WO2023209844A1 - 入出力装置及びステアリング測定装置 - Google Patents

入出力装置及びステアリング測定装置 Download PDF

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Publication number
WO2023209844A1
WO2023209844A1 PCT/JP2022/019025 JP2022019025W WO2023209844A1 WO 2023209844 A1 WO2023209844 A1 WO 2023209844A1 JP 2022019025 W JP2022019025 W JP 2022019025W WO 2023209844 A1 WO2023209844 A1 WO 2023209844A1
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WIPO (PCT)
Prior art keywords
vibration
steering
input
vibration factor
response data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2022/019025
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English (en)
French (fr)
Japanese (ja)
Inventor
将彦 折井
裕也 夏原
勲 家造坊
昭彦 橋本
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to US18/850,425 priority Critical patent/US20250269896A1/en
Priority to CN202280094767.8A priority patent/CN119013543A/zh
Priority to EP22940124.5A priority patent/EP4516634B1/en
Priority to PCT/JP2022/019025 priority patent/WO2023209844A1/ja
Priority to JP2024517681A priority patent/JP7710609B2/ja
Publication of WO2023209844A1 publication Critical patent/WO2023209844A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/06—Steering behaviour; Rolling behaviour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
    • G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
    • 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

Definitions

  • the present disclosure relates to an input/output device and a steering measurement device.
  • An electric power steering device is equipped with a rotating machine (motor) that generates steering assist torque to the steering wheel, and a control device that controls the rotating machine, and adds steering assist force to the steering mechanism of a vehicle such as an automobile. do.
  • the steering measurement device is a device for performing a measurement test to identify the mechanical constants of such an electric power steering device.
  • Patent Document 1 discloses a conventional steering measurement method that includes an input/output device that inputs and outputs signals for identifying steering characteristics, and a control device that controls a rotating machine provided in an electric power steering device.
  • An apparatus is disclosed.
  • the input/output device outputs an excitation instruction to the control device to vibrate the rotating machine, and acquires response data and an excitation instruction obtained thereby.
  • the input/output device identifies mechanical constants of the electric power steering device based on the acquired response data and the vibration command, and derives control constants from the identified mechanical constants.
  • vibrations may occur due to various factors. Therefore, in order to suppress such vibrations, it is necessary to make appropriate settings for a controller provided in a control device that controls the rotating machine, depending on the cause of the vibrations. For example, if the vibration is caused by disturbances caused by the structure of the steering gear or motor, road surface disturbances, etc., it is necessary to set the controller in consideration of the disturbance transmission characteristics of the controller. Furthermore, if the vibration is due to poor stability of the controller, it is necessary to set the controller with consideration to the stability of the controller.
  • vibration or noise may occur due to identification errors or unintended disturbances. Sometimes. In such a case, it is necessary to review the controller settings again. However, it takes a lot of time and effort for the user (tester) to analyze the cause of vibration each time vibration occurs, and there is a problem that the number of man-hours required for setting the controller increases.
  • Another possible method for adjusting the setting parameters of the controller is to adjust them by trial and error without specifying the vibration cause.
  • a controller whose setting parameters are adjusted without knowing the cause of vibration may not be a fundamental countermeasure against vibration.
  • the present disclosure has been made in view of the above circumstances, and aims to provide an input/output device and a steering measurement device that can analyze and estimate vibration factors without requiring a great deal of time or effort. do.
  • an input/output device provides a control for controlling a rotating machine provided in an electric power steering device for generating a steering assist force for a steering provided in a vehicle. communicably connected to the device, acquiring response data indicating a response to the steering of the electric power steering device detected by the control device during the steering of the steering, and based on the response data during the steering of the steering; a vibration factor estimating unit that extracts a feature amount related to vibration or noise generated in the noise, and estimates a vibration factor candidate that is a vibration factor candidate based on the feature amount; and an output unit that outputs the vibration factor candidate.
  • a steering measuring device is configured to include the above-described input/output device, and an electric power source that is communicably connected to the input/output device, and that generates a steering assist force for a steering wheel provided in a vehicle.
  • a control device for controlling a rotating machine provided in a steering device the control device uses a response of the electric power steering device detected when the steering wheel is turned as the response data to the input/output device; Send to.
  • vibration factors can be analyzed and estimated without requiring a lot of time or a lot of effort. This eliminates the need for the user (tester) to separately analyze vibration factors, and allows the controller to be set according to the vibration factors, thereby reducing the number of man-hours required for controller settings.
  • FIG. 1 is a configuration diagram showing a steering measurement device and an electric power steering device according to Embodiment 1 of the present disclosure.
  • FIG. FIG. 2 is a block diagram showing the main configuration of a control device included in the steering measurement device according to Embodiment 1 of the present disclosure.
  • FIG. 2 is a block diagram showing the main configuration of an input/output device included in the steering measurement device according to Embodiment 1 of the present disclosure.
  • FIG. 2 is a block diagram showing the internal configuration of a vibration factor estimator in Embodiment 1 of the present disclosure.
  • FIG. 3 is a diagram showing feature amounts used for vibration factor estimation in Embodiment 1 of the present disclosure.
  • FIG. 3 is a diagram showing frequency thresholds for vibration factor estimation in Embodiment 1 of the present disclosure.
  • FIG. 7 is a flowchart illustrating processing performed by a vibration classification unit in Embodiment 1 of the present disclosure.
  • FIG. 3 is a diagram showing conditional expressions used in processing by a vibration classification unit in Embodiment 1 of the present disclosure.
  • FIG. 3 is a block diagram showing the internal configuration of a vibration factor estimating section in Embodiment 2 of the present disclosure.
  • FIG. 7 is a diagram showing a simulation model used in Embodiment 2 of the present disclosure.
  • FIG. 7 is a diagram illustrating DTW, which is a reproduction determination method in Embodiment 2 of the present disclosure.
  • FIG. 7 is a diagram illustrating a method for preventing erroneous determination using DTW, which is a reproduction determination method in Embodiment 2 of the present disclosure.
  • FIG. 3 is a diagram showing conditional expressions used in processing by a vibration classification unit in Embodiment 1 of the present disclosure.
  • FIG. 3 is a block diagram showing the internal configuration of a vibration
  • FIG. 7 is a diagram showing the relationship between the DTW distance and the magnitude of influence of vibration factors in Embodiment 2 of the present disclosure. 12 is a flowchart illustrating processing performed by a simulation search unit in Embodiment 2 of the present disclosure.
  • FIG. 7 is a block diagram showing a main configuration of an input/output device included in a steering measuring device according to a third embodiment of the present disclosure.
  • FIG. 7 is a block diagram showing a main configuration of an input/output device included in a steering measuring device according to a fourth embodiment of the present disclosure.
  • FIG. 1 is a configuration diagram showing a steering measuring device and an electric power steering device according to Embodiment 1 of the present disclosure.
  • the electric power steering device 50 includes a steering wheel 51, a steering shaft 53, a rack and pinion gear 54, wheels 55, a tie rod 56, a knuckle arm 57, a torque detector 22, a rotation detector 23, and a rotating machine 1. , and a control device 2.
  • the hardware configuration of the electric power steering device 50 is similar to a conventional electric power steering device, and is mounted on a vehicle and mass-produced. However, in addition to the function of controlling the rotating machine 1 to generate assist torque in response to the driver's steering, the control device 2 also inputs the response of the electric power steering device 50 detected during steering as response data. A function for transmitting to the output device 3 is added. Note that the above response data includes the rotational speed and steering torque detected by the rotation detector 23 and the torque detector 22, and the current detected by the current detector 21, which will be described later. Note that the details of the functions added to the control device 2 will be described later.
  • the steering measurement device 60 is a device for estimating vibration factors during steering operation.
  • This steering measurement device 60 includes a control device 2, a torque detector 22, and a rotation detector 23 provided in an electric power steering device 50, and an input/output device 3 connected to the control device 2 by a communication line 4.
  • the communication line 4 constitutes a part of an in-vehicle communication network mounted on the vehicle.
  • the in-vehicle communication network may be, for example, CAN (Controller Area Network) (registered trademark), FlexRay (registered trademark), Ethernet (registered trademark), or the like.
  • the communication line 4 an in-vehicle communication network cable may be used depending on the type of in-vehicle communication network installed in the vehicle.
  • the steering wheel 51 is a so-called handle, and is operated by the driver of the vehicle (not shown) in order to give a steering angle to the steering wheels (wheels 55) of the vehicle.
  • the steering shaft 53 includes an input shaft 53a connected to the steering wheel 51 side, and an output shaft 53b connected to the rack and pinion gear 54 side.
  • the input shaft 53a and the output shaft 53b are connected to each other by a torsion bar (not shown).
  • the torsion bar is disposed within the torque detector 22 and passes through the torque detector 22 in the axial direction.
  • the torsion bar twists in response to steering torque applied to the steering wheel 51 by the driver's operation, and the torque detector 22 detects the direction and amount of this twist.
  • the steering wheel 51, steering shaft 53, and torsion bar will be collectively referred to as a "steering".
  • the rack and pinion gear 54 includes a pinion gear (not shown) attached to the tip of the output shaft 53b and a rack (not shown) that meshes with the pinion gear, and converts the rotational motion of the pinion gear into reciprocating motion. .
  • the rack and wheels 55 are connected via tie rods 56 and knuckle arms 57.
  • the torque detector 22 detects the steering torque applied to the torsion bar when the driver steers the steering wheel 51. When steering torque is applied, the torsion bar twists approximately in proportion to the steering torque. The torque detector 22 detects this twist angle and converts it into steering torque.
  • the rotation detector 23 is attached to the rotating shaft of the rotating machine 1 and detects the rotational speed of the rotating shaft.
  • the rotating machine 1 generates a steering assist torque for the steering under the control of the control device 2.
  • the rotating machine 1 is composed of, for example, an AC motor such as a permanent magnet type synchronous motor or an induction motor, or a DC motor.
  • the control device 2 controls the rotating machine 1 based on the steering torque converted by the torque detector 22 and the rotation speed detected by the rotation detector 23, and generates a steering assist torque for the steering.
  • the torque detector 22 detects the steering torque. Specifically, when steering torque is applied, a twist approximately proportional to the steering torque occurs in the torsion bar, and the twist angle is detected by the torque detector 22 and converted into steering torque. Further, the rotation speed of the rotating shaft of the rotating machine 1 is detected by the rotation detector 23.
  • the steering torque converted by the torque detector 22 and the rotation speed detected by the rotation detector 23 are input to the control device 2, and a current command corresponding to the steering assist torque to be generated in the rotating machine 1 is generated according to these signals. is determined. Then, a current according to the determined current command is supplied to the rotating machine 1, and a steering assist torque for the steering is generated from the rotating machine 1.
  • the steering assist torque generated from the rotating machine 1 is transmitted to the steering shaft 53, and reduces the steering torque applied by the driver during steering.
  • the electric power steering device 50 mounted on a vehicle is configured as described above, and functions as a driving assist device by applying steering assist force from the rotating machine 1 to the steering wheel 51.
  • FIG. 2 is a block diagram showing the main configuration of a control device included in the steering measuring device according to Embodiment 1 of the present disclosure.
  • the control device 2 includes a current detector 21, a torque detector 22, a rotation detector 23, a power supply section 24, and a communication transmitter 25.
  • the torque detector 22, the rotation detector 23, and the power supply unit 24 can be existing ones provided in a general control device of the electric power steering device 50.
  • the current detector 21 detects the current flowing through the rotating machine 1 when a voltage is applied to the rotating machine 1 from the power supply unit 24.
  • the torque detector 22 and the rotation detector 23 are the same as those explained in the explanation of the electric power steering device 50, so the explanation here will be omitted.
  • the power supply unit 24 generates a current command corresponding to the steering assist torque to be generated in the rotating machine 1 according to the steering torque signal detected by the torque detector 22 and the rotation speed signal detected by the rotation detector 23. decide.
  • the power supply unit 24 generates a voltage command for controlling the current supplied to the rotating machine 1 based on the determined current command and the current signal detected by the current detector 21. Then, the power supply unit 24 causes the rotating machine 1 to generate the above-mentioned steering assist torque by applying a voltage to the rotating machine 1 using a drive circuit (not shown) in accordance with the generated voltage command.
  • the communication transmitter 25 transmits response data obtained by steering to the input/output device 3.
  • the response data includes the current detected by the current detector 21 (current detection value), the rotation speed detected by the rotation detector 23 (rotation speed detection value), and the rotation speed detected by the torque detector 22. includes the steering torque (steering torque detection value).
  • FIG. 3 is a block diagram showing a main configuration of an input/output device included in the steering measuring device according to Embodiment 1 of the present disclosure.
  • the input/output device 3 includes a communication receiving section 31, a vibration factor estimation section 32, an output section 33, a display section 34, and a microphone 35 (sound detector).
  • a microphone 35 sound detector
  • Such an input/output device 3 performs various processes based on response data received by the communication receiving section 31 and sound data detected by the microphone 35.
  • the communication receiving unit 31 receives response data transmitted from the control device 2 via the communication line 4.
  • the communication receiving section 31 outputs the received response data to the vibration factor estimation section 32 and the output section 33.
  • the vibration factor estimating unit 32 calculates the feature amount of vibration included in the response data based on the response data output from the communication receiving unit 31, and estimates the vibration factor based on the calculated feature amount.
  • the vibration factor estimation section 32 uses the estimated vibration factor as a vibration factor candidate, and outputs the feature amount and the vibration factor candidate to the output section 33. Note that details of the vibration factor estimating section 32 will be described later.
  • the microphone 35 detects the sound generated inside the vehicle during steering, and outputs the detected sound to the output unit 33 as sound data.
  • the microphone 35 is provided so that noise can be confirmed not only from response data but also from sound data.
  • the output unit 33 outputs at least vibration factor candidates from among the response data output from the communication reception unit 31, the vibration factor candidates and feature values output from the vibration factor estimation unit 32, and the sound data output from the microphone 35. Output one or more pieces of data included as output data.
  • the output unit 33 outputs the above output data in any one of numerical format, character format, and graphic format.
  • the display section 34 displays the output data output from the output section 33.
  • a computer such as a tablet computer or a notebook computer can be used, for example.
  • the display and microphone provided in these computers can be used as the display section 34 and microphone 35 shown in FIG. If these computers do not have a built-in microphone, or if you want to use a high-performance microphone, you can separately prepare and connect a microphone or sound level meter.
  • the output data output from the output unit 33 may be saved in a format that can be checked by the user (for example, text format), or may be output externally.
  • FIG. 4 is a block diagram showing the internal configuration of the vibration factor estimating section in Embodiment 1 of the present disclosure.
  • the vibration factor estimation section 32 includes a feature calculation section 321 and a vibration classification section 322.
  • the feature amount calculation unit 321 extracts an amount representing the characteristics of vibration from the response data as a feature amount and converts it into a numerical value.
  • the feature quantities include "turnback ripple", “amplitude of main vibration”, “frequency of main vibration”, and “rotation synchronization” in each of the detected steering torque value, current detection value, and rotational speed detection value when vibration occurs.
  • the seven items are “disturbance likeness”, “rotation synchronous disturbance order”, “high frequency peak amplitude”, and “high frequency peak frequency”.
  • FIG. 5 is a diagram showing feature amounts used for vibration factor estimation in Embodiment 1 of the present disclosure.
  • the feature amounts used for vibration factor estimation are 16 items shown in FIG. Specifically, the items are shown below.
  • ⁇ Current detection value (5 items): “Amplitude of main vibration”, “probability of rotation synchronous disturbance”, “rotation synchronous disturbance order”, “peak amplitude of high frequency”, “peak frequency of high frequency”.
  • FIG. 6 is a diagram showing frequency thresholds for vibration factor estimation in Embodiment 1 of the present disclosure.
  • the frequency of vibration is important information when extracting features and classifying vibration factors.
  • frequency threshold values f_th1, f_th2, and f_th3 shown in FIG. 6 are set.
  • fsp is the disturbance transmission peak frequency
  • fgc is the gain crossover frequency
  • fpc is the phase crossover frequency.
  • min in the above formula means to select the smaller number from among the numbers in parentheses.
  • f ⁇ in the above formula is a phase crossing frequency threshold margin
  • fn is a sensor noise threshold frequency.
  • the frequency threshold f_th1 is a frequency threshold for classifying disturbance transfer characteristic deterioration and phase margin deterioration.
  • the frequency threshold f_th2 is a frequency threshold that classifies phase margin deterioration and gain margin deterioration.
  • the frequency threshold f_th3 is a frequency threshold for classifying gain margin deterioration and sensor noise.
  • the phase crossing frequency threshold margin f ⁇ and the sensor noise threshold frequency fn may be set from the highest frequency value of gain margin deterioration vibration that may occur from past cases, or from the noise frequency that may occur as a problem.
  • the switching ripple is a feature extracted only from the detected steering torque value, and indicates the difference between the maximum value and the minimum value of the detected steering torque value immediately after the sign of the detected rotational speed value changes. be. If the frequency calculated from the interval between the maximum value and the minimum value is less than or equal to the threshold set based on the frequency threshold f_th1, it is extracted as a reversal ripple.
  • the amplitude of the main vibration is a feature extracted from two of the detected steering torque value and the detected current value
  • the frequency of the main vibration is a feature extracted from the two detected values of the steering torque and rotational speed. It is.
  • the amplitude of the main vibration and the frequency of the main vibration are obtained by performing short-time Fourier transform on the vibration portion of each detected value, and indicate the amplitude and frequency of the vibration having the maximum amplitude.
  • the short-time Fourier transform is a process of extracting the amplitude of each frequency at each time.
  • the short-time Fourier transform involves performing the process of creating frame data by trimming the vibration waveform by a time width t_frame multiple times while shifting the time, and applying FFT with a window function (fast Fourier transform) to each of the created frame data. conversion).
  • FFT fast Fourier transform
  • three-dimensional data (color map) of [time, frequency, amplitude] can be obtained.
  • the rotational synchronous disturbance likelihood and the rotational synchronous disturbance order are feature quantities extracted from three of the detected steering torque value, the detected current value, and the detected rotational speed value.
  • the likelihood of rotational synchronous disturbance is a feature quantity used to determine whether the vibration has a frequency proportional to the speed of the rotating machine (hereinafter referred to as "rotation synchronous vibration").
  • the rotation synchronous disturbance order is a value indicating the proportionality coefficient between vibration frequency and speed, assuming that the vibration is rotation synchronous vibration.
  • the rotation-synchronized disturbance likelihood RateN can be calculated using, for example, the speed ⁇ (t) at time t and the frequency ft(t) of the main vibration at time t obtained by short-time Fourier transform.
  • the rotation synchronous disturbance likelihood RateN is defined by the correlation coefficient between ft(t) and ⁇ (t) at the peripheral time t of the vibrating part. If the value of rotation synchronous disturbance RateN is close to 1, the correlation between ft(t) and ⁇ (t) is high, so it can be determined that the frequency is changing according to the speed, and it is considered that the rotation synchronous disturbance is It can be determined that there is.
  • the rotation synchronous disturbance likelihood RateN may be defined as shown in the following equation.
  • Nt(t) will be a value close to a constant value, so the dispersion will be small; if the vibration is a constant frequency, such as oscillation due to poor stability, ft(t) will be a constant value. Since the value is close to , the variance is small. That is, if the vibration is a rotationally synchronous vibration, the RateN will be large, and if the vibration is a constant frequency vibration, the RateN will be small.
  • the peak amplitude of the high frequency is a feature quantity extracted from two of the detected steering torque value and the detected current value, and the peak frequency of the high frequency is extracted from the three detected values: the detected steering torque value, the detected current value, and the detected rotational speed value. This is the feature quantity to be extracted.
  • the peak amplitude of the high frequency and the peak frequency of the high frequency are feature quantities indicating the amplitude and frequency of the vibration with the maximum amplitude among the high frequency components exceeding the frequency threshold f_th3 in the short-time Fourier transformed data, respectively. Extracted along with the time of occurrence.
  • the peak amplitude of the high frequency is used to determine the magnitude of noise.
  • the peak frequency and time of the high frequency are used to determine whether noise is contributing to the torque sensor or the speed sensor by examining the similarity between the detected current value, the detected steering torque value, and the detected rotational speed value. .
  • the feature amount calculation unit 321 extracts the above-mentioned feature amount from the response data, using the amount indicating the characteristics of the vibration as the feature amount. Then, the feature amount calculation section 321 outputs the extracted feature amount to the vibration classification section 322. The vibration classification unit 322 classifies vibration factor candidates based on the feature amount output from the feature amount calculation unit 321.
  • FIG. 7 is a flowchart showing the processing performed by the vibration classification section in the first embodiment of the present disclosure.
  • the processing of the flowchart shown in FIG. 7 is performed every time a feature amount is output from the feature amount calculation unit 321.
  • the vibration classification unit 322 sequentially determines whether "conditional expression 1" to "conditional expression 9" shown in FIG. 8 are satisfied (steps S11 to S19). .
  • FIG. 8 is a diagram showing conditional expressions used in the processing of the vibration classification unit in Embodiment 1 of the present disclosure.
  • conditional expression 1 is a conditional expression for determining a turning disturbance
  • conditional expression 2 is a conditional expression for determining rotation sensor noise (rotation synchronization).
  • Conditional Expression 3 is a conditional expression for determining disturbance (rotation synchronization).
  • conditional expression 4" is a conditional expression for determining disturbance (rotation asynchronization)
  • conditional expression 5" is a conditional expression for determining oscillation (deterioration of phase shift margin).
  • Conditional expression 6 is a conditional expression for determining oscillation (deterioration of gain margin).
  • condition expression 7 is a conditional expression for determining TSM noise
  • conditional expression 8 is a conditional expression for determining rotation sensor noise (high frequency)
  • conditional expression 9 is a conditional expression for determining TSM noise.
  • conditional expression 7 is a conditional expression for determining TSM noise
  • conditional expression 8 is a conditional expression for determining rotation sensor noise (high frequency)
  • conditional expression 9 is a conditional expression for determining TSM noise.
  • conditional expression 9 is a conditional expression for determining whether the cause is unknown.
  • conditional expression 1 stipulates that "the right expression (Tturn2 ⁇ Tturn2_ ⁇ th ⁇ ) is satisfied.”
  • variables with subscripts (th) are feature amount thresholds in each conditional expression. This feature value threshold may be set by referring to past vibration example data or learning data, and setting a value that allows classification therein.
  • Step S21 If it is determined that "Conditional Expression 1" shown in FIG. (Step S21). When it is determined that "Conditional Expression 2" shown in FIG. )” (step S22). If it is determined that "Conditional Expression 3" shown in FIG. (Step S23).
  • step S24 If it is determined that "Conditional Expression 4" shown in FIG. It is assumed that (step S24). If it is determined that "Conditional Expression 5" shown in FIG. )” (step S25). When it is determined that "Conditional Expression 6" shown in FIG. ” (step S26).
  • Step S27 If it is determined that "Conditional Expression 7" shown in FIG. (Step S27). If it is determined that "Conditional Expression 8" shown in FIG. ” (step S28). If it is determined that "conditional expression 9" shown in FIG. 8 is satisfied (if the determination result in step S19 is "YES"), the feature quantity calculation unit 321 determines that the vibration factor candidate is "unknown”. (Step S29).
  • the feature calculation unit 321 When the vibration factor candidate is “rotation sensor noise (rotation synchronization)" or “disturbance (rotation synchronization)" (steps S22, S23), the feature calculation unit 321 records the rotation order (step S31), and record the NV level and vibration frequency (step S32). In response, the feature calculation unit 321 determines that the vibration factor candidates are "cutting disturbance”, “disturbance (rotation asynchronization)”, “oscillation (deterioration of phase shift margin)”, “oscillation (deterioration of gain margin)”, and “TSM noise”. ”, “rotation sensor noise (high frequency)” (steps S21, S24, S25, S26, S27, S28), the NV level and vibration frequency are recorded (step S32).
  • Conditional expressions 1 to 8 are not satisfied if the vibration of the response data is small, if the response data does not have a sufficient time width and analysis cannot be performed with high accuracy, or if the rotational speed fluctuation in the vibrating part is small. Examples include cases where it is difficult to accurately determine whether the vibration is rotationally synchronous or rotationally asynchronous vibration. In preparation for such a case, steps S19, S20, and S29 are provided. If the vibration factor candidate is "unknown" (step S29), perform the steering operation again to obtain response data with a sufficient time width or response data with large fluctuations in the rotational speed of the vibrating part to improve accuracy. Vibration factor candidates can be extracted well.
  • the feature amount related to vibration or noise generated during steering is extracted from the response data obtained when steering the steering wheel, and vibration factor candidates are extracted based on the extracted feature amount.
  • the vibration factor candidates are estimated as follows. Thereby, vibration factors can be analyzed and estimated without requiring much time or effort. This eliminates the need for the user (tester) to separately analyze vibration factors, and allows the controller to be set according to the vibration factors, thereby reducing the number of man-hours required for controller settings.
  • the response data obtained when the steering wheel is turned is detected by the control device 2 in real time. Therefore, even if the communication speed between the control device 2 and the input/output device 3 via the communication line 4 is slow, the input/output device 3 can obtain response data including high frequency components, and vibration The cause can be identified.
  • the steering measuring device 60 estimates a vibration factor candidate by extracting a quantity indicating a characteristic of vibration as a characteristic quantity from response data when the steering wheel is turned.
  • the steering measuring device 60 according to the present embodiment performs a simulation that simulates steering, extracts the similarity between the vibration generated in the simulation and the vibration caused by the actual steering as a feature quantity, and determines the vibration factor. This is to estimate candidates.
  • the input/output device 3 in this embodiment has the same configuration as the input/output device 3 shown in FIG. 3, but the internal configuration of the vibration factor estimation unit 32 is different.
  • FIG. 9 is a block diagram showing the internal configuration of the vibration factor estimation unit in Embodiment 2 of the present disclosure.
  • the vibration factor estimation section 32 in this embodiment includes a simulation search section 323 and a vibration factor candidate determination section 324.
  • the simulation search unit 323 simulates the actually performed steering based on the response data, and generates simulation data (hereinafter referred to as "simulation response data") corresponding to the response data.
  • the simulation response data is data that includes a detected operating torque value, a detected current value, and a detected rotational speed value obtained through simulation.
  • FIG. 10 is a diagram showing a simulation model used in Embodiment 2 of the present disclosure.
  • the simulation model includes a controller model 325, a driver model 326, a steering model 327, and a vibration factor model 328.
  • the controller model 325 is a model that implements the same control algorithm as the control algorithm implemented in the control device 2.
  • the driver model 326 is a model that simulates a driver. Specifically, the angle of the steering wheel 51 is calculated from the rotational speed of the rotary machine 1, which is one of the response data received from the control device 2, and the steering wheel angle in the simulation matches the steering wheel angle in actual steering. This is a model that generates steering torque to The driver model 326 may be, for example, a PID control model based on the difference between the actual steering wheel angle and the simulated steering wheel angle, or another known driver model may be used.
  • the steering model 327 is a physical model of the steering device and reflects the mechanical characteristics of the steering device.
  • the steering device is represented by a two-inertial frame model, and includes the inertia and viscosity of the steering wheel 51, the viscosity and rigidity of the torsion bar, and the road surface viscosity and road surface caused by the force generated between the tires and the road surface.
  • This is a model that expresses the rigidity, inertia of the rotating machine 1, and mechanical friction of the steering device. These mechanical properties are identified and set in advance.
  • identification method as described in Patent Document 1, identification may be performed from response data after giving an excitation command to the rotating machine 1, or identification may be performed using other known methods.
  • the vibration factor model 328 is a model for reproducing vibrations that occur in response data. For example, when reproducing vibrations having a frequency proportional to the speed of the rotating machine 1, the vibration factor model 328 generates a torque disturbance proportional to the speed of the simulated rotating machine. By inputting this torque disturbance to the steering model 327, simulation response data that reproduces vibrations occurring in the response data can be obtained.
  • the vibration factor model 328 uses a method of worsening the phase margin by setting a delay time to the controller input value or controller output value in the simulation.
  • a method is used in which the gain margin is worsened by using a filter that increases the high frequency gain of the controller output value.
  • a dynamic time warping method (hereinafter referred to as "DTW") is used as a method for evaluating similarity.
  • DTW dynamic time warping method
  • the vibrating part included in the response data and the vibrating part of the simulation response data corresponding to that part are extracted, and preprocessing is performed to remove the offset component of each vibrating part.
  • FIG. 11 is a diagram illustrating DTW, which is a reproduction determination method in Embodiment 2 of the present disclosure.
  • DTW is used to stretch (warp) the vibration parts in the response data and simulation response data so that they match well, as shown in the example shown in Figure 11. ).
  • This distance can be used as a feature quantity and a vibration reproduction determination value. This distance will be referred to as the "DTW distance" below. The smaller the DTW distance, the higher the similarity.
  • FIG. 12 is a diagram illustrating a method for preventing erroneous determination using DTW, which is a reproduction determination method in Embodiment 2 of the present disclosure. If the frequencies of the vibrations of the actual machine and the simulation are significantly different, it is necessary to determine that the vibrations of the real machine and the simulation are different vibrations so as not to cause an erroneous determination. In the present disclosure, erroneous determination is prevented by making the time widths of two torque vibration waveforms extracted when measuring similarity equal.
  • the time widths of the two torque vibration waveforms extracted when measuring similarity are made equal, the number of cycles of vibration in the vibrating part will shift as shown in FIG. Therefore, even if the data is expanded or contracted using the DTW, the DTW distance does not become smaller, and it can be determined that the similarity between the response data and the simulation response data is low. Further, by setting a limit on expansion/contraction during DTW calculation using a known method, the amount by which the frequency shift can be absorbed may be limited. From the above, by using DTW, it is possible to appropriately evaluate the similarity of the vibrating part between the response data and the simulation response data.
  • the vibration of the response data is a rotational synchronous vibration due to a rotational synchronous disturbance.
  • the magnitude of the rotation synchronous disturbance in the simulation is not appropriate, there will be a difference in the amplitude of the vibration between the response data and the simulation response data. It will happen. As a result, the DTW distance becomes large and there is a possibility that the vibration factor estimation will be incorrect. Therefore, by performing an optimization search using the magnitude of the influence of the vibration factor on the simulation as a design variable and the DTW distance as the objective function, it is possible to obtain the magnitude of the vibration factor appropriate for reproducing the vibration of the response data. I can do it.
  • FIG. 13 is a diagram showing the relationship between the DTW distance and the magnitude of the influence of vibration factors in Embodiment 2 of the present disclosure.
  • the DTW distance becomes large.
  • the vibration amplitudes of the response data and the simulation response data become close to each other, the DTW distance becomes smaller, and it can be determined that the magnitude of the influence of the vibration factor at that time is appropriate. Therefore, if the magnitude of the influence of vibration factors on the simulation is set as a design variable, and the DTW distance is set as an objective function, optimization is performed to search for design variables by repeating the simulation each time so that the objective function is minimized. It becomes possible to calculate the magnitude of the influence of factors. Note that a known optimization method may be used for the search.
  • the search may not only be performed separately for all the vibration factors set in the vibration factor model, but also a plurality of vibration factors may be combined and searched at the same time. Even in this case, the objective function in the search remains the same, only a plurality of design variables have been added, so a known optimization method that targets the search for a plurality of design variables may be used.
  • FIG. 14 is a flowchart showing the processing performed by the simulation search unit in Embodiment 2 of the present disclosure.
  • the simulation search unit 323 selects a vibration factor model (step S41), sets the magnitude of the influence of the vibration factor (step S42), and executes the simulation (step S43). ).
  • the simulation search unit 323 calculates the DTW distance between the response data and the simulation response data (step S44).
  • the simulation search unit 323 determines whether the DTW distance has become the minimum solution (step S45). If it is determined that the DTW distance is not the minimum solution (if the determination result in step S45 is "NO"), the simulation search unit 323 returns to the process of step S42. On the other hand, if it is determined that the DTW distance has become the minimum solution (if the determination result in step S45 is "YES"), the simulation search unit 323 stores DTWK6 as a feature amount (step S46).
  • step S47 determines whether all searches have been completed. If it is determined that all searches have not been completed (if the determination result in step S47 is "NO"), the simulation search unit 323 returns to the process of step S41. On the other hand, if it is determined that all searches have been completed (if the determination result in step S47 is "YES"), the simulation search unit 323 outputs all the stored feature amounts.
  • the simulation search unit 323 searches for the magnitude of the influence of each vibration factor set in the vibration factor model separately or sequentially as a combination of multiple vibration factors, and uses an optimization method to minimize the influence. Processing is performed to save the DTW distance that has become . The simulation search unit 323 repeats this process until all searches are completed. When all searches are completed, the simulation search unit 323 outputs the DTW distance, which is the result of each search, to the vibration factor candidate determination unit 324 as a feature quantity.
  • the vibration factor candidate determining unit 324 determines vibration factor candidates based on the DTW distance output as a feature quantity from the simulation search unit 323.
  • a threshold is set for the DTW distance, and if the DTW distance obtained in each search is less than or equal to the threshold, the vibration caused by the steering wheel is reproduced by the vibration factor set in that search. It can be determined that it was possible.
  • the vibration factor candidates are ranked in order of decreasing DTW distance. All you have to do is present it. Further, if vibration is reproduced by a combination of a plurality of vibration factors, the combination of the plurality of vibration factors may be listed as a vibration factor candidate.
  • vibration cause candidates can be extracted with high accuracy.
  • the vibration factor estimation performed in this embodiment may be performed together with the vibration factor estimation described in the first embodiment.
  • estimation is performed using each method, and if the estimated vibration factors are the same, It is sufficient to output the vibration factor. If the estimated vibration factors are different, one of the estimated vibration factors may be output with priority based on each feature amount of each method.
  • the vibration cause is searched using simulation and the reproducibility of vibration is determined using the DTW distance as a feature quantity, so the vibration cause can be estimated with high accuracy. Therefore, the vibration factor can be estimated each time a steering test is performed without requiring the user (tester) to analyze the vibration factor. This has the effect that the number of man-hours required for the vibration factor analysis by the user can be reduced, and the user can set the control device 2 according to the vibration factor.
  • the user performs controller settings based on the estimated vibration factor candidates while considering the target characteristics of the controller.
  • the steering measuring device 60 according to the present embodiment automatically calculates a target characteristic for suppressing vibration based on the estimated vibration factor candidates, and outputs the target characteristic.
  • FIG. 15 is a block diagram showing the main configuration of an input/output device included in a steering measuring device according to Embodiment 3 of the present disclosure.
  • the input/output device 3 in this embodiment has a configuration in which a target characteristic calculation section 36 is added to the input/output device 3 shown in FIG.
  • the target characteristic calculating section 36 calculates the target characteristic of the control device 2 based on the vibration factor candidates estimated by the vibration factor estimating section 32.
  • the target characteristic calculation unit 36 calculates the specified frequency for any one or more of the torque controller characteristic, the angle controller characteristic, the open loop characteristic, the sensitivity function, and the disturbance transfer characteristic, which are the characteristics of the controller. Set an evaluation function based on the target value in the band. Then, the target characteristic calculation unit 36 calculates the target characteristic that minimizes the evaluation function by an optimization calculation. A known calculation method may be used for the optimization calculation.
  • the target characteristic calculation unit 36 sets the evaluation function with a large target value of the gain margin determined from the open-loop characteristic, and performs optimization calculation. to obtain the target characteristics with a larger gain margin. Furthermore, when the vibration factor candidate is oscillation due to insufficient phase margin, the target characteristic calculation unit 36 calculates an evaluation function that increases the target value of the phase margin determined from the open-loop characteristic, as in the case of insufficient gain margin. setting, and obtain target characteristics with a larger phase margin through optimization calculations. Note that the same result can be obtained by setting the evaluation function by reducing the gain target value near the oscillation frequency of the sensitivity function without distinguishing between insufficient gain margin and insufficient phase margin, and obtaining the target characteristics by optimization calculation. The effect of this can be obtained.
  • the target characteristic calculation unit 36 sets and optimizes the evaluation function by reducing the gain target value at the vibration frequency of the disturbance transfer characteristic. Perform calculations. Thereby, target characteristics with improved disturbance suppression performance can be obtained.
  • the target characteristic calculation unit 36 reduces the gain target value at the vibration frequency of the disturbance transfer characteristic, or adjusts the torque controller characteristic or angle. Optimization calculations are performed by reducing the gain target value at the vibration frequency of the controller characteristics, setting the evaluation function. This makes it possible to obtain target characteristics that suppress high-frequency noise generated from the rotating machine due to sensor errors.
  • the output unit 33 outputs, as output data, two or more data including at least the vibration factor candidate and the target characteristic among the response data, the vibration factor candidate and feature amount, the sound data, and the target characteristic.
  • the output data output from the output unit 33 may be saved in a format that can be checked by the user (for example, text format), or may be output externally.
  • one or more of the torque controller characteristics, angle controller characteristics, open loop characteristics, sensitivity function, and disturbance transfer characteristics which are the characteristics of the controller, is set in a specified frequency band. Optimization calculations are performed by setting an evaluation function based on the target value of . Thereby, it is possible to obtain target characteristics in which the influence of vibration factor candidates is appropriately reduced. Therefore, the user does not have to consider the target characteristics according to the vibration factor candidates by himself/herself, and the user can set the controller according to the target characteristics determined by the optimization calculation. As a result, it is possible to perform controller settings that suppress vibrations occurring in steering operation while reducing the number of man-hours required for the user to analyze target characteristics of the controller based on vibration factor analysis.
  • the steering measuring device 60 according to the third embodiment described above automatically performs everything from selection of vibration factor candidates to calculation of target characteristics.
  • the steering measuring device 60 according to the present embodiment allows a user (tester) to select vibration factor candidates and adjust target characteristics.
  • FIG. 16 is a block diagram showing the main configuration of an input/output device included in a steering measuring device according to Embodiment 4 of the present disclosure.
  • the input/output device 3 in this embodiment has a configuration in which a vibration factor selection section 37 and an adjustment amount input section 38 are added to the input/output device 3 shown in FIG. 15.
  • the vibration factor selection section 37 selects a specific vibration factor based on a user's instruction and outputs the selected vibration factor to the target characteristic calculation section 36.
  • the adjustment amount input section 38 inputs the adjustment amount of the target characteristic. Specifically, the adjustment amount input section 38 inputs the adjustment amount used when the target characteristic calculation section 36 calculates the target characteristics of the control device 2 based on the vibration factor candidates estimated by the vibration factor estimation section 32. In this embodiment, the target characteristic calculation unit 36 calculates the target characteristic based on the vibration factor candidate selected by the vibration factor selection unit 37 and the adjustment amount input by the adjustment amount input unit 38. Therefore, since the adjustment amount input section 38 is provided, the user can make adjustments to set the desired target characteristics after considering the magnitude of the influence of the vibration factor specified in the vibration factor selection section 37. be able to.
  • the adjustment amount input through the adjustment amount input section 38 is not necessarily an adjustment amount for suppressing vibration, but is an adjustment amount with an intention other than vibration suppression, such as ensuring comfortable steering performance. Good too.
  • it includes an amount of adjustment to the target value of the sensitivity function or open-loop characteristic in order to suppress vibrations due to deterioration of stability, and an amount of adjustment to the target value of the torque controller characteristic to ensure steering responsiveness. It's okay.
  • the example is not limited to the above example, and the user can adjust the amount of adjustment to the target value of the disturbance transfer characteristic to improve the disturbance suppression performance, or the amount of adjustment to the target value of the angle controller characteristic to adjust the steering viscosity feeling, etc. Adjustments can be included to obtain the desired characteristics of.
  • the user may specify a specific frequency or a specific frequency band, or weight multiple target values. be able to. By doing this, it becomes possible to further enhance the characteristics that the user considers important, and it becomes easier to obtain the target characteristics that the user desires.
  • the vibration factor selection section 37 is provided to select the vibration factor candidates estimated by the vibration factor estimation section 32 in accordance with the user's instructions. Further, in this embodiment, an adjustment amount input section 38 is provided to enable input of an adjustment amount when calculating the target characteristics. Thereby, the target characteristics can be adjusted to reflect the user's setting policy.
  • the present disclosure is not limited to the above embodiments, and can be freely modified without departing from the spirit of the present disclosure.
  • the electric power steering device 50 described in the above embodiment is of a rack and pinion type, it may be of a type other than the rack and pinion type.
  • each component (control device 2, input/output device 3) included in the above-mentioned steering measurement device 60 has a computer system therein. Then, a program for realizing the functions of each component included in the above-mentioned steering measuring device 60 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. Processing in each component included in the above-mentioned steering measuring device 60 may be performed by the following.
  • “reading a program recorded on a recording medium into a computer system and executing it” includes installing the program on the computer system.
  • the "computer system” herein includes an OS and hardware such as peripheral devices.
  • a "computer system” may include a plurality of computer devices connected via the Internet or a network including a communication line such as a WAN, LAN, or a dedicated line.
  • a communication line such as a WAN, LAN, or a dedicated line.
  • computer-readable recording medium refers to portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems.
  • the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM.
  • the recording medium also includes a recording medium provided internally or externally that can be accessed from the distribution server to distribute the program.
  • the program may be divided into a plurality of parts, downloaded at different timings, and then combined into each component of the steering measurement device 60, or the distribution servers that distribute each of the divided programs may be different. You can leave it there.
  • a "computer-readable recording medium” refers to a storage medium that retains a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that is a server or client when the program is transmitted via a network. This shall also include things.
  • the above-mentioned program may be for realizing a part of the above-mentioned functions.
  • it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
PCT/JP2022/019025 2022-04-27 2022-04-27 入出力装置及びステアリング測定装置 Ceased WO2023209844A1 (ja)

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CN202280094767.8A CN119013543A (zh) 2022-04-27 2022-04-27 输入输出装置及转向测量装置
EP22940124.5A EP4516634B1 (en) 2022-04-27 2022-04-27 Input/output device and steering measurement device
PCT/JP2022/019025 WO2023209844A1 (ja) 2022-04-27 2022-04-27 入出力装置及びステアリング測定装置
JP2024517681A JP7710609B2 (ja) 2022-04-27 2022-04-27 入出力装置及びステアリング測定装置

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