WO2023209845A1 - 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
WO2023209845A1
WO2023209845A1 PCT/JP2022/019027 JP2022019027W WO2023209845A1 WO 2023209845 A1 WO2023209845 A1 WO 2023209845A1 JP 2022019027 W JP2022019027 W JP 2022019027W WO 2023209845 A1 WO2023209845 A1 WO 2023209845A1
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WIPO (PCT)
Prior art keywords
identification signal
steering
electric power
input
power steering
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
Application number
PCT/JP2022/019027
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English (en)
French (fr)
Japanese (ja)
Inventor
賢太 田中
貴大 本間
勲 家造坊
昭彦 橋本
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to CN202280094868.5A priority Critical patent/CN119013544A/zh
Priority to JP2024517682A priority patent/JP7710610B2/ja
Priority to PCT/JP2022/019027 priority patent/WO2023209845A1/ja
Priority to EP22940125.2A priority patent/EP4516635A4/en
Priority to US18/857,225 priority patent/US20250263115A1/en
Publication of WO2023209845A1 publication Critical patent/WO2023209845A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B62D5/0481—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
    • 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
    • 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
    • B62D5/0457—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
    • 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

Definitions

  • the present disclosure relates to an input/output device and a steering measurement device.
  • An electric power steering device includes a motor that generates a steering assist torque to the steering wheel, and a control device that controls the motor, and adds the steering assist force to the steering mechanism of a vehicle such as an automobile.
  • 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 an example of a conventional steering measuring device.
  • This steering measurement device applies a random number or sine sweep excitation signal to the electric power steering device to vibrate the steering, and based on the response obtained, measures the inertia, viscosity, rigidity, etc. of the electric power steering device. The mechanical constants of are calculated.
  • the steering measuring device disclosed in Patent Document 1 mentioned above is capable of identifying only the mechanical constants whose response signal to the input signal has a linear characteristic among the mechanical constants of the electric power steering device.
  • the steering mechanism of the electric power steering device includes a nonlinear element whose response signal to an input signal has a nonlinear characteristic. Examples of such nonlinear elements include friction elements.
  • the present disclosure has been made in view of the above circumstances, and provides an input/output device and a steering wheel that can identify with high accuracy nonlinear parameters that have not been identified using conventional methods, in addition to linear parameters that have been identified using conventional methods.
  • the purpose is to provide a measuring device.
  • an input/output device for identifying parameters of the electric power steering device that adds a steering assist force to a steering wheel provided in a vehicle.
  • an identification signal command unit that outputs an identification signal or an instruction signal instructing the electric power steering device to start outputting the identification signal, and a response of the electric power steering device to the identification signal.
  • a parameter identification unit that identifies parameters of an electric power steering device, the parameter identification unit configured to identify a linear parameter and a nonlinear parameter output when the steering wheel is in a predetermined rotational state.
  • a parameter of the electric power steering device is identified based on a response to a second identification signal for identifying the parameter.
  • a steering measuring device is connected to the input/output device and the input/output device via an in-vehicle communication network provided in the vehicle, and is configured to receive the first identification signal or the input/output device. Based on the second identification signal, a rotating machine provided in the electric power steering device is controlled in order to add a steering assist force to the steering, and the rotation machine is controlled based on the first identification signal or the second identification signal.
  • a control device outputs response data indicating a response of the electric power steering device to the input/output device via the in-vehicle communication network.
  • nonlinear parameters not identified by conventional methods can also be identified with high accuracy.
  • the mechanical characteristics of the electric power steering device can be identified with high precision, and a high precision desktop analysis model for evaluating the characteristics of the electric power steering device can be realized.
  • FIG. 1 is a configuration diagram showing an input/output device and an electric power steering device according to Embodiment 1 of the present disclosure.
  • FIG. 1 is a block diagram showing the main part configuration of a steering measuring device according to Embodiment 1 of the present disclosure.
  • FIG. 3 is a diagram showing frequency characteristics of response data to an identification signal in Embodiment 1 of the present disclosure.
  • FIG. 2 is a block diagram showing an example of the internal configuration of an identification signal command section in Embodiment 1 of the present disclosure.
  • FIG. 3 is a block diagram showing a modification of the steering measuring device according to Embodiment 1 of the present disclosure.
  • FIG. 7 is a diagram showing a relationship between a rotating machine angle and a vehicle road surface reaction force in Embodiment 2 of the present disclosure.
  • FIG. 7 is a diagram showing a signal that changes in a ramp shape and is used as an identification signal in Embodiment 3 of the present disclosure.
  • FIG. 1 is a configuration diagram showing an input/output device and an electric power steering device according to Embodiment 1 of the present disclosure.
  • the input/output device 3 includes an identification signal command section 4 and a parameter identification section 5.
  • the identification signal command unit 4 outputs an identification signal based on an instruction to start identifying mechanical constants input from the outside.
  • the parameter identification unit 5 identifies mechanical constants of the electric power steering device 50 based on response data of the electric power steering device 50 obtained as a response to the identification signal.
  • a computer such as a tablet computer or a notebook computer can be used, for example. Note that details of the input/output device 3 will be described later.
  • the electric power steering device 50 includes a steering wheel 51, a steering shaft 53, a rack and pinion gear 54, wheels 55, tie rods 56, a knuckle arm 57, a torque detector 22, a rotation detector 23, a rotating machine 1, and a control device 2. Be prepared.
  • the hardware configuration of the electric power steering device 50 is similar to that of conventional electric power steering devices, and is mounted on a vehicle and mass-produced.
  • the software installed in the control device 2 is partially different from the software installed in existing control devices. Specifically, the software installed in the control device 2 includes additional processing for generating an identification signal for identifying the mechanical constants of the electric power steering device 50 in addition to the software installed in the existing control device. has been done. Note that details of this additional element will be described later.
  • the input/output device 3 and the electric power steering device 50 are connected by an in-vehicle communication network NW.
  • the identification signal is transmitted from the input/output device 3 to the electric power steering device 50 via the in-vehicle communication network NW.
  • the in-vehicle communication network NW is a communication network that is mounted on a vehicle, connects electrical components mounted on the vehicle, and transmits and receives data.
  • the in-vehicle communication network NW is normally installed in mass-produced vehicles.
  • the input/output device 3 and the control device 2 are connected using such an in-vehicle communication network NW.
  • in-vehicle communication networks NW such as CAN (controller area network) (registered trademark), FlexRay (registered trademark), and Ethernet (registered trademark).
  • CAN controller area network
  • FlexRay registered trademark
  • Ethernet registered trademark
  • a steering measuring device 60 includes a control device 2 and an input/output device 3 provided in an electric power steering device 50.
  • the electric power steering device 50 including the control device 2 will be explained first, and then details of the steering measuring device 60 (the control device 2 and the input/output device 3) will be explained.
  • 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 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 a steering torque Ts .
  • the rotation detector 23 is attached to the rotating shaft of the rotating machine 1 and detects the rotational speed ⁇ m of the rotating shaft.
  • the rotating machine 1 generates a steering assist torque for 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 T s converted by the torque detector 22 and the rotational speed ⁇ m detected by the rotation detector 23 to generate a steering assist torque for the steering.
  • the torque detector 22 detects the steering torque. Specifically, when a 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 the steering torque Ts . Further, the rotational speed ⁇ m of the rotating shaft of the rotating machine 1 is detected by the rotation detector 23 .
  • the steering torque T s converted by the torque detector 22 and the rotational speed ⁇ m detected by the rotation detector 23 are input to the control device 2, and the steering assist torque to be generated in the rotating machine 1 is determined according to these signals. A corresponding current command 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 part configuration of the steering measuring device according to Embodiment 1 of the present disclosure.
  • the control device 2 includes a receiving section 24, a transmitting section 25, and a power feeding section 26 in addition to a torque detector 22 and a rotation detector 23.
  • the torque detector 22 and the rotation detector 23 are provided outside the control device 2 as shown in FIG. 1, but in FIG. 2, they are shown as a configuration inside the control device 2 for convenience.
  • the receiving unit 24 receives the identification signal output from the input/output device 3.
  • the power supply section 26 applies a voltage to the rotating machine 1 based on the identification signal received by the reception section 24 .
  • the torque detector 22 and the rotation detector 23 detect steering torque and rotation speed, which are response data to the identification signal, respectively.
  • the transmitter 25 transmits the identification signal and response data to the input/output device 3.
  • the steering measuring device 60 is configured to be able to transmit and receive identification signals and response data between the input/output device 3 and the control device 2 via the in-vehicle communication network NW.
  • the control device 2 (the control device 2 that controls the rotating machine 1) provided in the electric power steering device 50 as a mass-produced product can perform the necessary steps for identification, and the mechanical constants can be determined with a simple configuration. identification can be realized.
  • the identification signal transmitted from the input/output device 3 to the control device 2 is a signal for generating a current command to be output from the power supply unit 26 to the rotating machine 1.
  • This identification signal includes an identification signal (first identification signal) that identifies a linear parameter and an identification signal (second identification signal) that identifies a nonlinear parameter.
  • the linear parameter is a parameter that causes the output signal to have linear characteristics with respect to the input signal.
  • a nonlinear parameter is a parameter that causes an output signal to have nonlinear characteristics with respect to an input signal.
  • the input/output device 3 controls the electric power steering device 50 based on the response to the identification signal (first identification signal) that identifies the linear parameter and the identification signal (second identification signal) that identifies the nonlinear parameter. Perform parameter identification.
  • identification of linear parameters based on responses to identification signals for identifying linear parameters and identification of nonlinear parameters based on responses to identification signals for identifying nonlinear parameters will be described in order.
  • a random signal such as an M-sequence signal containing a predetermined power spectrum in a predetermined frequency band is used as an identification signal for identifying a linear parameter.
  • the identification signal for identifying the linear parameter may be a sine sweep.
  • a waveform generated by a sine sweep has only a single frequency component at a certain time, whereas a waveform generated by pseudorandom numbers or random numbers generated by an M-sequence or the like has a property that it includes a plurality of frequency components at a certain time. Therefore, a wide frequency band can be excited in a short period of time, and the frequency characteristics of the steering can be efficiently acquired.
  • the identification signal command unit 4 performs control so that the speed signs of the steering are the same when the random signal is applied. This is to reduce the influence of elements that change depending on the speed sign of the nonlinear parameter described later, and is particularly effective when identifying a system that has characteristics where friction, which is a nonlinear element, is large.
  • a method for realizing control such that the speed sign of the steering is the same for example, the rotational speed of the steering is detected, and feedback is applied to adjust the voltage applied to the rotating machine 1 so that the speed sign does not change.
  • One example is a method of constructing a control system. Another method is to apply a ramp-like signal to the rotating machine 1 that changes at a constant rate over time.
  • identification may be performed based on response data in a region where the influence of the nonlinear parameter is small.
  • the random signal may be applied while the rotating machine 1 is stopped.
  • the parameter identification unit 5 converts the transfer characteristic from the identification signal to the rotational speed signal and steering torque signal, which are response data, into a frequency characteristic.
  • the frequency characteristics may be calculated by applying a generally known method. For example, a spectrum analysis method, a multi-decimation identification method, a subspace method, or the like may be used.
  • the parameter identification unit 5 can obtain a frequency characteristic consisting of a gain characteristic and a phase characteristic shown in a Bode diagram as shown in FIG.
  • FIG. 3 is a diagram showing the frequency characteristics of response data to the identification signal in Embodiment 1 of the present disclosure.
  • the frequency characteristics shown in FIG. 3 are obtained by using the subspace method, and in addition to the Bode diagram, a mathematical model such as a state equation or a transfer function can also be obtained.
  • the solid line waveform is the gain characteristic from the excitation torque to the steering torque
  • the broken line waveform is the gain characteristic from the excitation torque to the rotation speed.
  • the solid line waveform is the phase characteristic from the excitation torque to the steering torque
  • the broken line waveform is the phase characteristic from the excitation torque to the rotation speed.
  • the calculated frequency characteristics include several feature quantities.
  • the parameter identification unit 5 also calculates the values of these feature amounts. For example, in the upper graph of FIG. 3, the parameter identification unit 5 calculates the frequency at which the solid and broken line waveforms have a maximum peak as the resonant frequency fr, and calculates the frequency at which the dashed line waveform has a minimum peak as the antiresonance frequency fn. calculate.
  • the parameter identification unit 5 sets the representative point to 100 Hz, for example, for the high frequency part of the gain characteristic of the rotational speed shown in the frame, and sets the gain at 100 Hz as the high frequency gain G h . calculate.
  • the parameter identification unit 5 also calculates the gain at the representative point as the high frequency gain G TS for the high frequency portion of the steering torque gain characteristic.
  • the parameter identification unit 5 also outputs these feature amounts as part of the frequency characteristics.
  • the frequency is expressed in Hz, the symbols of the frequency converted to rad/s are the resonant frequency ⁇ r and the anti-resonant frequency ⁇ n.
  • the electric power steering device 50 can be approximately expressed as a two-inertia system of the moment of inertia J m of the rotating machine 1 and the moment of inertia J sw of the steering wheel 51.
  • These moments of inertia, the stiffness K s of the torsion bar between the two inertias, and the viscosity C s are set as four linear parameters to be identified.
  • the values of the resonance frequency fr and the anti-resonance frequency fn change depending on the friction characteristics, which are nonlinear elements, but the high-frequency gain G h of the rotation speed and the high-frequency gain G of the steering torque
  • the influence of nonlinear elements on TS is minimal. Therefore, by identifying the linear parameters from the high frequency gain G h of the rotational speed and the high frequency gain G TS of the steering torque, it is possible to identify a part of the linear parameters with high accuracy regardless of nonlinear elements.
  • Equation (1) The relational expression between the linear parameter, the high-frequency gain G h of the rotational speed, and the high-frequency gain G TS of the steering torque is derived from the equation of motion of the two-inertia system as shown in equations (1) and (2) below.
  • ⁇ H 2 ⁇ 100.
  • Equation (2) indicates a gear ratio. From the above equations (1) and (2), the following equations (3) and (4) are obtained, and among the four unknown linear parameters, the moment of inertia J m of the rotating machine 1 and the torsion bar between the two inertias are The stiffness K s can be identified without being influenced by nonlinear elements.
  • the moment of inertia J sw of the steering wheel 51 and the viscosity C s of the torsion bar between the two inertias are identified after the nonlinear parameter identification described below.
  • the unknown parameters of the model are given arbitrary values in the state of the linear parameters, the moment of inertia J sw of the steering wheel 51 and the viscosity C s of the torsion bar between the two inertias, and an arbitrary input signal such as an M-sequence signal is given.
  • the steering torque and rotational speed, which are response data to the above, are calculated using equations (5) to (11) described later.
  • the calculated steering torque and rotational speed are compared with the time-series waveforms of the steering torque and rotational speed detected by the torque detector 22 and the rotational speed detector 23, or the frequency characteristics calculated from the time-series waveforms, or both. . Then, the values of the moment of inertia J sw of the steering wheel 51 and the viscosity C s of the torsion bar between the two inertias for which the calculated value and the detected value are closest are identified by optimization calculation.
  • a generally known method for example, steep descent method, genetic algorithm, etc.
  • the use of genetic algorithms such as the PSO (Particle Swarm Optimization) method has the effect of achieving global optimization.
  • FIG. 4 is a block diagram showing an example of the internal configuration of the identification signal command section in Embodiment 1 of the present disclosure.
  • the identification signal command section 4 includes a speed command generation section 6 and a speed control section 7, and the speed control section 7 receives the speed command output from the speed command generation section 6 and the control device. Feedback control is performed so that the rotational speed of the rotating machine 1 outputted from the rotating machine 2 matches the rotational speed of the rotating machine 1.
  • the speed control unit 7 performs feedback control using, for example, PI control that is used as a general feedback control law.
  • the speed command may be stored in advance in the speed command generation section 6, or may be inputted to the speed command generation section 6 from outside the input/output device 3.
  • the identification signal command section 4 Regarding the rotational speed command, the same value is set during the period in which the rotational speed command has the same sign. This is to remove elements that depend on speed changes, and the details will be described later. With the above configuration, it is possible to generate a signal for controlling the steering so that the steering passes through the same angle with different speed codes.
  • the input signal corresponds to the output torque T m generated from the rotating machine 1
  • the output signal corresponds to the steering torque T s detected by the torque detector 22 and the rotation speed ⁇ m detected by the rotation detector 23.
  • the rotating machine angle ⁇ m can also be calculated from the rotational speed ⁇ m . It is necessary to set the frictional elements according to the configuration of the device, but in this embodiment, the frictional elements fric 1 and fric 2 are used and set as shown in equation (10) below.
  • sign( ⁇ ) is a function that returns “1” if ⁇ is positive, and returns “ ⁇ 1” if ⁇ is negative.
  • the right side of the above equation (11) can be calculated from the moment of inertia J m of the rotating machine 1, which can be identified regardless of nonlinear elements in input/output signals and linear parameter identification. Further, if the current command is controlled so that the rotational speed is constant, it is also possible to calculate by assuming that the third term on the right side of the above equation (11) is approximately equal to zero. Using N input/output signals at arbitrary times, the following equation (12) can be obtained.
  • J is an evaluation function.
  • the nonlinear parameters are identified by performing optimization calculations using the leaf spring stiffness K align , the leaf spring viscosity C align , and the friction elements fric 1 and fric 2 as variables so that the evaluation function J is minimized.
  • the optimization calculation method a generally known method may be applied as in the case of linear parameter identification.
  • FIG. 5 is a block diagram showing a modification of the steering measuring device according to Embodiment 1 of the present disclosure.
  • the identification signal command unit 4 of the input/output device 3 outputs an instruction to start outputting the identification signal instead of the identification signal, and the control device 2 generates the identification signal.
  • This is a configuration in which a section 27 is added.
  • the identification signal command unit 4 outputs an identification signal to the control device 2.
  • the generation unit 27 generates the identification signal. Note that the identification signal generated by the identification signal generation section 27 includes a linear parameter identification signal and a nonlinear parameter identification signal.
  • the identification signal command unit 4 outputs the identification signal or an instruction signal instructing the electric power steering device 50 to start outputting the identification signal. Then, the parameter identification unit 5 determines whether the electric power steering device Fifty parameters have been identified. Thereby, in addition to the linear parameters identified by the conventional method, nonlinear parameters not identified by the conventional method can also be identified with high precision. As a result, it is possible to improve the accuracy of the desktop analysis model for evaluating the characteristics of the electric power steering device 50.
  • the identification signal for identifying the linear parameters is a signal that includes a predetermined power spectrum in a predetermined frequency band, the linear parameters can be identified in a short excitation time.
  • the identification signal for identifying the nonlinear parameter is a signal that controls the steering so that it passes through the same steering angle with different speed signs, it is possible to detect the hysteresis of the output torque with respect to the steering angle, and the nonlinear parameter can be identified with high accuracy.
  • an identification signal for identifying a nonlinear parameter is generated so that the detected rotational speed of the steering wheel matches the speed command.
  • the steering measurement device 60 according to the first embodiment described above expresses the electric power steering device 50 as a two-inertial system, and identifies nonlinear parameters based on the equation of motion when the wheels 55 are simplified and replaced with leaf springs. It was something.
  • the steering measuring device 60 according to the present embodiment differs from the embodiment described above in that the nonlinear parameter to be identified is switched depending on whether or not the electric power steering device 50 is connected to the vehicle. This is different from the steering measuring device 60 according to No. 1.
  • a leaf spring is a device that simply simulates the road reaction force of a vehicle, and its characteristics differ from the road reaction force of an actual vehicle. Therefore, when applying the nonlinear parameter identification method described in Embodiment 1 to the electric power steering device 50 mounted on a vehicle, there is a problem that the reproduction accuracy of road reaction force in the model used for the theoretical analysis decreases. There is. In this embodiment, even when the electric power steering apparatus 50 is installed in a vehicle, a model used for evaluating the electric power steering apparatus 50 can be realized with high precision and simple calculation.
  • ⁇ 1 ( ⁇ m ) is a function of the rotating machine angle ⁇ m and is expressed as an exponential function or a polynomial.
  • a quadratic function shown by the following equation (16) is used.
  • the nonlinear parameters to be identified are the leaf spring stiffness K align , the leaf spring viscosity C align , the friction elements fric 1 , fric 2 , and the vehicle road reaction force model parameters ⁇ 0 , ⁇ 1 , ⁇ 1 ( ⁇ m ), ⁇ 2 becomes.
  • the identification signals used to identify nonlinear parameters are the same as in the first embodiment. From the above equation (18), the following equation (19) is obtained using N input/output signals at arbitrary times as in the first embodiment.
  • J' is an evaluation function.
  • p is calculated from the input and output signals using equations (14) and (15) above, and the evaluation function J' It is possible to identify nonlinear parameters by performing optimization calculations so that Further, instead of finding the vehicle road reaction force model parameters ⁇ 0 , ⁇ 1 , ⁇ 1 ( ⁇ m ), and ⁇ 2 all at once as described above, it is also possible to identify them in stages.
  • FIG. 6 is a diagram showing the relationship between the rotating machine angle and the vehicle road surface reaction force in Embodiment 2 of the present disclosure.
  • the horizontal axis represents the rotating machine angle (converted to the rotating machine axis), and the vertical axis represents the value on the right side of equation (18).
  • the trajectory of the rotating machine angle and road reaction force shown in FIG. 6 is such that the rotating machine angle and road reaction force change clockwise from a state of 0. Identification is then performed by dividing into three regions ("region 1", "region 2", and "region 3").
  • “Region 1” is a region where ( ⁇ h ⁇ 0 ⁇ h ⁇ 0) ⁇ ( ⁇ h ⁇ 0 ⁇ h ⁇ 0), and the change in the right side of equation (18) is small.
  • “Region 2” is a region where ( ⁇ h ⁇ 0 ⁇ h ⁇ 0) ⁇ ( ⁇ h ⁇ 0 ⁇ h ⁇ 0).
  • “Region 3” consists of ( ⁇ h ⁇ 0 ⁇ h ⁇ 0) ⁇ ( ⁇ h ⁇ 0 ⁇ h ⁇ 0) and ( ⁇ h ⁇ 0 ⁇ h ⁇ 0) ⁇ ( ⁇ h ⁇ 0 ⁇ h ⁇ 0), and this is the area between “area 1” and “area 2”.
  • J′′ is an evaluation function.By performing optimization calculation using vehicle road reaction force model parameters ⁇ 1 and ⁇ 2 as variables so that the evaluation function J′′ is minimized, ⁇ 1 , ⁇ 2 can be identified. In "Area 2”. The following relationship (22) holds true.
  • the right side of the above equation (22) can be calculated from the input/output signals and the identification results of ⁇ 1 .
  • the coefficients are determined by the least squares method in accordance with the expression of ⁇ 1 ( ⁇ m ) so as to match the right side of the above equation (22).
  • ⁇ 1 ( ⁇ m ) is set as a quadratic function, so polynomial approximation is performed using the least squares method to fit the right side of equation (22), and ⁇ 1 ( ⁇ Find the coefficients a1, a2, and a3 of m ).
  • p is calculated from the input and output signals using the above-mentioned equations (14) and (15) using the vehicle road reaction force model parameter ⁇ 0 as a variable, and the evaluation function J' is minimized. It is possible to identify ⁇ 0 by performing optimization calculations so that ⁇ 0 can be identified. It has the effect of confirming the identification accuracy of each nonlinear parameter that you want to identify, and that it can be identified with high accuracy by performing direct polynomial approximation because the range of values that the polynomial coefficient of ⁇ 1 ( ⁇ m ) can take is wide.
  • the nonlinear parameters to be identified are switched depending on whether or not the electric power steering device 50 is connected to the vehicle.
  • a configuration may also be adopted in which the identification signal for identifying the nonlinear parameter is switched.
  • the parameters of the electric power steering device 50 may be identified not only when the vehicle is stopped but also when the vehicle is running.
  • an identification signal suitable for the state where the electric power steering device 50 is connected to the vehicle for example, the amplitude of a random signal that is an identification signal for identifying linear parameters, or the speed command used for speed control when identifying nonlinear parameters, There are operations to change depending on the situation.
  • the input/output device 3 causes the parameter identification unit 5 to switch the nonlinear parameter to be identified depending on whether or not the electric power steering device 50 is connected to the vehicle. ing.
  • This has the remarkable effect that the road reaction force, which is a nonlinear parameter in an actual vehicle, can be accurately identified and the model used to evaluate the electric power steering device 50 can be highly accurate.
  • the identification signal command section 4 is configured to switch the identification signal depending on whether or not the electric power steering device 50 is connected to the vehicle. It is also possible to do so. Thereby, it is possible to generate an appropriate identification signal according to the driving state of the vehicle, and it is possible to obtain the effect that the parameters of the electric power steering device 50 connected to the vehicle can be identified with high accuracy.
  • the input/output device 3 includes the nonlinear parameter as an exponential function or a polynomial regarding the state of the electric power steering device 50.
  • the road reaction force in an actual vehicle can be expressed by a simple approximate expression, and the model used for evaluating the electric power steering device 50 can be realized with high precision and simple calculations.
  • the steering measuring device 60 according to the first embodiment described above generates an identification signal for identifying a nonlinear parameter so that the detected rotational speed of the steering wheel matches a speed command.
  • the steering measuring device 60 according to the present embodiment differs from the steering measuring device 60 according to the first embodiment described above in that a signal that changes in a ramp-like manner is used as an identification signal.
  • the nonlinear parameter identification method described in the first embodiment requires feedback control, which is unnecessary for the mass-produced electric power steering device 50, and there is a concern that the software capacity will increase. Therefore, in the present embodiment, a signal that changes in a ramp-like manner is used as a nonlinear parameter identification signal, and nonlinear parameter identification is realized by simple calculations.
  • FIG. 7 is a diagram showing a signal that changes in a ramp shape and is used as an identification signal in Embodiment 3 of the present disclosure.
  • FIG. 7 also shows signals indicating the steering angle and steering speed relative to the identification signal.
  • the ramp-shaped signal is a signal that changes at a constant rate over time. This signal needs to have a shape that includes both a period T11 increasing in the positive direction and a period T12 increasing in the negative direction in order to pass the same angle of the same steering wheel with different speed signs.
  • a method for generating a signal that changes in a ramp-like manner a method can be considered in which a counter is counted up or down every calculation period of signal generation, and the result of multiplying the count value by a predetermined gain is used as the identification signal. .
  • a counter is counted up or down every calculation period of signal generation, and the result of multiplying the count value by a predetermined gain is used as the identification signal.
  • the input/output device 3 uses a ramp-shaped signal that changes at a constant rate over time as an identification signal for identifying a nonlinear parameter. Therefore, there is no need for feedback control of the rotational speed, and a remarkable effect can be obtained in that nonlinear parameters can be identified with high precision only by simple signal generation processing.
  • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
PCT/JP2022/019027 2022-04-27 2022-04-27 入出力装置及びステアリング測定装置 Ceased WO2023209845A1 (ja)

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CN202280094868.5A CN119013544A (zh) 2022-04-27 2022-04-27 输入输出装置及转向测定装置
JP2024517682A JP7710610B2 (ja) 2022-04-27 2022-04-27 入出力装置及びステアリング測定装置
PCT/JP2022/019027 WO2023209845A1 (ja) 2022-04-27 2022-04-27 入出力装置及びステアリング測定装置
EP22940125.2A EP4516635A4 (en) 2022-04-27 2022-04-27 Input/output device and steering measurement device
US18/857,225 US20250263115A1 (en) 2022-04-27 2022-04-27 Input/output device and steering measurement device

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JP2002037109A (ja) * 2000-07-21 2002-02-06 Mitsubishi Electric Corp 電動式パワーステアリング装置
JP2010188825A (ja) * 2009-02-17 2010-09-02 Denso Corp 操舵負荷推定装置及び電動パワーステアリング装置
WO2015156350A1 (ja) * 2014-04-10 2015-10-15 三菱電機株式会社 入出力装置およびステアリング測定装置
WO2018047591A1 (ja) * 2016-09-09 2018-03-15 日立オートモティブシステムズ株式会社 車両制御装置、車両制御方法および電動パワーステアリング装置

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JP2002037109A (ja) * 2000-07-21 2002-02-06 Mitsubishi Electric Corp 電動式パワーステアリング装置
JP2010188825A (ja) * 2009-02-17 2010-09-02 Denso Corp 操舵負荷推定装置及び電動パワーステアリング装置
WO2015156350A1 (ja) * 2014-04-10 2015-10-15 三菱電機株式会社 入出力装置およびステアリング測定装置
JP6129409B2 (ja) 2014-04-10 2017-05-17 三菱電機株式会社 入出力装置、ステアリング測定装置、および、制御装置
WO2018047591A1 (ja) * 2016-09-09 2018-03-15 日立オートモティブシステムズ株式会社 車両制御装置、車両制御方法および電動パワーステアリング装置

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EP4516635A1 (en) 2025-03-05
US20250263115A1 (en) 2025-08-21

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