増しパラメータ×α+前記切戻しパラメータ×(1-α)で前記最終パラメータを演算する請求項20
に記載の電動パワーステアリング装置。
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US15/520,162 US10118636B2 (en) | 2014-12-25 | 2015-12-24 | Electric power steering apparatus |
CN201580069528.7A CN107107952B (zh) | 2014-12-25 | 2015-12-24 | 电动助力转向装置 |
JP2016566422A JP6103163B2 (ja) | 2014-12-25 | 2015-12-24 | 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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CN107107952B (zh) | 2019-09-10 |
EP3196097B1 (en) | 2019-06-05 |
CN107107952A (zh) | 2017-08-29 |
US10118636B2 (en) | 2018-11-06 |
EP3196097A1 (en) | 2017-07-26 |
US20170327144A1 (en) | 2017-11-16 |
JPWO2016104568A1 (ja) | 2017-04-27 |
JP6103163B2 (ja) | 2017-04-05 |
EP3196097A4 (en) | 2018-08-01 |
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