WO2016104569A1 - 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
- Publication number
- WO2016104569A1 WO2016104569A1 PCT/JP2015/085953 JP2015085953W WO2016104569A1 WO 2016104569 A1 WO2016104569 A1 WO 2016104569A1 JP 2015085953 W JP2015085953 W JP 2015085953W WO 2016104569 A1 WO2016104569 A1 WO 2016104569A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rack
- axial force
- unit
- electric power
- power steering
- Prior art date
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
-
- 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
-
- 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
- G05B13/041—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 in which a variable is automatically adjusted to optimise the performance
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 an assist force 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.
- model parameters of the reference model and the control parameters of the control system can be varied based on the rack axial force and rack displacement, or the impact can be suppressed by limiting the input, so that it can handle any road surface condition.
- the present invention relates to a high-performance electric power steering apparatus.
- 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.
- the model following control is configured to suppress the generation of abnormal noise at the time of contact without causing the driver to feel uncomfortable steering, to suppress the impact force, and to change the model parameters and control parameters of the feedback (FB) control unit.
- An object of the present invention is to provide a high-performance electric power steering apparatus that is variable or suppresses impact force by limiting input.
- 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.
- a feedback element that calculates a rack displacement and a control element unit that outputs an output-side rack axial force ff based on a positional deviation between the target rack displacement and the rack displacement x, and at least of the feedback element and the control element unit
- An axial force calculation unit that calculates the rack axial force f4 based on the torque and the current command value, and a limiter that limits the maximum value of the rack axial force f4 with a limit value and outputs the input side rack axial force f.
- the rack axial force calculation unit includes: An absolute value / sign part for calculating the absolute value and sign of the rack axial force f3, a determination part for determining whether the absolute value is equal to or greater than a threshold, a subtraction part for subtracting the threshold from the absolute value, and a subtraction result This is achieved by a multiplication unit that multiplies the code by the sign and a switching unit that outputs the multiplication result or a fixed value.
- 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 end contact suppression control that is robust to load conditions (disturbances) and fluctuations in the control target is possible.
- the model parameter of the reference model and the parameter of the control element are made variable based on the rack axial force and the rack displacement, so that the controllability is further improved and the rack axial force is improved. Since the input is limited, the impact can be suppressed, and there is an advantage that it is possible to cope with any road surface condition.
- FIG. 1 It is a block diagram which shows the detailed structural example (Embodiment 4) of a viscoelastic model follow-up control part. It is a block block diagram which shows Example 1 of this invention. It is a characteristic view which shows the example of the sensitive characteristic of the position correction part of a control system. It is a characteristic view which shows the example of a characteristic of a control parameter setting part. It is a characteristic view which shows the example of the sensitivity characteristic of the position correction part of a model type
- Example 7 of this invention It is a block block diagram which shows Example 8 of this invention. It is a flowchart which shows the operation example of Example 8 of this invention. It is a time chart which shows the operation example (Example 8) of this invention. It is a block block diagram which shows Example 9 of this invention. It is a time chart which shows the operation example (Example 9) of this invention.
- 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.
- a viscoelastic model spring constant, viscous friction coefficient
- This is an electric power steering device that constitutes model following control such that the driver follows, suppresses the generation of abnormal noise at the end of contact without causing the driver to feel uncomfortable steering, and attenuates the impact force.
- 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 in front of the rack end to attenuate the impact force when hitting the rack end.
- 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 rack shaft when entering the predetermined angle range
- the model parameter and the control parameter are made variable according to the force. 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 spring term is increased and the control gain is set larger as the rack axial force when entering the predetermined angle range is smaller. By doing so, 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. Further, since 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.
- a correction unit is provided that can increase the control gain as the rack axial force is smaller.
- the maximum input of the rack axial force is limited by a limit value. In order to suppress the impact.
- FIG. 3 showing the model following control as a premise of the present invention corresponding to FIG. 2 will be described.
- 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 input to the viscoelastic model follow-up control unit 120.
- 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 conversion from the current command value Iref1 to the rack axial force f is performed according to the following equation (1).
- Equation 1) f G1 ⁇ Iref1
- Kt is a torque constant [Nm / A]
- Gr is a reduction ratio
- Cf is a specific stroke [m / rev.
- 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. 4, the determination rack position Rx is determined that there is within a predetermined position x 0 of the front rack end Sometimes 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 models, 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.
- the feedback control unit 140 includes a feedback element (N / F) 141 that 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, and a target A subtracting unit 142 for obtaining the rack displacement and the positional deviation of 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.
- N / F feedback element
- 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.
- 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 in FIG. 15 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.
- 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.
- a configuration including only the feedforward control unit 130 (Embodiment 4) may be used.
- the model parameter (feedback element 141) of the reference model or the control parameter of the control element unit or the parameters of both in the third embodiment are varied based on the rack axial force (SAT) f and the rack displacement x. That is, if the model parameters of the reference model and the control parameters (gains) of the control system are set appropriately in, for example, asphalt road surface conditions, they may not be appropriate on ice or snow.
- SAT rack axial force
- the model parameters of the reference model and the control parameters (gains) of the control system are set appropriately in, for example, asphalt road surface conditions, 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.
- FIG. 17 shows the first embodiment of the present invention corresponding to FIG. 3 and FIG. 14.
- the converter 200 converts the steering torque Th into the rack axial force f 1, and the rack axial force f 1 and the converter 101
- An addition unit 202 that adds the rack axial force f2
- the initial rack axial force Fz is a rack axial force when the rack displacement x falls within a predetermined angle range, and the initial rack axial force Fz is input to the position correction units 210 and 220 as a parameter.
- the characteristic of the position correction unit 210 is, for example, as shown in FIG. 18, which is substantially proportional to the rack displacement x, and outputs a correction position xm1 that increases with a large inclination as the initial rack axial force Fz decreases. Yes.
- the control parameter setting unit 211 inputs the correction position xm1 from the position correction unit 210, and outputs the control parameters kd and kp in a non-linear relationship in which the increase rate increases as the correction position xm1 increases, for example, as shown in FIG. To do.
- 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 Expression 34.
- Cd kp + kd ⁇ s
- the characteristic of the position correction unit 220 is substantially proportional to the rack displacement x, and outputs a correction position xm2 that increases with a large inclination as the rack axial force Fz decreases. .
- the model parameter setting unit 221 receives the correction position xm2 from the position correction unit 220 and outputs model parameters ⁇ (viscous friction coefficient) and k 0 (spring constant) with characteristics as shown in FIG. 15, for example.
- the model parameters ⁇ and k 0 are set in the feedback element (N / F) 141 in the feedback control unit 140.
- the model parameters and control parameters of the reference model are changed by apparently increasing or decreasing the rack position x according to the rack axial force Fz in the position correction units 210 and 220. By correcting in this way, it is possible to adjust the characteristic that the steering angle advances toward the rack end.
- 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 f is calculated (step S205) and input to the feedback element 141 in the feedback control unit 140 as the input side rack axial force.
- the rack displacement x is output from the rack end approach determination unit 110 (step S206), and the rack displacement x is input to the subtraction unit 142 in the feedback control unit 140 and is input to the position correction units 210 and 220.
- the position correction unit 210 calculates the correction displacement xm1 based on the rack displacement x and the initial rack axial force Fz by the position correction process # 1 (step S210), and the control parameter setting unit 211 controls the control parameter kp based on the correction displacement xm1.
- Kd is calculated (step S211).
- the control parameters kp and kd are set in the control element unit 143 in the feedback control unit 140.
- the position correction unit 220 calculates a correction displacement xm2 based on the rack displacement x and the initial rack axial force Fz by the position correction process # 2 (step S212), and the model parameter setting unit 221 calculates the model parameter ⁇ , based on the correction displacement xm2. k 0 is calculated (step S213).
- the model parameters ⁇ and k 0 are set in the feedback element 141 in the feedback control unit 140.
- 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 position correction units 210 and 220 of the first embodiment are deleted, and the initial rack axial force Fz is input as a parameter to the control parameter setting unit 212 and the model parameter setting unit 222.
- the characteristics of the control parameter setting unit 212 are such that the control parameters kp and kd increase with increasing initial rack axial force Fz.
- the characteristics of the model parameter setting unit 222 as shown in FIG. 25 the model parameter mu, k 0 is a large value in accordance with the initial rack axial force Fz is small, it is expressed by a function of the following Expression 35.
- FIG. 26 shows a third embodiment of the present invention, in which the vehicle speed Vel is input as a parameter to the position correction units 210A and 220A. Then, as shown in FIG. 27, the position correction unit 210A varies so that the correction displacement xm1 increases as the vehicle speed Vel increases, as shown in FIG. 27, and the position correction unit 220A changes relative to the rack displacement x in FIG. As shown, the correction displacement xm2 is varied so as to increase as the vehicle speed Vel increases.
- the model parameters and the control parameters of the reference model are changed by apparently increasing or decreasing the rack position x according to the vehicle speed Vel by the position correction units 210A and 220A.
- the magnitude is small with respect to the steering angle, and the inclination is also small.
- FIG. 29 shows a fourth embodiment of the present invention, in which the motor angular velocity ⁇ is input as a parameter to the position correction units 210B and 220B.
- the motor angular velocity ⁇ is calculated (differentiated) from the rotation angle ⁇ by the angular velocity calculator 203.
- the position correction unit 210B varies so that the correction displacement xm1 increases as the motor angular vehicle speed ⁇ increases, and the position correction unit 220B changes relative to the rack displacement x.
- the correction displacement xm2 is varied so as to increase as the motor angular vehicle speed ⁇ increases.
- the model parameters and control parameters of the reference model are changed by apparently increasing or decreasing the rack position x in accordance with the motor angular speed ⁇ (rack displacement speed) by the position correction units 210B and 220B.
- the rack displacement speed (motor angular speed) ⁇ is large, when the speed toward the rack end is large, increase the spring term and damping of the reference model so that the reference model output does not increase toward the rack end.
- the control parameter (gain) is increased so that the rack displacement does not advance toward the rack end.
- the model following control is configured using the viscoelastic model as a reference model within a predetermined angle range before the rack end, and the model parameters and control of the viscoelastic model are controlled.
- the model parameter and the control parameter are made variable in accordance with 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 desired to control the rudder angle at a substantially constant value regardless of the road surface state or the traveling state.
- the present invention limits the positive and negative maximum values of the rack axial force input to the reference model. If the input is restricted by setting a limit value, 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.
- FIG. 33 shows a fifth embodiment of the present invention corresponding to FIG. 3 and FIG. 14.
- the converter 200 converts the steering torque Th into the rack axial force f1, the rack axial force f1 and the converter 101
- An addition unit 202 that adds the rack axial force f2
- a limiter 204 that limits the maximum value of the axial force f4 and outputs the input side rack axial force f
- a control parameter setting unit 211 that sets control parameters of the control system
- a model parameter setting unit that sets model parameters of the model system 221 is provided.
- the initial rack axial force Fz is a rack axial force when the rack displacement x falls within a predetermined angular range, and the axial force calculation unit 201 determines that the rack axis according to the above equation 33 after the rack displacement x falls within the predetermined angular range.
- the limiter 204 limits the positive and negative maximum values with characteristics as shown in FIG. 34, for example, and the input side rack axial force f with the maximum value limited is input to the feedback element 141 in the feedback control unit 140.
- xOR and xOL are angles for setting a predetermined angle range.
- control parameter setting unit 211 of the control system inputs the rack displacement x, and outputs the control parameters kd and kp in a non-linear relationship in which the increase rate increases as the rack displacement x increases, for example, as shown in FIG. To do.
- the control parameters kd and kp are set in the control element unit 143 in the feedback control unit 140 as shown in Equation 34.
- 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 in FIG. 15, for example.
- the model parameters ⁇ and k 0 are set in the feedback element (N / F) 141 in the feedback control unit 140.
- 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 axial force f4 is calculated (step S205), the limiter 204 performs the 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. input.
- the rack displacement x is output from the rack end approach determination unit 110 (step S210), and the rack displacement x is subtracted and input to the subtraction unit 142 in the feedback control unit 140, and the control parameter setting unit 211 and model parameter setting unit. 221 is input.
- the control parameter setting unit 211 calculates control parameters kp and kd based on the rack displacement x (step S211), 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 (step S213), and the model parameters ⁇ and k 0 are set in the feedback element 141 in the feedback control unit 140.
- 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 in the same manner as in FIG.
- 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 initial rack axial force Fz set and stored in the setting storage unit 201-1 is input to the limiter 204 as a parameter.
- the limit value fth for limiting the maximum value is made variable according to the initial rack axial force Fz.
- the limit value fth is changed so that the initial rack axial force Fz is small when the initial rack axial force Fz is small and increases linearly as the initial rack axial force Fz increases.
- the limit value fth is increased non-linearly.
- the limit value fth is changed so that it is large when the initial rack axial force Fz is small and linearly decreases as the initial rack axial force Fz increases.
- the limit value fth is reduced non-linearly.
- the adjustment can be made according to how the rack axial force of the vehicle rises (the ratio of the rack shaft increasing when the rudder angle increases).
- FIG. 41 shows a seventh embodiment of the present invention, which is a value obtained by removing the inertia component and the friction component in the setting of the initial rack axial force Fz.
- the stored initial rack axial force Fz is stored as the rack axial force when the steering is held at a predetermined angle.
- the axial force calculation unit 201 is further provided with an inertia / friction unit 201-3 and a subtraction unit 201-4.
- the rack speed and the rack acceleration are input to the inertia / friction unit 201-3, and the calculated inertial component and friction component are added to the subtraction unit 201-4.
- FIG. 42 shows an eighth embodiment of the present invention corresponding to FIGS. 3 and 14.
- the converter 200 converts the steering torque Th into the rack axial force f 1, and the rack axial force f 1 and the converter 101
- a control parameter setting unit 211 for setting and a model parameter setting unit 221 for setting model parameters of the model system are provided.
- the axial force calculation unit 201 compares the absolute value / sign unit 201-1 for calculating the absolute value and sign of the rack axial force f3 with the threshold value fth and outputs a determination signal JD.
- a determination unit 201-2; a subtraction unit 201-3 that calculates a difference f4 (
- the switching unit 201-5 having the contacts a3 and b3 and the fixed unit 201-6 for inputting a fixed value 0 to the contact a3 of the switching unit 201-5.
- the determination signal JD of the determination unit 201-2 switches the contact of the switching unit 201-5, and the switching of the contacts a3 and b3 by the determination signal JD is as shown in Expression 36.
- Equation 36 When
- the control parameter setting unit 211 of the control system inputs the rack displacement x, and outputs the control parameters kd and kp in a non-linear relationship in which the increase rate increases as the rack displacement x increases, for example, as shown in FIG. To do.
- the control parameters kd and kp are set in the control element unit 143 in the feedback control unit 140 as shown in Equation 34.
- 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 in FIG. 15, for example.
- the model parameters ⁇ and k 0 are set in the feedback element (N / F) 141 in the feedback control unit 140.
- the switching signal SWS is output from the rack end approach determining 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 S201).
- 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 axial forces f1 and f2 are added by the adding unit 202, and the added rack axial force f3 is input to the absolute value / sign unit 201-1 to obtain the absolute value
- step S204 The absolute value
- the axial force f5 is input to the contact point b3 of the switching unit 201-5 (step S206). The switching unit 201-5 is switched according to Equation 33, and the output of the switching unit 201-5 is input to the feedback element 141 in the feedback control unit 140 as the input side rack axial force f (step S207).
- the rack displacement x is output from the rack end approach determination unit 110 (step S210), and the rack displacement x is subtracted and input to the subtraction unit 142 in the feedback control unit 140, and the control parameter setting unit 211 and model parameter setting unit. 221 is input.
- the control parameter setting unit 211 calculates control parameters kp and kd based on the rack displacement x (step S211), 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 (step S213), and the model parameters ⁇ and k 0 are set in the feedback element 141 in the feedback control unit 140.
- 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 the same as the operation shown in FIG.
- Example 8 the target rack displacement is output as shown in FIG. 44 (B) after the rack axial force f3 becomes equal to or higher than the threshold fth as shown in FIG. 44 (A).
- a limiter 201-7 for limiting the maximum value is provided at the subsequent stage of the switching unit 201-5, and the rack axial force whose maximum value is limited is input to the feedback element 141 as the input side rack axial force f. Have been entered.
- the maximum value of the rack axial force f is limited as shown in FIG. 46A, and the maximum value of the target rack displacement is saturated as shown in FIG. 46B.
- 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 position correction unit and the parameter setting unit are individually displayed.
- an integrated configuration may be used.
- the rotation angle ⁇ is obtained from the rotation angle sensor connected to the motor in the above description, it may be obtained from the steering angle sensor.
Abstract
Description
電流指令値Iref1からラック軸力fへの変換は、下記数1に従って行われる。
(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。
(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。
(数33)
f=(f1+f2)-Fz
位置補正部210の特性は、例えば図18に示すようにラック変位xにほぼ比例関係にあると共に、初期ラック軸力Fzが小さくなるに従って大きな傾斜で増加する補正位置xm1を出力するようになっている。制御パラメータ設定部211は位置補正部210から補正位置xm1を入力し、例えば図19に示すように、補正位置xm1が大きくなるに従って増加率が大きくなる非線形な関係で、制御パラメータkd、kpを出力する。制御パラメータkd、kpは、フィードバック制御部140内の制御要素部143に、下記数34のように設定される。
(数34)
Cd=kp+kd・s
位置補正部220の特性は、例えば図20に示すようにラック変位xにほぼ比例関係にあると共に、ラック軸力Fzが小さくなるに従って大きな傾斜で増加する補正位置xm2を出力するようになっている。モデルパラメータ設定部221は位置補正部220から補正位置xm2を入力し、例えば図15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35)
μ=f1(Fz・x)
k0=f2(Fz・x)
図26は本発明の実施例3を示しており、位置補正部210A及び220Aにパラメータとして車速Velを入力している。そして、位置補正部210Aはラック変位xに対して図27に示すように、車速Velが大きくなるに従って補正変位xm1が大きくなるように可変し、位置補正部220Aはラック変位xに対して図28に示すように、車速Velが大きくなるに従って補正変位xm2が大きくなるように可変する。
(数36)
|f3|<fthのとき、接点a3
|f3|≧fthのとき、接点b3
また、制御系の制御パラメータ設定部211はラック変位xを入力し、例えば図35に示すように、ラック変位xが大きくなるに従って増加率が大きくなる非線形な関係で、制御パラメータkd、kpを出力する。制御パラメータkd、kpは、フィードバック制御部140内の制御要素部143に、前記数34のように設定される。
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 (24)
- 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を具備したことを特徴とする電動パワーステアリング装置。 - 前記操舵トルクによるラック軸力f1及び前記電流指令値によるラック軸力f2を加算してラック軸力f3を求め、前記ラック変位xが前記所定角度x0の範囲内に入った時の前記ラック軸力f3を初期ラック軸力Fzとして記憶し、以後は前記ラック軸力f3と前記初期ラック軸力Fzの差を前記入力側ラック軸力fとする軸力演算部が設けられている請求項1に記載の電動パワーステアリング装置。
- 前記制御要素部のパラメータは、前記ラック変位xに応じて補正を行う位置補正部1と、前記位置補正部1からの補正変位に応じて制御パラメータを出力する制御パラメータ設定部とで演算され、
前記フィードバック要素のパラメータは、前記ラック変位xに応じて補正を行う位置補正部2と、前記位置補正部2からの補正変位に応じてモデルパラメータを出力するモデルパラメータ設定部とで演算されるようになっている請求項2に記載の電動パワーステアリング装置。 - 前記位置補正部1及び前記位置補正部2の出力特性が、前記初期ラック軸力Fzをパラメータとして変化する請求項3に記載の電動パワーステアリング装置。
- 前記出力特性のゲインが、前記初期ラック軸力Fzが小さくなるに従って大きくなっている請求項4に記載の電動パワーステアリング装置。
- 前記位置補正部1及び前記位置補正部2の出力特性が、車速をパラメータとして変化する請求項3に記載の電動パワーステアリング装置。
- 前記出力特性のゲインが、前記車速が大きくなるに従って大きくなっている請求項6に記載の電動パワーステアリング装置。
- 前記位置補正部1及び前記位置補正部2の出力特性が、モータ角速度をパラメータとして変化する請求項3に記載の電動パワーステアリング装置。
- 前記出力特性のゲインが、前記モータ角速度が大きくなるに従って大きくなっている請求項8に記載の電動パワーステアリング装置。
- 前記制御要素部のパラメータは、前記ラック変位xに応じて制御パラメータを出力する制御パラメータ設定部で演算され、
前記フィードバック要素のパラメータは、前記ラック変位xに応じてモデルパラメータを出力するモデルパラメータ設定部で演算されるようになっている請求項2に記載の電動パワーステアリング装置。 - 前記位置補正部1及び前記位置補正部2の出力特性が、前記初期ラック軸力Fzをパラメータとして変化する請求項10に記載の電動パワーステアリング装置。
- 前記初期ラック軸力Fzが小さくなるに従って前記制御パラメータの値が大きくなると共に、前記初期ラック軸力Fzが小さくなるに従って前記モデルパラメータの値が大きくなる請求項11に記載の電動パワーステアリング装置。
- 前記位置補正部1及び前記制御パラメータ設定部が一体構成であり、前記位置補正部2及び前記モデルパラメータ設定部が一体構成である請求項3に記載の電動パワーステアリング装置。
- 更に、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を具備している請求項1に記載の電動パワーステアリング装置。
- 前記制限値が可変になっている請求項14に記載の電動パワーステアリング装置。
- 前記制限値の可変を、所定角度x0になった時の初期ラック軸力Fzに応じて行う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。
- 前記制限値が前記初期ラック軸力Fzに応じて線形若しくは非線形で増加する特性である請求項16に記載の電動パワーステアリング装置。
- 前記制限値が前記初期ラック軸力Fzに応じて線形若しくは非線形で減少する特性である請求項16に記載の電動パワーステアリング装置。
- 前記ラック軸力の演算に、慣性成分及び摩擦成分が除去されている請求項14乃至18のいずれかに記載の電動パワーステアリング装置。
- 更に、前記操舵トルク及び前記電流指令値に基づくラック軸力f3から前記入力側ラック軸力fを演算する軸力演算部を具備し、
前記ラック軸力演算部が、
前記ラック軸力f3の絶対値及び符号を算出する絶対値/符号部と、前記絶対値がスレッショルド以上であるかを判定する判定部と、前記絶対値から前記スレッショルドを減算する減算部と、減算結果に前記符号を乗算する乗算部と、前記乗算結果又は固定値を出力する切替部とで構成されている請求項1に記載の電動パワーステアリング装置。 - 前記切替部は、前記判定部が前記絶対値が前記スレッショルド以上であると判定したときに、前記乗算結果を前記入力側ラック軸力fとして出力するようになっている請求項20に記載の電動パワーステアリング装置。
- 前記切替部は、前記判定部が前記絶対値が前記スレッショルド未満であると判定したときに、前記固定値を前記入力側ラック軸力fとして出力するようになっている請求項20又は21に記載の電動パワーステアリング装置。
- 前記固定値が0である請求項20乃至22のいずれかに記載の電動パワーステアリング装置。
- 前記切替部の後段に、最大値を制限するリミッタが設けられている請求項20乃至23のいずれかに記載の電動パワーステアリング装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201580069506.0A CN107107951B (zh) | 2014-12-25 | 2015-12-24 | 电动助力转向装置 |
EP15873137.2A EP3196098B1 (en) | 2014-12-25 | 2015-12-24 | Electric power steering device |
US15/512,713 US10059368B2 (en) | 2014-12-25 | 2015-12-24 | Electric power steering apparatus |
JP2016532653A JP6004141B1 (ja) | 2014-12-25 | 2015-12-24 | 電動パワーステアリング装置 |
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014-262244 | 2014-12-25 | ||
JP2014262244 | 2014-12-25 | ||
JP2015183266 | 2015-09-16 | ||
JP2015-183266 | 2015-09-16 | ||
JP2015-183259 | 2015-09-16 | ||
JP2015183259 | 2015-09-16 | ||
JP2015-183265 | 2015-09-16 | ||
JP2015183265 | 2015-09-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016104569A1 true WO2016104569A1 (ja) | 2016-06-30 |
Family
ID=56150582
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2015/085953 WO2016104569A1 (ja) | 2014-12-25 | 2015-12-24 | 電動パワーステアリング装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10059368B2 (ja) |
EP (1) | EP3196098B1 (ja) |
JP (1) | JP6004141B1 (ja) |
CN (1) | CN107107951B (ja) |
WO (1) | WO2016104569A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018030532A (ja) * | 2016-08-26 | 2018-03-01 | 株式会社ジェイテクト | 操舵制御装置 |
WO2020122200A1 (ja) | 2018-12-14 | 2020-06-18 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP2021172337A (ja) * | 2020-04-20 | 2021-11-01 | カーアー グループ アーゲー | スノーモービルのための改良された運転制御システム |
JP2022112300A (ja) * | 2021-01-21 | 2022-08-02 | いすゞ自動車株式会社 | パラメータ調整装置及びパラメータ調整方法 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3498571A4 (en) * | 2017-04-12 | 2019-11-06 | NSK Ltd. | ELECTRIC POWER STEERING DEVICE |
DE102017217084B4 (de) * | 2017-09-26 | 2022-03-03 | Robert Bosch Gmbh | Verfahren zur Ansteuerung eines Lenksystems mit einer elektrischen Lenkunterstützung |
JP6915480B2 (ja) * | 2017-09-27 | 2021-08-04 | 株式会社ジェイテクト | 車両用制御装置 |
DE102017220929B4 (de) * | 2017-11-23 | 2020-02-27 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Lenksystems und Lenksystem |
US10814904B2 (en) | 2018-05-21 | 2020-10-27 | Ford Global Technologies, Llc | Steering actuators for vehicles |
DE102018119268B4 (de) * | 2018-08-08 | 2020-11-05 | Thyssenkrupp Ag | Zahnstangenkraft optimiertes Lenkgefühl einer Steer-by-Wire-Kraftfahrzeuglenkung |
KR102585751B1 (ko) * | 2018-09-17 | 2023-10-11 | 현대자동차주식회사 | Sbw시스템의 랙포스 추정방법 |
JP7052745B2 (ja) * | 2019-01-25 | 2022-04-12 | トヨタ自動車株式会社 | 車両制御システム |
US11572095B2 (en) * | 2019-02-28 | 2023-02-07 | Steering Solutions Ip Holding Corporation | Method and system for electronic power steering angle control with non-zero initial condition |
KR102374336B1 (ko) * | 2020-12-01 | 2022-03-15 | 현대모비스 주식회사 | 전동식 조향 시스템의 조향 제어 장치 및 방법 |
US11866106B2 (en) | 2021-03-19 | 2024-01-09 | Ford Global Technologies, Llc | Methods and apparatus to determine loads encountered by a steering rack |
US11731687B2 (en) * | 2021-03-26 | 2023-08-22 | Nsk Ltd. | Turning control device and turning device |
CN115515839A (zh) | 2021-04-02 | 2022-12-23 | 日本精工株式会社 | 转向控制装置以及转向装置 |
CN113110051B (zh) * | 2021-04-14 | 2022-03-04 | 南开大学 | 考虑误差约束的打磨机器人力/位混合控制方法及系统 |
CN113359455B (zh) * | 2021-06-16 | 2022-12-02 | 江铃汽车股份有限公司 | 汽车转向系统建模方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006213174A (ja) * | 2005-02-03 | 2006-08-17 | Toyota Motor Corp | 電動パワーステアリング装置 |
WO2014195625A2 (fr) * | 2013-06-04 | 2014-12-11 | Jtekt Europe | Utilisation d'un moteur d'assistance de direction pour simuler une butée de fin de course de ladite direction |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH064417B2 (ja) | 1985-02-12 | 1994-01-19 | 本田技研工業株式会社 | 電動式パワーステアリング装置 |
DE10118739A1 (de) | 2001-04-17 | 2002-11-14 | Trw Fahrwerksyst Gmbh & Co | Verfahren zum Steuern eines Servolenksystems |
CN100436227C (zh) * | 2003-10-02 | 2008-11-26 | 日产自动车株式会社 | 车辆转向装置 |
JP5942726B2 (ja) * | 2012-09-18 | 2016-06-29 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
US9567003B2 (en) * | 2012-11-07 | 2017-02-14 | Nissan Motor Co., Ltd. | Steering control device |
DE112013005884T5 (de) * | 2013-01-09 | 2015-08-27 | Toyo Tire & Rubber Co., Ltd. | Modifiziertes Dien-Polymer, Verfahren zu dessen Herstellung, Gummizusammensetzung und Luftreifen |
WO2014108985A1 (ja) * | 2013-01-11 | 2014-07-17 | 日産自動車株式会社 | 操舵制御装置 |
US10118636B2 (en) * | 2014-12-25 | 2018-11-06 | Nsk Ltd. | Electric power steering apparatus |
-
2015
- 2015-12-24 WO PCT/JP2015/085953 patent/WO2016104569A1/ja active Application Filing
- 2015-12-24 EP EP15873137.2A patent/EP3196098B1/en active Active
- 2015-12-24 JP JP2016532653A patent/JP6004141B1/ja active Active
- 2015-12-24 US US15/512,713 patent/US10059368B2/en active Active
- 2015-12-24 CN CN201580069506.0A patent/CN107107951B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006213174A (ja) * | 2005-02-03 | 2006-08-17 | Toyota Motor Corp | 電動パワーステアリング装置 |
WO2014195625A2 (fr) * | 2013-06-04 | 2014-12-11 | Jtekt Europe | Utilisation d'un moteur d'assistance de direction pour simuler une butée de fin de course de ladite direction |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018030532A (ja) * | 2016-08-26 | 2018-03-01 | 株式会社ジェイテクト | 操舵制御装置 |
WO2020122200A1 (ja) | 2018-12-14 | 2020-06-18 | 日本精工株式会社 | 電動パワーステアリング装置 |
JPWO2020122200A1 (ja) * | 2018-12-14 | 2021-02-15 | 日本精工株式会社 | 電動パワーステアリング装置 |
US11377141B2 (en) | 2018-12-14 | 2022-07-05 | Nsk Ltd. | Electric power steering device |
JP2021172337A (ja) * | 2020-04-20 | 2021-11-01 | カーアー グループ アーゲー | スノーモービルのための改良された運転制御システム |
JP7189262B2 (ja) | 2020-04-20 | 2022-12-13 | カーアー グループ アーゲー | スノーモービルのための改良された運転制御システム |
JP2022112300A (ja) * | 2021-01-21 | 2022-08-02 | いすゞ自動車株式会社 | パラメータ調整装置及びパラメータ調整方法 |
Also Published As
Publication number | Publication date |
---|---|
CN107107951B (zh) | 2019-03-26 |
EP3196098A1 (en) | 2017-07-26 |
EP3196098A4 (en) | 2018-08-08 |
US20170297613A1 (en) | 2017-10-19 |
US10059368B2 (en) | 2018-08-28 |
JPWO2016104569A1 (ja) | 2017-04-27 |
EP3196098B1 (en) | 2019-06-05 |
JP6004141B1 (ja) | 2016-10-05 |
CN107107951A (zh) | 2017-08-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6004141B1 (ja) | 電動パワーステアリング装置 | |
JP6103163B2 (ja) | 電動パワーステアリング装置 | |
JP6504322B2 (ja) | 電動パワーステアリング装置 | |
JP5896091B1 (ja) | 電動パワーステアリング装置 | |
JP5880801B1 (ja) | 電動パワーステアリング装置 | |
JP5962881B1 (ja) | 電動パワーステアリング装置 | |
JP6079942B2 (ja) | 電動パワーステアリング装置 | |
JP6098764B2 (ja) | 電動パワーステアリング装置 | |
WO2018142650A1 (ja) | 電動パワーステアリング装置 | |
JP6103164B2 (ja) | 電動パワーステアリング装置 | |
JP6565847B2 (ja) | 電動パワーステアリング装置 | |
JP6702513B2 (ja) | 車両用操向装置 | |
JP2017210216A (ja) | 電動パワーステアリング装置の制御装置 | |
JP6477986B1 (ja) | 電動パワーステアリング装置の制御装置 | |
JP6308342B1 (ja) | 電動パワーステアリング装置 | |
JP2017165306A (ja) | 電動パワーステアリング装置 | |
JP2017165307A (ja) | 電動パワーステアリング装置 | |
JP2017171059A (ja) | 電動パワーステアリング装置 | |
JP2017165266A (ja) | 電動パワーステアリング装置 | |
JP2017165268A (ja) | 電動パワーステアリング装置 | |
JP2017165239A (ja) | 電動パワーステアリング装置 | |
JP2017171058A (ja) | 電動パワーステアリング装置 | |
JP2017165235A (ja) | 電動パワーステアリング装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2016532653 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15873137 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15512713 Country of ref document: US |
|
REEP | Request for entry into the european phase |
Ref document number: 2015873137 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2015873137 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |