WO2018151291A1 - 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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- WO2018151291A1 WO2018151291A1 PCT/JP2018/005705 JP2018005705W WO2018151291A1 WO 2018151291 A1 WO2018151291 A1 WO 2018151291A1 JP 2018005705 W JP2018005705 W JP 2018005705W WO 2018151291 A1 WO2018151291 A1 WO 2018151291A1
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- angle
- torsion bar
- torsion
- handle
- torque
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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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
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
Definitions
- the present invention relates to an assist mode for controlling a motor that applies an assist force to a steering system when a driver steers the steering system of the vehicle, and a motor according to a target steering angle that is given from the vehicle as needed when the vehicle travels autonomously.
- An electric power steering apparatus having an automatic mode for controlling the steering angle, in particular, using the angle information of the motor downstream from the torque sensor, and estimating the steering wheel angle using a secondary or higher-order resonance filter that matches the frequency response when released.
- the present invention relates to an electric power steering apparatus that performs accurate manual input determination.
- a column shaft (steering shaft, handle shaft) 2 of a handle (steering wheel) 1 is a reduction gear 3, universal joints 4 a and 4 b, and a pinion rack mechanism 5.
- the tie rods 6a and 6b are connected to the steering wheels 8L and 8R via the hub units 7a and 7b.
- the column shaft 2 is provided with a torque sensor 10 for detecting the steering torque of the handle 1 and a rudder angle sensor 14 for detecting the steering angle ⁇ h, and a motor 20 for assisting the steering force of the handle 1 is provided with a deceleration mechanism.
- a reduction gear reduction ratio 1 / N
- the control unit (ECU) 100 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 100 calculates a current command value of an assist (steering assistance) command based on the steering torque Tr detected by the torque sensor 10 and the vehicle speed Vs detected by the vehicle speed sensor 12, and compensates the current command value.
- the current supplied to the motor 20 is controlled by the voltage control command value Vref subjected to.
- the steering angle sensor 14 for detecting the steering angle ⁇ h is not essential and may not be provided.
- the control unit 100 is connected to a CAN (Controller Area Network) 40 that transmits and receives various types of vehicle information, and the vehicle speed Vs can also be received from the CAN 40.
- the control unit 100 can also 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 100 is mainly composed of a CPU (including an MPU, MCU, etc.). General functions executed by a program inside the CPU are shown in FIG. The configuration is as shown.
- the function and operation of the control unit 100 will be described with reference to FIG. 2.
- the steering torque Tr from the torque sensor 10 and the vehicle speed Vs from the vehicle speed sensor 12 are input to the current command value calculation unit 101, and the current command value calculation unit 101.
- the calculated current command value Iref1 is added to the compensation signal CM from the compensation unit 110 for improving characteristics in the adding unit 102A, and the added current command value Iref2 is limited to the maximum value in the current limiting unit 103.
- the current command value Irefm whose maximum value is limited is input to the subtraction unit 102B, and the motor current detection value Im is subtracted.
- the duty 20 is input and the duty is calculated, and the motor 20 is PWM driven via the inverter 107 with the PWM signal for which the duty is calculated.
- the motor current value Im of the motor 20 is detected by the motor current detector 108, and is subtracted and fed back to the subtraction unit 102B. Further, an electrical angle signal ⁇ e of the motor 20 is acquired from a rotation sensor 20A such as a resolver connected to the motor 20.
- the compensation unit 110 adds the detected or estimated self-aligning torque (SAT) 113 to the inertia compensation value 112 by the addition unit 114, and further adds the convergence control value 111 to the addition result by the addition unit 115.
- the addition result is input as a compensation signal CM to the adding unit 102A to improve the characteristics.
- ADAS Advanced Driver Assistance System
- ADAS is a system developed to improve the safety and convenience in consideration of the future of the automobile society. It detects the risk of accidents caused by unforeseeable situations and side-by-side driving, and prevents accidents in advance. Or it will be for mitigation.
- operations such as “recognition”, “judgment”, and “operation” are required.
- ADAS is Provide support.
- hand ON / OFF (Hands-ON / OFF) detection technology it is becoming increasingly important.
- Patent Document 1 Japanese Patent Application Laid-Open No. 8-337181 (Patent Document 1) and Japanese Patent Application Laid-Open No. 11-208498 (Patent Document 2).
- the automatic steering device disclosed in Patent Document 1 includes a mechanism for releasing automatic steering when a torsion torque Tt applied between an automatic steering input point and a handle is equal to or greater than a predetermined value. Is not released by mistake.
- FIG. 3 shows a general configuration in the case where the torsion torque Tt related to the torsion bar is detected to determine manual input.
- the column shaft 2 is provided with a torque sensor unit 200 for detecting the torsion torque Tt. Yes.
- the torsion bar 201 disposed in the torque sensor unit 200 is used, and the torsion of the input side column shaft (IS) 2A and the output side column shaft (OS) 2B via the torsion bar 201 is stub shaft 202, aluminum A voltage formed in the coil 204 formed by the sleeve 203 or the like and wound around the outer peripheral surface of the aluminum sleeve 203 is detected as a torsion torque Tt.
- the handle 1 side is the input side column shaft (IS) 2A
- the pinion side is the output side column shaft (OS) 2B
- the output side column shaft 2B is connected to the worm and worm with respect to the torsion bar 201 arranged in the torque sensor unit 200.
- a reduction gear (reduction ratio 1 / N (N> 1.0)) 3 formed of a wheel is provided.
- the worm wheel attached to the output side column shaft 2B is driven to rotate at a reduction ratio of 1 / N by a worm connected to the output shaft of the motor 20, and the motor 20 is controlled by a control unit (ECU) 100.
- ECU control unit
- the automatic steering device disclosed in Patent Document 2 accurately detects manual steering by a driver during automatic steering and reliably cancels automatic steering, so that the torsion torque Tt generated in the column shaft 2 and the steering wheel 1
- the release of automatic steering is determined based on the difference from the torque Ti required to rotationally accelerate the inertia moment Ih to the steering angular acceleration ⁇ h ′′.
- the handle 1 is opened, when the input-side column shaft 2A is rotated by an angle theta O of the reduction gear 3 side by the motor 20, the handle 1 is in the inertia If it is overcome and rotated by an angle ⁇ h, the following equation 1 is established, where Kh is the torsional rigidity (spring constant) of the input side column shaft 2A and Ih is the moment of inertia of the handle 1.
- the torsion torque Tt can be estimated by detecting the rotational angular acceleration ⁇ h ′′ of the handle 1. Then, when the automatic steering is being performed, the driver uses the automatic steering force. When the handle 1 is rotated against this, a torsion torque Tt is generated in the input side column shaft 2A.
- the torsion torque Tt generated in the column shaft (steering shaft) is detected, and the steering torque Ti is calculated from the steering angular acceleration ⁇ ′′ and the inertia moment Ih of the steering wheel 1.
- the comparison (Tt-Ti) is performed, and then the automatic steering operation of the steering is canceled or set as necessary, so that the portion corresponding to the inertia moment Ih is upstream of the assisted load side. Since it is obtained by information (determined by tuning work), there is a problem that it is easily affected by noise related to the free vibration system due to the spring constant Kh, etc. Second order differentiation is necessary to obtain the angular acceleration ⁇ ” There is a problem of increasing noise. If differentiation is performed at the steering change point, noise becomes particularly large.
- the present invention has been made based on the above-described circumstances, and the object of the present invention is to avoid the influence of disturbances without causing an increase in cost and without being affected by noise associated with the free vibration system due to a spring constant or the like. It is an object of the present invention to provide an electric power steering apparatus that can accurately determine a manual input (hand ON / OFF) in a situation where no power is received. When the steering is held with both hands or one hand, the hand is ON (with manual input), and when the steering is not being held, the hand is OFF (without manual input).
- the present invention includes a torsion bar on a column shaft connected to a handle, drives and controls a motor that applies assist torque to a vehicle steering mechanism by a current command value via a speed reduction mechanism, and switches between an assist mode and an automatic mode.
- the object of the present invention is to provide a torsion bar torsion angle calculation unit for obtaining a torsion bar torsion angle based on torque information about the torsion bar, and a predetermined arithmetic expression from an electric angle signal of the motor.
- An output side column shaft relative angle generation unit that outputs an output side relative angle
- an actual handle angle calculation unit that calculates an actual handle angle based on the torsion bar torsion angle and the output side relative angle
- the output side relative angle A resonance filter for obtaining an estimated handle angle in a released state, and the actual handle angle Deviation angle of the estimated steering wheel angle of the fine the hands-off state is achieved by and a hand ON / OFF determination unit determines hand ON when the time becomes a predetermined angle or more has continued for the predetermined period of time one or more.
- the object of the present invention is to determine whether the hand ON / OFF determination unit determines hand OFF when the time during which the deviation angle is smaller than the predetermined angle continues for a predetermined time 2 or more after the determination of the hand ON.
- the torque information related to the torsion bar is the column shaft angle related to the handle or the torsion torque related to the torsion bar, or the torsion bar torsion angle calculation unit inputs the torsion torque and
- the torsion bar torsion angle calculating unit that calculates the torsion bar torsion angle by dividing by a spring constant, or the torsion bar torsion angle calculating unit includes a torque sensor detection input side column angle and a torque sensor detection output side column.
- the torsion bar torsion angle generation unit that generates the torsion bar torsion angle, or the output side column shaft relative angle generation unit performs an anti-rollover process on the electrical angle signal,
- the output side relative angle is output, or the predetermined calculation formula is a calculation formula that multiplies the electrical angle signal by the number of pole pairs of the motor and the reduction ratio of the reduction mechanism, or
- the resonance filter reproduces the resonance of the handle when the steering is turned from the output side column shaft in an actual machine, and the estimated handle angle in the released state obtained by inputting the output side column angle is the actual handle angle.
- the resonance filter is a second-order or higher-order LPF (low-pass filter). By it is more effectively achieved.
- the handle angle is estimated by a resonance filter that matches the frequency response when released. Since hand ON / OFF is determined based on a comparison (difference) with the actual handle angle, it is possible to accurately determine hand input without being affected by noise associated with the free vibration system including the resonance of the handle. It can be performed. In the present invention, since the second order differentiation is not performed, the determination is simple and is not easily affected by noise.
- an assist mode for controlling a motor that applies an assisting force to the steering system, and when the vehicle autonomously travels from the vehicle
- an electric power steering apparatus having an automatic mode for controlling a motor according to a given target steering angle
- there is a technique for detecting whether the driver is holding the steering (hand ON / OFF or manual input) In the detection, it is becoming more and more important to improve detection accuracy that is not affected by disturbance noise.
- the present invention proposes a method for determining by an angle system that does not use differentiation, instead of the hand ON / OFF determination that has been conventionally determined by a torque system.
- the angle information of the assist motor of the EPS downstream from the torque sensor is used, and the handle angle is determined by a resonance filter (for example, a second-order or higher-order LPF (low-pass filter)) designed in accordance with the frequency response at hand release.
- a resonance filter for example, a second-order or higher-order LPF (low-pass filter)
- LPF low-pass filter
- the hand when the steering is gripped with both hands or one hand, the hand is turned on (with manual input), and when the steering is not gripped, the hand is turned off (without manual input).
- the handle ON / OFF is accurately determined without being affected by noise related to the free vibration system due to torsional rigidity including handle resonance. I am doing so.
- FIG. 5 is a mechanism diagram showing the relationship between the torsion bar 23, the handle angle ⁇ h, and the output side column angle ⁇ c.
- FIG. 12 shows the characteristics when the hand is touched to the handle 1, and the characteristics are increased ( ⁇ t 1), the steered state (t 1 to t 2), the switch back (t 2 to t 3), and the steered state (t 3 to).
- the actual handle angle (input side column angle) when the output side column angle ⁇ c is changed is shown.
- FIG. 13 shows characteristics when the hand 1 is not touched, for example, turning right ( ⁇ t1), holding state (t1 to t2), turning left (t2 to t3), holding state (t3 to t3).
- the difference in characteristics between FIGS. 12 and 13 is caused by the torsion bar twist angle ⁇ d of the torsion bar vibration, and it is possible to determine whether the handle is released (hand OFF) or touched (hand ON).
- a Hall IC sensor 21 as an angle sensor and a 20 ° rotor sensor 22 as a torque sensor input side rotor are mounted on the input side column shaft 2A on the handle 1 side of the column shaft 2 provided with the torsion bar 23.
- the Hall IC sensor 21 outputs an AS_IS angle ⁇ n with a cycle of 296 °.
- the 20 ° rotor sensor 22 mounted on the handle 1 side of the torsion bar 23 outputs the input side column angle signals ⁇ h1 (TS_IS angle 1) and ⁇ h2 (TS_IS angle 2) with a cycle of 20 °, and the input side column angle signal.
- ⁇ h1 is input to the angle calculation unit 50.
- a torque sensor output side rotor 40 ° rotor sensor 24 is mounted on the output side column shaft 2B of the column shaft 2, and output side column angle signals ⁇ c1 (TS_OS angle 1) and ⁇ c2 are output from the 40 ° rotor sensor 24. (TS_OS angle 2) is output, and the output side column angle signal ⁇ c1 is input to the angle calculation unit 50. Both the input side column angle signal ⁇ h1 and the output side column angle signal ⁇ c1 are calculated by the angle calculator 50, and the torque sensor detection input side column angle ⁇ th and the torque sensor detection output side column angle ⁇ tc are output.
- the configuration of the manual input determination unit of the present invention can be applied to a case where the torsion torque Tt is directly detected from the configuration of FIG. 3 and a case where the torsion torque Tt is obtained from the configuration of FIG.
- a torsion bar torsion angle generator 120 for generating a torsion bar torsion angle ⁇ d by inputting a torque sensor detection input side column angle ⁇ th and a torque sensor detection output side column angle ⁇ tc, and an electric angle signal ⁇ e of the motor from the rotation sensor 20A.
- the output side (OS) relative angle generation unit 150 that inputs and outputs the output side (OS) relative angle ⁇ t, and the actual handle that outputs the actual handle angle ⁇ hr by adding the torsion bar twist angle ⁇ d and the output side relative angle ⁇ t
- An addition unit 121 as an angle calculation unit, a resonance filter 140 that inputs an output-side relative angle ⁇ t and outputs an estimated handle angle ⁇ he in a released state, and a deviation angle ⁇ de by subtracting the estimated handle angle ⁇ he from the actual handle angle ⁇ hr
- a subtraction unit 122 for determining the hand ON / OFF determination unit 130 for determining hand ON / OFF based on the deviation angle ⁇ de. It is.
- ) can determine the torsion bar twist angle ⁇ d from the twist torque Tt detected by the torque sensor unit 200 shown in FIG.
- the configuration in this case is shown in FIG. 8, and the torsion bar torsion angle ⁇ d is obtained by inputting the detected torsion torque Tt to the torsion bar torsion angle calculation unit 120A and calculating the following equation (8).
- the side relative angle ⁇ t is output.
- the resonance filter 140 for obtaining the estimated handle angle ⁇ he in the hand-off state uses the data obtained by reproducing the resonance of the handle 1 by turning the steering from the output side column shaft 2B in the actual machine, and the handle side angle ⁇ h that is the input side column angle and the output side column
- the frequency response is taken from the measurement result of the angle ⁇ c, and the resonance filter is designed according to the frequency response.
- a Bode diagram showing a characteristic example of the resonance filter 140 is a characteristic B (solid line) in FIG. 9, and the gain of the resonance filter 140 is flat up to around 3 Hz, and a general secondary LPF (dashed line characteristic A around 10 Hz). ) And is slightly lower than a general second-order LPF (dashed characteristic A) at about 20 Hz or less.
- the phase of the resonance filter 140 is less than a general second-order LPF (dashed line characteristic A) at about 20 Hz or less, and is less than a general second-order LPF (dashed line characteristic A) at about 20 Hz or less.
- the delay is getting bigger. That is, with a bench test device that simulates an actual machine or an actual vehicle, while the ECU is energized, the handle 1 is left untouched (actually, the universal joint 4a in FIG. 1 is released). Then, the output side column shaft 2B is rotated to measure the handle angle ⁇ h and the output side column angle ⁇ c.
- a handle angle ⁇ h is obtained by obtaining a torsion angle ⁇ d (a torsion angle ⁇ d is directly obtained by a torque sensor) from the torsion torque Tt and adding it to the output side column angle ⁇ c (see Expression 6).
- the handle angle ⁇ h includes handle resonance. Since the ideal filter result ⁇ he (estimated handle angle in the hand-off state) with the output side column angle ⁇ c input for the measurement at hand release should be the handle angle ⁇ h, a secondary filter must be used to reproduce the resonance. I need it.
- the designed resonance filter 140 is adjusted so that the estimated handle angle ⁇ he in the released state matches the handle angle ⁇ h of the actual machine data, resulting in the characteristics shown in FIG.
- the waveform of the actual output side column angle ⁇ c is shown in FIG. 12 and FIG. 13, while the actual handle angle ⁇ hr shows a vibration waveform at the steering change point or the like.
- the estimated handle angle ⁇ he released from the resonance filter 140 is also removed by the resonance filter 140 designed by tuning and input to the subtraction unit 122.
- the configuration of the hand ON / OFF determination unit 130 is, for example, as shown in FIG. 10, and the deviation angle ⁇ de obtained by the subtraction unit 122 is input to the absolute value conversion unit 131, and the deviation angle
- the angle comparison unit 132 outputs an angle establishment signal AE.
- the angle establishment signal AE is input to the establishment time comparison unit 133 and the non-establishment time comparison unit 134.
- the establishment time comparison unit 133 determines the hand ON when the angle establishment signal AE continues for a predetermined time threshold T1 or more.
- DS1 is output, and the determination signal DS1 is output through the OR circuit 135 as a hand-ON determination signal DS.
- the failure time comparison unit 134 outputs a determination signal DS2 indicating hand OFF when the failure state of Formula 10 continues for a preset time threshold value T2, and the determination signal DS2 is the OR circuit 135. Then, it is output as a hand-off determination signal DS.
- the purpose of holding the hand ON state for a certain period of time is when there is no difference in angle between the input side and the output side even when the driver touches the steering wheel (for example, the road surface is good and the vehicle is running on a straight line) This is because it is necessary not to determine that the hand is OFF when the hand is released.
- the deviation angle ⁇ de is converted into an absolute value and compared with one angle threshold value ⁇ th. However, it may be compared with a positive / negative angle threshold value ⁇ ⁇ th without converting into an absolute value.
- the torque sensor detection input side column angle ⁇ th and the torque sensor detection output side column angle ⁇ tc are input to the torsion bar torsion angle generation unit 120 (step S10), and the torsion bar torsion angle generation unit 120 generates the torsion bar torsion angle ⁇ d.
- the torsion bar twist angle ⁇ d is input to the adding unit 121.
- the torsion torque Tt shown in FIG. 3 is input
- the torsion torque Tt is input to the torsion bar torsion angle calculation unit 120A
- the torsion bar torsion angle calculation unit 120A calculates the torsion bar torsion angle ⁇ d. .
- the motor electrical angle ⁇ e is input to the output side relative angle generation unit 110 (step S12), and the output side relative angle generation unit 110 generates the output side relative angle ⁇ t (step S13), and adds the output side relative angle ⁇ t.
- the adding unit 121 calculates the actual handle angle ⁇ hr by adding the torsion bar twist angle ⁇ d and the output side relative angle ⁇ t (step S14), and the resonance filter 140 processes the output side relative angle ⁇ t to estimate the handle angle ⁇ he. (Step S15) and input to the subtractor 122, respectively.
- the subtractor 122 subtracts the estimated handle angle ⁇ he in the released state from the actual handle angle ⁇ hr to calculate the deviation angle ⁇ de (step S16) and inputs it to the handle ON / OFF determination unit 130.
- the absolute value converting unit 131 obtains the absolute value
- the establishment time comparison unit 133 outputs the determination signal DS1 when the angle establishment signal AE continues for the time threshold T1 or more (step S24), and the determination signal DS1 is output through the OR circuit 135 as the determination signal DS (step S25). ).
- the failure time comparison unit 134 determines whether or not the failure state of Equation 9 continues for the time threshold value T2 after the hand ON determination (step S26), and a determination signal when the failure status becomes equal to or greater than the time threshold value T2.
- DS2 is output (step S27), and the determination signal DS2 is output as the determination signal DS through the OR circuit 135 (step S28).
- FIG. 12 is a table test apparatus or the like simulating an actual machine or an actual vehicle, and the estimated handle angle ⁇ he, the actual handle angle ⁇ hr, and the output side when the ECU is energized and the handle is touched (hand ON)
- An example of the waveform of the column angle ⁇ c is shown. The time is increased up to the time t1, the time t1 to t2 is in the steered state, the time t2 to t3 is turned back, and the time t3 and later is in the steered state.
- FIG. 13 shows a waveform example of each angle when the hand is not touched on the handle on the same time scale as FIG. 12 (hand OFF).
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Abstract
Description
Ih×θh”+Kh(θh-θO)=0
ただし、θh”は、角度θhの二階微分値である回転角加速度である。
この場合に、入力側コラム軸2Aにかかる捩れトルクTtは、下記数2で表わされる。
Tt=Kh×(θO-h)
上記数1及び数2より、下記数3が成立する。
Tt=Ih×θh”
数3で表されるように、捩れトルクTtはハンドル1の回転角加速度θh”を検出することにより推定できることになる。そして、自動操舵が行われているときに、運転者が自動操舵力に抗してハンドル1を回転させると、入力側コラム軸2Aに捩れトルクTtが発生する。この捩れトルクTtは、ハンドル1の慣性モーメントIhを回転角加速度θh”まで加速するために要するトルクTi(=Ih×θh”)と、運転者による手動操舵トルクTdとの和になるので、下記数4が成立する。
Tt=Ti+Td=Ih×θh”+Td
上記数4から明らかなように、入力側コラム軸2Aの捩れトルクTtと、ハンドル1を回転加速するために要するトルクTiとの差(Tt-Ti)は、運転者による手動操舵トルクTdに等しいので、下記数5が成立する。
Tt-Ti=Tt-Ih×θh”=Td
従って、上記トルク差(Tt-Ti)を求めることによって、自動操舵中における運転者の手動操舵(手入力)の有無を判断することができる。
θh=θc+θd
そして、図12は、ハンドル1に手を触れている場合の特性を、切増し(~t1)、保舵状態(t1~t2)、切戻し(t2~t3)、保舵状態(t3~)について、出力側コラム角度θcを変化させたときの実ハンドル角度(入力側コラム角度)を示している。同様に図13は、ハンドル1に手を触れていない場合の特性を、例えば右切り(~t1)、保舵状態(t1~t2)、左切り(t2~t3)、保舵状態(t3~)について、出力側コラム角度θcを変化させたときの実ハンドル角度(入力側コラム角度)を示している。図12及び図13の特性の相違は、トーションバー振動のトーションバー捩れ角θdに起因しており、ハンドルの手放し(ハンドOFF)若しくは手触れ(ハンドON)を判定することができる。
Tt=Kh(θth-θtc)
また、トルク検出値から捩れトルクTtを求めて判定する場合には、前述した図3の構成から捩れトルクTtを直接求める。
θd=Tt/Kh
また、出力側相対角度生成部110はモータ電気角スケールでアンチロールオーバー処理(波形処理(例えば鋸波の角度信号を連続的な角度信号に処理する))を行い、下記数9に基づいて出力側相対角度θtを出力する。
θt=θe×1/極対数×減速比
但し、極対数はモータの極対数、減速比は減速機構の減速比である。
なお、出力側からのチューニングに当たっては、ユニットに存在する摩擦、モータのロストルク、モータ軸のスプライン部のガタ、慣性、入力側ベアリングの予圧などが関連する。
|θhr-θhc|=|θde| ≧ θth
上記数10が成立する場合、角度比較部132は角度成立信号AEを出力する。角度成立信号AEは成立時間比較部133及び不成立時間比較部134に入力され、成立時間比較部133は角度成立信号AEが予め設定されている時間閾値T1以上継続したときにハンドONを示す判定信号DS1を出力し、判定信号DS1はOR回路135を経てハンドONの判断信号DSとして出力される。また、不成立時間比較部134はハンドON判定後、数10の不成立状態が予め設定されている時間閾値T2だけ継続した場合、ハンドOFFを示す判定信号DS2を出力し、判定信号DS2はOR回路135を経てハンドOFFの判断信号DSとして出力される。ハンドON状態を一定時間保持する目的は、運転者がハンドルに触れている場合でも、入力側と出力側の角度差が出ない場合(例えば路面状態が良く、直線を走行中など)や瞬間的な手放しなどのときに、ハンドOFFとして判定しないようにする必要があるためである。
2 コラム軸(ハンドル軸)
2A 入力側コラム軸(IS)
2B 出力側コラム軸(OS)
20 モータ
23、201 トーションバー
100 コントロールユニット
120 入出力(IS/OS)差角度生成部
130 ハンドON/OFF判定部
140 共振フィルタ
150 出力側(OS)相対角度生成部
200 トルクセンサ部
Claims (9)
- ハンドルに連結されたコラム軸にトーションバーを備え、減速機構を介し、電流指令値により車両の操舵機構にアシストトルクを付与するモータを駆動制御すると共に、アシストモードと自動モードを切り替える機能を有する電動パワーステアリング装置において、
前記トーションバーに関するトルク情報に基づいてトーションバー捩れ角を求めるトーションバー捩れ角算出部と、
前記モータの電気角信号から所定演算式を用いて出力側相対角度を出力する出力側コラム軸相対角度生成部と、
前記トーションバー捩れ角及び前記出力側相対角度に基づいて実ハンドル角度を求める実ハンドル角度算出部と、
前記出力側相対角度から手放し状態の推定ハンドル角度を求める共振フィルタと、
前記実ハンドル角度及び前記手放し状態の推定ハンドル角度の偏差角度が所定角度以上となる時間が所定時間1以上継続したときにハンドONを判定するハンドON/OFF判定部と、
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。 - 前記ハンドON/OFF判定部が、前記ハンドONの判定後、前記偏差角度が前記所定角度より小さい時間が所定時間2以上継続したときにハンドOFFを判定する請求項1に記載の電動パワーステアリング制御装置。
- 前記トーションバーに関するトルク情報が、前記ハンドルに関するコラム軸角度又は前記トーションバーに関する捩れトルクである請求項1又は2に記載の電動パワーステアリング制御装置。
- 前記トーションバー捩れ角算出部が、前記捩れトルクを入力し、前記トーションバーのバネ定数で除算することにより前記トーションバー捩れ角を演算するトーションバー捩れ角演算部である請求項3に記載の電動パワーステアリング制御装置。
- 前記トーションバー捩れ角算出部が、トルクセンサ検出入力側コラム角度及びトルクセンサ検出出力側コラム角度を入力し、前記トーションバーのバネ定数を用いて前記トーションバー捩れ角を生成するトーションバー捩れ角生成部である請求項3に記載の電動パワーステアリング装置。
- 前記出力側コラム軸相対角度生成部は、前記電気角信号をアンチロールオーバー処理して後に、前記所定演算式によって前記出力側相対角度を出力するようになっている請求項1乃至5のいずれかに記載の電動パワーステアリング装置。
- 前記所定演算式が、前記電気角信号に前記モータの極対数、前記減速機構の減速比を乗算する演算式である請求項6に記載の電動パワーステアリング装置。
- 前記共振フィルタは、
実機で出力側コラム軸からステアリングが回されたときの前記ハンドルの共振を再現し、前記出力側コラム角度を入力して得た前記手放し状態の推定ハンドル角度が前記実ハンドル角度とほぼ同一となる特性となっている請求項1乃至7のいずれかに記載の電動パワーステアリング装置。 - 前記共振フィルタが、2次以上のLPFである請求項8に記載の電動パワーステアリング装置。
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US16/479,269 US10807636B2 (en) | 2017-02-20 | 2018-02-19 | Electric power steering apparatus |
BR112019014968-6A BR112019014968B1 (pt) | 2017-02-20 | 2018-02-19 | Aparelho de direção elétrica |
CN201880007914.7A CN110225858B (zh) | 2017-02-20 | 2018-02-19 | 电动助力转向装置 |
EP18754413.5A EP3572303A4 (en) | 2017-02-20 | 2018-02-19 | ELECTRIC POWER STEERING APPARATUS |
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JP2020192862A (ja) * | 2019-05-27 | 2020-12-03 | 日本精工株式会社 | 電動パワーステアリング装置 |
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