WO2017008997A1 - Verfahren und vorrichtung zum betreiben einer hilfskraftlenkung - Google Patents
Verfahren und vorrichtung zum betreiben einer hilfskraftlenkung Download PDFInfo
- Publication number
- WO2017008997A1 WO2017008997A1 PCT/EP2016/063999 EP2016063999W WO2017008997A1 WO 2017008997 A1 WO2017008997 A1 WO 2017008997A1 EP 2016063999 W EP2016063999 W EP 2016063999W WO 2017008997 A1 WO2017008997 A1 WO 2017008997A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control signal
- power steering
- electric motor
- steering system
- amplitude
- Prior art date
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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
-
- 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
- B62D5/0409—Electric motor acting on the steering column
-
- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
Definitions
- the invention relates to a method for operating a power steering system and a device performing the method.
- an engine torque is usually superimposed on the hand torque applied by a driver by means of an electric motor.
- the overlay is often done by an overlay unit in the form of a superposition gear. Since the power steering is usually used outdoors, it is exposed to external influences, in particular environmental and temperature influences. As a result, the functionality of the steering can be impaired. In particular, the possible freezing of the power steering system by penetrated water is a particular problem.
- DE 10 2010 002 803 A1 discloses a method for operating a power steering system, in which a predetermined manual torque in an overlay unit is superimposed on an engine torque applied by an electric motor, wherein a freezing of the power steering system is detected by evaluating speed patterns of the electric motor.
- the electric motor is driven by an oscillating control signal which causes an oscillating action on the motor torque applied by the electric motor.
- DE 10 2007 014 344 A1 discloses a method for detecting an incipient freezing of a power steering system, wherein so-called stick-slip effects are detected, which indicate an incipient freezing of the power steering system.
- a countermeasure see there [0009] ff.
- the cyclic current signal causes a free shaking of crystallizing liquids in the power steering system.
- the cyclic current signal can also be superimposed on the operating current signal, so that the free-shaking happens while driving. In addition, by shaking the driver freezing before the
- the frequency of the cyclic current signal is chosen to be greater than 20 Hz or preferably even greater than 40 Hz. Consequently, cyclically oscillating control currents are generated in the known methods as countermeasures against freezing of the power steering, which cause a free shaking the power steering system.
- the electric motor is driven by an oscillating control signal, whereby an oscillating action on the power steering system with one of the
- Electric motor applied Hinttelmoment is effected. It is also known to choose the frequency of the oscillating control signal approximately greater than 20 Hz, preferably greater than 40 Hz. As a result, while the impairment of the driver can be reduced; However, the relatively high frequency has the consequence that the relatively large and thus inert masses of the power steering system can not be sufficiently freed up. In addition, the oscillating motor currents must not have too high amplitudes, otherwise overheating of the electric motor and / or the controller or the control unit threatens.
- the power steering system should be able to be sufficiently freed even when driving without negative impact on the driver, with overheating of the electric motor and / or control unit is avoided.
- the object is achieved by a method for operating a power steering system having the features of claim 1 and by devices having the features of the independent claims.
- the (first) periods in which relatively high Ganttelmomente be generated alternate with (second) periods or breaks, in which no or only very small Ganttelmomente be generated.
- the signal shape can be applied to rectangular or triangular shapes; but it is also possible to realize any other type of signal forms.
- the normal operation control for servo assistance is deactivated during the application of the oscillating control signal.
- the oscillating control signal can act undisturbed or shake the steering freely. Being steered, this usually only happens at short notice and with a high moment on the "steep" flank, here the jolting moment has little disturbing effect.
- the power steering system or at least portions thereof may be considered as a free-running system with a natural frequency.
- the oscillating control signal is generated with a (possibly variable) frequency which is slightly above the natural frequency, in particular 5-10% above the natural frequency.
- the natural frequency is the resonant frequency of the free-swinging system with the free ends of the engine and steering wheel.
- an operating control signal is generated which determines the magnitude of the applied engine torque.
- the oscillating control signal which determines at least the magnitude and frequency of the Hinttelmoments, may be additionally or alternatively generated to the operation control signal.
- the oscillating control signal is generated as an alternative to the operation control signal, wherein the change between the oscillating control signal and the operation control signal a Transition function, in particular a ramp function, is used. After the short time transition, the motor is thus driven only by the oscillating control signal. This provides clear conditions for the heating of the engine. With the oscillating control signal, the heat capacity of the engine and / or control unit can be fully utilized.
- the oscillating control signal is used in addition to the operating control signal, it is advantageous to switch for the operating control signal to a servo characteristic which has little or no servo assistance at low torques, and the only at larger hand moments a has significant servo support.
- the transition takes place advantageously via ramps for the servo characteristic and the Hinttelmoment.
- For small steering moments thus apply approximately the same conditions as in alternative use of operating control signal and oscillating control signal.
- the temperature capability of the engine and / or control unit can also be largely exploited. Nevertheless, servo assistance is available for large steering moments. This allows a frozen steering with even higher engine torque to break free, or an evasive maneuver can be supported. Because this condition lasts only very short, it does not affect the temperature significantly.
- Mutual disturbances of the two drives also remain limited. It may also be useful to operate the power steering system so that a special operating control signal is generated during the shaking operation of the power steering system for servo assistance, wherein the servo characteristic used has little or no servo assistance with small applied manual torques , and wherein the oscillating control signal is in parallel with the servo assistance.
- the invention also proposes a device for carrying out the method, wherein the device in the power steering controls the electric motor which generates the engine torque to superimpose this to the predetermined manual torque by means of an overlay unit, wherein the device is designed by evaluation of Speed patterns of Electric motor to detect an incipient freezing of the power steering, and wherein the device to prevent the freezing of the power steering drives the electric motor with an oscillating control signal, whereby this drive causes an oscillating action on the power steering with a force applied by the electric motor Studttelmoment.
- the oscillating control signal has one or more periods of increased amplitude and one or more periods of time in which the oscillating control signal has no or only a very small amplitude.
- the device is realized in a connected to the electric motor controller.
- the invention discloses a power steering system equipped with such a device.
- FIG. 1 showing the basic structure of a power steering system according to the invention
- FIG. 3 is a graph showing a characteristic of the operation control signal
- FIG. 4 is a simplified flow diagram for the inventive
- FIG. 1 shows a schematic representation of the structure of a power steering system 10 for a motor vehicle.
- the power steering system includes, inter alia, a steering handle 12, which is designed as a steering wheel, an electric motor 1 6 and an overlay unit 14, which superimposed on a predetermined manual torque 24 applied by the electric motor 1 6 engine torque 26.
- the steering handle 12 which is designed as a steering wheel
- an electric motor 1 6 and an overlay unit 14, which superimposed on a predetermined manual torque 24 applied by the electric motor 1 6 engine torque 26.
- Overlay unit 14 is realized here by a superposition gear, which provides a resulting effective moment 28 for the actual steering gear at the output, which consists for example of a rack 18, in which a steering pinion engages.
- a displacement of the rack eventually leads to the deflection of the hinged wheels 20th
- To control the electric motor 16 designed as a control device 22 device is arranged, which generates an operating control signal S in normal driving or provides corresponding motor currents.
- the control unit 22 is formed in addition to the control of the electric motor 1 6 to detect whether an impairment, for example. Freezing, the power steering system 10 is present. Recognizing incipient freezing of the steering is not a focus of the present invention and may be accomplished by any method known per se. The present invention addresses the problem of how to counteract the freezing of the steering as effectively and without overloading the engine and / or controller as possible.
- an oscillating engine torque or croquttelmoment 26 * generated, which can be applied to the actual (the servo support serving) engine torque 26.
- the croquttelmoment is generated when no or only a very small servo assistance is required, such as when driving straight ahead.
- the operating control signal or the servo support temporarily short be deactivated, so that only the oscillating control signal or croquttelmoment acts and can effectively shake the steering.
- short control pulses are preferably generated, which lead to short increased torque values, without resulting in overheating of the engine and / or control unit.
- ramp functions are used.
- the characteristics used by the servo assistance can also be changed, so that the servo assistance remains active, but only starts from a high steering torque.
- the free-vibration of the frozen steering remains virtually unaffected by the servo assistance (in areas of low steering torque); the emergency operation support remains completely intact.
- the method described can come in a microprocessor or a computing unit of the controller for execution.
- the method is realized in a software or a computer-implemented algorithm, which is executed automatically and detects and processes technical quantities.
- the control signal S * can be generated while driving with active steering and applied by the control signal S * is generated in addition to the operation control signal S and a sum control signal S + S * is formed by superposition. It may also be advantageous to generate the signals only alternately, ie to generate the control signal S * only when the operating control signal S assumes the value zero. Furthermore Transitions between S and S * , eg in the form of ramp function, can also be formed. Many variants are possible. Preferably, however, the control signal S * is generated by means of a rectangular function, which has temporal pauses which alternate with relatively high amplitudes.
- the frequency is set so that it is slightly above the natural frequency of the oscillating system, which represents the steering.
- FIGS. 2a) -c) illustrate, in comparison with a conventional oscillating control signal, examples of control signals or shaking torques generated according to the invention.
- the course of a conventional control signal S # which corresponds to a continuous change between a positive and a negative amplitude, is first illustrated with reference to FIG. 2 a).
- the uniformly equal amplitude aO has a positive or negative sign.
- the inventor has recognized that the jolting moment can not be increased arbitrarily by increasing the amplitude aO, because this would lead to overheating of the motor or its control.
- the amplitude aO and the resulting maximum moment M # are limited.
- an oscillating control signal is now generated, which makes it possible to control the motor with a relatively high amplitude a1 without the need for overheating of the same or its control.
- the basic structure of such an oscillating control signal S * is illustrated with reference to FIG. 2b).
- the control signal S * has at least two different time periods T1 and T2, one of which is provided with an increased amplitude a1 and the other no amplitude (or a reduced amplitude; s. Fig. 2c).
- time periods T2 or pauses in the waveform are generated in which no or only a very small signal amplitude prevails, so that in the time periods T1 certainly higher amplitudes a1 and max.
- Rigging moments M * can be generated without the motor or its electronics overheat.
- the amplitude a1 can be further increased as the time span T1 is further reduced.
- a significant increase in the generated Hinttelmoments on M * or IVT is very effectively made possible without risking overheating of the engine or its control.
- Fig. 2c The right portion of Fig. 2c) is intended only to illustrate that even periods of low amplitude a2 in alternation with those of the increased amplitude a1 can be generated; and is intended to indicate that many variants and other signal forms can be generated within the meaning of the invention.
- the transition can be carried out smoothly, for example by ramp functions. This can be achieved, in particular, that the generated Hinttelmomente 26 * or movement amplitudes for free vibration of the freezing components is largely independent of the actual servo characteristic used. Preferably, however, the servo assistance is turned off or set to zero as soon as the Studttelmoment is generated to Freirütteln the steering. Otherwise, the jarring moment could interfere with the normal control of the servo assistance; because the shaking leads on the sensor side (torsion bar) to disturbing effects.
- the steering is either in the normal operation of the steering, ie servo assistance according to the servo characteristic, or in a jogging mode in which only the jolting moment is generated and the normal servo assistance is turned off (emergency operation).
- the oscillating control signal S * or the jolting moment 26 * caused thereby has a discontinuous course in which temporal signal pauses T2 occur.
- the invention relates primarily to the discontinuity in the time domain, preferably rectangular functions are used. However, the invention is concretely limited neither to time components nor to the signal form, but many types of discontinuities can be provided in the generated control signal S * .
- Fig. 2c shows further waveforms and indicates only the wide possibility of different signal shapes that may be suitable for implementation. In most applications, however, a rectangular function as shown in Fig. 2b) should be sufficient to effectively protect the steering from freezing.
- the frequency for the oscillating control signal is chosen so that it is higher than the natural frequency of the free oscillator with the end points steering wheel and motor. As far as possible, all mass combinations of the application should be taken into consideration. In many cases of mass-produced vehicles, the natural frequency is max. 20 Hz. Preferably, the frequency of the jolting moment is then slightly above the highest natural frequency, e.g. 5-10% above the highest natural frequency, set. Because the less you go beyond the natural frequency, the more movement you get. Therefore, the shaking frequency should not be too far above the natural frequency.
- the support will be switched off with switching on the oscillating engine torque. This is done preferably via ramp functions.
- it can be changed between servo characteristics.
- can be switched to a servo-characteristic which has up to a certain steering torque no or only a very small support, and has a large support torque at high steering torque. This achieves a very low impairment when driving straight ahead. In case of emergency, however, a high level of support is available.
- the switching of servo characteristics and / or oscillating moments is preferably carried out via ramp function or similar transition functions.
- a servo characteristic curve is selected so that support is given only at high steering torque. The shaking then happens largely at smaller steering torque, so that the functions do not interfere significantly. If high steering moments occur (for example, when dodging or parking), the functions overlap, but only for a short time, so that no further problems arise.
- a computer program with program code means is used, wherein the Computer program on the microprocessor of the controller 22 is executed.
- the computer program can be embodied as a computer program product, wherein the program code means are stored on a computer-readable data carrier, such as CD, DVD, hard disk or USB stick.
- FIG. 4 shows a schematic flow diagram for the method 100 according to the invention.
- step 101 If it is determined in a step 101 that the steering is prone to freezing or frozen, in the subsequent steps, the generation and application of oscillating control signals, by means of which the steering can be effectively freced, without the engine or the control electronics to overheat.
- step 102 a control signal, such as the S * of Fig. 2b), generated, in particular, the frequency f is only slightly above the natural frequency fO.
- step 103a the actual operation control (servo assist) is turned off as long as the jogging torque is applied.
- step 103b can also be carried out, in which the current servo characteristic is replaced by another one (see Fig. 3), so that free-shaking and servo-assistance overlap only briefly in the case of special steering maneuvers.
- the jolting torque can be reduced or switched off. Preferably, this is done over a time ramp. When falling below the limit, the Garttelmoment is switched on again. Preferably also over a time ramp
- the first time periods T1 are not more than 50% of the continuous time periods TO, and that the increased amplitude a1 is greater than the uniform amplitude aO by at least 70%.
- the second time periods T2 can form real pauses in which the control signal S * has no amplitude, the second time periods T2 being greater, in particular around at least 50% greater than the first time periods T1.
- the reduced amplitude a2 should be at most 50% of the uniform amplitude aO and at most 30% of the increased amplitude a1.
- the frequency of the oscillating control signal S * it should be generated with a variable frequency f not more than 30% higher than the natural frequency of the system, in particular not more than 5-10% higher than the natural frequency of the system.
- a method and devices for operating a power steering system 10 of a motor vehicle wherein to avoid the freezing of the power steering of the electric motor 1 6 is driven with an oscillating control signal S * having the first time periods T1, in which the control signal S * has an increased amplitude a1, and has second time periods T2, in which the control signal S * has no or a reduced amplitude a2, whereby in the first time periods T1, the jolting moment 26 * applied by the electric motor 16 with an increased maximum torque M * without thermal overload of components of the electric motor 1 6 or its control can be generated.
- the oscillating control signal also has a plurality of periods of increased amplitudes and one or more periods of time (pauses) with no or reduced amplitudes.
- the operating control signal S generated during normal operation of the power steering system 10 for servo assistance can be switched off during the application of the oscillating control signal S * . If there is to be a change between the oscillating control signal S * and the operating control signal S, then a transition function, in particular a ramp function, can be used. However, it is also possible to generate and apply both signals S and S * (shaking and normal operation), in which case a characteristic curve is preferably used (see Fig. 3), which ensures that the application of the oscillating control signal S * for free-running Steering with the highest possible proportion of time alone is effective.
- the Operational control signal S uses a servo characteristic that has little or no servo assistance with smaller applied hand moments 24, wherein the oscillating control signal S * is generated or applied only when no or only a very small servo assistance .
- the jolting torque can be reduced or switched off. Preferably, this is done over a time ramp. When falling below the limit, the Haittelmoment is switched on again. Preferably also over a time ramp.
- the inventive method is carried out by a device which is preferably a connected to the electric motor 1 6 control unit 22.
- a method and apparatus for operating a power steering system of a motor vehicle in which a predetermined manual torque is superimposed in an overlay unit applied by an electric motor torque, which by suitable measures, such as an evaluation of speed patterns of the electric motor, an incipient Freezing of the power steering system is detected, and wherein to avoid the freezing of the power steering the electric motor is driven by an oscillating control signal, whereby an oscillating action on the power steering is effected with a force applied by the electric motor Hinttelmoment.
- a control signal is now generated which has first time periods in which the control signal has an increased amplitude and second time periods in which the control signal has no or reduced amplitude whereby, in the first time periods, the jolting torque applied by the electric motor can be generated with an increased maximum torque without thermal overloading of the electric motor.
- Controller generates) with uniform amplitude aO
- S * oscillating control signal (for shaking moment) generates with increased amplitude a1 within first time period T1 and no or reduced amplitude a2 within second time period T2
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering Controls (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201680041272.3A CN107848561B (zh) | 2015-07-14 | 2016-06-17 | 用于运行助力转向机构的方法和装置 |
JP2018501327A JP6444561B2 (ja) | 2015-07-14 | 2016-06-17 | パワーステアリングシステムの動作方法及び装置 |
US15/743,773 US10471983B2 (en) | 2015-07-14 | 2016-06-17 | Method and device for operating a power steering system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015111342.2A DE102015111342A1 (de) | 2015-07-14 | 2015-07-14 | Verfahren und vorrichtung zum betreiben einer hilfskraftlenkung |
DE102015111342.2 | 2015-07-14 |
Publications (1)
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WO2017008997A1 true WO2017008997A1 (de) | 2017-01-19 |
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PCT/EP2016/063999 WO2017008997A1 (de) | 2015-07-14 | 2016-06-17 | Verfahren und vorrichtung zum betreiben einer hilfskraftlenkung |
Country Status (5)
Country | Link |
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US (1) | US10471983B2 (de) |
JP (1) | JP6444561B2 (de) |
CN (1) | CN107848561B (de) |
DE (1) | DE102015111342A1 (de) |
WO (1) | WO2017008997A1 (de) |
Families Citing this family (1)
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DE102017104467A1 (de) * | 2017-03-03 | 2018-09-06 | Voith Patent Gmbh | Überlagerungsgetriebe für einen Antrieb |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007014344A1 (de) * | 2007-03-26 | 2008-10-09 | Volkswagen Ag | Elektromechanisches System und Verfahren zur Erkennung eines beginnenden Einfrierens eines elektromechanischen Systems |
DE102007039212A1 (de) * | 2007-08-20 | 2009-02-26 | Volkswagen Ag | Verfahren und Vorrichtung zur Erkennung blockierter elektromechanischer Systeme |
EP2496461A1 (de) * | 2009-11-04 | 2012-09-12 | ZF-Lenksysteme GmbH | Verfahren zum betreiben einer hilfskraftlenkung |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3416474B2 (ja) * | 1997-08-07 | 2003-06-16 | 三菱電機株式会社 | 電動式パワーステアリング装置 |
JP4089096B2 (ja) * | 1999-08-06 | 2008-05-21 | トヨタ自動車株式会社 | 車両用操舵制御装置 |
JP2002249059A (ja) * | 2001-02-26 | 2002-09-03 | Koyo Seiko Co Ltd | パワーステアリング装置 |
DE102007014345A1 (de) * | 2007-03-26 | 2008-10-02 | Volkswagen Ag | Elektromechanisches System und Verfahren zum Betreiben eines elektromechanischen Systems |
DE102010025353A1 (de) * | 2010-06-28 | 2011-12-29 | Audi Ag | Verfahren zum elektromechanischen Einstellen eines Lenkwinkels und Kraftfahrzeug mit einer elektromechanischen Lenkung |
CN103359161B (zh) * | 2013-07-19 | 2015-10-21 | 青岛科技大学 | 车辆线控转向方向盘装置 |
-
2015
- 2015-07-14 DE DE102015111342.2A patent/DE102015111342A1/de active Pending
-
2016
- 2016-06-17 CN CN201680041272.3A patent/CN107848561B/zh active Active
- 2016-06-17 US US15/743,773 patent/US10471983B2/en active Active
- 2016-06-17 JP JP2018501327A patent/JP6444561B2/ja active Active
- 2016-06-17 WO PCT/EP2016/063999 patent/WO2017008997A1/de active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007014344A1 (de) * | 2007-03-26 | 2008-10-09 | Volkswagen Ag | Elektromechanisches System und Verfahren zur Erkennung eines beginnenden Einfrierens eines elektromechanischen Systems |
DE102007039212A1 (de) * | 2007-08-20 | 2009-02-26 | Volkswagen Ag | Verfahren und Vorrichtung zur Erkennung blockierter elektromechanischer Systeme |
EP2496461A1 (de) * | 2009-11-04 | 2012-09-12 | ZF-Lenksysteme GmbH | Verfahren zum betreiben einer hilfskraftlenkung |
Also Published As
Publication number | Publication date |
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US20180201301A1 (en) | 2018-07-19 |
US10471983B2 (en) | 2019-11-12 |
JP2018520052A (ja) | 2018-07-26 |
DE102015111342A1 (de) | 2017-01-19 |
JP6444561B2 (ja) | 2018-12-26 |
CN107848561A (zh) | 2018-03-27 |
CN107848561B (zh) | 2020-03-17 |
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